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PZV

SCHUNK PZV Assembly And Operating Manual

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Translation of the original manual
Assembly and Operating Manual
PZV
4-finger-centric-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: 389384
Version: 06.00|21/09/2018|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.................................................................................................................... 5
1.1 About this manual ................................................................................................5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Definition of Terms...................................................................................5
1.1.3 Applicable documents ..............................................................................6
1.1.4 Sizes ..........................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery ..................................................................................................7
1.3.1 Accessories pack....................................................................................... 7
1.4 Accessories ........................................................................................................... 7
1.4.1 Seal 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....................................................................................... 10
2.8 Personal protective equipment.......................................................................... 11
2.9 Notes on safe operation ..................................................................................... 11
2.10 Transport ............................................................................................................ 12
2.11 Malfunctions....................................................................................................... 12
2.12 Disposal .............................................................................................................. 12
2.13 Fundamental dangers......................................................................................... 13
2.13.1 Protection during handling and assembly ..............................................13
2.13.2 Protection during commissioning and operation ...................................14
2.13.3 Protection against dangerous movements.............................................14
2.13.4 Protection against electric shock............................................................15
2.14 Notes on particular risks..................................................................................... 15
3 Technical Data ........................................................................................................17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18
5 Assembly ................................................................................................................19
5.1 Installing and connecting.................................................................................... 19
5.2 Connections........................................................................................................ 20
5.2.1 Mechanical connection...........................................................................20
Table of contents
4
5.2.2 Pneumatic connection............................................................................23
5.3 Mounting the sensor .......................................................................................... 24
5.3.1 Overview of sensors ...............................................................................24
5.3.2 Inductive proximity switch IN 80 ............................................................25
5.3.3 Magnetic switch MMS 22 / RMS 22 .......................................................28
5.3.4 Programmable magnetic switch (MMS-P) .............................................32
5.3.5 Flexible position sensor FPS ................................................................... 36
6 Troubleshooting .....................................................................................................38
6.1 Product does not move ......................................................................................38
6.2 Product is not executing the complete stroke ................................................... 38
6.3 Product opens or closes abruptly ....................................................................... 38
6.4 Gripping force is dropping.................................................................................. 39
6.5 Product does not achieve the opening and closing times.................................. 39
7 Maintenance ..........................................................................................................40
7.1 Notes .................................................................................................................. 40
7.2 Maintenance intervals........................................................................................ 40
7.3 Lubricants/Lubrication points (basic lubrication) ............................................... 41
7.4 Disassembly and assembly .................................................................................41
7.4.1 Disassemble product ..............................................................................41
7.4.2 Assembling the product..........................................................................42
7.4.3 Screw tightening torques........................................................................42
7.5 Assembly drawing............................................................................................... 43
8 Translation of original declaration of incorporation ................................................44
9 Annex to Declaration of Incorporation....................................................................45
General
5
1 General
1.1 About this manual
This manual contains important information for a safe and appro­priate use of the product.
This manual is an integral part of the product and must be kept ac­cessible for the personnel at all times.
Before starting work, the personnel must have read and under­stood this operating manual. Prerequisite for safe working is the observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding and may differ from the actual product design.
In addition to these instructions, the documents listed under Ap-
plicable documents [}6] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in this manual.
General
6
1.1.3 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories * The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.4 Sizes
This operating manual applies to the following sizes:
• PZV 64
• PZV 100
• PZV 125
• PZV 160
• PZV 200
1.2 Warranty
If the product is used as intended, the warranty is valid for 24 months from the ex-works delivery date under the following con­ditions:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in
the warranty.
General
7
1.3 Scope of delivery
The scope of delivery includes
• 4-finger-centric-gripper PZV in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.3.1 Accessories pack
Content of the accessory pack:
• 8 x Centering sleeve
• 2 x O-ring
• 2 x Cylindrical pin
• 2 x Locking screw
ID.-No. of the accessory pack
Accessory pack for ID number
PZV 64 5515459 PZV 100 5513360 PZV 125 ­PZV 160 5515465 PZV 200 5514249
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.
