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LGZ 16-AS

SCHUNK LGZ 16, LGZ 16-IS, LGZ 32, LGZ 32-AS, LGZ 32-IS Assembly And Operating Manual

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Page 1
Translation of the original manual
Assembly and Operating Manual
LGZ
3-Finger Centric Gripper
Page 2
Imprint
2
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re­served. Any reproduction, processing, distribution (making available to third parties), translation or other usage - even excerpts - of the manual is especially prohibited and re­quires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389192
Version: 04.00|19/11/2018|en
© SCHUNK GmbH & Co. KG All rights reserved.
Dear Customer, thank you for trusting our products and our family-owned company, the leading techno-
logy supplier of robots and production machines. Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution! Best regards, Your SCHUNK team
SCHUNK GmbH & Co. KG Spann- und Greiftechnik
Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar
Tel. +49-7133-103-0 Fax +49-7133-103-2399
info@de.schunk.com schunk.com
Page 3
Table of contents
3
Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.1.3 Variants..................................................................................................... 6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery ..................................................................................................6
1.4 Accessories ........................................................................................................... 6
1.4.1 Sensors .....................................................................................................7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Not intended use.................................................................................................. 8
2.3 Constructional changes ........................................................................................8
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 9
2.6 Ambient conditions and operating conditions ..................................................... 9
2.7 Personnel qualification......................................................................................... 9
2.8 Personal protective equipment.......................................................................... 10
2.9 Notes on safe operation ..................................................................................... 11
2.10 Transport ............................................................................................................ 11
2.11 Malfunctions....................................................................................................... 11
2.12 Disposal .............................................................................................................. 12
2.13 Fundamental dangers......................................................................................... 12
2.13.1 Protection during handling and assembly ..............................................12
2.13.2 Protection during commissioning and operation ...................................13
2.13.3 Protection against dangerous movements.............................................13
2.13.4 Protection against electric shock............................................................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
4 Assembly ................................................................................................................18
4.1 Mechanical connection ...................................................................................... 18
4.2 Pneumatic connection........................................................................................ 19
4.3 Sensors ............................................................................................................... 20
4.3.1 Programmable magnetic switch (MMS-P)..............................................21
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Table of contents
4
5 Troubleshooting .....................................................................................................26
5.1 Product is not moving......................................................................................... 26
5.2 The module does not travel through the entire stroke? .................................... 26
5.3 Module opens or closes abruptly? .....................................................................26
5.4 Gripping force is dropping.................................................................................. 27
5.5 Magnetic switch does not work ......................................................................... 27
5.6 Product does not achieve the opening and closing times.................................. 27
6 Maintenance ..........................................................................................................28
6.1 Maintenance and care........................................................................................ 28
7 Translation of original declaration of incorporation ................................................29
8 Annex to Declaration of Incorporation....................................................................30
Page 5
General
5
1 General
1.1 About this manual
This manual contains important information for a safe and appro­priate use of the product.
This manual is an integral part of the product and must be kept ac­cessible for the personnel at all times.
Before starting work, the personnel must have read and under­stood this operating manual. Prerequisite for safe working is the observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding and may differ from the actual product design.
In addition to these instructions, the documents listed under Ap-
plicable documents [}6] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
Page 6
General
6
1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories * The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Variants
This operating manual applies to the following variations:
• LGZ without gripping force maintenance
• LGZ with gripping force maintenance "O.D. gripping" (AS)
• LGZ with gripping force maintenance "I.D. gripping" (IS)
1.2 Warranty
If the product is used as intended, the warranty is valid for 24 months from the ex-works delivery date under the following con­ditions:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• 3-finger centric gripper LGZ in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.4 Accessories
The following accessories that are required for the module must be ordered separately:
• Sensors A wide range of accessories is available for this module. For information about which accessories can be used with the ap-
propriate product version ☞ catalog.
Page 7
General
7
1.4.1 Sensors
Overview of the compatible sensors
Designation Type
Programmable magnetic switch with two switching points
MMS-P
• Exact type designation of the compatible sensors see ☞ catalog.
