assembly- and operating manual pgn-plus-p...this manual contains important information for a safe...

Translation of the original manual

Assembly- and Operating ManualPGN-plus-P2-Finger Parallel Gripper

Imprint

207.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753

ImprintCopyright:This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re-served. Any reproduction, processing, distribution (making available to third parties),translation or other usage - even excerpts - of the manual is especially prohibited and re-quires our written approval.

Technical changes:We reserve the right to make alterations for the purpose of technical improvement.

Document number: 389753

Version: 07.00 | 06/11/2018 | en

© SCHUNK GmbH & Co. KGAll 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. KGSpann- und GreiftechnikBahnhofstr. 106 – 134D-74348 Lauffen/NeckarTel. +49-7133-103-0Fax [email protected]

Table of contents


3

Table of contents1 General.................................................................................................................... 5

1.1 About this manual ................................................................................................ 51.1.1 Presentation of Warning Labels ............................................................... 51.1.2 Applicable documents .............................................................................. 61.1.3 Sizes .......................................................................................................... 61.1.4 Variants..................................................................................................... 6

1.2 Warranty .............................................................................................................. 71.3 Scope of delivery .................................................................................................. 71.4 Accessories ........................................................................................................... 8

2 Basic safety notes ................................................................................................... 92.1 Intended use......................................................................................................... 92.2 Not intended use.................................................................................................. 92.3 Constructional changes ........................................................................................ 92.4 Spare parts ........................................................................................................... 92.5 Gripper fingers ................................................................................................... 102.6 Environmental and operating conditions ........................................................... 102.7 Personnel qualification....................................................................................... 102.8 Personal protective equipment.......................................................................... 112.9 Notes on safe operation ..................................................................................... 112.10 Transport ............................................................................................................ 112.11 Malfunctions....................................................................................................... 122.12 Disposal .............................................................................................................. 122.13 Fundamental dangers......................................................................................... 12

2.13.1 Protection during handling and assembly .............................................. 132.13.2 Protection during commissioning and operation ................................... 132.13.3 Protection against dangerous movements............................................. 142.13.4 Protection against electric shock............................................................ 14

2.14 Notes on particular risks..................................................................................... 15

3 Technical data......................................................................................................... 16

4 Design and description............................................................................................ 174.1 Design ................................................................................................................. 174.2 Description ......................................................................................................... 17

5 Assembly ................................................................................................................ 185.1 Installing and connecting.................................................................................... 185.2 Connections........................................................................................................ 19

5.2.1 Mechanical connection........................................................................... 195.2.2 Pneumatic connection............................................................................ 22

5.3 Attaching additional structure............................................................................ 235.4 Mounting the sensor .......................................................................................... 25

Table of contents


5.4.1 Overview of sensors ............................................................................... 255.4.2 Setting dimensions for magnetic switches ............................................. 265.4.3 Switch-off hysteresis for magnetic switches .......................................... 275.4.4 Setting dimensions for position sensors................................................. 275.4.5 Mounting inductive proximity switch IN ................................................ 285.4.6 Mounting MMS 22 magnetic switch....................................................... 305.4.7 Mounting MMS 22-PI1 programmable magnetic switch........................ 315.4.8 Mounting programmable MMS 22-PI2 magnetic switch........................ 335.4.9 Mounting analog MMS 22-A magnetic switch ....................................... 345.4.10 Mounting programmable MMS 22-P 22 magnetic switch...................... 365.4.11 Mount the flexible position sensor FPS .................................................. 37

6 Troubleshooting ..................................................................................................... 416.1 Product does not move ...................................................................................... 416.2 Product is not executing the complete stroke ................................................... 416.3 Product opens or closes abruptly ....................................................................... 426.4 Product does not achieve the opening and closing times .................................. 426.5 Gripping force is dropping .................................................................................. 43

7 Maintenance .......................................................................................................... 447.1 Notes .................................................................................................................. 447.2 Maintenance intervals........................................................................................ 457.3 Lubricants/Lubrication points (basic lubrication) .............................................. 457.4 Lubricate product ............................................................................................... 467.5 Replace seals ..................................................................................................... 47

7.5.1 Replace seal (variant without gripping force maintenance)................... 477.5.2 Replace seal (variant with gripping force maintenance "O.D. gripping") ......... 487.5.3 Replace seal (variant with gripping force maintenance "I.D. gripping") ....... 507.5.4 Remove dust cover ................................................................................. 51

7.6 Tightening torques ............................................................................................. 517.7 Assembly drawing............................................................................................... 52

8 Translation of original declaration of incorporation ................................................ 55

9 Annex to Declaration of Incorporation.................................................................... 56

General


5

1 General1.1 About this manual

This manual contains important information for a safe and appro-priate use of the product.This manual is an integral part of the product and must be kept ac-cessible for the personnel at all times.Before starting work, the personnel must have read and under-stood this operating manual. Prerequisite for safe working is theobservance of all safety instructions in this manual.Illustrations in this manual are provided for basic understandingand 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 areused for safety notes.

DANGERDanger for persons!Non-observance will inevitably cause irreversible injury or death.

WARNINGDangers for persons!Non-observance can lead to irreversible injury and even death.

CAUTIONDangers for persons!Non-observance can cause minor injuries.

NOTICEMaterial damage!Information about avoiding material damage.

General


1.1.2 Applicable documents

• General terms of business*• Catalog data sheet of the purchased product *• Assembly and operating manuals of the accessories *The documents marked with an asterisk (*) can be downloaded onour homepage schunk.com

1.1.3 Sizes

This operating manual applies to the following sizes:• PGN-plus-P 40• PGN-plus-P 50• PGN-plus-P 64• PGN-plus-P 80• PGN-plus-P 100• PGN-plus-P 125• PGN-plus-P 160• PGN-plus-P 200• PGN-plus-P 240

1.1.4 Variants

This operating manual applies to the following variations:• PGN-plus-P stroke 1• PGN-plus-P stroke 2• PGN-plus-P with gripping force maintenance "O.D. gripping" (AS)• PGN-plus-P with gripping force maintenance "I.D. gripping" (IS)• PGN-plus-P dust-tight (SD)• PGN-plus-P high-temperature (V/HT)• PGN-plus-P anti-corrosion (K)• PGN-plus-P precision (P)

General


7

1.2 WarrantyIf the product is used as intended, the warranty is valid for 36 monthsfrom the ex-works delivery date under the following conditions:• Observe the ambient conditions and operating conditions, Tech-

nical data [} 16]• Observe the specified maintenance intervals, Maintenance [} 44]Parts touching the workpiece and wear parts are not included inthe warranty.Designation PGN-plus-P

40 50-160 200-240Warranty duration [months] 36 36 36or maximum cycles [Mio] * 40 30 20

* A cycle consists of a complete gripping process, gripper "open"and gripper "close".