1.4.1 Seal kit
ID.-No. of the seal kit
Seal kit for ID number
PZV 64 0303450 PZV 100 0303452 PZV 125 0303453 PZV 160 0303454 PZV 200 0303455
Contents of the sealing kit, Assembly drawing [}43].
Basic safety notes
8
2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily holding workpieces or objects.
• The product may only be used within the scope of its technical data, Technical Data [}17].
• 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
9
2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious injur­ies and significant property damage.
• Arrange the gripper fingers in a way that the product reaches either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy re­mains in the product.
• Make sure that the product and the top jaws are a sufficient size for the application.
2.6 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. See also Technical Data [}17].
Basic safety notes
10
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
11
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
12
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.
Basic safety notes
13
2.13 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective measures to secure the danger zone.
• Disconnect power sources before installation, modification, maintenance, or calibration. Ensure that no residual energy re­mains in the system.
• If the energy supply is connected, do not move any parts by hand.
• Do not reach into the open mechanism or movement area of the product during operation.
2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take pre­cautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their swiv­eling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
Basic safety notes
14
2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries and even death.
• Take appropriate protective measures to secure the danger zone.
• Never step into the danger zone during operation.
2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while working with the product.
• Switch off the energy supply, ensure that no residual energy re­mains and secure against inadvertent reactivation.
• Never rely solely on the response of the monitoring function to avert danger. Until the installed monitors become effective, it must be assumed that the drive movement is faulty, with its ac­tion being dependent on the control unit and the current oper­ating condition of the drive. Perform maintenance work, modi­fications, and attachments outside the danger zone defined by the movement range.
• To avoid accidents and/or material damage, human access to the movement range of the machine must be restricted. Limit/ prevent accidental access for people in this area due through technical safety measures. The protective cover and protective fence must be rigid enough to withstand the maximum possible movement energy. EMERGENCY STOP switches must be easily and quickly accessible. Before starting up the machine or auto­mated system, check that the EMERGENCY STOP system is working. Prevent operation of the machine if this protective equipment does not function correctly.
Basic safety notes
15
2.13.4 Protection against electric shock
Possible electrostatic energy
Components or assembly groups may become electrostatically charged. When the electrostatic charge is touched, the discharge may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly groups are included in the local potential equalisation in accord­ance with the applicable regulations.
• While paying attention to the actual conditions of the working environment, the potential equalisation must be implemented by a specialist electrician according to the applicable regula­tions.
• The effectiveness of the potential equalisation must be verified by executing regular safety measurements.
2.14 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
• Stand clear of suspended loads and do not step within their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
• Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious injury or death.
• Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in the system, components can move unexpectedly and cause seri­ous injuries.
• Before starting any work on the product: Switch off the power
supply and secure against restarting.
• Ensure that no residual energy remains in the system.
Basic safety notes
16
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.
Technical Data
17
3 Technical Data
Designation PZV
Pressure medium Compressed air, compressed air
quality according to ISO
8573-1:7 4 4 Nominal working pressure [bar] 6 Min. pressure [bar] 2 Max. pressure [bar] * 8 Pressure range for air purge
[bar]
0.5 - 1.0
* Special control for PZV 160 and PZV 200
If only two gripper fingers are used for these sizes, then the grippers may only be operated at a maximum of 5 bar!
More technical data is included in the catalog data sheet. Whichever is the latest version.
Environmental and operating conditions
Designation PZV
Ambient temperature [°C] min. max.
+5
+90 IP protection class * 40 Noise emission [dB(A)] ≤ 70
* For use in dirty ambient conditions (e.g. sprayed water, vapors,
abrasion or processing dust) SCHUNK offers corresponding product options as standard. SCHUNK also offers customized solutions for special applications in dirty ambient conditions.
Design and description
18
4 Design and description
4.1 Design
4-finger-centric-gripper
1 Housing 2 Base jaw 3 Compressed air main connection
4.2 Description
The centric gripper PZV is suitable for applications in which two or three fingers are insufficient.
Assembly
19
5 Assembly
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.
NOTICE
Damage to the gripper is possible!
If the maximum permissible finger weight or the permissible mass moment of inertia of the fingers is exceeded, the gripper can be damaged.
• A jaw movement always has to be without jerks and bounce.