• If you require information on sensor operation, contact your SCHUNK contact person or download information from our homepage. www.schunk.com
• For mounting the sensors, mounting kits are partly necessary.
Page 8
Basic safety notes
8
2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily holding workpieces or objects.
• The product may only be used within the scope of its technical data, Technical data [}16].
• When implementing and operating components in safety-re­lated parts of the control systems, the basic safety principles in accordance with DIN EN ISO 13849-2 apply. The proven safety principles in accordance with DIN EN ISO 13849-2 also apply to categories 1, 2, 3 and 4.
• The product is intended for installation in a machine/system. The applicable guidelines must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
• Appropriate use of the product includes compliance with all in­structions in this manual.
2.2 Not intended use
It is not intended use if the product is used, for example, as a pressing tool, stamping tool, lifting gear, guide for tools, cutting tool, clamping device or a drilling tool.
• Any utilization that exceeds or differs from the appropriate use is regarded as misuse.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads, holes, or safety devices can impair the functioning or safety of the product or damage it.
• Structural changes should only be made with the written ap­proval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and dam­age the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
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Basic safety notes
9
2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious injur­ies and significant property damage.
• Arrange the gripper fingers in a way that the product reaches either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy re­mains in the product.
• Make sure that the product and the top jaws are a sufficient size for the application.
2.6 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product unsafe, leading to the risk of serious injuries, considerable material damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its defined application parameters, Technical data [}16].
• Make sure that the product is a sufficient size for the applica­tion.
• Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust. Exceptions are products that are designed especially for contaminated en­vironments.
2.7 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently quali­fied, the result may be serious injuries and significant property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general safety instructions.
Page 10
Basic safety notes
10
The following personal qualifications are necessary for the various activities related to the product:
Trained electrician
Due to their technical training, knowledge and experience, trained electricians are able to work on electrical systems, recognize and avoid possible dangers and know the relevant standards and regu­lations.
Qualified personnel
Due to its technical training, knowledge and experience, qualified personnel is able to perform the delegated tasks, recognize and avoid possible dangers and knows the relevant standards and reg­ulations.
Instructed person
Instructed persons were instructed by the operator about the del­egated tasks and possible dangers due to improper behaviour.
Service personnel of the manufacturer
Due to its technical training, knowledge and experience, service personnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers.
2.8 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against danger which may interfere with their health or safety at work.
• When working on and with the product, observe the occupa­tional health and safety regulations and wear the required per­sonal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot sur­faces.
• Wear protective gloves and safety goggles when handling haz­ardous substances.
• Wear close-fitting protective clothing and also wear long hair in a hairnet when dealing with moving components.
Page 11
Basic safety notes
11
2.9 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the func­tion and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does not apply to products that are designed for special environ­ments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and environ­mental protection regulations regarding the product's applica­tion field.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's safety and cause serious injuries and considerable material dam­age.
• When handling heavy weights, use lifting equipment to lift the product and transport it by appropriate means.
• Secure the product against falling during transportation and handling.
• Stand clear of suspended loads.
2.11 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the malfunc­tion.
• Do not recommission the product until the malfunction has been rectified.
• Test the product after a malfunction to establish whether it still functions properly and no increased risks have arisen.
Page 12
Basic safety notes
12
2.12 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety and cause serious injuries as well as considerable material and en­vironmental harm.
• Follow local regulations on dispatching product components for recycling or proper disposal.
2.13 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective measures to secure the danger zone.
• Disconnect power sources before installation, modification, maintenance, or calibration. Ensure that no residual energy re­mains in the system.
• If the energy supply is connected, do not move any parts by hand.
• Do not reach into the open mechanism or movement area of the product during operation.
2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take pre­cautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their swiv­eling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
Page 13
Basic safety notes
13
2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries and even death.
•
Take appropriate protective measures to secure the danger zone.
• Never step into the danger zone during operation.
