rotary gripping module with parallel gripper gsm-p 32 - 64

Translation of the original manual

Rotary gripping module with parallel gripper GSM-P 32 - 64

Assembly and Operating Manual

Superior Clamping and Gripping

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Imprint

2 06.02|GSM-P 32 - 64|en

Imprint

Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely supplied to our customers and operators of our products and forms part of the product. This documentation may not be duplicated or made accessible to third parties, in particu-lar competitive companies, without our prior permission.

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

Document number: 0389104

Edition: 06.02 |10/12/2014|en

© SCHUNK GmbH & Co. KG All rights reserved.

Dear customer,

congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for the highest precision, top quality and best service.

You are going to increase the process reliability of your production and achieve best machining results – to the customer's complete satisfaction.

SCHUNK products are inspiring.

Our detailed assembly and operation manual will support you.

Do you have further questions? You may contact us at any time – even after purchase.

Kindest Regards

Yours SCHUNK GmbH & Co. KG Spann- und Greiftechnik

Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar

Tel. +49-7133-103-0 Fax +49-7133-103-2399

[email protected] www.schunk.com

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Table of contents

06.02|GSM-P 32 - 64|en 3

Table of contents

1 About this manual .................................................................................................... 5

1.1 Warnings ................................................................................................................... 5

1.2 Variants ..................................................................................................................... 6

1.3 Applicable documents .............................................................................................. 6

2 Basic safety notes .................................................................................................... 7

2.1 Intended use ............................................................................................................. 7

2.2 Not intended use ...................................................................................................... 7

2.3 Environmental and operating conditions ................................................................. 7

2.4 Product safety........................................................................................................... 8

2.4.1 Protective equipment ................................................................................... 8

2.4.2 Demands on the top jaws ............................................................................. 8

2.4.3 Constructional changes, attachments, or modifications .............................. 8

2.5 Personnel qualification ............................................................................................. 8

2.6 Using personal protective equipment ...................................................................... 9

2.7 Notes on particular risks ........................................................................................... 9

2.7.1 Variant gripping force maintenance .......................................................... 10

3 Warranty ................................................................................................................. 11

4 Scope of delivery ..................................................................................................... 11

5 Accessories .............................................................................................................. 11

5.1 Sensors .................................................................................................................... 11

6 Technical data ......................................................................................................... 12

7 Assembly ................................................................................................................. 13

7.1 Mechanical connection .......................................................................................... 13

7.2 Air connections ....................................................................................................... 15

7.3 Mounting a customized construction .................................................................... 17

7.4 Adjusting the end positions .................................................................................... 17

7.5 Assembly and setup of the MMS-P 22 ................................................................... 20

7.6 Inductive monitoring via INW 40 ........................................................................... 26

8 Commissioning ........................................................................................................ 32

8.1 Setting the speed .................................................................................................... 32

8.2 Adjustment of the shock absorber stroke .............................................................. 34

9 Trouble shooting ..................................................................................................... 35

9.1 Module does not achieve the opening and closing times? ................................... 35

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Table of contents

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10 Maintenance and care ............................................................................................. 36

10.1 Notes....................................................................................................................... 36

10.2 Maintenance and care intervals ............................................................................. 36

10.3 Grease/greasing areas ............................................................................................ 37

10.4 Screw tightening torques ....................................................................................... 38

10.5 Disassembly/assembly of the unit in the basic modules ....................................... 39

10.6 Disassembly/assembly of the gripping module ..................................................... 40

10.6.1 Version without maintenance of gripping force unit GSM-P ..................... 40

10.6.2 Version with maintenance of gripping force unit ....................................... 42

10.6.3 Mounting orientation of the magnets, item 120 ........................................ 43

10.7 Disassembly/assembly of the DKM feed-through compact module (item 40) ..... 44

10.8 Replacing a shock absorber for S variants.............................................................. 46

10.9 Replacing an elastomer for E variants .................................................................... 47

10.10 Disassembly/assembly of the FAN rotor drive (50) ............................................... 48

10.11 Servicing and assembling the module ................................................................... 49

11 Assembly drawings .................................................................................................. 50

11.1 Assembly drawing of the basic module ................................................................. 50

11.2 Assembly drawing of the DKM and FAN modules ................................................. 51

11.3 Assembly drawing of the gripping modules ........................................................... 52

12 Seal kit .................................................................................................................... 53

12.1 Sealing kit lists for the FAN 40 - 64 rotor drive ...................................................... 53

12.2 Sealing kit lists for the P-32 - P-64 gripping modules ............................................ 54

13 Accessory pack rotational speed rotor FAN .............................................................. 55

14 Translation of original declaration of incorporation ................................................. 56

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About this manual

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About this manual This instruction is an integral part of the product and contains im-portant information for a safe and proper assembly, commission-ing, operation, maintenance and help for easier trouble shooting.