• You must therefore implement sufficient reduction and/or
damping.
• Observe the diagrams and information in the catalog data
sheet.
Ø Check the evenness of the mounting surface, Mechanical con-
nection [}20].
Ø Only open the required air connections (main connection or dir-
ect connection), Pneumatic connection [}23].
Ø Connect the product via the hose-free direct connection.
✓ Use O-rings from the accessory pack. ✓ Seal main air connections which are not required with locking
screws.
Ø OR: Connect compressed air lines to the main air connec-
tions"A" and"B".
✓ Screw in air connections (plug connections).
OR: Screw on throttle valve in order to be able to perform sufficient throttling and/or dampening.
Assembly
20
Ø Screw the product to the machine/system, Mechanical connec-
tion [}20].
✓ Insert cylindrical pin for centering. ✓ If necessary, use appropriate connection elements (adapter
plates).
✓ Observe requirements for the adapter plate, Mechanical con-
nection [}21].
✓ Observe the maximal tightening torque, admissible screw-in
depth and, if necessary, strength class.
Ø Secure the gripper fingers to the base jaws, Mechanical connec-
tion [}20].
✓ Use centering sleeves from the enclosed accessory pack.
Ø If necessary, fit a pressure piece for spring-supported position-
ing of the workpiece against a stop, Mounting of the gripper by
using a spring loaded pressure-piece [}22].
Ø Connect the sensor, see assembly and operating manual of the
sensor.
Ø Mount the sensor, Mounting the sensor [
}
24].
5.2 Connections
5.2.1 Mechanical connection
Evenness of the mounting surface
The values apply to the whole mounting surface to which the product is mounted.
Requirements for evenness of the mounting surface (Dimensions in mm)
Edge length Permissible unevenness
< 100 < 0.02 > 100 < 0.05
Assembly
21
Requirements for customer adapter plates
If the adapter plate has bores or recesses and therefore the product is not fully flush, the minimum support surface must be adhered to. The recess/bore in the adapter plate may not exceed the dimension "A"; for dimensions, see the following table.
Connections at the housing and on the base jaws
Assembly options
Item 64 100 125 160 200 Mounting the product
1 Mounting screw (4x) M3 M5 M6 M8 M8 2 Fitting hole for cylindrical
pins* [mm]
Ø4H7 Ø5H7 Ø6H7 Ø6H7 Ø8H7
Possible recess in the adapter plate
A Max. recess [mm] Ø40 Ø70 Ø85 Ø115 Ø150
Affixing the gripper fingers
4 Mounting screw (2x) M3 M5 M6 M6 M10
Max. depth of engagement from locating surface [mm]
8 10 14 13 17
3 Centering sleeve* [mm] Ø5 Ø8 Ø10 Ø10 Ø14
*) Contained in accessory pack.
Assembly
22
5.2.1.1 Mounting of the gripper by using a spring loaded pressure-piece
CAUTION
The spring-loaded pressure piece is under spring tension.
The pressure piece can fly out in an uncontrolled fashion and cause contusions.
• During assembly or disassembly, be especially careful with the
springs.
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.
Assembly
23
5.2.2 Pneumatic connection
NOTE
• Observe the requirements for the compressed air supply, Tech-
nical Data [}17].
• In case of compressed air loss (cutting off the energy line), the
components lose their dynamic effects and do not remain in a secure position. However, the use of a SDV-P pressure mainten­ance valve is recommended in this case in order to maintain the dynamic effect for some time. Product variants are also offered with mechanical gripping force via springs, which also ensure a minimum clamping force in the event of a pressure drop.
Air connections
1 Main connections (Hose connection)
(A = open, B = close)
2 Hose-free direct connection
(a = open, b = close) 3 Air purge connection Hose-free direct connection 4 Product 5 O-ring 6 Attachment
Thread diameter of the air connections
Item Connection PZV
64 100, 125,
160
200
1 Main connections
(Hose connection)
M5 G1/8" G1/4"
2 Hose-free direct connection M4 M5 3 Air purge connection M4 M5
Assembly
24
5.3 Mounting the sensor
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 [}24].
• 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.
