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PGN-plus-E 80,PGN-plus-E 100

SCHUNK PGN-plus-E 80,PGN-plus-E 100 Assembly And Operating Manual

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Translation of the original manual
Assembly and Operating Manual
PGN-plus-E
Electrical 2-Finger Parallel Gripper
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: 389750
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
Table of contents
3
Table of contents
1 General.................................................................................................................... 6
1.1 About this manual ................................................................................................6
1.1.1 Presentation of Warning Labels ...............................................................6
1.1.2 Definition of Terms...................................................................................6
1.1.3 Applicable documents ..............................................................................7
1.1.4 Sizes ..........................................................................................................7
1.1.5 Variants..................................................................................................... 7
1.2 Warranty .............................................................................................................. 7
1.3 Scope of delivery ..................................................................................................8
1.4 Accessories ........................................................................................................... 8
2 Basic safety notes ................................................................................................... 9
2.1 Intended use......................................................................................................... 9
2.2 Not intended use.................................................................................................. 9
2.3 Constructional changes ........................................................................................9
2.4 Spare parts ........................................................................................................... 9
2.5 Gripper fingers ................................................................................................... 10
2.6 Ambient conditions and operating conditions ................................................... 10
2.6.1 Environmental conditions.......................................................................11
2.7 Personnel qualification....................................................................................... 12
2.8 Personal protective equipment.......................................................................... 13
2.9 Notes on safe operation ..................................................................................... 13
2.10 Transport ............................................................................................................ 14
2.11 Malfunctions....................................................................................................... 14
2.12 Disposal .............................................................................................................. 14
2.13 Fundamental dangers......................................................................................... 14
2.13.1 Protection during handling and assembly ..............................................15
2.13.2 Protection during commissioning and operation ...................................15
2.13.3 Protection against dangerous movements.............................................16
2.13.4 Protection against electric shock............................................................17
2.13.5 Protection against magnetic and electromagnetic fields .......................18
2.14 Notes on particular risks..................................................................................... 19
3 Technical data.........................................................................................................21
3.1 "Digital I/O" variant ............................................................................................ 21
3.2 "IO-Link" variant ................................................................................................. 22
3.3 Ambient conditions and operating conditions ................................................... 22
4 Design and description............................................................................................23
4.1 Design ................................................................................................................. 23
4.1.1 "Digital I/O" variant ................................................................................23
Table of contents
4
4.1.2 "IO-Link" variant .....................................................................................24
4.2 Description ......................................................................................................... 24
4.3 Display ................................................................................................................25
4.3.1 "Digital I/O" variant ................................................................................25
4.3.2 "IO-Link" variant .....................................................................................27
5 Assembly and settings ............................................................................................28
5.1 Installing and connecting.................................................................................... 28
5.2 Connections........................................................................................................ 30
5.2.1 Mechanical connection...........................................................................30
5.2.2 Electrical connection - "Digital I/O" variant............................................33
5.2.3 Electrical connection - "IO-Link" variant.................................................35
5.3 Connecting ground cable.................................................................................... 36
5.4 Attaching additional structure............................................................................ 36
5.5 Adjust gripping force ..........................................................................................38
5.6 Installing the sensors.......................................................................................... 39
5.6.1 Overview of sensors ...............................................................................40
5.6.2 Switch-off hysteresis for magnetic switches ..........................................40
5.6.3 Installation position of the magnetic switches.......................................41
5.6.4 Mounting magnetic switch MMS 22.......................................................42
5.6.5 Mounting programmable MMS-P 22 magnetic switch...........................43
5.6.6 Mounting programmable magnetic switch MMS 22-PI1........................44
5.6.7 Mounting programmable MMS 22-PI2 magnetic switch........................45
5.6.8 Mounting analog (MMS 22-A) magnetic sensor, ...................................46
5.6.9 Set the integrated inductive proximity switch (IN).................................47
5.6.10 Use electronic processor FPS-F5/F5 T ....................................................49
6 Troubleshooting .....................................................................................................50
6.1 Product does not move ......................................................................................50
6.2 Product does not execute a complete stroke..................................................... 50
6.3 Product opens or closes jerkily........................................................................... 50
6.4 Gripping force too low........................................................................................ 50
6.5 Opening and closing times are not achieved...................................................... 51
6.6 Electrical signals are not transmitted .................................................................51
6.7 Product switches off........................................................................................... 51
6.8 Faults that are displayed via LEDs ...................................................................... 51
6.9 Acknowledge error ............................................................................................. 51
7 Maintenance ..........................................................................................................52
7.1 Maintenance intervals........................................................................................ 52
7.2 Lubricants/Lubrications points ...........................................................................53
7.3 Changing seals - dust-tight version (SD) ............................................................. 54
7.4 Tightening torques ............................................................................................. 54
7.5 Disassembly and assembling .............................................................................. 54
Table of contents
5
8 Translation of original declaration of incorporation ................................................55
9 Annex to Declaration of Incorporation....................................................................56
10 EU-Declaration of Conformity .................................................................................59
General
6
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 [}7] 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.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in this manual.