1.3 Scope of deliveryThe scope of delivery includes• 2-Finger Parallel Gripper PGN-plus-P in the version ordered• Accessory packContent of the accessory pack:• 2x centering sleeve for gripper fastening• 4x centering sleeve for finger fastening• 2 x O-ring for hose-free direct connection

ID.-No. of the accessory pack

Size ID numberPGN-plus-P PGN-plus-P V/HT

PGN-plus-P 40 5518410 395518410PGN-plus-P 50 5512043 395512043PGN-plus-P 64 5512044 395512044PGN-plus-P 80 5512045 395512045PGN-plus-P 100 5512046 395512046PGN-plus-P 125 5512047 395512047PGN-plus-P 160 5512048 395512048PGN-plus-P 200 5512049 395512049PGN-plus-P 240 5513858 395513858

General


1.4 AccessoriesA wide range of accessories are available for this productFor information regarding which accessory articles can be usedwith the corresponding product variants, see catalog data sheet.Content of the sealing kit:• 1x Cylinder piston seal• 1x Piston rod seal• 1x Cover gasket

ID.-No. of the seal kit

Size ID numberPGN-plus-P PGN-plus-P V/HT

PGN-plus-P 40 1342290 1342298PGN-plus-P 50 1000115 1000116PGN-plus-P 64 1000117 1000118PGN-plus-P 80 1000119 1000120PGN-plus-P 100 1000121 1000122PGN-plus-P 125 1000123 1000124PGN-plus-P 160 1342256 1342270PGN-plus-P 200 1339255 1339273PGN-plus-P 240 1342278 1342287

Basic safety notes


9

2 Basic safety notes2.1 Intended use

The product is designed exclusively for gripping and temporarilyholding workpieces or objects.• The product may only be used within the scope of its technical

data, Technical data [} 16].• When implementing and operating components in safety-re-

lated parts of the control systems, the basic safety principles inaccordance with DIN EN ISO 13849-2 apply. The proven safetyprinciples in accordance with DIN EN ISO 13849-2 also apply tocategories 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 in-

structions in this manual.

2.2 Not intended useIt is not intended use if the product is used, for example, as apressing tool, stamping tool, lifting gear, guide for tools, cuttingtool, clamping device or a drilling tool.• Any utilization that exceeds or differs from the appropriate use

is regarded as misuse.

2.3 Constructional changesImplementation of structural changesBy conversions, changes, and reworking, e.g. additional threads,holes, or safety devices can impair the functioning or safety of theproduct or damage it.• Structural changes should only be made with the written ap-

proval of SCHUNK.

2.4 Spare partsUse of unauthorized spare partsUsing unauthorized spare parts can endanger personnel and dam-age the product or cause it to malfunction.• Use only original spare parts or spares authorized by SCHUNK.

Basic safety notes


2.5 Gripper fingersRequirements for the gripper fingersStored energy within the product creates the risk of serious injur-ies 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 re-

mains in the product.• Make sure that the product and the top jaws are a sufficient

size for the application.

2.6 Environmental and operating conditionsRequired ambient conditions and operating conditionsIncorrect ambient and operating conditions can make the productunsafe, leading to the risk of serious injuries, considerable materialdamage and/or a significant reduction to the product's life span.See also Technical data [} 16].

2.7 Personnel qualificationInadequate qualifications of the personnelIf the personnel working with the product is not sufficiently quali-fied, the result may be serious injuries and significant propertydamage.• 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 variousactivities related to the product:

Trained electrician Due to their technical training, knowledge and experience, trainedelectricians are able to work on electrical systems, recognize andavoid possible dangers and know the relevant standards and regu-lations.

Qualified personnel Due to its technical training, knowledge and experience, qualifiedpersonnel is able to perform the delegated tasks, recognize andavoid possible dangers and knows the relevant standards and reg-ulations.

Instructed person Instructed persons were instructed by the operator about the del-egated tasks and possible dangers due to improper behaviour.

Service personnel ofthe manufacturer

Due to its technical training, knowledge and experience, servicepersonnel of the manufacturer is able to perform the delegatedtasks and to recognize and avoid possible dangers.

Basic safety notes


11

2.8 Personal protective equipmentUse of personal protective equipmentPersonal protective equipment serves to protect staff againstdanger which may interfere with their health or safety at work.• When working on and with the product, observe the occupa-

tional health and safety regulations and wear the required per-sonal 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 sur-

faces.• Wear protective gloves and safety goggles when handling haz-

ardous substances.• Wear close-fitting protective clothing and also wear long hair in

a hairnet when dealing with moving components.

2.9 Notes on safe operationIncorrect handling of the personnelIncorrect handling and assembly may impair the product's safetyand cause serious injuries and considerable material damage.• Avoid any manner of working that may interfere with the func-

tion 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 environ-ments.

• Eliminate any malfunction immediately.• Observe the care and maintenance instructions.• Observe the current safety, accident prevention and environ-

mental protection regulations regarding the product's applica-tion field.

2.10 TransportHandling during transportIncorrect handling during transport may impair the product's safetyand 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.

Basic safety notes


2.11 MalfunctionsBehavior 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 malfunc-

tion.• 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 DisposalHandling of disposalThe incorrect handling of disposal may impair the product's safetyand cause serious injuries as well as considerable material and en-vironmental harm.• Follow local regulations on dispatching product components for

recycling or proper disposal.

2.13 Fundamental dangersGeneral• 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 re-mains in the system.

• If the energy supply is connected, do not move any parts byhand.

• Do not reach into the open mechanism or movement area ofthe product during operation.

Basic safety notes


13

2.13.1 Protection during handling and assembly

Incorrect handling and assemblyIncorrect handling and assembly may impair the product's safetyand 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 pre-

cautions to prevent jamming and crushing.Incorrect lifting of loadsFalling loads may cause serious injuries and even death.• Stand clear of suspended loads and do not step into their swiv-

eling range.• Never move loads without supervision.• Do not leave suspended loads unattended.

2.13.2 Protection during commissioning and operation

Falling or violently ejected componentsFalling and violently ejected components can cause serious injuriesand even death.• Take appropriate protective measures to secure the danger

zone.• Never step into the danger zone during operation.

