3-finger centric gripper
Original operating manual
PZH-plus 020-075
Assembly and Operating Manual
Superior Clamping and Gripping
Imprint
Dear customer,
Kindest Regards
Yours SCHUNK GmbH & Co. KG
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely supplied to our customers and operators of our products and forms part of the product. This
documentation may not be duplicated or made accessible to third parties, in particular competitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389504
Edition: 02.00 |26/10/2016|en
© SCHUNK GmbH & Co. KG
All rights reserved.
congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for
the highest precision, top quality and best service.
You are going to increase the process reliability of your production and achieve best
machining results – to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time – even after purchase.
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
Fax +49-7133-103-2399
www.schunk.com
2 02.00|PZH-plus 020-075|en
info@de.schunk.com
Table of contents
075|en
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
Sizes ........................................................................................................................ 6
1.2
Warranty ............................................................................................................................ 6
1.3
Scope of delivery ................................................................................................................ 6
1.3.1
Accessory pack ....................................................................................................... 6
1.4
Accessories ......................................................................................................................... 7
1.4.1
Seal kit .................................................................................................................... 7
1.4.2
Mounting kit for proximity switch IN ................................................................... 7
1.4.3
Pressure piece assembly kit .................................................................................. 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
Environmental 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 ....................................................................... 14
2.14
Notes on particular risks ................................................................................................. 14
3
Technical data .................................................................................................................. 16
4
Design and description .................................................................................................... 17
4.1
Configuration ................................................................................................................... 17
4.2
Description ....................................................................................................................... 17
5
Assembly ......................................................................................................................... 18
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Table of contents
5.1
Connections ..................................................................................................................... 18
5.1.1
Mechanical connection ....................................................................................... 18
5.1.2
Air connection ..................................................................................................... 20
5.2
Mounting the sensor ....................................................................................................... 22
5.2.1
Overview of sensors ............................................................................................ 22
5.2.2
IN 80 inductive proximity switch ........................................................................ 23
5.2.3
MMS 22 magnetic switch ................................................................................... 25
5.2.4
MMS-P programmable magnetic switch ........................................................... 27
6
Troubleshooting .............................................................................................................. 32
6.1
Product is not moving ..................................................................................................... 32
6.2
The module does not travel through the entire stroke? .............................................. 32
6.3
Product opens or closes abruptly ................................................................................... 33
6.4
The gripping force is dropping ........................................................................................ 33
6.5
Product does not achieve the opening and closing times ............................................ 34
7
Maintenance .................................................................................................................... 35
7.1
Notes................................................................................................................................. 35
7.2
Maintenance and lubrication intervals .......................................................................... 35
7.3
Lubricants/Lubrication points ......................................................................................... 35
7.4
Disassembly of the module ............................................................................................ 36
7.4.1
Assembly tool X ................................................................................................... 37
7.4.2
Assembly tool Y ................................................................................................... 38
7.5
Servicing and assembling the module ............................................................................ 39
7.5.1
Screw tightening torques .................................................................................... 39
8
Assembly drawing ........................................................................................................... 40
9
Translation of original declaration of incorporation ........................................................ 41
10
Annex to Declaration of Incorporation ............................................................................ 42
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General
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DANGER
Danger for persons!
WARNING
Dangers for persons!
CAUTION
Dangers for persons!
NOTICE
Material damage!
1
1.1
1.1.1
General
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
( 1.1.2, Page 6)
Presentation of Warning Labels
are applicable.
To make risks clear, the following signal words and symbols are used
for safety notes.
Non-observance will inevitably cause irreversible injury or death.
Non-observance can lead to irreversible injury and even death.
Non-observance can cause minor injuries.
Information about avoiding material damage.
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General
Accessory pack for
ID number
PZH-plus 20
5522173
PZH-plus 30
5522174
PZH-plus 50
5522175
PZH-plus 75
5522176
1.1.2
1.1.3
1.2
1.3
1.3.1
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 www.schunk.com.