Before using the product, read and note the instructions, especial-ly the chapter "Basic safety notes".

Warnings

To make risks clear, the following signal words and symbols are used for safety notes.

DANGER

Danger for persons. Non-compliance will inevitably cause irreversible injury or death.

WARNING

Dangers for persons. Ignoring a safety note like this 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.

WARNING

Warning about hand injuries

1

1.1

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About this manual

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Variants

This operating manual applies for the following variations

• GSM-P without gripping force maintenance

• GSM-P with gripping force maintenance "O.D. gripping"

• GSM-P with gripping force maintenance "I.D. gripping"

Applicable documents

• General terms of business

• Catalog data sheet of the purchased product

• Assembly and Operating manuals of the accessories

The documents listed here, can be downloaded on our homepage www.schunk.com

1.2

1.3

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Basic safety notes

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Basic safety notes

Intended use

The module was designed for swiveling, gripping and time-limited secure holding of workpieces or other objects.

The product is intended for installation in a machine/system. The requirements of the applicable guidelines must be observed and complied with.

The product may be used only in the context of its defined applica-tion parameters ( 6, Page 12).

The product is designed for industrial use.

To use this unit as intended, it is also essential to observe the technical data and installation and operation notes in this manual and to comply with the maintenance intervals.

The functions "actuate gripper" and "swivel" must be executed al-ternately.

Not intended use

Use which is not specified as an intended use is for instance when the product is for example used as a pressing tool, stamping tool, lifting tool, guide for tools, cutting tool, tensioning mean, boring tool.

Environmental and operating conditions

• Make sure that the product and the top jaws are a sufficient size for the application.

• Observe Maintenance and lubrication intervals ( 10.2, Page 36).

• Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust. Exceptions are products that are designed especially for contaminated en-vironments.

2

2.1

2.2

2.3

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Basic safety notes

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Product safety

Dangers arise from the product, if:

• the product is not used in accordance with its intended purpose.

• the product is not installed or maintained properly.

• the safety and installation notes are not observed.

Avoid any manner of working that may interfere with the function and operational safety of the product.

Wear protective equipment.

NOTE More information are contained in the relevant chapters.

Protective equipment

Provide protective equipment per EC Machinery Directive.

Demands on the top jaws

Arrange the top jaws such that when the product is depressurized it can reach one of the end positions either open or closed and therefore no residual energy can be released when changing the top jaws.

Constructional changes, attachments, or modifications

Additional drill holes, threads, or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK.

Personnel qualification

The assembly, initial commissioning, maintenance, and repair of the product may be performed only by trained specialist person-nel. Every person called upon by the operator to work on the product must have read and understood the complete assembly and operating manual, especially the chapter "Basic safety notes" ( 2, Page 7). This applies particularly to personnel only used oc-casionally, such as maintenance personnel.

2.4

2.4.1

2.4.2

2.4.3

2.5

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Basic safety notes

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Using personal protective equipment

When using this product, observe the relevant industrial safety regulations and use the personal protective equipment (PPE) re-quired!

• Use protective gloves, safety shoes and safety goggles.

• Observe safe distances.

Notes on particular risks

Generally valid:

• Remove the energy supplies before installation, modification, maintenance, or adjustment work.

• Make sure that no residual energy remains in the system.

• Do not move parts by hand when the energy supply is con-nected.

• Do not reach into the open mechanism or the movement area of the unit.

• Perform maintenance, modifications, and additions outside the danger zone.

• Secure the product during all operations against uncontrolled activation.

• Take a precautionary approach by maintenance and disassembly.

• Only specially trained staff should disassemble the product.

2.6

2.7

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Basic safety notes

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WARNING

Risk of injury due to squeezing and bumping during movement of the gripper jaws and breaking or loosening of the gripper fingers !