Basic safety notes


2.13.3 Protection against dangerous movements

Unexpected movementsResidual energy in the system may cause serious injuries whileworking with the product.• Switch off the energy supply, ensure that no residual energy re-

mains and secure against inadvertent reactivation.• Never rely solely on the response of the monitoring function to

avert danger. Until the installed monitors become effective, itmust be assumed that the drive movement is faulty, with its ac-tion being dependent on the control unit and the current oper-ating condition of the drive. Perform maintenance work, modi-fications, and attachments outside the danger zone defined bythe movement range.

• To avoid accidents and/or material damage, human access tothe movement range of the machine must be restricted. Limit/prevent accidental access for people in this area due throughtechnical safety measures. The protective cover and protectivefence must be rigid enough to withstand the maximum possiblemovement energy. EMERGENCY STOP switches must be easilyand quickly accessible. Before starting up the machine or auto-mated system, check that the EMERGENCY STOP system isworking. Prevent operation of the machine if this protectiveequipment does not function correctly.

2.13.4 Protection against electric shock

Possible electrostatic energyComponents or assembly groups may become electrostaticallycharged. When the electrostatic charge is touched, the dischargemay 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 accord-ance with the applicable regulations.

• While paying attention to the actual conditions of the workingenvironment, the potential equalisation must be implementedby a specialist electrician according to the applicable regula-tions.

• The effectiveness of the potential equalisation must be verifiedby executing regular safety measurements.

Basic safety notes


15

2.14 Notes on particular risks

DANGERRisk 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.

WARNINGRisk of injury from objects falling and being ejected!Falling and ejected objects during operation can lead to seriousinjury or death.• Take appropriate protective measures to secure the danger

zone.

WARNINGRisk of injury due to unexpected movements!If the power supply is switched on or residual energy remains inthe system, components can move unexpectedly and cause seri-ous 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.

WARNINGRisk of injury from crushing and impacts!Serious injury could occur during the base jaw procedure andwhen breaking or loosening the gripper fingers.• Wear suitable protective equipment.• Do not reach into the open mechanism or the movement area

of the product.

WARNINGRisk of injury from sharp edges and corners!Sharp edges and corners can cause cuts.• Use suitable protective equipment.

Technical data


3 Technical dataConnection data

Designation PGN-plus-PPressure medium Compressed air, compressed

air quality according to ISO 8573-1:7 4 4

Nominal working pressure [bar] 6Minimum pressure [bar] without gripping force maintenance with gripping force maintenance

2.54

Maximum pressure [bar] without gripping force maintenance with gripping force maintenance

86.5

Pressure range for air purge [bar] 0.5 – 1

Environmental and operating conditions

Designation PGN-plus-PAmbient temperature [°C] min. max.

+5+90 / V HT: +130

IP protection class * 40 / SD: 64Noise emission [dB(A)] ≤ 70

* For use in dirty ambient conditions (e.g. sprayed water, vapors,abrasion or processing dust) SCHUNK offers correspondingproduct options as standard. SCHUNK also offers customizedsolutions for special applications in dirty ambient conditions.

More technical data is included in the catalog data sheet.Whichever is the latest version.

Design and description


17

4 Design and description4.1 Design

2-Finger Parallel Gripper

1 Air purge connection2 Base jaw3 Compressed air main connection4 Groove for magnetic switch5 Housing

4.2 DescriptionUniversal 2-finger parallel gripper with large gripping force andhigh maximum moments thanks to multi-tooth guidance.

Assembly


5 Assembly5.1 Installing and connecting

WARNINGRisk of injury due to unexpected movements!If the power supply is switched on or residual energy remains inthe system, components can move unexpectedly and cause seri-ous 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.

NOTICEDamage to the gripper is possible!If the maximum permissible finger weight or the permissiblemass moment of inertia of the fingers is exceeded, the grippercan 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 [} 19].

Ø Connect the product via the hose-free direct connection.Ø OR: Connect compressed air lines to the main air connec-

tions "A" and "B".✓ Remove the locking screws.✓ Screw in air connections (plug connections).

OR: Screw on throttle valve in order to be able to performsufficient throttling and/or dampening.

Ø Screw the product to the machine/system, Mechanical connec-tion [} 19].✓ If necessary, use appropriate connection elements (adapter

plates).✓ Observe permissible depth of engagement and if required

strength class.Ø Connect air purge connection if necessary.Ø Attach additional structure to the product if necessary, Attach-

ing additional structure [} 23]Ø Connect the sensor, see assembly and operating manual of the sensor.Ø Mount the sensor, Mounting the sensor [} 25].

Assembly


19

Dust-tight (SD) NOTEIn order to achieve perfect functioning of the gripper, the set-screw of the air purge connection must be removed and replacedwith a pneumatic connection when using the dust-tight variant(SD). SCHUNK recommends using the air purge connection withinthe scope of the technical data, Technical data [} 16].

5.2 Connections5.2.1 Mechanical connection

Evenness of themounting surface

The values apply to the whole mounting surface to which theproduct is mounted.Requirements for evenness of the mounting surface (Dimensions in mm)

Edge length Permissible unevenness< 100 < 0.02> 100 < 0.05

Connections at thebase jaws

Connections at the base jaws

Item MountingPGN-plus-P

40 50 64 80 100 125 160 200 2401 Centering sleeve Ø 4 Ø 5 Ø 6 Ø 8 Ø10 Ø10 Ø14 Ø16 Ø162 Thread in base

jawsM2.5 M3 M4 M5 M6 M6 M10 M12 M12

Mounting screwstrength class

12.9

Max. depth ofengagementfrom locatingsurface [mm]

6.1 8.5 10.7 11.9 14.2 14.2 17 19.3 21.1

Assembly


Dust-tight (SD) NOTEOn delivery of the dust-tight version (SD) the intermediate jawsare screwed onto the base jaws. The intermediate jaws can be-come off while removing the screws.Observe during assembly, that the intermediate jaws are betweenthe base jaws und the gripper finger.

Connections at thehousing

The product can be mounted from three sides.