Sizes
This operating manual applies to the following sizes:
• PZH-plus 20
• PZH-plus 30
• PZH-plus 50
• PZH-plus 75
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:
• Intended use in 1-shift operation
• Observe the mandatory maintenance and lubrication intervals
• Observe the environmental and operating conditions
Parts touching the work piece and wear parts are not part of the warranty.
Scope of delivery
The scope of delivery includes
• 3-finger centric gripper PZH-plus in the version ordered
• Accessory pack
Accessory pack
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ID.-No. of the accessory pack
Content of the accessories pack: ( 8, Page 40).
General
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Seal kit for
ID number
PZH-plus 20
5522219
PZH-plus 30
5522220
PZH-plus 50
5522221
PZH-plus 75
5522222
ID number
PZH-plus
0305364
Assembly kit for
ID number
PZH-plus 20
0305363
PZH-plus 30
0305373
PZH-plus 50
0305383
PZH-plus 75
0305393
1.4
1.4.1
1.4.2
1.4.3
Accessories
A wide range of accessories are available for this product
For information about which accessories can be used with the appropriate product version see catalog.
Seal kit
ID.-No. of the seal kit
Contents of the sealing kit, ( 8, Page 40).
Mounting kit for proximity switch IN
ID no. of the mounting kit
Pressure piece assembly kit
ID no. of the assembly kit
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Basic safety notes
2
2.1
2.2
2.3
2.4
Basic safety notes
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 da-
ta, ( 3, Page 16)
.
• 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 use.
• Appropriate use of the product includes compliance with all instructions in this manual.
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.
Constructional changes
Making constructional changes
Modifications, constructional changes and subsequent work, e.g. additional threads, drill holes and safety devices may impair the operation and safety or damage the product.
• Constructional changes may only be done with SCHUNK's permission.
Spare parts
Use of unauthorised spare parts
Using unauthorised spare parts can endanger personnel and damage
the product or cause it to malfunction.
• Use only original spare parts or spares authorised by SCHUNK.
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Basic safety notes
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Gripper fingers
2.5
2.6
2.7
Trained electrician
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.
Environmental 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 and the top jaws are a sufficient size
for the application.
• Observe maintenance and lubrication intervals, ( 7.2, Page 35)
.
• 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.
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:
Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
02.00|PZH-plus 020-
9
Basic safety notes
avoid possible dangers and know the relevant standards and regula-
Pneumatics specialist
Hydraulic specialist
Qualified personnel
Instructed person
Service personnel of
the manufacturer
2.8
tions.
Pneumatics specialists have been trained for this particular area of
responsibility and know the relevant standards and regulations.
Hydraulic specialists have been trained for this particular area of responsibility and knows the relevant standards and regulations.
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 persons were instructed by the operator about the delegated tasks and possible dangers due to improper behaviour.
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.
Personal protective equipment
Using personal protective equipment
Not wearing personal protective equipment while working with the
product, may result in dangers that impact the personnel's safety and
health.
• While working with the product, observe the health and safety
regulations and wear the required personal safety equipment.
• Observe the valid safety and accident prevention regulations.
• In case of sharp edges and corners and rough surfaces, wear protection gloves.
• In case of hot surfaces, wear heat-resistant protection gloves.
• When dealing with hazardous substances, wear protection gloves
and goggles.
• In case of moving parts, wear tight protection clothes.
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Basic safety notes
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Notes on safe operation
2.9
2.10
2.11
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.
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.
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.
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Basic safety notes
2.12
2.13
2.13.1
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.
Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety installations.
• Install the provided protective product in the danger zone before
switching on the product.
• Remove energy supplies before the installation, modification,
maintenance or adjustment work. Make sure that no residual energy is remaining in the system.
• Do not move parts by hand while the energy supply is connected.
• Do not reach into the open mechanism or movement area of the
product during operation.
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.
12 02.00|PZH-plus 020-075|en
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.