General
7
1.1.3 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Software guide "SCHUNK gripper with IO-Link" * The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.4 Sizes
This operating manual applies to the following sizes:
• PGN-plus-E 80
• PGN-plus-E 100
1.1.5 Variants
This operating manual applies to the following variations:
• PGN-plus-E Digital I/O
• PGN-plus-E IO-Link
• PGN-plus-E dust-tight (SD)
1.2 Warranty
The warranty is 24 months or a maximum of 10million cycles * from the date of delivery from the production facility if used as in­tended under the following conditions:
• Observe the ambient conditions and operating conditions, Am-
bient conditions and operating conditions [}10]
• Observe the specified maintenance and lubrication intervals,
Maintenance [}52]
Parts touching the workpiece and wear parts are not included in the warranty.
* A cycle consists of a complete gripping process, gripper "open" and gripper "close".
General
8
1.3 Scope of delivery
The scope of delivery includes
• 2-Finger Parallel Gripper PGN-plus-E in the version ordered
• Accessory pack
Content of the accessory pack:
• 2x centering sleeves for gripper fastening
• 4x centering sleeves for finger fastening
ID.-No. of the accessory pack
Size ID number
PGN-plus-E 80 5524224 PGN-plus-E 100 5524225
1.4 Accessories
A wide range of accessories are available for this product For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
Basic safety notes
9
2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily holding workpieces or objects.
If spring-like parts are to be gripped, this may only occur after first consulting with and receiving written approval from SCHUNK.
• The product may only be used within the scope of its technical data, Technical data [}21].
• 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.
Basic safety notes
10
2.5 Gripper fingers
Requirements of the gripper finger
Stored energy can make the product unsafe and risk the danger of serious injuries and considerable material damage.
• Only replace gripper finger if no residual energy can be re­leased.
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 [}21].
• 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.
Basic safety notes
11
2.6.1 Environmental conditions
Transport and storage requirements
If the product is transported and stored in its original packaging, the following data applies:
• Loading and unloading with mechanical aids
• Ambient temperature from -40°C to +70°C
• Air humidity up to max. 85%
Operational requirements
If the product is operated, the following data applies:
• Ambient temperature from +5°C to +55°C
• Air humidity up to max. 85%
In order to avoid overheating, it is recommended to reduce the gripping force to 75% for ambient temperatures above +50°C.
Derating diagram
According to DIN EN 60068-2-6 and DIN EN 60068-2-27, in accord­ance with EN 60721-3-2 and EN 60721-3-3, the product was sub­jected to a vibration and shock inspection during transport and in operation with respect to the ambient influences and withstands the required loads.
The product may only be used in the following locations if addi­tional measures are taken:
• In locations with a high level of ionizing radiation
• In locations with difficult operating conditions, e.g. due to caustic fumes, gases, oils or chemicals
• In facilities requiring special monitoring, e.g. in particularly at­risk areas
Basic safety notes
12
The product must also not be used in potentially explosive zones. If the product is subjected to unacceptably large impacts or vibra­tions, suitable measures must be taken to reduce the amplitude or acceleration of such disturbances. Vibration-damping or vibration­absorbing systems are to be used in such cases.
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.
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.
Basic safety notes
13
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.
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.
Basic safety notes
14
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.
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.
Basic safety notes
15
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.
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.
Basic safety notes
16
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.
• The faulty actuation of conected drives may cause dangerous movements.
• Operating mistakes, faulty parameterization during commission­ing or software errors may trigger dangerous movements.
• 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.
Basic safety notes
17
2.13.4 Protection against electric shock
Work on electrical equipment
Touching live parts may result in death.
• Work on the electrical equipment may only be carried out by qualified electricians in accordance with the electrical engineer­ing regulations.
• Lay electrical cables properly, e. g. in a cable duct or a cable bridge. Observe standards.
• Before connecting or disconnecting electrical cables, switch off the power supply and check that the cables are free of voltage. Secure the power supply against being switched on again.
• Before switching on the product, check that the protective earth conductor is correctly attached to all electrical compon­ents according to the wiring diagram.
• Check whether covers and protective devices are fitted to pre­vent contact with live components.
• Do not touch the product's terminals when the power supply is switched on.
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.
Basic safety notes
18
2.13.5 Protection against magnetic and electromagnetic fields
Work in areas with magnetic and electromagnetic fields
Magnetic and electromagnetic fields can lead to serious injuries.
• Persons with pace-makers, metal implants, metal shards, or hearing aids require the consent of a physician before entering areas in which components of the electric drive and control sys­tems are mounted, started up, and operated.
• Persons with pace-makers, metal implants, metal shards, or hearing aids require the consent of a physician before entering areas in which magnetic grippers or motor parts with perman­ent magnets are stored, repaired, or assembled.
• Do not operate high-frequency or radio devices in the proximity of electric components of the drive system and their feed lines.
If the use of such devices is necessary: When starting up the electric drive and control system, check
the machine or automated system for possible failures when such systems are used at different intervals and in different states of the control system. A special additional EMC test may be necessary if the system has a high risk potential.
Basic safety notes
19
2.14 Notes on particular risks
DANGER
Danger from electric voltage!
Touching live parts may result in death.
• Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched on again.
• Only qualified electricians may perform electrical installations.
• Check if de-energized, ground it and hot-wire.
• Cover live parts.
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.
Basic safety notes
20
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.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
• Use suitable protective equipment.
WARNING
Risk of burns through contact with hot surfaces!