Connections at the housing


40 50 64 80 100 125 160 200 240Side A1 Mounting screw M3 M4 M5 M5 M6 M8 M8 M10 M12

Max. depth of en-gagement from loc-ating surface [mm]

6 11 12 15 14 20 20.5 20 25.5

2 Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 Ø12 Ø14 Ø16Side B4 Bore for mount-

ing screwsM2.5 M3 M4 M4 M5 M6 M6 M8 M10

Mounting screw ac-cording to standard

DIN EN ISO 4762

2 Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 Ø12 Ø12 Ø16Side C5 Bore for mount-

ing screwsM2.5 M3 M4 M5 M6 M8 M8 M10 M12

Mounting screw ac-cording to standard

DIN EN ISO 4762Max. strength class 8.8

3 Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 Ø12 Ø14 Ø16

Assembly


21

Connections for additional structure

Connections at the housing, sizes: A - to 100, B - from 125


40 50 64 80 100 125 160 200 2401 Thread in base

jawsM2 M2.5 M2.5 M2.5 M3 M4 M5 M6 M6


5 7.1 7.1 7.1 8.4 10.9 13 12 12

2 Centeringsleeve

Ø3 Ø4 Ø4 Ø4 Ø5 Ø6 Ø8 Ø10

Ø10

Assembly


5.2.2 Pneumatic connection

NOTE• Observe the requirements for the compressed air supply, Tech-

nical data [} 16].• In case of compressed air loss (cutting off the energy line), the

components lose their dynamic effects and do not remain in asecure position. However, the use of a SDV-P pressure mainten-ance valve is recommended in this case in order to maintain thedynamic effect for some time. Product variants are also offeredwith mechanical gripping force via springs, which also ensure aminimum 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 at the base (a = open, b = close)

3 Hose-free direct connection4 Air purge connectionHose-free direct connection6 Product7 O-ring8 Attachment

• Open only the air connections that are needed.• Close unused main air connections using the screw plugs from

the enclosed pack.• For a hose-free direction connection, use the O-rings from the

enclosed pack.

Assembly


23


40 50 64 80 100 125 160 200 2401 Thread in the

main air connec-tions

M3 M5 M5 M5 G1/8 G1/8 G1/8 G1/8 G1/8


4 5 6 6 7 7 7 7 7

2 Thread in the airpurge connec-tion

M3 M3 M5 M5 M5 M5 M5 M5 M5


3.9 5 6 6 6 6 6 6 6

Air purge connection The air purge is used in order to make it more difficult for dirt anddust to penetrate into the product and the guiding areas. With thedust-tight variant (SD), it is necessary to use the air purge connec-tion in order to achieve the specified protection class.

5.3 Attaching additional structure

NOTEWith the dust-tight variant (SD), no additional structure can be at-tached.

Gripper with additional structure

1 Gripper 4 Centering sleeve2 Additional structure 5 Gripper fingers3 Workpiece

Assembly


For supporting things like workpieces, an additional structure canbe attached to the gripper.The locating surface of the additional structure may not exceedthe recess of the cover. The external dimensions of the additionalstructure can exceed the external dimensions of the gripper butnot interfere with the operating cycle of the gripper fingers.

Mounting surface, sizes: A - to 100, B - from 125

Ø NOTICE! The size of the additional structure may not exceedthe recess of the cover.

Ø Remove the screws (1) from the cover (2).Ø Remove the cover (2).Ø NOTICE! Ensure that no foreign objects can enter the gripper.

Attach additional structure within the recess (4), Mechanicalconnection [} 19].✓ Use centering sleeves (3) between gripper and additional

structure. Centering sleeves can be ordered from SCHUNK.✓ With sizes 50 – 100 the threaded holes (5) of the cover (2)

are used for securing the additional structure.✓ From size 125, the additionally attached threaded holes (6)

are used for securing the additional structure.

Assembly


25

5.4 Mounting the sensor

NOTEObserve the assembly and operating manual of the sensor formounting 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 [} 25].• 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 areavailable at schunk.com.

• Information on handling sensors is available at schunk.com orfrom SCHUNK contact persons.

5.4.1 Overview of sensors

DesignationPGN-plus-P

40 50 64 80 100 125 160 200 240Inductive proximity switch IN 80

– – X X X X X X X

Magnetic switch MMS 22 X X X X X X X X XProgrammable magneticswitch MMS 22-PI1

X X X X X X X X X

Analog magnetic switch MMS 22-A

X X X X X X X – –

Programmable magneticswitch MMS-P 22

X X X X X X X X X

Programmable magneticswitch MMS 22-PI2

X X X X X X X X X

Flexible position sensor FPS – – X X X X – – –Analog position sensor APS-Z80

– – X X X X – – –

Analog position sensor APS-M1

– – X X X X – – –

Assembly


5.4.2 Setting dimensions for magnetic switches

* Setting dimension I1, from product bottom edge (1) to front sensor (2)

The setting dimension applies for the following sensors:• Programmable magnetic switch MMS 22-PI1• Programmable magnetic switch MMS 22-PI2• Analog magnetic switch MMS 22-A• Programmable magnetic switch MMS-P 22Size l1* [mm] Size l1* [mm]40 11.9 125 3040 AS 11.9 125 AS 3040 IS 21.9 125 IS 6050 22 160 3750 AS 22 160 AS 31.550 IS 38 160 IS 75.564 17.8 200 40.564 AS 17.8 200 AS 3464 IS 35.8 200 IS 92.280 25.8 240 4380 AS 25.8 240 AS 3680 IS 43.8 240 IS 101.5100 27100 AS 27100 IS 53

NOTEThe magnetic switch MMS 22-PI1 can be adjusted and taught intwo ways.• "Standard mode" allows for quick installation on the T-nut preset

by SCHUNK in the groove or the defined setting dimension "l1."• In "Optimal Mode", the sensor identifies the optimal position in

the groove itself. SCHUNK recommends "Optimal Mode" for setting the sensors.

Further information on the installation of the sensor, MountingMMS 22-PI1 programmable magnetic switch [} 31]

Assembly


27

5.4.3 Switch-off hysteresis for magnetic switches

Sensors MMS 22, MMS-P 22, MMS 22-PI1 and MMS 22-PI2The smallest detectable difference in stroke is defined in the fol-lowing table:The smallest detectable difference in stroke based on the nominal stroke

For grippers with X mmnominal stroke per jaw

Min. query range per jaw/min. queried stroke difference per jaw

X ≤ 5 mm 30% of the nominal stroke per jawX > 5 mm to X ≤ 10 mm 20% of the nominal stroke per jawX > 10 mm 10% of the nominal stroke per jaw

Example: Product with 7 mm nominal stroke per jaw7 mm * 20% = 1.4 mm

5.4.4 Setting dimensions for position sensors

The setting dimension applies to the following sensors: FPS, APS-M1, APS-Z80

Setting dimension l3 from base jaw (2) to front edge of the control cam (1)

SizeSetting dimension l3 [mm]

FPS APS-M1 APS-Z8064-1 -0.8 0 +0.764-2 -1.1 0 -3.880-1 -2 0 080-2 -2.6 0 -3.3100-1 -2.7 0 -1100-2 -3 0 -3.8125-1 -3.8 0 +1.7125-2 -7.8 0 -2.3

Assembly


5.4.5 Mounting inductive proximity switch IN

NOTEThe sensor cannot be used for sizes smaller than size 64.