Basic safety notes
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Protection during commissioning and operation
2.13.2
2.13.3
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• The danger zone must be cordoned off by a protective barrier.
• Never step into the danger zone during operation.
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 and ensure that no residual energy
remains.
• 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. Restrict unintentional access by persons to this range e.g. via a protective
cover, protective fence or photoelectric barrier. 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. Check the function of the
EMREGENCY STOP before starting up the machine or system. If
this protective equipment is not working properly, prevent the
operation of the machine.
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Basic safety notes
Protection against electric shock
DANGER
Risk of fatal injury from suspended loads!
• Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
• The danger zone must be cordoned off by a protective barrier.
2.13.4
2.14
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 equipotential bonding in accordance with the applicable regulations.
• While paying particulary attention to the actual conditions of the
working environment, the equipotential bonding must be implemented by a specialist electrician according to the applicable regulations.
• The effectiveness of the equipotential bonding must be verified
by executing regular safety measurements.
Notes on particular risks
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.
Falling and ejected objects during operation can lead to serious injury or death.
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Basic safety notes
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WARNING
Risk of injury from uncontrolled movements!
• Make sure there is no residual energy in the system
WARNING
Risk of injury due to squeezing and bumping!
movement range.
WARNING
Risk of injury from sharp edges and corners!
• Use suitable protective equipment.
WARNING
Risk of injury due to spring forces!
• Make sure that no residual energy remains in the system.
WARNING
Risk of injury from objects falling during energy supply failure
pressure maintenance valves.
system, parts may move unexpectedly and cause serious injuries.
• Switch off energy supply.
If the energy supply is switched on or residual energy remains in the
Moving the base jaws and breaking or loosening the gripper fingers
may cause serious injuries.
• Do not reach into the product's open mechanical system or
Sharp edges and corners can cause cuts.
Parts are under spring tension on modules which clamp using spring
force or which have gripping force maintenance. While disassembling it is possible that the gripper’s parts move uncontrollably and
cause serious injuries.
• Disassemble the product cautiously.
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
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Technical data
Pressure medium
Compressed air, compressed air
1:7 4 4
Nominal working pressure [bar]
6
Min. pressure [bar]
2
Max. pressure [bar]
8
Pressure range for
air purge [bar]
0,5 – 1
Noise emission [dB(A)]
≤ 70
3
Technical data
quality according to ISO 8573-
More technical data are included in the catalog data sheet. Whichever is the latest version.
16 02.00|PZH-plus 020-075|en
Design and description
075|en
1
Housing
2
Air purge connection
3
Main air connections
4
Base jaws
4
4.1
4.2
Design and description
Configuration
3-finger centric gripper
Description
Universal centric gripper with high gripping force and maximum moments due to multi-tooth guidance
02.00|PZH-plus 020-
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Assembly
Diameter
Permissible unevenness
< 100
< 0.02
> 100
< 0.05
WARNING
Risk of injury if the unit falls during transport or assembly!
• The gripper is to be hoisted by the three transport threads.
5
5.1
5.1.1
Levelness of the
mounting surface
Assembly
Connections
Mechanical connection
The values apply to the whole mounting surface to which the product
is mounted.
Requirements for levelness of the mounting surface (Dimensions in mm)
• Secure the unit during transport and assembly by sufficiently
large aids.
Handling with large weight for PZH-plus 75
Eye bolts in the transport threads
18 02.00|PZH-plus 020-075|en
Assembly
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1
Mounting from the rear
4
Finger mounting
2
Centering sleeves
5
Mounting from the front
3
Centering sleeves
Size
20
30
50
75
Thread diameter and max. depth of
engagement for rear mounting
M6
15 deep
M8
22 deep
M10
24 deep
M12
34 deep
Thread diameter and max. depth of
engagement for finger mounting
M4
10 deep
M5
10 deep
M5
10 deep
M10
17 deep Mounting
The module can be mounted from the front or the rear.