The product can heat up considerably during operation. Touching hot surfaces can cause burns.
• Do not touch hot surfaces.
• Let them cool down before working on the product.
• Wear appropriate safety equipment.
WARNING
Risk of injury from objects falling during energy supply failure!
Electronic devices are not fail-safe. In case of an energy supply failure, the gripping force decreases. As a consequence, it cannot be guaranteed that the workpiece is held safely.
• In case of an energy supply failure, it is the user's responsibil-
ity to revert the drive into a safe state.
Technical data
21
3 Technical data
3.1 "Digital I/O" variant
Designation PGN-plus-E
80 100
Mechanical operating data
Weight [kg] 1.01 /
SD: 1.08
1.73 /
SD: 1.85
Gripping force [N] min. max.
110 570
200 810
Electrical operating data
Nominal voltage [VDC] 24 ±10% Nominal power current [A] 0.7 Max. current [A] 1.5
Integrated control electronics
Communications interface Digital I/O Number of digital inputs/outputs 2/2
More technical data is included in the catalog data sheet. Whichever is the latest version.
Technical data
22
3.2 "IO-Link" variant
Designation PGN-plus-E
80
IO-Link
100
IO-Link
Mechanical operating data
Weight [kg] 1.01 /
SD: 1.08
1.73 /
SD: 1.85
Gripping force [N] min. max.
110 570
200 810
Electrical operating data
Nominal voltage [VDC] 24 ±10% Nominal power current [A] 0.7 Max. current [A] 1.5
Integrated control electronics
Communications interface IO-Link Specification V1.1 Data rate COM2 Port Class B
More technical data is included in the catalog data sheet. Whichever is the latest version.
3.3 Ambient conditions and operating conditions
Designation PGN-plus-E
Ambient temperature [°C] min. max.
+5
+55 IP rating 40/SD: 64 Noise emission [dB(A)] ≤ 70
Design and description
23
4 Design and description
4.1 Design
4.1.1 "Digital I/O" variant
2-Finger Parallel Gripper , variant "Digital I/O"
1 Gripper finger interface 2 Housing 3 LEDs "POWER" and "ERROR/STATUS" 4 "Gripping force" rotary switch 5 "Voltage supply and actuation" connection plug 6 "Sensors" connection plug 7 LEDs sensors "S1" and "S2" 8 Gripper finger centering sleeve
Design and description
24
4.1.2 "IO-Link" variant
2-Finger Parallel Gripper , variant "IO-Link"
1 Gripper finger interface 2 Housing 3 LEDs "POWER", "COM" and "STATUS" 4 "IO-Link" connection plug 5 LEDs sensors "S1" and "S2" 6 Gripper finger centering sleeve
4.2 Description
The product is a servo-electric 2-finger parallel gripper featuring high power density and integrated electronics and two integrated inductive proximity switches.
Design and description
25
4.3 Display
4.3.1 "Digital I/O" variant
Function label
1 "Gripping force" rotary
switch
4 LED "POWER"
2 LED Sensor "S2" 5 LED LED "ERROR/STATUS" 3 LED Sensor "S1"
LED Voltage supply and control
Designation Color Function
POWER Green Indicates whether the voltage is connected.
• Lights up as long as voltage is present in the product.
• Does not light up if there is no voltage present in the product or the product has been connected with incorrect polarity.
Design and description
26
Designation Color Function
ERROR Red • Does not light up when there is no warning or error and the
product is ready to operate.
• Lights up if there is a low-voltage fault.
– Is automatically acknowledged if the fault is no longer present.
• Lights up if the continuous current load from the motor is too high (I2T).
– Is automatically acknowledged if the fault is no longer present.
• Blinks slowly (approx. every 1.2s) when there is an excessive temperature.
– The product enters an idle phase until it has cooled down.
The commands "open gripper" or "close gripper" are not processed
– The error must be acknowledged.
• Blinks rapidly (approx. every 0.6s) when the "gripping force" rotary switch is between two switching positions.
– Is automatically deleted when the "gripping force" rotary
switch is on one switching position.
STATUS Yellow • Lights up if the product is ready for operation.
• Does not light up (approx. 250ms), when a new command is initiated.
• Does not light up if there is an error.
Acknowledge error
Ø Wait until the product has cooled down. Ø Actuate both digital inlets, PIN 2 and PIN 4, with high. Ø OR:
Disconnect voltage supply and reconnect.
✓ LED "error" is extinguished and the error is acknowledged.
LED "Sensors"
Designation Color Function
S1 Yellow Shows when there is a sensor signal with the gripper closed.
• Lights up if there is a sensor signal.
• Does not light up if there is no sensor signal.
S2 Yellow Shows when there is a sensor signal with the gripper opened.
• Lights up if there is a sensor signal.
• Does not light up if there is no sensor signal.
Design and description
27
4.3.2 "IO-Link" variant
Function label
1 LED "POWER" 4 LED Sensor "S1" 2 LED "COM" 5 LED Sensor "S2" 3 LED "STATUS"
LED "POWER", "COM" and "STATUS"
Designation Color Function
POWER Green • Lights up if ready for operation
• Does not light up if logic or actuator voltage is reversed or not in the valid range.