Position "Gripper open" or "Gripper closed"Ø Variant dust-protection (SD): Remove the sealing bolts from

the brackets.Ø Slide the sensor 1 (1) through the bracket (2) and into the hous-

ing until it stops.Ø Tighten the screw (3) on the bracket (2).

Tightening torque: 0.2 NmØ Bring product into the "open" or "closed" position and test the

function.

Position "Part gripped (O.D. gripping)" or "Part gripped (I.D.gripping)"Ø Variant dust-protection (SD): remove the sealing bolts from the

bracket and unscrew the set-screw from the side cover.Ø Slide the sensor 1 (1) through the bracket (2) and into the hous-

ing until it stops.Ø Tighten the screw (3) on the bracket (2).

Tightening torque: 0.2 NmØ Clamp the part to be gripped.Ø Loosen expander bolt (4) by unscrewing it from the control cam (6).

Assembly


29

Ø Turn adjustable spindle (5) in order to adjust the position of thecontrol cam (6).✓ Part gripped (O.D. gripping):

Slide control cam (6) outwards until the sensor (1) no longerresponds.

✓ Move the control cam (6) back towards the inside until thesensor (1) begins to switch.

✓ Part gripped (I.D. gripping):Slide control cam (6) inwards until the sensor (1) no longerresponds.

✓ Move the control cam (6) back towards the outside until thesensor (1) begins to switch.

Ø Screw the expander bolt (4) back in to fix the switching point.For tightening torque see following table

Ø Open the product and close it again in order to test its function.Ø Variant dust-protection (SD): Screw in set-screw into the side

cover.


64 80 100 125 160 200 2404 Max. tightening torque

[Nm]0.2 0.2 0.3 0.3 0.4 0.4 0.4

5 Max. adjusting torque[Nm]

0.2 0.2 0.3 0.3 0.4 0.4 0.4

Assembly


5.4.6 Mounting MMS 22 magnetic switch

NOTICEMaterial damage due to an incorrect tightening torque!If the threaded pin is tightened with an incorrect tighteningtorque, the product may be damaged.• Observe a maximum tightening torque of 10 Ncm for the set-

screws.

Position "Gripper open" or "Part gripped (I.D. gripping)"Ø Bring product in the position to be set.Ø If necessary remove T-nut (3).Ø Turn the sensor 1 (1) into the groove (2).

OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1 (1)stops at the end of the groove.

Ø Pull the sensor 1 (1) back again slowly until it switches.Ø Secure the sensor 1 (1) using the set-screw (4).

Tightening torque: 10 NcmØ Bring product into the "Gripper open" or "Part gripped" position

and test the function.

Position "Gripper closed" or "Part gripped (O.D. gripping)"Ø Bring product in the position in which it is to be set.Ø If necessary remove T-nut (3).Ø Turn the sensor 2 (1) into the groove (2).

OR: Slide sensor 2 (1) into the groove (2) in the direction of thehousing middle (3), until the sensor 2 (1) switches.

Ø Secure the sensor 2 (1) using the set-screw (4).Tightening torque: 10 Ncm

Ø Bring product into the "Gripper closed" or "Part gripped" posi-tion and test the function.

Assembly


31

5.4.7 Mounting MMS 22-PI1 programmable magnetic switch

NOTICERisk of damage to the sensor during assembly!• Observe the maximal tightening torque.

NOTEIf there is no T-nut available, slide the sensor according to dimen-sion I1 into the groove (2), Setting dimensions for magneticswitches [} 26].

NOTEThe magnetic switch MMS 22-PI1 can be adjusted and taught intwo ways.• "Standard mode" allows for quick installation on the T-nut pre-

set by SCHUNK in the groove or the defined setting dimension"l1."

• In "Optimal Mode", the sensor identifies the optimal position inthe groove itself. SCHUNK recommends "Optimal Mode" for setting the sensors.

Setting the sensor in "Optimum mode"Ø Bring gripper in the position in which it is to be set.Ø Hold teaching tool to the sensor 1 (1) until the sensor flashes.Ø Slide sensor 1 (1) into the groove (2), until the sensor 1 flashes

rapidly.✓ The optimal position is displayed.


Assembly


Ø Hold teaching tool to the sensor 1 (1), to confirm the position.✓ The sensor 1 (1) has been taught in.

Ø Repeat steps for sensor 2.

Alternatively for size 40 – 160, except size 50: Setting the sensor in "Standard mode"Ø Turn the sensor 1 (1) into the groove (2).

OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1(1) stops at the T-nut (3).


Ø Adjust sensor 1 (1), see sensor assembly and operating manual.Ø Repeat steps for sensor 2.


Assembly


33

5.4.8 Mounting programmable MMS 22-PI2 magnetic switch


screws.


Ø Turn the sensor (1) into the groove (2).OR: Slide the sensor (1) into the groove (2) until the sensor (1)stops at the T-nut (3).

Ø Secure the sensor (1) using the set-screw (4).Tightening torque: 10 Ncm

Ø Adjust sensor (1), see sensor assembly and operating manual.

Assembly


5.4.9 Mounting analog MMS 22-A magnetic switch


screws.


Sizes 40, 64, 80, 100, 125, 160Ø Turn the sensor (1) into the groove (2).

OR: Slide the sensor (1) into the groove (2) until the sensor (1)stops at the T-nut (3).



Size 50During the query, the first and last 15% of the nominal stroke donot produce any change in the analog signal. It is therefore notpossible to query the end positions. In case of questions, pleasecontact SCHUNK.PGN-plus-P 50 100% 15%Stroke 1 4 mm 0.6 mmStroke 2 2 mm 0.3 mm

Assembly


35

Anal

og si

gnal

[V]

Stroke [mm]

Signal Real

Signal Optimal

Ø Turn the sensor (1) into the groove (2).OR: Move the sensor (1) into the slot (2) until it fits closely tothe slot nut.