Mounting material
The centering sleeves (2 / 3) are included in the accessory pack.
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Assembly
CAUTION
The spring-loaded pressure piece is under spring tension.
springs.
NOTICE
Damage to the gripper is possible!
• Observe the diagrams and information in the catalog data sheet.
NOTICE
Observe the requirements for the air supply
5.1.1.1
5.1.2
Mounting of the gripper by using a spring loaded pressure-piece
contusions.
• During assembly or disassembly, be especially careful with the
The pressure piece can fly out in an uncontrolled fashion and cause
When mounting the gripper from the side of the gripper fingers, the
assembly of the pressure piece must be done after the mounting of
the gripper.
Mounting the pressure piece is described in the insert "Installation
instructions - pressure piece", which is included in the pressure
piece's scope of delivery.
Air connection
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.
( 3, Page 16).
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Assembly
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Item
Connection
1
Hose connection (A = open, B = close)
2
Air purge connection
3
Hose-free direct connection (a = open, b = close)
4
Direct connection for air purge
Air connection
• Only open the air connections required.
• For hose-free direct connections, use the O-rings from the accessory pack.
• If the maximum permitted finger weight is exceeded, a reduction
is imperative so that the jaw movement occurs without any hitting or bouncing.
Further information on the hose-free direct connection contains the
catalog data sheet.
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Assembly
Mounting the sensor
NOTE
Observe the assembly and operating manual of the sensor for
mounting and connecting.
Designation
PZH-plus
20
30
50
75
Inductive Proximity Switch IN 80
x x x
x
Magnetic Switch MMS 22
x x x
x
Programmable Magnetic Switch
MMS-22 PI1
x x x
x
Programmable Magnetic Switch
MMS-22 PI2
x x -
-
Programmable Magnetic Switch
MMS-P 22
x x -
-
5.2
5.2.1
The product is prepared for using sensors
• Exact type designation of the compatible sensors, see catalog.
• Technical data of the matching sensors, see assembly and operating manual and data sheet.
– The assembly and operating manual and the catalogue data
sheet are included in the scope of delivery and can be downloaded from www.schunk.com.
• If you require further information on sensor operation, contact
your SCHUNK contact person or download information from our
homepage.
Overview of sensors
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Assembly
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1
brown
2
black
3
blue
5.2.2
IN 80 inductive proximity switch
Connection example for IN 80
The inductive proximity switches used are equipped with reverse polarity protection and are short-circuit-proof.
Make sure that you handle the proximity switches properly:
• Do not pull on the cable.
• Do not allow the sensor to dangle from the cable.
• Do not overtighten the mounting screw or mounting clip.
• Please adhere to a permitted bend radius of the cable. (☞ catalog)
• Avoid contact of the proximity switches with hard objects and
with chemicals, in particular nitric acid, chromic acid and sulphuric
acid.
The inductive proximity switches are electronic components, which
can react sensitively to high-frequency interference or electromagnetic fields.
• Check to make sure that the cable is fastened and installed correctly. Provide for sufficient clearance to sources of highfrequency interference and their supply cables.
• Parallel switching of several sensor outputs of the same type
(npn, pnp) is permissible, but does not increase the permissible
load current.
• Note that the leakage current of the individual sensors (ca. 2 mA)
is cumulative.
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Assembly
Mounting kit
Installation of the
proximity switch
To use the inductive sensor, the gripper has to be retrofitted with a
special mounting kit. This mounting kit is available from SCHUNK for
the models below.
1 Push the T-nut (4) into the gripper slot (7).
2 Fasten the bracket (2) by tightening the screws (3) at the T-nut
(4). Apply the screws only enough that the bracket (2) can still be
moved in the gripper slot (7).
3 Screw in and tighten the screw (5) in the base jaw (6).
4 Put the gripper in the position to be monitored (opened / closed
/ part grasped).
5 Position the bracket (2) in such a way that the gripper slot (7) is
aligned with the position of the screw (5).