COM Green • Does not light up if IO-Link communication is not active
• Flashes if IO-Link communication is active
STATUS Green
/ Red
• Does not light up if electronics are not active or defective
• Lights up green if ready for operation
• Lights up red in case of a fault. Error message is communic­ated via IO-Link
LED "Sensors"
Designation Color Function
S1 Yellow Shows when there is a sensor signal with the gripper closed.
• Lights up if there is a sensor signal.
• Does not light up if there is no sensor signal.
S2 Yellow Shows when there is a sensor signal with the gripper opened.
• Lights up if there is a sensor signal.
• Does not light up if there is no sensor signal.
Assembly and settings
28
5 Assembly and settings
5.1 Installing and connecting
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.
NOTE
Mount the product so that sufficient cooling is guaranteed. A tem­perature malfunction may occur if the product reaches excessively high temperatures.
"Digital I/O" version
Ø Check the evenness of the mounting surface, Mechanical con-
nection [}30].
Ø Screw the product to the machine/system, Mechanical connec-
tion [}30].
✓ If necessary, use appropriate connection elements (adapter
plates).
✓ Observe the permissible depth of engagement. ✓ Observe the tightening torque for the mounting screws.
Ø Secure the gripper fingers to the base jaws, Mechanical connec-
tion [}30].
Ø Connect the ground cable between the product and the ma-
chine/system, Connecting ground cable [}36].
Ø Place cable for sensors on the M8 connector and tighten, Elec-
trical connection - "Digital I/O" variant [}33].
Ø Adjust gripping force if necessary, Adjust gripping force [
}
38].
Ø Mount the sensor, Installing the sensors [
}
39].
Ø Place the voltage supply and control cable on the M8 connector
and screw it tight, Electrical connection - "Digital I/O" variant [}33].
"IO-Link" version
Ø Check the evenness of the mounting surface, Mechanical con-
nection [}30].
Assembly and settings
29
Ø Screw the product to the machine/system, Mechanical connec-
tion [}30].
✓ If necessary, use appropriate connection elements (adapter
plates).
✓ Observe the permissible depth of engagement. ✓ Observe the tightening torque for the mounting screws.
Ø Secure the gripper fingers to the base jaws, Mechanical connec-
tion [}30].
Ø Connect the ground cable between the product and the ma-
chine/system, Connecting ground cable [}36].
Ø Place the cable for IO-Link on the M12 connector and tighten,
Electrical connection - "IO-Link" variant [}35].
Assembly and settings
30
5.2 Connections
5.2.1 Mechanical connection
Evenness of the mounting surface
The values refer to the entire bolting surface on which the product is mounted.
Requirements for the evenness of the bolting surface (dimensions in mm)
Edge lengths Permissible unevenness
< 100 < 0.01 > 100 < 0.02
Connections at the base jaws
Connections at the base jaws
Item Mounting PGN-plus-E
80 100
1 Mounting screw M5 M6
Max. depth of engagement from locating surface [mm]
11.9 14.2
2 Centering sleeve Ø8 Ø10
Dust-tight (SD)
NOTE
On delivery of the dust-tight version (SD) the intermediate jaws are screwed onto the base jaws. The intermediate jaws can be­come off while removing the screws.
Observe during assembly, that the intermediate jaws are between the base jaws und the gripper finger.
Assembly and settings
31
Connections at the housing
The product can be mounted from three sides.
Assembly options
Item Mounting PGN-plus-E
80 100
Side A
1 Mounting screws M5 M6
Maximum depth of engagement from locating surface [mm]
11 14
Mounting screws as per standard DIN EN ISO 4762
2 Centering sleeves Ø8 Ø10
Side B
3 Bore hole for mounting screws M4 M5
Mounting screws as per standard DIN EN ISO 4762
2 Centering sleeves Ø8 Ø10
Side C
5 Bore hole for mounting screws M5 M6
Mounting screws as per standard DIN EN ISO 4762
Max. strength class 8.8
4 Centering sleeves Ø8 Ø10
Assembly and settings
32
Connections for additional structure
Connections for additional structure
Item Mounting PGN-plus-E
80 100
1 Thread in the case M2.5 M3 X Max. depth of engagement from
locating surface [mm]
7.1 8.4
2 Centering sleeve Ø4 Ø5
Assembly and settings
33
5.2.2 Electrical connection - "Digital I/O" variant
NOTICE
Risk of damage to the electronics!
A faulty connection can cause damage to the internal electronics.
• The supply network must be a network of type "PELV" for
power and logic.
• Observe the PIN assignment of the connecting terminals.
• Make sure that all components are grounded correctly.
NOTE
When using customer-specific cable: at least 4 x 0.34 mm²
PIN-allocation connection plug sensors and voltage supply and actuation
Connection assignment for sensors
Pin Wire strand Signal
1 Brown + 24V 2 White Sensor 2 3 Blue GND 4 Black Sensor 1
Connection assignment for voltage supply and actuation
Pin Wire strand Signal
1 Brown + 24V 2 White Open 3 Blue GND 4 Black Close
Components of the electrical connection
Connection Plug connector
PGN-plus-E
Plug connector provided by the customer
Sensors Plug connector
4-pole, M8
Connection cable 4-pole, M8 socket
Voltage supply and control
Plug connector 4-pole, M8
Connection cable 4-pole, M8 socket
Assembly and settings
34
5.2.2.1 Actuation of the digital inputs.
Truth table
The truth table shows the actuation of the digital inputs during possible commands by the superordinated control unit.