2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while working with the product.
• Switch off the energy supply, ensure that no residual energy re­mains and secure against inadvertent reactivation.
• Never rely solely on the response of the monitoring function to avert danger. Until the installed monitors become effective, it must be assumed that the drive movement is faulty, with its ac­tion being dependent on the control unit and the current oper­ating condition of the drive. Perform maintenance work, modi­fications, and attachments outside the danger zone defined by the movement range.
• To avoid accidents and/or material damage, human access to the movement range of the machine must be restricted. Limit/ prevent accidental access for people in this area due through technical safety measures. The protective cover and protective fence must be rigid enough to withstand the maximum possible movement energy. EMERGENCY STOP switches must be easily and quickly accessible. Before starting up the machine or auto­mated system, check that the EMERGENCY STOP system is working. Prevent operation of the machine if this protective equipment does not function correctly.
2.13.4 Protection against electric shock
Possible electrostatic energy
Components or assembly groups may become electrostatically charged. When the electrostatic charge is touched, the discharge may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly groups are included in the local potential equalisation in accord­ance with the applicable regulations.
•
While paying attention to the actual conditions of the working environment, the potential equalisation must be implemented by a specialist electrician according to the applicable regulations.
• The effectiveness of the potential equalisation must be verified by executing regular safety measurements.
Page 14
Basic safety notes
14
2.14 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
• Stand clear of suspended loads and do not step within their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
• Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious injury or death.
• Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in the system, components can move unexpectedly and cause seri­ous injuries.
• Before starting any work on the product: Switch off the power
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during the base jaw procedure and when breaking or loosening the gripper fingers.
• Wear suitable protective equipment.
• Do not reach into the open mechanism or the movement area
of the product.
Page 15
Basic safety notes
15
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
• Use suitable protective equipment.
WARNING
Risk of injury due to spring forces!
Parts are under spring tension on products which clamp using spring force or which have gripping force maintenance. While dis­assembling components can move unexpectedly and cause seri­ous injuries.
• Disassemble the product cautiously.
• Make sure that no residual energy remains in the system.
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can, dur­ing energy supply failure, still move independently in the direc­tion specified by the mechanical gripping force maintenance.
• Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
Page 16
Technical data
16
3 Technical data
Size 16 32 50 Mechanical operating data
Stroke per jaw [mm] 3 4 7 Weight [kg] without gripping force maintenance with gripping force maintenance
0,1 0,1
0,32 0,35
0,95
0,99 Recommended workpiece weight [kg] 0,6 2,25 5,7 Max. permissible finger length [mm] 30 60 80 Max. permitted weight per finger [kg] 0,03 0,08 0,25 Ambient temperature [°C] Min. Max.
-10 90
-10 90
-10
90 Min. Federkraft [N] without gripping force maintenance with gripping force maintenance AS with gripping force maintenance IS
­30 30
­150 150
-
330
330 Closing force [N] without gripping force maintenance with gripping force maintenance AS with gripping force maintenance IS
120 150
-
450 600
-
1140
1470
­Opening force [N] without gripping force maintenance with gripping force maintenance AS with gripping force maintenance IS
144
­174
540
­590
1320
-
1650
IP rating 40 40 40
Page 17
Technical data
17
Size 16 32 50 Operating data for compressed air connection
Pressure medium Compressed air, compressed air quality accord-
ing to ISO 8573-1:7 4 4 Noise emission [dB(A)] ≤ 72 Min. pressure [bar] without gripping force maintenance with gripping force maintenance
2
4
2 4
2
4 Max. pressure [bar] without gripping force maintenance with gripping force maintenance
8 6,5
8 6,5
8
6,5 Nominal working pressure [bar] without gripping force maintenance with gripping force maintenance AS with gripping force maintenance IS
6 6 6
6 6 6
6
6
6
More technical data are included in the catalog data sheet. Whichever is the latest version.
Page 18
Assembly
18
4 Assembly
4.1 Mechanical connection
WARNING
Warning: Risk of injury when the machine/system moves unex­pectedly!