5.3.1 Overview of sensors
Designation PZV
64 100 125 160 200
Magnetic switch MMS 22 X X X X X Programmable magnetic switch
MMS 22-PI1
X X X X X
Programmable magnetic switch MMS 22-PI2
X X X X X
Programmable magnetic switch MMS-P 22
X X X X X
Inductive proximity switch IN 80 X X X X Reed switch RMS 80 X X X X Flexible position sensor FPS-F5
mit FPS-S M8
X X X X
Analog position sensor APS-M1 X X X X Analog position sensor APS-Z80 X X X X Radio system RSS R1/T2 mit
Reed switch RMS 80
X X X X
Force-measuring jaw FMS X X X X X
Assembly
25
5.3.2 Inductive proximity switch IN 80
Connection example for IN 80
1 brown 2 black 3 blue
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 high-fre­quency 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.
Assembly
26
NOTICE
Blockade of the gripper after setting or replacing of the switch­ing cam!
The switching cam can be tilt in the guide, if it was not fixed ex­actly in the base jaw.
• Apply the switching cam in the direction of the base jaw, so
that the cam does not contact the housing of the gripper.
1 Proximity switch 1 2 Proximity switch 2
NOTE
SCHUNK has previously set the switching points of the opened po­sition for proximity switches 1 and 2; the closed position has been set for the proximity switch 3.
Gripper open:
Ø Push the proximity switches 1 or 2 up to the stop in the bracket
(17) and fasten by tightening the screw (17a).
Ø Move the gripper to the "Open" position and test its function.
Gripper closed:
Ø Push the proximity switch 2 up to the stop in the bracket (17)
and fasten by tightening the screw (17a).
Ø Move the gripper to the "Closed" position and test the function.
Part gripped (O.D. gripping):
Ø Push the proximity switch 2 up to the stop in the bracket (17)
and fasten by tightening the screw (17a).
Ø Clamp the part to be gripped.
Assembly
27
Ø Unscrew the screw (42). For the version with the dust cover, the
set-screws have to be removed from the side covers to be able to adjust the screws (42, 43).
Ø Shift the position of the control cam by turning the screw (43).
The control cam has to be positioned far enough outside that the proximity switch no longer responds. Then move the control cam back towards the inside until the proximity switch begins to switch. Then fix this switching point by tightening the screw (42).
Ø Test the function by closing the gripper and then opening it
again.
Ø For the version with dust cover, close the thread in the lateral
covers with the set-screws provided for this purpose.
Assembly
28
Part gripped (I.D. gripping):
Ø Insert proximity switch 1 as far as the stop in the bracket (17)
and fasten it by tightening the screw (17a).
Ø Clamp the part to be gripped. Ø Unscrew the screw (42). For the version with the dust cover, the
set-screws have to be removed from the side covers to be able to adjust the screws (42, 43).
Ø Shift the position of the control cam by turning the screw (43).
The control cam has to be positioned far enough inside that the proximity switch no longer responds. Then move the control cam back towards the outside until the proximity switch begins to switch. Then fix this switching point by tightening the screw (42).
Ø Test the function by closing the gripper and then opening it
again.
Ø For the version with dust cover, close the thread in the lateral
covers with the set-screws provided for this purpose.
5.3.3 Magnetic switch MMS 22 / RMS 22
brown
black
blue
load
closer
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.
Assembly
29
NOTE
Ferromagnetic material changes the switching positions of the sensor. For example: Adapter plate made of ordinary steel.
At ferromagnetic adapter plates:
• First mount the product on the adapter plate.
• Then set the position of the magnetic switch.
The RMS sensors have a larger hysteresis than the MMS sensors. This means that short gripper strokes may not be able to be mon­itored with the RMS sensors.
Assembly
30
Positioning the mag­netic switch
1 Magnetic switch 1 3 Set screw 2 Magnetic switch 2 4 Groove for receiving the magnetic
switch
Assembly steps for mounting of the proximity switch
Gripper open:
Ø Set the gripper in position "open". Ø Push the magnetic switch 1 (1) into the groove (4) until it stops
at the housing.
Ø Pull the magnetic switch 1 (1) back again slowly until it switches. Ø By tightening the set screw (3), fix the magnetic switch 1 (1) in
this position in the groove (4).