Power consumption per digital inputs amounts to max. I=10mA.
Open/close digital inlets
Function Pin 2
(open)
Pin 4
(close)
De-energized drive (shutdown, motor is short-circuited)
0 0
Open the gripper 1 0 Close the gripper 0 1 Rectify error
(shutdown, motor is short-circuited)
1 1
Rest period between two commands
NOTICE
Material damage due to faulty control!
Inputting twice can damage internal electronics.
• Maintain a rest period between commands.
The following graph shows the minimum rest period that must be kept between two commands.
Min. pause time:
15 ms
Open gripper
Close gripper
Example Open Gripper/Close Gripper
Assembly and settings
35
5.2.3 Electrical connection - "IO-Link" variant
NOTICE
Risk of damage to the electronics!
A faulty connection can cause damage to the internal electronics.
• The supply network must be a network of type "PELV" for
power and logic.
• Observe the PIN assignment of the connecting terminals.
• Make sure that all components are grounded correctly.
NOTE
When using customer-specific cable: at least 4 x 0.34 mm²
Components of the electrical connection
Plug connector Gripper
Plug connector provided by the customer
Connection plug 5-pin, M12, A-coded
Connection cable 5-pin, M12 socket, A-coded
IO-Link cable assignment, 5-pin M12 port class B
Pin Wire strand Signal
1 Brown + 24V 2 White + 24 V (actuator) 3 Blue GND 4 Black C/Q IO-Link 5 Grey GND (actuator)
NOTE
For information on actuation, see Software guide "SCHUNK grip­per with IO-Link".
Assembly and settings
36
5.3 Connecting ground cable
Ground connection
1 Screw * 4 Toothed lock washer 2 Washer 5 Product 3 Cable lug 6 Ground marking
*) Tightening torque: 5 Nm A ground connection with a sufficient cross-section must be estab-
lished between the product and the machine on the customer's premises. The ground cable must be mounted on the threaded hole identi­fied by the ground marking.
NOTE
Only connect the ground cable at the location intended for this purpose.
Always mount the ground cable singly.
Always use all components to screw in the ground cable and install them in this order: toothed lock washer, cable lug, washer and bolt. See "Ground connection" diagram. Observe the tightening torque.
5.4 Attaching additional structure
NOTE
With the dust-tight version (SD), no additional structure can be at­tached.
Assembly and settings
37
Gripper with additional structure
1 Gripper 4 Centering sleeve 2 Additional structure 5 Gripper fingers 3 Workpiece
For supporting things like workpieces, an additional structure can be attached to the gripper.
The locating surface of the additional structure may not exceed the recess of the cover. The external dimensions of the additional structure can exceed the external dimensions of the gripper but not interfere with the operating cycle of the gripper fingers.
Ø NOTICE!The size of the additional structure may not exceed
the recess of the cover.
Ø Remove the screws (1) from the cover (2). Ø Remove the cover (2).
Assembly and settings
38
Ø NOTICE!Ensure that no foreign objects can enter the gripper.
Attach additional structure within the recess (4), Mechanical
connection [}30].
✓ Use centering sleeves (3) between gripper and additional
structure. Centering sleeves can be ordered from SCHUNK.
✓ The threaded holes (5) of the cover are used for securing the
additional structure.
5.5 Adjust gripping force
NOTE
The gripping force can be adjusted using the rotary switch only for the "Digital I/O" variant.
For information on adjusting the gripping force for the "IO-Link" variant, see Software guide "SCHUNK gripper with IO-Link".
The gripping force is changed by altering the current limitation via the "Gripping force" rotary switch.
■ Digital inputs "Opens gripper" and "Closes gripper" are not
powered (low), Wahrheitstabelle [}34].
Ø Remove seal plug. Ø Adjust gripping force with the "Gripping force" rotary switch. Do
this using a suitable slit screwdriver with a blade at least 2mm wide. NOTICE!Do not exert axial pressure on the axis of the
rotary switch.
Note: The "Gripping force" rotary switch has four set positions.
Ø Insert seal plug.
✓ The IP 67 protection class (electronics housing) is only en-
sured when the seal plug is mounted.
Item Gripping force [%]
100 (default) 100
75 75 50 50 25 25
Assembly and settings
39
5.6 Installing the sensors
NOTE
Observe the assembly and operating manual of the sensor for mounting and connecting.
The product is prepared for the use of sensors.
• For the exact type designations of suitable sensors, please see catalog datasheet and Overview of sensors [}40].
• For technical data for the suitable sensors, see assembly and operating manual and catalog datasheet.
– The assembly and operating manual and catalog datasheet
are included in the scope of delivery for the sensors and are available at schunk.com.
• Information on handling sensors is available at schunk.com or from SCHUNK contact persons.
Sensors MMS-P 22, MMS 22-PI1 and MMS 22-PI2
During operation, the sensor may not exceed or drop below a tem­perature range of ± 15°C from the control temperature of the switching points. If the temperature range is exceeded or dropped below, the sensor no longer works. If the temperature changes, switching points may have to be readjusted.