Remove the energy supplies before starting with assembly and adjustments.
Make sure that no residual energy remains in the system.
Check the evenness of the bolting surface
The values relate to the entire bolting surface.
Requirements for levelness of the bolting surface (Dimensions in mm)
Diameter Permissible unevenness
< 100 < 0.02 > 100 < 0.05
Mounting
The module can be mounted from the front or the rear.
Assembly options
Page 19
Assembly
19
Mounting material (provided by customer)
Item Mounting 16 32 50
1 Rear module M3 x
max. 7,4
M4 x max. 10
M8 x max. 16
2 Module on the side M3 x
max. 7,4
M4 x max. 10
M8 x max. 16
3 Top jaws M3 x
max. 5
M4 x max. 10
M8 x
max. 16 4 Centering pin Ø3 x max. 3 Ø5 x max. 5 Ø8 x max. 8 99 Centering sleeve Ø5h6 / 4,35 Ø5h6 / 4,35 Ø8h6 / 5,35
NOTE
• For mounting from the rear fix the module using the provided centering pins (4).
• Mount the module using the mounting bores.
• Mount the top jaws using the mounting bores provided. Use centering sleeves (99).
4.2 Pneumatic connection
WARNING
Risk of injury when machine/system moves unexpectedly!
• Switch off power supply before assembly and installation.
• Make sure that no residual energy remains in the system.
NOTICE
Damage to the gripper is possible!
If the maximum permissible finger weight or the permissible mass moment of inertia of the fingers is exceeded, the gripper can be damaged.
• A jaw movement always has to be without jerks and bounce.
• You must therefore implement sufficient reduction and/or
damping.
• Observe the diagrams and information in the catalog data
sheet.
Page 20
Assembly
20
NOTICE
Observe the requirements for the air supply
Technical data [}16].
Air connections
Thread diameter of the air connections
Item Connection 16 - 50
4 Thread diameter of the air connections
(A = open, B = close)
2 x M5
• Only open the air connections required.
• Seal air connections not required using the locking screws from the enclosed pack.
• For hose-free direct connections use the two O-rings from the enclosed pack.
Further information on the hose-free direct connection contains the catalog data sheet.
4.3 Sensors
The module is prepared for a number of sensors. Other sensors can be used with a mounting kit.
• If you require further information on sensor operation, contact your SCHUNK contact person or download information from our homepage.
• Technical data for the sensors can be found in the data sheets (included in the scope of delivery).
Page 21
Assembly
21
4.3.1 Programmable magnetic switch (MMS-P)
NOTE
The MMS-P can be used for sizes LGZ 16 to LGZ 50.
Magnetic switch MMS-P 22
1 Mounting screw 4 Teach-button 2 Center sensor elements 5 LED display 3 LED display 6 Ribs for cable tires
brown
white
black
blue
Connection diagram PNP-4 conductor (MMS-P 22)
Types available for order (see catalog):
• MMS-P 22-S-M8-PNP
• MMSK-P 22-S-PNP
• V2-M8-4-2XM8-3
The MMSK-P 22-S-PNP features a cable with open strands so that it can be connected via terminal contacts. The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin con­nector plug of the MMS-P 22-S-M8-PNP sensor to two standard M8 plugs with 3 pins each.
Page 22
Assembly
22
Mounting of the sensor
NOTICE
Sensor can be damaged during assembly.
• Do not exceed the maximum tightening torque of 10 Ncm for
the set screws!
NOTE
Ferromagnetic material changes the switching positions of the sensor (e.g. Adapter plate made of ordinary steel).
For ferromagnetic adapter plates:
• The module must be first mounted on the adapter plate.
• Then, the position of the magnetic switchs has to be set.
Ø Push the magnetic switch (10) into the groove until it rests on
the back stop (11) (if present).
Ø If no clamping stop is available, push in the magnetic switch in
accordance with dimension l2 (lower edge gripper up to front side sensor) or with dimension l1 (lower edge gripper up to the double arrow on the sensor) and then clamp.