NOTEWithout throttling the gripper is too fast, so that the teaching ofthe sensor does not function reliably. Throttle valves or otherthrottle valves with a diameter of 0.8 mm can be used for theteaching process.ID No. Throttle reduction M5 - 0.8: 9953035

Ø Install a throttle reduction M5 - 0.8 (5) at both main connec-tions "A" and "B".

Ø Adjust the sensor (1), see assembly- and operating manual ofthe sensor.

Ø Remove throttle reduction (5) after teaching the sensor.

Assembly


5.4.10 Mounting programmable MMS 22-P 22 magnetic switch


screws.


Ø Turn the sensor (1) into the groove (2).OR: Slide the sensor (1) into the groove (2) until the sensor (1)stops at the T-nut (3).



Assembly


37

5.4.11 Mount the flexible position sensor FPS

The flexible position sensor FPS consists of an evaluation unit andone of the following sensors:• MMS 22-A-5V• FPS-S M8

NOTICERisk of damage to the sensor during assembly!• Observe the maximal tightening torque.

5.4.11.1 Mounting the MMS 22-A-5VNote: In order to mount the sensor MMS 22-A-5V, no additionalattachment kit is required.Ø Assembling the sensor, Mounting analog MMS 22-A magnetic

switch [} 34] .Ø Connect the control unit output and adjust the sensor (see as-

sembly and operating manual of the sensor).

5.4.11.2 Mounting FPS-M8To be able to mount the sensor, the gripper has to be retrofittedwith a special mounting kit.

Variant Dust-tight:Before attaching the sensor, remove the sealing bolts from thebracket. Before adjusting the control cam, unscrew the set-screwfrom the side cover.

Ø Move product to the "gripper open" position.Ø Loosen clamping spindle (4) and remove the switching cam (6)

for inductive sensing from the base jaw by turning the adjustingspindle (5).

Ø Slide control cam (7) from the mounting kit into the base jaw.

Assembly


Ø Screw the switching cam (7) into the base jaw by turning the ad-justing spindle (5) until the adjustment dimension I3 is reachedSetting dimensions for position sensors [} 27].

Ø Fix the control cam (7) with the clamping spindle (4). It must notbe possible to move the control cam after assembly.

Ø only for size 125-1: Push the spacer washer (8) into the bracket(2) as far as it will go.

Ø Slide the sensor (1) to the stop into the bracket (2).Ø Tighten the screw (3) on the bracket (2).

Tightening torque: 0.2 NmØ Adjust sensor (1), see assembly and operating manual of the

sensor.

5.4.11.3 Mounting APS-M1To be able to mount the sensor, the gripper has to be retrofittedwith a special mounting kit.For sizes 64 and 80, the clamping brackets from the mounting kitmust be mounted.




Ø Slide control cam (7) from the mounting kit into the base jaw.✓ Darauf achten, dass die höhere Stirnseite der Schaltnocke (6)

nach außen zeigt.

Assembly


39

Ø Screw the switching cam (7) into the base jaw by turning the ad-justing spindle (5) until the adjustment dimension I3 is reachedSetting dimensions for position sensors [} 27].



Tightening torque: 0.2 NmØ Connect the sensor, see assembly and operating manual of the

sensor.

Variant Dust-tight:Screw in set-screw into the side cover.

5.4.11.4 Mounting APS-Z80To be able to mount the sensor, the gripper has to be retrofittedwith a special mounting kit.




Ø Slide control cam (7) from the mounting kit into the base jaw.✓ Darauf achten, dass die höhere Stirnseite der Schaltnocke (6)

nach außen zeigt.Ø Screw the switching cam (7) into the base jaw by turning the ad-

justing spindle (5) until the adjustment dimension I3 is reachedSetting dimensions for position sensors [} 27].

Assembly




Tightening torque: 0.2 NmØ Connect the sensor, see assembly and operating manual of the

sensor.

Variant Dust-tight:Screw in set-screw into the side cover.

Troubleshooting


41

6 Troubleshooting6.1 Product does not move

Possible cause Corrective actionBase jaws jam in housing, e.g. mounting sur-face is not sufficiently even.

Check the evenness of the mounting surface.Mechanical connection [} 19]

Pressure drops below minimum. Check air supply.Technical data [} 16]

Compressed air lines switched. Check compressed air lines.Pneumatic connection [} 22]

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.Subsequent assembly of the dust-protectionmounting kit.

Move base jaws several cycles with max-imum operating pressure.

6.2 Product is not executing the complete strokePossible cause Corrective actionDirt deposits between cover and piston. Clean and if necessary re-lubricate.

Maintenance [} 44]Dirt deposits between basic jaws and guid-ance.

Disassemble and clean the product.

Pressure drops below minimum. Check air supply.Pneumatic connection [} 22]

Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.Mechanical connection [} 19]

Component part defective. Replace component or send it to SCHUNKfor repair.

Subsequent assembly of the dust-protectionmounting kit.


Troubleshooting


6.3 Product opens or closes abruptlyPossible cause Corrective actionToo little grease in the mechanical guidingareas.

Clean and lubricate product.Maintenance [} 44]

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 controlvalve.

Loading too large. Check permissible weight and length of thegripper fingers.



6.4 Product does not achieve the opening and closing timesPossible cause Corrective actionCompressed air lines are not installed optim-ally.

If present: Open the flow control couplingson the product to the maximum that themovement of the jaws occurs without boun-cing and hitting.Check compressed air lines.Inner diameters of compressed air lines areof sufficient size in relation to compressedair consumption.Flow rate of valve is sufficiently large relat-ive to the compressed air consumption.If, despite optimum air connections, theopening and closing times specified in thecatalogue are not achieved, SCHUNK recom-mends the use of quick-air-vent-valves dir-ectly at the product.

Compressed air can escape. Check seals, if necessary, disassemble theproduct and replace seals.


Too much grease in the mechanical move-ment space.


Loading too large. Check permissible weight and length of thegripper fingers.



Troubleshooting


43

6.5 Gripping force is droppingPossible cause Corrective actionCompressed air can escape. Check seals, if necessary, disassemble the

product and replace seals.Too much grease in the mechanical move-ment space.


Pressure drops below minimum. Check air supply.Pneumatic connection [} 22]


Maintenance


7 Maintenance7.1 Notes

Original spare partsUse only original spare parts of SCHUNK when replacing spare andwear parts.

Exchange of housing and base jawsThe base jaws and the guidance in the housing are matched. To ex-change these parts, send the product with a repair order toSCHUNK or order the housing with the base jaws as a set.