Example: Temperature when setting the switching points = 30°C 30°C ± 15°C Temperature range: 15°C to 45°C
Assembly and settings
40
5.6.1 Overview of sensors
Designation PGN-plus-E
80 100
Magnetic switch MMS 22 X X Programmable magnetic switch
MMS 22-PI1
X X
Programmable magnetic switch MMS 22-PI2
X X
Analog magnetic switch MMS 22-A
X X
Programmable magnetic switch MMS-P 22
X X
5.6.2 Switch-off hysteresis for magnetic switches
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
Assembly and settings
41
5.6.3 Installation position of the magnetic switches
Installation position MMS 22-PI2, MMS-P 22, MMS 22-A
For the magnetic switches MMS 22-PI2, MMS-P 22 and MMS 22-A, the sensor can be mounted with a cable outlet above or below in one of the two grooves.
Installation position MMS 22-PI1
For the magnetic switch MMS 22-PI1, both sensors can be moun­ted with a cable outlet either above or below in the two grooves.
Installation position MMS 22
With the magnetic switch MMS 22, the sensor 1 (1) must be mounted with cable outlet pointing upwards. The sensor 2 (2) can be mounted with cable outlet above or below.
Assembly and settings
42
5.6.4 Mounting magnetic switch MMS 22
NOTICE
Material damage due to an incorrect tightening torque!
If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged.
• Observe a maximum tightening torque of 10 Ncm for the set-
screws.
Position Gripper closed
Ø Put product in the position in which it is to be set. Ø Turn the sensor 1 (1) into the groove (2).
OR: Push the sensor 1 (1) into the groove (2) until the sensor 1 (1) stops at the housing (3).
✓ The cable outlet is pointing upwards, Installation position of
the magnetic switches [}41].
Ø Pull the sensor 1 (1) back again slowly until it switches. Ø Secure the sensor 1 (1) using the set-screw (4).
Tightening torque: 10Ncm
Ø Close the product and open it again in order to test its function.
Position Gripper open
Ø Put product in the position in which it is to be set. Ø Turn the sensor 2 (3) into the groove (2).
OR: Slide sensor 2 (3) into the groove (2) in the direction of the housing middle (3), until the sensor 2 (3) switches.
✓ The cable outlet can either point down or up, Installation po-
sition of the magnetic switches [}41].
Ø Secure the sensor 2 (3) using the set-screw (4).
✓ Tightening torque: 10Ncm
Assembly and settings
43
Ø Open the product and close it again in order to test its function.
5.6.5 Mounting programmable MMS-P 22 magnetic switch
NOTICE
Material damage due to an incorrect tightening torque!
If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged.
• Observe a maximum tightening torque of 10 Ncm for the set-
screws.
NOTE
If there is no clamping stop available, slide the sensor according to dimension I2 or dimension I1 into the groove (2).
Ø Turn the sensor (1) into the groove (2).
OR: Slide the sensor (1) into the groove (2) until the sensor 1 (1) stops at the T-nut (3).
✓ The cable outlet can either point down or up, Installation po-
sition of the magnetic switches [}41].
Ø Secure the sensor (1) using the set-screw (4).
✓ Tightening torque: 10Ncm
Ø Adjust sensor (1), see sensor assembly and operating manual.
Size l1* l2*
80 43 20.7 100 50.5 30.5
* Dimension I1/I2 Outer edge of product up to front side sensor [mm]
Assembly and settings
44
5.6.6 Mounting programmable magnetic switch MMS 22-PI1
NOTICE
Material damage due to an incorrect tightening torque!
If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged.
• Observe a maximum tightening torque of 10 Ncm for the set-
screws.
With the sensor 1 the position gripper closed is set and with the sensor 2 the position gripper open is set.
NOTE
If there is no clamping stop available, slide the sensor according to dimension I2 or dimension I1 into the groove (2).
Ø Turn the sensor 1 (1) into the groove (2).
OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1 (1) stops at the T-nut (3).
✓ The cable outlet can either point down or up, Installation po-
sition of the magnetic switches [}41].
Ø Secure the sensor 1 (1) using the set-screw (4).
✓ Tightening torque: 10Ncm
Ø Adjust sensor 1 (1), see sensor assembly and operating manual. Ø Repeat steps for sensor 2 (5).
Size l1* l2*
80 43 20.7 100 50.5 26.5
* Dimension I1/I2 Outer edge of product up to front side sensor [mm]
Assembly and settings
45
5.6.7 Mounting programmable MMS 22-PI2 magnetic switch
NOTICE
Material damage due to an incorrect tightening torque!
If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged.
• Observe a maximum tightening torque of 10 Ncm for the set-
screws.
NOTE
If there is no clamping stop available, slide the sensor according to dimension I2 or dimension I1 into the groove (2).
Ø Turn the sensor (1) into the groove (2).
OR: Slide the sensor (1) into the groove (2) until the sensor 1 (1) stops at the T-nut (3).
✓ The cable outlet can either point down or up, Installation po-
sition of the magnetic switches [}41].
Ø Secure the sensor (1) using the set-screw (4).
✓ Tightening torque: 10Ncm
Ø Adjust sensor (1), see sensor assembly and operating manual.
Size l1* l2*
80 43 20.7 100 50.5 26.5
* Dimension I1/I2 Outer edge of product up to front side sensor [mm]
Assembly and settings
46
5.6.8 Mounting analog (MMS 22-A) magnetic sensor, .
NOTICE
Material damage due to an incorrect tightening torque!