Page 23
Assembly
23
Type Dimension l1Dimension l2Type Dimension l
1
Dimension l
2
LGZ 16 ° 14.3 mm 23.2 mm LGZ 50 ° 33.1 mm 42.0 mm LGZ 16-AS ° 12.8 mm 21.7 mm LGZ 50-AS ° 26.1 mm 35.0 mm LGZ 16-IS° 14.3 mm 23.2 mm LGZ 50-IS ° 33.1 mm 42.0 mm LGZ 32 ° 23.0 mm 31.9 mm LGZ 32-AS ° 18.0 mm 26.9 mm LGZ 32-IS ° 23.0 mm 31.9 mm
Ø To relieve the cable, the electronics have to be fixed in place
using cable ties (7). There are ribs (6) in place on the electronics for mounting purposes.
Ø Turn in the sensor (1 - 4).
OR Push the sensor axially into the slot until it contacts the stop (5).
Ø Fix the sensor with an Allen wrench (6).
Page 24
Assembly
24
Adjustment of the switching points
Ø Press the "Teach" button (4) for 2 seconds.
After 2 seconds, LED 1 (3) flashes.
Ø Move the gripper to position 1 (e.g. "Open"). Ø Briefly press the "Teach" button (4).
LED 1 (3) lights up and LED 2 (5) flashes.
Ø Put the gripper in position 2.
LED 1 (3) should go out as soon as switching point 1 is left.
Ø Briefly press the "Teach" button (4).
LED 2 (5) lights up.
The switching points are set.
Adjusting the hysteresis
The hysteresis to both switching points will be adjusted automatic­ally corresponding to the characteristics of the magnetic field. The user can set the switching and trigging points of each position a little bit closer than for the automatic mode. The trigging point is closer to the switching point. At the same time the susceptibility to trouble and damage increases. In the mode of the lowest hyster­esis, an error signal (such as jitter or untimely switch off) can be avoided, if the sensor is protected against all types of disturbances (i.e. by shielding). Frequent types of disturbances are change in temperature and electro-magnetic influences. Within the closest fine-teach mode, SCHUNK cannot guarantee EMC-compatibility any more. The hysteresis adjustment is used for the manual adjustment of the switching points (if necessary). In case that the hysteresis automatically determined by the sensor should be too high or too low after “the adjustment of the switch­ing points”, you may correct the value as follows. The sensor avoids a too small hysteresis during hysteresis adjust­ment.
Page 25
Assembly
25
Sensors MMS 22, MMS-P 22, MMS 22-PI1 and MMS 22-PI2
The smallest detectable difference in stroke is defined in the fol­lowing table:
The smallest detectable difference in stroke based on the nominal stroke
For grippers with X mm nominal stroke per jaw
Min. query range per jaw/ min. queried stroke difference per jaw
X ≤ 5 mm 30% of the nominal stroke per jaw X > 5 mm to X ≤ 10 mm 20% of the nominal stroke per jaw X > 10 mm 10% of the nominal stroke per jaw
Example: Product with 7 mm nominal stroke per jaw 7 mm * 20% = 1.4 mm
Ø Press the "Teach" button (4) for 5 seconds.
LED 1 (3) flashes from the second to the fifth second. LED 1 goes out after 5 seconds.
Ø Release the "Teach" button. Ø Move the gripper to the "switch off point for switching point 1"
position.
Ø Briefly press the "Teach" button (4).
LED 1 (3) flashes 2x.
Ø Move the gripper to the "switch off point for switching point 2"
position.
Ø Briefly press the "Teach" button (4).
LED 2 (5) flashes 2x.
The assembly of the MMS-P sensor is completed.
Page 26
Troubleshooting
26
5 Troubleshooting
5.1 Product is not moving
Possible cause Corrective action
Base jaws jam in housing, e.g. mounting surface is not sufficiently even.
Check the evenness of the mounting surface.