Ø Test the function by closing the gripper and then opening it
again.
Assembly
31
Gripper closed:
Ø Set the gripper to the "Closed" position. Ø Push the magnetic switch 2 (2) into the groove (4) towards the
middle of the gripper until it switches.
Ø By tightening the set screw (3), fix the magnetic switch 2 (2) in
this position in the groove (4).
Ø Test the function by opening the gripper and then closing it
again.
Part gripped (O.D. gripping):
Ø Clamp the part to be gripped. Ø Push the magnetic switch 2 (2) into the groove (4) towards the
middle of the gripper until it switches.
Ø By tightening the set screw (3), fix the magnetic switch 2 (2) in
this position in the groove (4).
Ø Test the function by opening the gripper and then closing it
again.
Part gripped (I.D. gripping):
Ø Clamp the part to be gripped. Ø Push the magnetic switch 1 (1) into the groove (4) until it stops
at the housing.
Ø Push the magnetic switch 1 (1) back again slowly until it
switches.
Ø By tightening the set screw (3), fix the magnetic switch 1 (1) in
this position in the groove (4).
Ø Test the function by closing the gripper and then opening it
again.
Assembly
32
5.3.4 Programmable magnetic switch (MMS-P)
Magnetic switch MMS-P 22
1 Mounting screw 4 Teach-button 2 Center sensor elements 5 LED display 3 LED display 6 Ribs for cable tires
brown
white
black
blue
Connection diagram PNP-4 conductor (MMS-P 22)
Types available for order (see catalog):
• MMS-P 22-S-M8-PNP
• MMSK-P 22-S-PNP
• V2-M8-4-2XM8-3
The MMSK-P 22-S-PNP features a cable with open strands so that it can be connected via terminal contacts. The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin con­nector plug of the MMS-P 22-S-M8-PNP sensor to two standard M8 plugs with 3 pins each.
Assembly
33
Mounting of the sensor
NOTICE
Sensor can be damaged during assembly.
• Do not exceed the maximum tightening torque of 10 Ncm for
the set screws!
NOTE
Ferromagnetic material changes the switching positions of the sensor (e.g. Adapter plate made of ordinary steel).
For ferromagnetic adapter plates:
• The module must be first mounted on the adapter plate.
• Then, the position of the magnetic switchs has to be set.
Ø Slide or turn in the magnetic switch (1) into the groove until it
bears against the stop (2) (if available).
Ø If there is no terminal stop, then slide the magnetic switch ac-
cording to dimension l2 (bottom edge of gripper up to front side of sensor) or according to dimension l1 (bottom edge of gripper up to double arrow on sensor) and then clamp with the mount­ing screw.
Size l1 l2 Size l1 l2
64 16.9 25.8 160 32.5 41.4 100 20.3 29.2 200 34.7 43.6 125 22.1 31.0
Assembly
34
Ø 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.
Ø Turn in the sensor (1 - 4).
OR Push the sensor axially into the slot until it contacts the stop (5).
Ø Fix the sensor with an Allen wrench (6). Ø Press the "Teach" button (4) for 2 seconds.
✓ After 2 seconds, LED 1 (3) flashes.
Ø Move the gripper to position 1 (e.g. "Open"). Ø Briefly press the "Teach" button (4).
✓ LED 1 (3) lights up and LED 2 (5) flashes.
Ø Put the gripper in position 2.
✓ LED 1 (3) should go out as soon as switching point 1 is left.
Ø Briefly press the "Teach" button (4).
✓ LED 2 (5) lights up.
✔ The switching points are set.
Assembly
35
Adjusting the hysteresis
The hysteresis to both switching points will be adjusted automatic­ally corresponding to the characteristics of the magnetic field. The user can set the switching and trigging points of each position a little bit closer than for the automatic mode. The trigging point is closer to the switching point. At the same time the susceptibility to trouble and damage increases. In the mode of the lowest hyster­esis, an error signal (such as jitter or untimely switch off) can be avoided, if the sensor is protected against all types of disturbances (i.e. by shielding). Frequent types of disturbances are change in temperature and electro-magnetic influences. Within the closest fine-teach mode, SCHUNK cannot guarantee EMC-compatibility any more. The hysteresis adjustment is used for the manual adjustment of the switching points (if necessary). In case that the hysteresis automatically determined by the sensor should be too high or too low after “the adjustment of the switch­ing points”, you may correct the value as follows. The sensor avoids a too small hysteresis during hysteresis adjust­ment.