If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged.
• Observe a maximum tightening torque of 10 Ncm for the set-
screws.
NOTE
If there is no T-nut available, slide the sensor according to dimen­sion I1 or the dimension I2, Link Einstellmaße.
Ø Turn the sensor (1) into the groove (2).
OR: Slide the sensor (1) into the groove (2) until the sensor 1 (1) stops at the T-nut (3).
✓ The cable outlet can either point down or up, Installation po-
sition of the magnetic switches [}41].
Ø Secure the sensor (1) using the set-screw (4).
✓ Tightening torque: 10Ncm
Ø Adjust sensor (1), see sensor assembly and operating manual.
Size l1* l2*
80 43 20.7 100 50.5 28.5
* Dimension I1/I2 Outer edge of product up to front side sensor [mm]
Assembly and settings
47
5.6.9 Set the integrated inductive proximity switch (IN)
In the delivery state, the control cam S1 is set to "gripper closed" and the control cam S2 to "gripper open".
Ø Clamp the part to be gripped. Ø Loosen expander bolt (1) by unscrewing it from the control cam (3).
Guide value: approx. 8.5mm
Ø Turn adjustable spindle (2) in order to adjust the position of the
control cam (3).
✓ Position "part gripped (O.D. gripping)/gripper closed":
Slide control cam (3) outwards until the sensor no longer re­sponds.
✓ Move the control cam (3) back towards the inside until the
sensor begins to switch.
✓ Position "part gripped (I.D. gripping)/gripper open":
Slide control cam (3) inwards until the sensor no longer re­sponds.
✓ Move the control cam (3) back towards the outside until the
sensor begins to switch.
Ø Re-tighten the expander bolt (1) to fix the switching point.
For tightening torque see table
Ø Open the product and close it again in order to test its function.
Assembly and settings
48
Turn control cam
A Installation position of the control cam
Position "part gripped (O.D. gripping)/gripper closed"
B Installation position of the control cam
Position "part gripped (I.D. gripping)/gripper open"
Ø Completely unscrew expander bolt (1) from the control cam (3). Ø Turn adjustable spindle (2) in order to adjust the control cam (3).
✓ The control cam (3) is slid outwards.
Ø Remove control cam (3) from the base jaw (4) and re-insert it
back-to-front into the base jaw.
Ø Turn adjustable spindle (2) in order to adjust the control cam (3).
✓ The control cam (3) is slid inwards.
Ø Adjust switching points. Ø Screw expander bolt (1) into the control cam (3).
For tightening torque see table
Tightening torques
Item Mounting PGN-plus-E
80 100
1 Wrench size 1.3 1.5
Max. tightening torque [Nm] 0.2 0.3
2 Wrench size 1.3 1.5
Max. adjusting torque [Nm] 0.2 0.3
Assembly and settings
49
5.6.10 Use electronic processor FPS-F5/F5 T
NOTE
The electronic processor (FPS-F5/F5 T) can only be used with the analog magnetic sensor (MMS 22-A, 5V). The assembly of a flex­ible position sensor (FPS-S M8 or FPS-S 13) on the gripper is not possible.
Ø Mounting analog (MMS 22-A) magnetic sensor, Mounting ana-
log (MMS 22-A) magnetic sensor, . [}46].
Ø Connect electronic processor to the sensor. Ø Commission electronic processor, see assembly and operating
manual FPS-F5 / FPS-F5 T.
Troubleshooting
50
6 Troubleshooting
6.1 Product does not move
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 [}30]
Loosen the mounting screws of the product and actuate the product again.
Power supply connected incorrectly. Check the power supply.
Electrical connection - "Digital I/O" variant
[}33]
6.2 Product does not execute a complete stroke
Possible cause Corrective action
Dirt deposits between basic jaws and guidance. Clean and lubricate product.
Maintenance [}52]
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
Mechanical connection [}30]
Breakage of components, e.g. by overloading. Send the product to SCHUNK with a repair
order.
6.3 Product opens or closes jerkily
Possible cause Corrective action
Too little grease in the mechanical guiding areas.
Clean and lubricate product.
Maintenance [}52]
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
Mechanical connection [}30]
Loading too large. Check permissible weight and length of the
gripper fingers.
Technical data [}21]
6.4 Gripping force too low
Possible cause Corrective action
Too much grease in the mechanical move­ment space.
Clean and lubricate product.
Maintenance [}52]
Wrong gripping pre-selection. Check adjustment of the gripping force.
Adjust gripping force [}38]
Check layout of the product. Meanwhile ob­serve the maximum workpiece weight, see Catalog Data Sheet.
Technical data [}21]
Troubleshooting
51
6.5 Opening and closing times are not achieved
Possible cause Corrective action
Loading too large. Check permissible weight and length of the
gripper fingers.
6.6 Electrical signals are not transmitted
Possible cause Corrective action
Cable connected incorrectly. Check round connector for correct fit. Strands swapped. Check pin allocation.
6.7 Product switches off
Possible cause Corrective action
Voltage error Measure voltage and check cabling and
power supply unit.
6.8 Faults that are displayed via LEDs
Variante "Digital I/O"
Possible cause LED "ERROR" Corrective action
Rotary switch is in an intermediate position
LED blinks at
0.6s intervals
Turn rotary switch to a marked position.