6 Insert the proximity switch (1) in the bracket (2) and push it as
close as possible to the screw (5).
7 Fasten the proximity switch (1) by tightening the screws (3).
8 Open and close the gripper to test its functioning.
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Assembly
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MMS 22 magnetic switch
NOTICE
Risk of damage to the sensor during assembly!
screws.
NOTE
Ferromagnetic material changes the switching positions of the sensor. For example: Adapter plate made of ordinary steel.
At ferromagnetic adapter plates:
• Then, the positions of the magnetic switch have to be set
5.2.3
Positioning the
magnetic switch
• Observe a maximum tightening torque of 10 Ncm for the set-
• The module must firstly be mounted on the adapter plate
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Assembly
Gripper open:
1 Set the gripper to the "Open" position.
2 Push the magnetic switch 1 (1) into the groove until it stops at
the end of the groove.
3 Pull the magnetic switch 1 (1) back again slowly until it switches.
4 Tighten the set-screw (3) to clamp the magnetic switch 1 (1) in
this position in the groove.
5 Close and close the gripper to test its function.
Gripper closed:
1 Set the gripper to the "Closed" position.
2 Push the magnetic switch 2 (2) into the groove towards the mid-
dle of the gripper until it switches.
3 Tighten the set-screw (3) to clamp the magnetic switch 2 (2) in
this position in the groove.
4 Open and close the gripper to test its function.
Part gripped (O.D. gripping):
1 Clamp the part to be gripped.
2 Push the magnetic switch 2 (2) into the groove towards the mid-
dle of the gripper until it switches.
3 Tighten the set-screw (3) to clamp the magnetic switch 2 (2) in
this position in the groove.
4 Open and close the gripper to test its function.
Part gripped (I.D. gripping):
1 Clamp the part to be gripped.
2 Push the magnetic switch 1 (1) into the groove until it stops at
the end of the groove.
3 Pull the magnetic switch 1 (1) back again slowly until it switches.
4 Tighten the set-screw (3) to clamp the magnetic switch 1 (1) in
this position in the groove.
5 Close and close the gripper to test its function.
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Assembly
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NOTE
The MMS-P can only cover the whole range of stroke in the PZH-plus
series for PZH-plus 20 and 30.
1
Mounting screw
4
Teach-button
2
Center sensor elements
5
LED display
3
LED display
6
Ribs for cable tires
5.2.4
MMS-P programmable magnetic switch
Magnetic switch MMS-P 22
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.
02.00|PZH-plus 020-
27
Assembly
NOTICE
Sensor can be damaged during assembly.
the set screws!
NOTE
Ferromagnetic material changes the switching positions of the sensor
(e.g. Adapter plate made of ordinary steel).
For ferromagnetic adapter
Mounting of the
sensor
• Do not exceed the maximum tightening torque of 10 Ncm for
plates:
• The module must be first mounted on the adapter plate.
• Then, the position of the magnetic switchs has to be set.
1 To relieve the cable, the electronics have to be fixed in place us-
ing cable ties (7).
There are ribs (6) in place on the electronics for mounting purposes.
2 Turn in the sensor (1 - 4).
OR
Push the sensor axially into the slot until it contacts the stop (5).
3 Fix the sensor with an Allen wrench (6).
28 02.00|PZH-plus 020-075|en
Assembly
075|en
Size
l1 [mm]
l2 [mm]
PZH-plus 20
49.1
58.0
PZH-plus 30
62.8
71.7
Setting up the swit-
ching points
Insert the magnetic switch in accordance with dimension l2 (outer
edge of gripper up to the front side of the sensor) or in accordance
with dimension l1 (outer edge of gripper up to the double arrow on
the sensor) and then mount with an Allen key.
Dimensions I1 / I2
1 Press the Teach button (4) for 2 seconds.
After 2 seconds LED 1 (3) is flashing.