Sensors MMS 22, MMS-P 22, MMS 22-PI1 and MMS 22-PI2
The smallest detectable difference in stroke is defined in the fol­lowing table:
The smallest detectable difference in stroke based on the nominal stroke
For grippers with X mm nominal stroke per jaw
Min. query range per jaw/ min. queried stroke difference per jaw
X ≤ 5 mm 30% of the nominal stroke per jaw X > 5 mm to X ≤ 10 mm 20% of the nominal stroke per jaw X > 10 mm 10% of the nominal stroke per jaw
Example: Product with 7 mm nominal stroke per jaw 7 mm * 20% = 1.4 mm
Ø Press the "Teach" button (4) for 5 seconds.
✓ LED 1 (3) flashes from 2nd to 5th second. ✓ LED 1 goes off after 5 sec.
Ø Release the "Teach" button. Ø Move the gripper to the "switch-off point for switching point 1"
position.
Ø Briefly press the "Teach" button (4). LED 1 (3) flashes twice.
Assembly
36
Ø Move the gripper to the "switch-off point for switching point 2"
position.
Ø Briefly press the "Teach" button (4).
✓ LED 2 (5) flashes twice.
✔ The assembly of the MMS-P sensor is completed.
5.3.5 Flexible position sensor FPS
To use the flexible position sensor FPS-M8, the grippers have to be retrofitted with a special mounting kit. This mounting kit is avail­able from SCHUNK for the models below (see catalog):
• PZV 100
• PZV 125
• PZV 160
• PZV 200
Assembly
37
Mounting kit for the flexible position sensor FPS-M8
Mounting kit for FPS
AS - PZV 100 125 160 200
ID number 0301632 0301634 0301636 0301638
Mounting of the mounting kit
Ø Remove the control cam for monitoring with inductive proxim-
ity switch (15) as well as the two screws (42/43) from the base jaw (2/7).
Ø Push the control cam (21/23) with the chamfered side in front
into the base jaw (2/7) and screw this tight with the intended screw (38).
Ø Push the spacer (26) and then the flexible FPS-M8 position
sensor through the bracket (17) into the provided bore hole of the housing (1) as far as will go and clamp the sensor into this this position by tightening the screw (18).
✔ The adjustment of the sensor is described in the operating
manual for the sensor.
Troubleshooting
38
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 [}20]
Pressure drops below minimum. Check air supply.
Technical Data [}17]
Compressed air lines switched. Check compressed air lines.
Pneumatic connection [}23]
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.
6.2 Product is not executing the complete stroke
Possible cause Corrective action
Dirt deposits between cover and piston. Clean and if necessary re-lubricate.
Maintenance [}40]
Dirt deposits between basic jaws and guid­ance.
Disassemble and clean the product.
Pressure drops below minimum. Check air supply.
Pneumatic connection [}23]
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
Mechanical connection [}20]
Component part defective. Replace component or send it to SCHUNK
for repair.
6.3 Product opens or closes abruptly
Possible cause Corrective action
Too little grease in the mechanical guiding areas.
Clean and lubricate product.
Maintenance [}40]
Compressed air lines blocked. Check compressed air lines of damage. Mounting surface is not sufficiently flat. Check the evenness of the mounting surface. One-way flow control valve is missing or ad-
justet incorrectly.
Install and adjust one-way flow control
valve. Loading too large. Check permissible weight and length of the
gripper fingers.
Troubleshooting
39
6.4 Gripping force is dropping
Possible cause Corrective action
Compressed air can escape. Check seals, if necessary, disassemble the
product and replace seals. Too much grease in the mechanical move-
ment space.
Clean and lubricate product.
Maintenance [}40]
Pressure drops below minimum. Check air supply.
Pneumatic connection [}23]
Component part defective. Replace component or send it to SCHUNK
for repair.