WARNING

Risk of injury from objects falling and being ejected

• The danger zone must be surrounded by a safety fence during operation.

WARNING

While disassembling uncontrollable moves of parts of the grip-per possible!

Variant gripping force maintenance

WARNING

Risk of injury from objects falling during energy supply failure Products with a mechanical gripping force maintenance can, dur-ing energy supply failure, still move independently in the direc-tion specified by the mechanical gripping force maintenance.

• Secure the end positions of the product with SCHUNK SDV-P pressure maintenance valves.

WARNING

Risk of injury due to residual energy in the gripper because of gripping force maintenance by springs!

2.7.1

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Accessories

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Warranty If the product is used as intended, the warranty is valid for 24 months from the date of delivery from the production facility un-der the following conditions:

• Intended use in 1-shift operation

• Observe the mandatory maintenance and lubrication intervals

• Observe the environmental and operating conditions

Parts touching the work piece and wear parts are not part of the warranty.

Scope of delivery The scope of delivery includes

• Rotary gripping module with parallel gripper GSM-P in the or-dered model.

• Accessory pack

Accessories A wide range of accessories is available for this module.

For information about which accessories can be used with the ap-propriate product version ☞ catalog.

Sensors

Overview of the compatible sensors

Designation Type

Magnetic switch MMS

Inductive proximity switches IN

• Exact type designation of the compatible sensors see ☞ catalog.

• If you require information on sensor operation, contact your SCHUNK contact person or download information from our homepage. www.schunk.com

3

4

5

5.1

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Technical data

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Technical data

Designation GSM-P 32 GSM-P 40 GSM-P 50 GSM-P 64

IP rating 30

Noise emission [dB(A)] ≤ 70

Pressure medium Compressed air, compressed air quality according to ISO 8573-1:7 4 4

Nominal working pressure [bar] 6

Min. pressure [bar] for gripping without gripping force maintenance with gripping force maintenance

2 4

Min. pressure [bar] for swiveling 3.5 4 3

Max. pressure [bar] 6.5

More technical data are included in the catalog data sheet. Whi-chever is the latest version.

6

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Assembly

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Assembly

Mechanical connection

Fig. 1 Mounting the GSM on the side and base side

Item GSM - SFL basic size 40 64

1A 1B 1C

Centering sleeve for lateral mounting of the unit and fitting depth in the mounting plate

Ø8 2.5 deep Item 206

Ø10 3 deep

Item 205

2 Centering sleeve for mounting the unit on the base side and fitting depth in the mounting plate

Ø6 2.5 deep Item 205

Ø10 3 deep

Item 205

3A 3B 3C

Thread diameter for screwing through for mounting the unit at the side

M4 Item 232

M5 Item 232

4A 4B 4C

Thread diameter and max. depth of engagement for screw connection for lateral mounting

M5 19 deep Item 231

M6 25 deep Item 231

5 Thread diameter for screwing through for mounting the unit on the base side

M3 M5

6 Thread diameter and maximum depth of engagement for screw connection for mounting on the base side

M4 8 deep

M6 11 deep

** To ensure the function of the sensors, the A2 screws from the accessory pack are to be used.

For process-reliable monitoring, adapter plates should be made of non-ferromagnetic material.

7

7.1

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Assembly

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Mounting the unit on the base side

(with adapter plate similar to A, B or C; see "Mounting the GSM at the side and on the base side")

The assembly of the unit can be carried out from the side of the unit using the screws (6).

There are threads in the housings for mounting from the custom-er-specific opposite side (screws 5 and 6 are not included in the scope of delivery).

Centering sleeves (2) are to be used for the secure transmission of shearing forces and positioning of the unit.

Mounting the unit at the side

(with adapter plate similar to A, B or C)

The assembly of the unit can be carried out from the side of the unit using the A2 screws included in the accessory pack (3A, 3B or 3C).

For mounting from the customer-specific opposite side, there are threads in the housings (the A2 screws (4A, 4B or 4C) are included in the accessories pack).

Centering sleeves (1A, 1B or 1C) are to be used for the secure transmission of shearing forces and positioning of the unit.

NOTE In order to guarantee process reliability for monitoring with mag-netic switches, most especially the adapter plates and the attach-ments located near the unit should be made of non-ferromagnetic material. Otherwise, monitoring with magnetic sensors could be impaired considerably ( 5, Page 11).