Seal replacement for variant with maintenance of gripping forceO.D. grippingThe pistons have to be aligned using an assembly device. There-fore we recommend to replace the seals by SCHUNK.The assembly device can be order at SCHUNK using on of the fol-lowing numbersGripper Ident number Assembly devicePGN-plus-P 40-AS -PGN-plus-P 50-AS 1000302PGN-plus-P 64-AS 1000303PGN-plus-P 80-AS 1000304PGN-plus-P 100-AS 1000305PGN-plus-P 125-AS 1000306PGN-plus-P 160-AS -PGN-plus-P 200-AS -PGN-plus-P 240-AS -

Maintenance


45

7.2 Maintenance intervalsIf products are used at room temperature and the ambient andoperating conditions are adhered to, these variants are mainten-ance-free, Technical data [} 16].Products for special ambient conditions are excluded, e.g. highertemperatures, dirty environment.If products are not used at room temperature or in special ambi-ent conditions, the following maintenance intervals apply

Interval (million cycles)

Maintenance work

10 Clean the product dry without a degreasingagent, check for damage and wear.

10 If necessary: Replace seals, Replace seals [} 47].

10 Treat all grease areas with lubricant,Lubricants/Lubrication points (basic lubrica-tion) [} 45], Lubricate product [} 46]

For extreme ambient and application conditions, shortened main-tenance cycles can ensure the lifespan is maintained.

NOTICEMaterial damage due to hardening lubricants!Lubricants harden more quickly at temperatures above 60°C,leading to possible product damage.• Reduce the lubricant intervals accordingly.

7.3 Lubricants/Lubrication points (basic lubrication)SCHUNK recommends the lubricants listed.During maintenance, treat all greased areas with lubricant. Thinlyapply lubricant with a lint-free cloth.

Lubricant point LubricantMetallic sliding surfaces microGLEIT GP 360All seals Renolit HLT 2Cylinder surfaces Renolit HLT 2

Maintenance


7.4 Lubricate product

WARNINGRisk of injury due to moving parts!When moving the gripper fingers, body parts may get squashed/hit causing severe injuries.• Do not interfere with moving parts during operation.• Observe position and direction of movement of the gripper

fingers.

Ø Remove set-screw on an air purge connection (1).Ø Screw in lubrication nipple.Ø Apply a layer of grease to metallic sliding surfaces of the gripper

using the lubrication nipple, Lubricants/Lubrication points (basiclubrication) [} 45].✓ While lubricating, completely open and close the gripper al-

ternately.Ø Unscrew the lubrication nipple.Ø Screw set-screws into both air purge connections (1).

Maintenance


47

7.5 Replace seals7.5.1 Replace seal (variant without gripping force maintenance)

Ø Remove all compressed air lines, Pneumatic connection [} 22].Ø Remove product from the system/machine.Ø Variant Dust-tight (SD): Remove dust cover [} 51].Ø Remove the cover (10).Ø Mark the installation position of the base jaws (3) on the housing (9).Ø Remove the screws and remove the cover (5).Ø Unscrew screw (4) and take cylinder piston (8) out of the housing (9).Ø Push the wedge hook (1) out of the housing (9).Ø Take base jaws (3) out of the housing (9).Ø Remove old seals (2, 6 and 7).Ø Clean guiding areas.Ø Attach new seals (2 and 7) from the seal kit.Ø Re-lubricating guiding areasØ Insert base jaws (3) into the housing (9).NOTICE! Observe in-

stallation position of the base jaws (3) in the housing (9).Ø Insert wedge hook (1) into the housing (9).Ø Insert cylinder piston (8) into the housing (9) and tighten screw

(4). Secure the screw with medium-strength threadlocker.Tightening torque: Tightening torques [} 51]

Ø Insert flat gasket (6).Ø Fasten the cover (5) with the screws.

Tightening torque: Tightening torques [} 51]Ø Variant Dust-tight (SD): Reassemble dust cover in reverse or-

der, Remove dust cover [} 51] .Ø Fasten the cover (10) with the screws.Ø Mount product onto the system/machine.Ø Connect all compressed air lines.

Maintenance


7.5.2 Replace seal (variant with gripping force maintenance "O.D. gripping")

NOTETo align the cylinder piston, use an assembly device, Notes [} 44].

Ø Remove all compressed air lines, Pneumatic connection [} 22].Ø Remove product from the system/machine.Ø Variant Dust-tight (SD): Remove dust cover [} 51].Ø Remove the cover (12).Ø Mark the installation position of the base jaws (3) on the hous-

ing (11).Ø Remove the screws and remove the cover (6).Ø NOTICE! The cylinder piston is under spring tension. Remove

carefully.Unscrew screw (5) carefully and take cylinder piston (4), spring(9) and the spacer (10) out of the housing (11).

Ø Push the wedge hook (1) out of the housing (11).Ø Take base jaws (3) out of the housing (11).Ø Remove old seals (2, 7 and 8).Ø Clean guiding areas.Ø Attach new seals (2 and 8) from the seal kit.Ø Re-lubricating guiding areas.Ø Insert base jaws (3) into the housing (11).

NOTICE! Observe installation position of the base jaws (3) inthe housing (11).

Ø Insert wedge hook (1) into the housing (11).Ø Insert spring (9) and spacer (10) into the housing (11).

Maintenance


49

Ø Place assembly device (13) onto the housing (11).✓ Die Montagevorrichtung (13) wird nur auf das Gehäuse

gesteckt und über Zentrierhülsen zentriert.Ø Place cylinder pistons (4) on the assembly device (13), slide to-

wards the housing and tighten screw (5). Secure the screw withmedium-strength threadlocker.Tightening torque: Tightening torques [} 51]

Ø Remove the assembly device from the housing.Ø Insert flat gasket (7).Ø Fasten the cover (6) with the screws.

Tightening torque: Tightening torques [} 51]Ø Variant Dust-tight (SD): Reassemble dust cover in reverse or-

der, Remove dust cover [} 51] .Ø Fasten the cover (12) with the screws.Ø Mount product onto the system/machine.Ø Connect all compressed air lines.

Maintenance


7.5.3 Replace seal (variant with gripping force maintenance "I.D.gripping")

Ø Remove all compressed air lines, Pneumatic connection [} 22].Ø Remove product from the system/machine.Ø Variant Dust-tight (SD): Remove dust cover [} 51].Ø Remove the cover (11).Ø Mark the installation position of the base jaws (3) on the hous-

ing (10).Ø NOTICE! Cover (6) is under spring tension. Remove carefully.

Carefully unscrew the screws and remove the cover (6) and thespring (5).