Mechanical connection [}18]
Loosen the mounting screws of the product and actuate the product again.
Pressure drops below minimum. Check air supply.
Pneumatic connection [}19]
Compressed air lines switched. Check compressed air lines.
Pneumatic connection [}19]
Proximity switch defective or set incorrect. Readjust or change sensor. Unused air connections open. Close unused air connections. Flow control valve closed. Open the flow control valve. Component part defective. Replace component or send it to SCHUNK
for repair.
5.2 The module does not travel through the entire stroke?
Pneumatic connection [}19]
Mechanical connection [}18]
5.3 Module opens or closes abruptly?
Possible cause Corrective action
Compressed air lines are blocked Check the compressed air lines for crushing
or damage. Mounting surface is not even enough Check the levelness of the bolting surface. Flow control valve is missing or not set
correctly
Install and adjust flow control valve.
Load too high Review permissible weight and length of the
jaws.
Mechanical connection [}18]
Page 27
Troubleshooting
27
5.4 Gripping force is dropping
Possible cause Corrective action
Compressed air can escape. Check seals, if necessary, disassemble the
product and replace seals. Too much grease in the mechanical
movement space.
Clean and lubricate product.
Maintenance [}28]
Pressure drops below minimum. Check air supply.
Link Pneumatischer Anschluss Component part defective. Replace component or send it to SCHUNK
for repair.
5.5 Magnetic switch does not work
Possible cause Corrective action
Use steel screws to mount the gripper Use stainless steel screws. Mounting plates, brackets, etc. from non
magnetic materials
If possible, use aluminium of plastic.
5.6 Product does not achieve the opening and closing times
Possible cause Corrective action
Compressed air lines are not installed optimally.
If present: Open the flow control couplings
on the product to the maximum that the
movement of the jaws occurs without boun-
cing and hitting.
Check compressed air lines.
Inner diameters of compressed air lines are
of sufficient size in relation to compressed
air consumption.
Keep compressed air lines between the
product and directional control valve as
short as possible.
Flow rate of valve is sufficiently large relat-
ive to the compressed air consumption.
NOTICE!The throttle check valve must not
be removed, even if the product has not
reached the opening and closing times.
If, despite optimum air connections, the
opening and closing times specified in the
catalogue are not achieved, SCHUNK recom-
mends the use of quick-air-vent-valves
directly at the product. Loading too large. Check permissible weight and length of the
gripper fingers.
Page 28
Maintenance
28
6 Maintenance
6.1 Maintenance and care
The 3-finger Centric gripper LGZ is not intended for maintenance. Disassembly for maintenance or repair purposes is not possible. A damaged gripper has to be replaced completely.
Page 29
Translation of original declaration of incorporation
29
7 Translation of original declaration of incorporation
in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of the Council on machinery.
Manufacturer/ Distributor
SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar
We hereby declare that on the date of the declaration the following partly completed ma­chine complied with all basic safety and health regulations found in the directive 2006/42/ EC of the European Parliament and of the Council on machinery. The declaration is rendered invalid if modifications are made to the product.
Product designation: 3-finger centric gripper / LGZ / pneumatic ID number 0312930 … 0312938
The partly completed machine may not be put into operation until conformity of the ma­chine into which the partly completed machine is to be installed with the provisions of the Machinery Directive (2006/42/EC) is confirmed.
Applied harmonized standards, especially:
EN ISO 12100:2010 Safety of machinery - General principles for design -
Risk assessment and risk reduction
The manufacturer agrees to forward on demand the relevant technical documentation for the partly completed machinery in electronic form to national authorities.
The relevant technical documentation according to AnnexVII, Part B, belonging to the partly completed machinery, has been created.