NOTE When monitoring with magnetic switches, a minimum distance of 10 mm is to be observed between the units in the event of the as-sembly of several units next to each other ( 5, Page 11).

Mounting the Unit

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Assembly

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Air connections

WARNING

Risk of injury during connection!

• Switch off the energy supply.

NOTICE

The central air unit must be equipped with a maintenance unit that is located as near as possible to the consumer.

NOTICE

If the end positions of the stroke and swivel movements are not impact-free and bounce-free, the respective movements must be adjusted with the exhaust throttle.

NOTICE

Observe the requirements for the air supply ( 6, Page 12).

Fig. 2 Luftanschlüsse

7.2

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Assembly

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“A” to “D” are main connections, “a” to “d” are direct connections

Connection Function

Hose connection A Swivel toward 180° or 90° position

Hose-free direct connection a

Hose connection B Swivel toward 0° position

Hose-free direct connection b

Hose connection C Move gripper into »OPEN« position

Hose-free direct connection c

Hose connection D Move gripper into »CLOSED« position

Hose-free direct connection d

Connections “C” and “D” for the modules with a base cross section of 25x25 are slightly offset from center

If direct connections "a" – "d" are used, use the locking screws in-cluded in the accessory pack for the corresponding main connec-tions "A" – "D".

If air connections "a" – "d" are used, ensure sufficient throttling, which can be set by means of exhaust air throttling. To do this, the throttle reductions for the main connections, which are designed for a medium load, can be attached to the adapter plate, for ex-ample.

• 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.

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Assembly

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Mounting a customized construction

NOTICE

Damage to the unit during assembly! When inserting the cylindrical pins or centering sleeves, the unit must not be subjected to any impact.

Mounting of a customized construction to the gripper fingers GSM-P

It is recommended to use the width of the gripper finger which is designed as the fit size for the centering of the customized top jaws. It is also recommended to use the upper contact surface of the gripper finger to support the customized top jaws.

No mounting screws are included in the scope of delivery.

Adjusting the end positions

Position of the position numbers ( 11, Page 50)

Adjusting the end position for elastomer cushioning:

1 Connect connections A and B to the compressed air supply.

2 Load connections A and B alternately and allow the unit to swivel.

3 Load connection B, the rotary actuator reaches the limit posi-tion by turning counterclockwise.

4 Place the unit on a measuring table on its side, with the air connections facing up.

5 Undo the lock nut (124) and twist the stop (83). To increase the area of the angle of traverse, unscrew the stop, but only to the max. projection dimension B. (For the projection dimensions A and B see following table "Total rotating angle range"). Once you have set the angle of traverse, tighten the lock nut (124).

6 Load connections A and B alternately and allow the unit to swivel.

7 Repeatedly check the angle of traverse that you set. Repeat steps 5 and 6 until the desired position is reached reliably, even after swiveling several times.

8 To set the second limit position, proceed as for steps 5 to 7, but this time load connection A.

7.3

7.4

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Assembly

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Fig. 3 Stepless angular adjustment with balls

For angles between “0°” and “180°”, or “0°” and “90°” place addi-tional steel balls, (108) , in the ball guideway. The number of steel balls needed for this and the permissible minimum and maximum projections for the stops are given in the following table "Total ro-tating angle range".

Adjusting the end position for hydraulic cushioning using shock absorbers:

Proceed as for steps 1 to 8 of the elastomer cushioning, but in-stead of the stops (83) - use shock absorbers (120) and instead of the lock nut (124) - use the shock absorber nut (121).

For angles between “0°” and “180°”, or “0°” and “90°” place addi-tional steel balls (108), in the ball guideway. The number of steel balls needed for this and the permissible minimum and maximum projections (for the shock absorbers for S-versions) /(stops for E-versions) are given in table "Total rotating angle range"

The insertion of the balls is described in the following chapters:

• for S-Versions ( 10.8, Page 46)

• for E-Versions ( 10.9, Page 47)

NOTICE

The permissible minimum and maximum projections are to be strictly observed; if a rotating angle should not be achieved by adjusting the shock absorbers (120) or stops (83), it must be achieved by inserting or removing steel balls (108). There must, however, be at least one ball inserted on each side.