2 Move the gripper into position 1 (e.g. "open").
3 Press the Teach-Button (4) briefly.
LED 1 (3) lights up and LED 2 (5) is flashing.
4 Move the gripper into position 2 (e.g. „-2mm“).
LED 1 (3) should turn out as soon as the switching point 1 is
left.
5 Press the Teach-Button (4) briefly.
LED 2 (5) lights up.
The switching points are set.
02.00|PZH-plus 020-
29
Assembly
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 = 5to 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
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 EMCcompatibility 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.
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
30 02.00|PZH-plus 020-075|en
Assembly
075|en
1 Press the "Teach" button (4) for 5 seconds.
LED 1 (3) flashes from 2nd to 5th second.
LED 1 goes off after 5 sec.
2 Release the "Teach" button.
3 Move the gripper to the "switch-off point for switching point 1"
position.
4 Briefly press the "Teach" button (4). LED 1 (3) flashes twice.
5 Move the gripper to the "switch-off point for switching point 2"
position.
6 Briefly press the "Teach" button (4).
LED 2 (5) flashes twice.
The assembly of the MMS-P sensor is completed.
02.00|PZH-plus 020-
31
Troubleshooting
Possible cause
Corrective action
Base jaws jam in housing, possible cause: bolt-
Check the evenness of the bolting surface.
(
5.1.1, Page 18)
Loosen the mounting screws of the product
and actuate the product again.
Pressure drops below minimum.
Check air supply.
(
5.1.2, Page 20)
Compressed air lines switched.
Check compressed air lines.
( 5.1.2, Page 20)
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.
Possible cause
Corrective action
Dirt deposits between basic jaws and guidance.
Disassemble and clean the product.
Pressure drops below minimum.
Check air supply.
(
5.1.2, Page 20)
Screw-on surface is not sufficiently flat.
Check the evenness of the bolting surface.
(
5.1.1, Page 18)
Component part defective.
Send product with a SCHUNK repair order or
dismantle product.
6
6.1
6.2
Troubleshooting
Product is not moving
ing surface not sufficiently level.
Product does not travel through the entire stroke
32 02.00|PZH-plus 020-075|en
Troubleshooting
075|en
Product opens or closes abruptly
Possible cause
Corrective action
Too little grease in the mechanical guiding
areas.
Clean and lubricate product.
(
7, Page 35)
Compressed air lines blocked.
Check compressed air lines of damage.
Screw-on surface is not sufficiently flat.
Check the evenness of the bolting surface.
One-way flow control valve is missing or adjustet incorrectly.
Install and adjust one-way flow control valve.
Loading too large.
Check permissible weight and length of the
gripper fingers.
Possible cause
Corrective action
Compressed air can escape.
Check seals, if necessary, disassemble the
product and replace seals.
To much grease in the mechanical movement
space.
Clean and lubricate product.
(
7, Page 35)
Pressure drops below minimum.
Check air supply.
Link Pneumatischer Anschluss
Component part defective.
Replace component or send it to SCHUNK for
repair.
6.3
6.4
The gripping force is dropping
02.00|PZH-plus 020-
33
Troubleshooting
Product does not achieve the opening and closing times
Possible cause
Corrective action
Compressed air lines are not installed optimal-
If present: Open the flow control couplings on
ment of the jaws occurs without bouncing and
hitting.
Check compressed air lines.
Inner diameters of compressed air lines are of
consumption.
Keep compressed air lines between the prod-
possible.
Flow rate of valve is sufficiently large relative
to the compressed air consumption.
NOTICE! The throttle check valve must not be
reached the opening and closing times.
If you still cannot achieve the open and close
rectly at the gripper.
Loading too large.
Check permissible weight and length of the
gripper fingers.
6.5
ly.
the module to the maximum that the move-
sufficient size in relation to compressed air
uct and directional control valve as short as
removed, even if the product has not
times mentioned in the latest catalog, we recommend the use of quick-air-vent-valves di-
34 02.00|PZH-plus 020-075|en
Maintenance
075|en
NOTICE
Damage caused by insufficient lubricant!