6.5 Product does not achieve the opening and closing times
Possible cause Corrective action
Compressed air lines are not installed optim­ally.
If present: Open the flow control couplings
on the product to the maximum that the
movement of the jaws occurs without boun-
cing and hitting.
Check compressed air lines.
Inner diameters of compressed air lines are
of sufficient size in relation to compressed
air consumption.
Keep compressed air lines between the
product and directional control valve as
short as possible.
Flow rate of valve is sufficiently large relat-
ive to the compressed air consumption.
NOTICE!The throttle check valve must not
be removed, even if the product has not
reached the opening and closing times.
If you still cannot achieve the open and close
times mentioned in the latest catalog, we re-
commend the use of quick-air-vent-valves
directly at the product. Loading too large. Check permissible weight and length of the
gripper fingers.
Maintenance
40
7 Maintenance
7.1 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.
7.2 Maintenance intervals
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.
Maintenance- and lubrication interval
Interval (million cycles)
bei PZV 64–200
Maintenance work
2 Clean all parts thoroughly, check for
damage and wear, if necessary replace seals and wearing parts, Disassembly
and assembly [}41].
The seals are in the enclosed sealing kit.
Seal kit [}7].
2 Treat all grease areas with lubricant,
Lubricants/Lubrication points (basic lub­rication) [}41].
Oil or grease bare outside steel parts.
Maintenance
41
7.3 Lubricants/Lubrication points (basic lubrication)
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 microGLEIT GP 360 All seals Renolit HLT 2 Bore hole at the piston Renolit HLT 2
Depending on the load, the guides in the housing can be re-lubric­ated.
7.4 Disassembly and assembly
7.4.1 Disassemble product
Position of the item numbers Assembly drawing [}43]
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.
Ø Remove compressed air line. Ø CAUTIONIn the case of the version with the pressure piece,
the pressure piece is spring-loaded! Loosen carefully the set­screws on the pressure piece and remove the pressure peice.
Ø Undo the screws (47) and remove the cover plate (5). Ø Mark the installation position of the piston (3) and the base
jaws (2) in the housing.
Ø Unscrew and remove the screws (41) and remove the cover (4). Ø Mark the installation position between the cylinder piston (60)
and the housing (1). Unscrew screw (40) and remove cyl-inder piston (60) from the housing (1).
Ø Push the piston (3) upwards out of the housing (1). Ø Pull the base jaws (2) out of the housing (1).
Maintenance
42
7.4.2 Assembling the product
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.Screw tightening torques [}42]
7.4.3 Screw tightening torques
Position of the item numbers Assembly drawing [}43]
Type PZV 64 PZV 100 PZV 125 PZV 160 PZV 200
Item 40 10 Nm 20 Nm 49 Nm 60 Nm 140 Nm Item 41 0.8 Nm 1.3 Nm 2.1 Nm 10 Nm 24 Nm
Maintenance
43
7.5 Assembly drawing
1* Wearing part, replace during maintenance.
Included in the seal kit. Seal kit can only be ordered completely. 2* bei Size 64 und 100 3* ab Size 125 4* ab Size 160 5* Air purge connection 6* Positions are adapted to each other and can not be replaced by the customer.
Translation of original declaration of incorporation
44
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: 4-finger-centric-gripper / PZV / pneumatic ID number 0304000 ... 0304005
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, September 2018 p.p. Ralf Winkler, Manager for development of grip-
ping system components
Annex to Declaration of Incorporation
45
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 4-finger-centric-gripper Type designation PZV ID number 0304000 ... 0304005
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
46
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
47
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 for-
ward.
2 Supplementary essential health and safety requirements for certain
categories of machinery
X
2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical
products
X
2.2 Portable hand-held and/or guided machinery X
2.2.1 Portable fixing and other impact machinery X
2.3 Machinery for working wood and material with similar physical charac-
teristics
X
3 Supplementary essential health and safety requirements to offset haz-
ards due to the mobility of machinery
X
4 Supplementary essential health and safety requirements to offset haz-
ards due to lifting operations
X
5 Supplementary essential health and safety requirements for machinery
intended for underground work
X
6 Supplementary essential health and safety requirements for machinery
presenting particular hazards due to the lifting of persons
X
48
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