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Assembly

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Total rotating angle range

Basic size 40 Basic size 64

Standard total rotating angle range

90° or 180°

Minimum rotating angle range Can be reduced down to 0° for any position within the total rotating angle range of the standard unit

Angle limitation per ball [°] 19 13.5

Min. projection A [mm], E variants 3 4.5

Max. projection B [mm], E variants 7 9.5

Min. projection A [mm], S variants 19.5 28

Max. projection B [mm], S variants 23.5 33

Fig. 4 Rotating angle setting and monitoring range with GSM-P - GSM

Fig. 5 Total rotating angle range

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Assembly

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Assembly and setup of the MMS-P 22

NOTE The products GSM-P are only prepared for use with MMS-P if deli-vered after Jan. 1, 2008.

Fig. 6 Magnetic switch (MMS-P 22)

1 Mounting screw 4 Teach-button

2 Center sensor elements 5 LED display

3 LED display 6 Rips for cable tires

Fig. 7 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 by means of terminal contacts. The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin con-nector plug of the MMS-P 22-S-M8-PNP sensor to two standard M8 plugs with 3 pins each.

7.5

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Assembly

06.02|GSM-P 32 - 64|en 21

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. For example: Adapter plate made of ordinary steel. At ferromagnetic adapter plates:

• The module must firstly be mounted on the adapter plate

• Then, the positions of the magnetic switch have to be set

Fig. 8 Position and installation of the MMS-P magnetic switches

1 Sensor MMS-P (left groove)

Monitoring gripper position 1 and gripper position 2 in the left rotating angle end po-sition (signals SGL1 and SGL2)

2 Sensor MMS-P (right groove)

Monitoring gripper position 1 and gripper position 2 in the left rotating angle end po-sition (signals SGR1 and SGR2)

3 Stop for MMS-P Determining the clamping position of the MMS-P sensor

Mounting of the sensor

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Assembly

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Monitoring GSM locations/positions/end positions: SGL1: left rotating angle end position, gripper position 1 SGL2: left rotating angle end position, gripper position 2 SGR1: right rotating angle end position, gripper position 1 SGR2: right rotating angle end position, gripper position 2

Fig. 9 Rotating angle setting and monitoring range GSM

By each of the two sensors MMS-P, 2 gripper positions can be mo-nitored. If the gripper is in a third position, the rotation angle end position can only be monitored by additional sensors.

• The left rotating angle end position is always reached, when a swichting point of the sensor of the left groove (SGL1 or SGL2) is active.

• The right rotating angle end position is always reached, when a swichting point of the sensor of the right groove (SGR1 or SGR2) is active.

If the rotating angle end positions should be at 20° and 160°, swap the assignment of the signals, i.e. replace the SGL signals with the SGR signals.

With many GSM variants, it is possible to combine magnetic switch monitoring with inductive monitoring, ( 7.6, Page 26).

• If you require further information on sensor operation, contact your SCHUNK contact person or download information from our homepage.

• Technical data for the sensors can be found in the data sheets (included in the scope of delivery).

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Assembly

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Fig. 10

1 To relieve the cable, the electronics have to be fixed in place using cable ties (7). There are ribs (6) in place on the electronics for mounting purposes.

Fig. 11

2 Orient the sensor towards the mark on the housing (1) of the pneumatic module OR

3 Insert it up to the clamping stop (many SCHUNK products are prepared for this)

4 Fix the sensor with the Allen key.

Mounting of the sensor

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Assembly

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Should there be no mark on the housing, insert the magnetic switch according to dimension l2 or according to dimension l1 and then fix it with an Allen key.

Installation dimensions for MMS-P

GSM Type Dimension l1 Dimension l2 Dimension l3

GSM-P-32 8.9 0 -

GSM-P-32-AS 8.9 0 -

GSM-P-32-IS 20.05 11.15 6.15

GSM-P-40 13.9 5 0

GSM-P-40-AS 13.9 5 0

GSM-P-40-IS 31.5 22.6 17.6

GSM-P-50 16.9 8 3

GSM-P-50-AS 16.9 8 3

GSM-P-50-IS 36.7 27.8 23

GSM-P-64 13.9 5 0

GSM-P-64-AS 13.9 5 0

GSM-P-64-IS 26.25 16.35 11.35

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Assembly

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Fig. 12

1 Press the Teach button (4) for 2 seconds.

After 2 seconds LED 1 (3) is flashing.