Ø Unscrew screw (4) and take cylinder piston (9) out of the hous-ing (10).

Ø Push the wedge hook (1) out of the housing (10).Ø Take base jaws (3) out of the housing (10).Ø Remove old seals (2, 7 and 8).Ø Clean guiding areas.Ø Attach new seals (2 and 8) from the seal kit.Ø Re-lubricating guiding areas.Ø Insert base jaws (3) into the housing (10).

NOTICE! Observe installation position of the base jaws (3) inthe housing (10).

Ø Insert wedge hook (1) into the housing (10).Ø Insert cylinder piston (9) into the housing (10) and tighten screw

(4). Secure the screw with medium-strength threadlocker.Tightening torque: Tightening torques [} 51]

Ø Insert spring (5) into the housing (10). In doing so, observe thealignment of the spring in relation to the cylinder piston.

Ø Insert flat gasket (7).

Maintenance


51

Ø Fasten the cover (6) with the screws.Tightening torque: Tightening torques [} 51]

Ø Variant Dust-tight (SD): Reassemble dust cover in reverse or-der, Remove dust cover [} 51] .

Ø Fasten the cover (11) with the screws.Ø Mount product onto the system/machine.Ø Connect all compressed air lines.

7.5.4 Remove dust cover

The dust cover is only included in the dust-tight version (SD).

Ø Unscrew the screws (1) and remove gripper finger (2) centeringsleeves (3).

Ø Pull the intermediate jaws (4) upwards and out and remove theseals (5) and shims (6).

Ø Slacken the countersunk screws (7) and remove cover (8) andseals (9).

Ø Unscrew the screws (11) and detach the covers (10).

7.6 Tightening torques


40 50 64 80 100 125 160 200 2401 Screw Cylinder

head [Nm]1.2 1.2 6.1 10 15 25 49 65.5 85

2 Screw Cover[Nm]

0.27 1.2 1.2 3.1 3.1 3.1 2.2 4.3 4.3

Maintenance


7.7 Assembly drawing

Standard

Maintenance


53

with gripping force maintenance O.D. gripping (A) and I.D. gripping (B)

Maintenance


Variant Dust-tight (SD)

Translation of original declaration of incorporation


55

8 Translation of original declaration of incorporationin terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and ofthe 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 ma-chine 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 isrendered invalid if modifications are made to the product.

Product designation: 2-Finger Parallel Gripper / PGN-plus-P / pneumaticID number 0318448 ... 39318573

The partly completed machine may not be put into operation until conformity of the ma-chine into which the partly completed machine is to be installed with the provisions of theMachinery 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 forthe partly completed machinery in electronic form to national authorities.The relevant technical documentation according to Annex VII, Part B, belonging to thepartly completed machinery, has been created.

Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address

Lauffen/Neckar, August 2018 p.p. Ralf Winkler, Manager for development

of gripping system components

Annex to Declaration of Incorporation


9 Annex to Declaration of Incorporationaccording 2006/42/EG, Annex II, No. 1 B

1.Description of the essential health and safety requirements pursuant to 2006/42/EC, An-nex I that are applicable and that have been fulfilled with:

Product designation 2-Finger Parallel GripperType designation PGN-plus-PID number 0318448 ... 39318573

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 Requirements1.1.1 Definitions X1.1.2 Principles of safety integration X1.1.3 Materials and products X1.1.4 Lighting X1.1.5 Design of machinery to facilitate its handling X1.1.6 Ergonomics X1.1.7 Operating positions X1.1.8 Seating X

1.2 Control Systems1.2.1 Safety and reliability of control systems X1.2.2 Control devices X1.2.3 Starting X1.2.4 Stopping X1.2.4.1 Normal stop X1.2.4.2 Operational stop X1.2.4.3 Emergency stop X1.2.4.4 Assembly of machinery X1.2.5 Selection of control or operating modes X1.2.6 Failure of the power supply X

1.3 Protection against mechanical hazards1.3.1 Risk of loss of stability X1.3.2 Risk of break-up during operation X1.3.3 Risks due to falling or ejected objects X1.3.4 Risks due to surfaces, edges or angles X



57

1.3 Protection against mechanical hazards1.3.5 Risks related to combined machinery X1.3.6 Risks related to variations in operating conditions X1.3.7 Risks related to moving parts X1.3.8 Choice of protection against risks arising from moving parts X1.3.8.1 Moving transmission parts X1.3.8.2 Moving parts involved in the process X1.3.9 Risks of uncontrolled movements X

1.4 Required characteristics of guards and protective devices1.4.1 General requirements X1.4.2 Special requirements for guards X1.4.2.1 Fixed guards X1.4.2.2 Interlocking movable guards X1.4.2.3 Adjustable guards restricting access X1.4.3 Special requirements for protective devices X

1.5 Risks due to other hazards1.5.1 Electricity supply X1.5.2 Static electricity X1.5.3 Energy supply other than electricity X1.5.4 Errors of fitting X1.5.5 Extreme temperatures X1.5.6 Fire X1.5.7 Explosion X1.5.8 Noise X1.5.9 Vibrations X1.5.10 Radiation X1.5.11 External radiation X1.5.12 Laser radiation X1.5.13 Emissions of hazardous materials and substances X1.5.14 Risk of being trapped in a machine X1.5.15 Risk of slipping, tripping or falling X1.5.16 Lightning X

1.6 Maintenance1.6.1 Machinery maintenance X1.6.2 Access to operating positions and servicing points X1.6.3 Isolation of energy sources X1.6.4 Operator intervention X1.6.5 Cleaning of internal parts X



1.7 Information1.7.1 Information and warnings on the machinery X1.7.1.1 Information and information devices X1.7.1.2 Warning devices X1.7.2 Warning of residual risks X1.7.3 Marking of machinery X1.7.4 Instructions X1.7.4.1 General principles for the drafting of instructions X1.7.4.2 Contents of the instructions X1.7.4.3 Sales literature X

The classification from Annex 1 is to be supplemented from here for-ward.

2 Supplementary essential health and safety requirements for certaincategories of machinery

X

2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceuticalproducts

X

2.2 Portable hand-held and/or guided machinery X2.2.1 Portable fixing and other impact machinery X2.3 Machinery for working wood and material with similar physical charac-

teristicsX

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 machineryintended for underground work

X

6 Supplementary essential health and safety requirements for machinerypresenting particular hazards due to the lifting of persons

X


59

Notes


Notes

assembly- and operating manual pgn-plus-p...this manual contains important information for a safe...

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