• Reduce the lubricant intervals accordingly.
Size
20 / 30
50 / 75
Interval [Mio. cycles]
5
2
Lubricant point
Lubricant
Metallic sliding surfaces
microGLEIT GP 360
All seals
Renolit HLT 2
Bores on the piston
Renolit HLT 2
7
7.1
7.2
7.3
Maintenance
Notes
Original spare parts
Use only original spare parts of SCHUNK when replacing spare and
wear parts.
Exchange of housing and base jaws
The base jaws and the guidance in the housing are matched. To exchange these parts, send the product with a repair order to SCHUNK
or order the housing with the base jaws as a set.
Maintenance and lubrication intervals
Lubricants harden more quickly at temperatures above 60°C, leading to possible product damage.
Maintenance- and lubrication interval
Lubricants/Lubrication points
SCHUNK recommends the lubricants listed.
During maintenance, treat all greased areas with lubricant. Thinly apply lubricant with a lint-free cloth.
02.00|PZH-plus 020-
35
Maintenance
Disassembly of the module
WARNING
Risk of injury from uncontrolled movements!
• Make sure there is no residual energy in the system
7.4
Position of the position numbers ( 8, Page 40)
Assembly tools are needed for disassembly ( 7.4.1,
Page 37)/( 7.4.2, Page 38).
system, parts may move unexpectedly and cause serious injuries.
• Switch off energy supply.
If the energy supply is switched on or residual energy remains in the
1 Close the gripper and remove the compressed air lines.
2 Remove the cover (15) and unclamp the eccentric (9). To do this,
rotate the eccentric (9) by 90° to the left. Marking has to show in
the direction of the outside wall.
3 Remove the nuts (61).
4 Remove the set-screw (45) and undo the screws (46) though the
base plate (13).
5 Remove the base plate (13).
6 Remove the toothed belt (11).
7 Remove the toothed belt (20).
8 Remove the bearings (20 / 21), fitting disks (39) and the
eccentric (9).
9 Base jaw clamping piece (10) and centering sleeves (62).
10 Remove the base jaw (4).
36 02.00|PZH-plus 020-075|en
Maintenance
075|en
11 Remove the lock nut (16) with the assembly tool (Y).
PZH-plus
L1
L2
L3
L4
L5
D1
D2
R1
R2
R3
20
113.95
112.0
10.5
10.0
16.0
1.6
8.2
8.0
5.0
1.95
30
111.5
109.0
17.0
10.0
22.0
2.6
12.0
11.0
5.0
2.5
50
107.75
104.0
25.5
13.0
32.0
3.1
17.0
16.0
8.0
3.75
75
123.5
117.5
34.0
15.0
45.0
4.1
21.0
22.5
15.0
6.0
7.4.1
12 Pull the base jaw (2) with the piston (3) out of the housing (1)
and remove the piston (3) from the base jaw (2).
13 Remove the piston rod clamping nut (7) with the assembly
tool (X) and take out the piston rod (5).