Fault Temperature too high
LED blinks at
1.2s intervals
Let product cool down and acknowledge er­ror.
Variante "IO-Link"
Possible cause LED "STATUS" Corrective action
Acknowledgment­binding fault
LED lights up red To check device status via IO link, see Soft-
ware guide "SCHUNK gripper with IO-Link".
6.9 Acknowledge error
Ø Wait until the product has cooled down. Ø Actuate both digital inlets, "Opens gripper" and "Closes grip-
per", with high. OR: Disconnect voltage supply and reconnect.
✔ The "ERROR" LED goes out. The error is acknowledged.
Maintenance
52
7 Maintenance
7.1 Maintenance intervals
If products are used at room temperature and the ambient and operating conditions are adhered to, these variants are mainten­ance-free, Ambient conditions and operating conditions [}22].
Products for special ambient conditions are excluded, e.g.higher temperatures, dirty environment.
Interval at
PGN-plus-E
Maintenance work
Every 1000 cycles or
once per day
Travel an entire stroke.
Interval [Mio. cycles]
for
PGN-plus-E
Maintenance work
5 Clean the product dry without a degreasing
agent, check for damage and wear.
5 Treat all grease areas with lubricant,
Lubricants/Lubrications points [}53].
Interval [Mio. cycles]
for
PGN-plus-E
Maintenance work
10 Version SD: Replace all seals, Changing seals
- dust-tight version (SD) [}54]
For extreme ambient and application conditions, shortened main­tenance cycles can ensure the lifespan is maintained.
NOTICE
Material damage due to hardening lubricants!
Lubricants harden more quickly at temperatures above 60°C, leading to possible product damage.
• Reduce the lubricant intervals accordingly.
NOTICE
Damage to property caused by insufficient lubrication!
Continuously traveling short strokes when the product is inad­equately lubricated risks damaging it by causing it to run dry.
• Travel the full stroke every 1000 cycles or at least once daily.
Maintenance
53
7.2 Lubricants/Lubrications points
SCHUNK recommends the lubricants listed. During maintenance, treat all greased areas with lubricant. Thinly
apply lubricant with a lint-free cloth.
Lubricant point Lubricant
Metallic sliding surfaces Isoflex-Topas NCA 52
For dust-tight version (SD):
All seals
Renolit HLT 2
Lubricant point Lubricant
Metallic sliding surfaces Isoflex-Topas NCA 52
Lubricant point: Metallic sliding surfaces
Maintenance
54
7.3 Changing seals - dust-tight version (SD)
Ø Unfasten and remove the screws(1). Ø Remove gripper finger(2) and centering sleeves(3). Ø Pull the intermediate jaws(4) upwards and remove the
seals(5).
Ø Grease and insert the new seals(5), Lubricants/Lubrications
points [}53].
Ø Assemble in reverse order. Observe tightening torques in doing
so,Tightening torques [}54].
7.4 Tightening torques
Item Mounting PGN-plus-E
80 100
1 Screw [Nm] 10 15
7.5 Disassembly and assembling
This product must not be disassembled for maintenance.
NOTICE
Material damage due to incorrect assembly and disassembly!
Faulty assembly and disassembly of the product can cause dam­age to the mechanics and internal electronics.
• Only allow SCHUNK to repair the product.
Translation of original declaration of incorporation
55
8 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: 2-Finger Parallel Gripper / PGN-plus-E / ID number 0318832; 0318856; 1327621; 1355485; 1358026; 1358027;
1358031; 1358033
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 Prof. Dr.-Ing. Markus Glück,
Managing Director Research & Development
Annex to Declaration of Incorporation
56
9 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 2-Finger Parallel Gripper Type designation PGN-plus-E ID number 0318832; 0318856; 1327621; 1355485; 1358026; 1358027; 1358031;
1358033
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
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
Annex to Declaration of Incorporation
57
1.3 Protection against mechanical hazards
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
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
Annex to Declaration of Incorporation
58
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 charac­teristics
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
EU-Declaration of Conformity
59
10 EU-Declaration of Conformity
Manufacturer/ Distributor
SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar
Product designation: 2-Finger Parallel Gripper PGN-plus-E ID number 0318832; 0318856; 1327621; 1355485; 1358026; 1358027;
1358031; 1358033
We hereby declare on our sole authority that the product meets the requirements of the following directive at the time of declaration. The declaration is rendered invalid if modifications are made to the product.
• EMC Directive 2014/30/EU
Directive of the European Parliament and the Council of February 26, 2014 on the har­monization of the laws of the Member States relating to electromagnetic compatibility
Applied harmonized standards, especially:
EN 61000-6-2 (2005) Electromagnetic compatibility (EMC) - Partl 6-2: Generic
standards -Immunity for industrial environments IEC 61000-6-2: 2005
EN 61000-6-4:2007 + A1:2011
Electromagnetic compatibility (EMC) - Part 6-4: Generic standards
- Emission standard for industrial environments (IEC 61000-6-4:2006 + A1:2010);
Signed for and on behalf of: SCHUNK GmbH & Co. KG
Prof. Dr.-Ing. Markus Glück, Managing Director Research & Development
Lauffen/Neckar, November 2018
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