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address
Lauffen/Neckar, November 2018 p.p. Ralf Winkler, Manager for development of grip-
ping system components
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Annex to Declaration of Incorporation
30
8 Annex to Declaration of Incorporation
according 2006/42/EG, Annex II, No. 1 B
1.Description of the essential health and safety requirements pursuant to 2006/42/EC, An­nex I that are applicable and that have been fulfilled with:
Product designation 3-finger centric gripper Type designation LGZ ID number 0312930 … 0312938
To be provided by the System Integrator for the overall machine ⇓
Fulfilled for the scope of the partly completed machine ⇓
Not relevant ⇓
1.1 Essential Requirements
1.1.1 Definitions X
1.1.2 Principles of safety integration X
1.1.3 Materials and products X
1.1.4 Lighting X
1.1.5 Design of machinery to facilitate its handling X
1.1.6 Ergonomics X
1.1.7 Operating positions X
1.1.8 Seating X
1.2 Control Systems
1.2.1 Safety and reliability of control systems X
1.2.2 Control devices X
1.2.3 Starting X
1.2.4 Stopping X
1.2.4.1 Normal stop X
1.2.4.2 Operational stop X
1.2.4.3 Emergency stop X
1.2.4.4 Assembly of machinery X
1.2.5 Selection of control or operating modes X
1.2.6 Failure of the power supply X
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Annex to Declaration of Incorporation
31
1.3 Protection against mechanical hazards
1.3.1 Risk of loss of stability X
1.3.2 Risk of break-up during operation X
1.3.3 Risks due to falling or ejected objects X
1.3.4 Risks due to surfaces, edges or angles X
1.3.5 Risks related to combined machinery X
1.3.6 Risks related to variations in operating conditions X
1.3.7 Risks related to moving parts X
1.3.8 Choice of protection against risks arising from moving parts X
1.3.8.1 Moving transmission parts X
1.3.8.2 Moving parts involved in the process X
1.3.9 Risks of uncontrolled movements X
1.4 Required characteristics of guards and protective devices
1.4.1 General requirements X
1.4.2 Special requirements for guards X
1.4.2.1 Fixed guards X
1.4.2.2 Interlocking movable guards X
1.4.2.3 Adjustable guards restricting access X
1.4.3 Special requirements for protective devices X
1.5 Risks due to other hazards
1.5.1 Electricity supply X
1.5.2 Static electricity X
1.5.3 Energy supply other than electricity X
1.5.4 Errors of fitting X
1.5.5 Extreme temperatures X
1.5.6 Fire X
1.5.7 Explosion X
1.5.8 Noise X
1.5.9 Vibrations X
1.5.10 Radiation X
1.5.11 External radiation X
1.5.12 Laser radiation X
1.5.13 Emissions of hazardous materials and substances X
1.5.14 Risk of being trapped in a machine X
1.5.15 Risk of slipping, tripping or falling X
1.5.16 Lightning X
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Annex to Declaration of Incorporation
32
1.6 Maintenance
1.6.1 Machinery maintenance X
1.6.2 Access to operating positions and servicing points X
1.6.3 Isolation of energy sources X
1.6.4 Operator intervention X
1.6.5 Cleaning of internal parts X
1.7 Information
1.7.1 Information and warnings on the machinery X
1.7.1.1 Information and information devices X
1.7.1.2 Warning devices X
1.7.2 Warning of residual risks X
1.7.3 Marking of machinery X
1.7.4 Instructions X
1.7.4.1 General principles for the drafting of instructions X
1.7.4.2 Contents of the instructions X
1.7.4.3 Sales literature X
The classification from Annex 1 is to be supplemented from here forward.
2 Supplementary essential health and safety requirements for certain
categories of machinery
X
2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical
products
X
2.2 Portable hand-held and/or guided machinery X
2.2.1 Portable fixing and other impact machinery X
2.3 Machinery for working wood and material with similar physical charac-
teristics
X
3 Supplementary essential health and safety requirements to offset haz-
ards due to the mobility of machinery
X
4 Supplementary essential health and safety requirements to offset haz-
ards due to lifting operations
X
5 Supplementary essential health and safety requirements for machinery
intended for underground work
X
6 Supplementary essential health and safety requirements for machinery
presenting particular hazards due to the lifting of persons
X
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