14 Remove the sleeve (12).
15 Remove the air diffuser piece (6) from the housing (1).
Assembly tool X
(Dimensions in mm)
02.00|PZH-plus 020-
37
Maintenance
Assembly tool Y
PZHplus
L1
L2
L3
L4
L5
L6
L7
L8
D1
D2
D3
D4
M1
R1
20
100
-
9.0
4.5
3.0
13.0
17.0
1.0
12.0
12.0
1.6
12.0
M5
-
30
100
-
11.5
5.75
5.0
13.0
17.0
1.0
15.0
15.0
2.6
15.0
M5
-
50
130
15.0
17.0
8.5
8.0
13.0
17.0
1.0
15.0
25.0
2.6
15.0
M5
R8
75
200
15.0
26.0
13.0
8.0
21.0
27.0
1.0
20.0
36.0
5.1
20.0
M8
R8
PZH-plus
L1
L2
D1
D2
D3
20
100 7 12
5.5
10
30
100 7 15
5.5
10
50
100 7 15
5.5
10
75
150
11
20 9 15
7.4.2
Assembly tool Y, part 1
(Dimensions in mm)
Assembly tool Y, part 2
(Dimensions in mm)
38 02.00|PZH-plus 020-075|en
Maintenance
075|en
Item
42
46
47
48
54
56
20
0.8
1.3
0.8
0.8
1.3
1.3
30
1.3
6.0
1.3
1.3
6.0
6.0
50
10.0
6.0
6.0
1.3
10.0
6.0
75
25.0
48.0
25.0
1.3
48.0
10.0
7.5
Maintenance
Assembly
7.5.1
Servicing and assembling the module
Position of the position numbers ( 8, Page 40)
• Clean all parts thoroughly and check for damage and wear.
• Treat all greased areas with lubricant.
( 7.3, Page 35)
• Oil or grease bare external steel parts.
• Replace all wear parts / seals.
– Position of the wearing parts ( 8, Page 40)
– Seal kit ( 1.4.1, Page 7)
Assembly takes place in the opposite order to disassembly. Observe
the following:
• Unless otherwise specified, secure all screws and nuts with Loctite
no. 243 and tighten with the appropriate tightening
torque.( 7.5.1, Page 39)
Screw tightening torques
Values in Nm
Position of the position numbers ( 8, Page 40)
02.00|PZH-plus 020-
39
Assembly drawing
*
Wearing part, replace during maintenance.
**
Included in the seal kit. Seal kit can only be ordered completely.
***
Positions are adapted to each other and can not be replaced by the customer.
8
Assembly drawing
The following figure is an example image.
It serves for illustration and assignment of the spare parts.
Variations are possible depending on size and variant.
Assembly
40 02.00|PZH-plus 020-075|en
Translation of original declaration of incorporation
075|en
in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of
the Council on machinery.
Manufacturer/
SCHUNK GmbH & Co. KG Spann- und Greiftechnik
D-74348 Lauffen/Neckar
We hereby declare that on the date of the declaration the following incomplete machine
modifications are made to the product.
Product designation:
3-finger centric gripper / PZH-plus 020-075 / pneumatic
ID number
0305360, 0305370, 0305380, 0305390
The incomplete machine may not be put into operation until conformity of the machine into
rective (2006/42/EC) is confirmed.
Applied harmonized standards, especially:
DIN EN ISO 12100:2011-03
Safety of machinery - General principles for design Risk assessment and risk reduction
The manufacturer agrees to forward on demand the relevant technical documentation for
completed machinery, has been created.
Person authorized to compile the technical documentation:
Robert Leuthner, Address: see manufacturer's address
Lauffen/Neckar, October 2016
p.p. Ralf Winkler,
Head of Gripping Systems Development
9
Distributor
Translation of original declaration of incorporation
Bahnhofstr. 106 – 134
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
which the incomplete machine is to be installed with the provisions of the Machinery Di-
the partly completed machinery in electronic form to national authorities.
The relevant technical documentation according to Annex VII, Part B, belonging to the partly
02.00|PZH-plus 020-
41
Annex to Declaration of Incorporation
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
PZH-plus
ID number
0305360, 0305370, 0305380, 0305390
To be provided by the System Integrator for the overall machine
⇓
Fulfilled for the scope of the incomplete 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
0
Annex to Declaration of Incorporation
1
according 2006/42/EG, Annex II, No. 1 B
42 02.00|PZH-plus 020-075|en
075|en
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
1.45.6
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
02.00|PZH-plus 020-
43
Annex to Declaration of Incorporation
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 characteristics
X 3 Supplementary essential health and safety requirements to offset hazards
due to the mobility of machinery
X 4
Supplementary essential health and safety requirements to offset hazards
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
X
44 02.00|PZH-plus 020-075|en
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