2 Move the gripper into position 1 (e.g. "open").

3 Press the Teach-Button (4) briefly.

LED 1 (3) lights up and LED 2 (5) is flashing.

4 Move the gripper into position 2 (e.g. „-2mm“).

LED 1 (3) should turn out as soon as the switching point 1 is left.

5 Press the Teach-Button (4) briefly.

LED 2 (5) lights up.

The switching points are set.

The hysteresis to both switching points will be adjusted automati-cally 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 tempera-ture 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.

The lowest securely detectable difference in stroke is ≤10 % of the nominal stroke.

Setting up the switching points

Adjusting the hysteresis

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Assembly

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Inductive monitoring via INW 40

4

25

Fig. 13

Fig. 14

Types that can be ordered (☞ catalog):

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 sul-phuric acid.

The inductive proximity switches are electronic components, which can react sensitively to high-frequency interference or elec-tromagnetic fields.

• Check to make sure that the cable is fastened and installed cor-rectly. 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 (approx. 2 mA) is cumulative.

7.6

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Assembly

06.02|GSM-P 32 - 64|en 27

Mounting kits for INW 40

GSM-P Mounting kit for INW 40 ID number

AS-GSM-P-32, mounting kit for INW 40 0304934




NOTE The monitoring of swiveling and grasping movements with an in-ductive proximity switch can yield reliable results only in the ranges of 0°±3° and 180°±3° or 0°±3° and 90°±3°.

Fig. 15 Rotating angle setting and monitoring range

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Assembly

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Fig. 16 Schematic diagram of inductive monitoring with INW 40 of GSM

Dampened sensor

[1] Rotating angle end position in counterclockwise direction with opened gripper

[2] Rotating angle end position in counterclockwise direction with closed gripper

[3] Rotating angle end position in clockwise direction with opened gripper

[4] Rotating angle end position in clockwise direction with closed gripper

Schematic diagram of inductive monitoring with INW 40 for GSM

for 090 variants

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Assembly

06.02|GSM-P 32 - 64|en 29

Fig. 17 Schematic diagram of inductive monitoring with INW 40 of GSM

Dampened sensor

[1] Rotating angle end position in counterclockwise direction with opened gripper

[2] Rotating angle end position in counterclockwise direction with closed gripper

[3] Rotating angle end position in clockwise direction with opened gripper

[4] Rotating angle end position in clockwise direction with closed gripper

NOTE One of the two inductive proximity switches for the "gripping" monitoring is briefly crossed over during swiveling action by "second switching lug gripping".

NOTICE

The maximum tightening torque for the clamping screws (301 and/or 303) at the holder (300) is 125 Ncm. Remove bracket (8).

NOTICE

Risk of damage due to incorrect adjustment of the proximity switches! Disconnect the energy supply before installing or adjusting the inductive proximity switches.

Schematic diagram of inductive monitoring with INW 40 for GSM

for 180 variants

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Assembly

30 06.02|GSM-P 32 - 64|en

Installation steps for assembly of the mounting kit and mounting of the proximity switch

1 Mount the plastic holders (300) onto the designated spaces with the screws (301 and/or 303). Depending on the mounting kit, offset pieces (94) may have to be installed.

2 Remove the bracket (8). Mount switching lug(s) grippers (91+92) onto the base jaw which lies in the 0° swivel position exactly above the 0° swivel position.

3 Mount the inductive proximity switch INW 40 into the plastic holders (300). It is advised to set the switching distance of all four proximity switches under the swiveling switching lug (93). By gently applying the clamping screws (301 or 303), the prox-imity switch can be lightly clamped. A feeler gauge tape with a thickness of 0.5 mm can be very helpful as well, because the proximity switch can thus be installed on "blocked/stop", which prevents a collision during a swiveling movement.

4 Move the unit with the energy supply switched off in the re-spective rotating angle end position and set two of the prox-imity switches on the swiveling switching lug (93) and tighten the clamping screws (301 or 303). CAUTION: observe permissible tightening torque. When setting the switching distances, make sure that none of the switching flags can collide with a proximity switch.

5 Check the function of each proximity switch and check the output signals of the proximity switch by moving to different gripper positions in the two rotating angle end positions with connected energy supply.

6 Should one or more proximity switches not send a signal, re-peat step 3 of the setting instructions and slightly reduce the switching distance until the desired function is achieved.

7 Should a signal be received "too early", this can be corrected by increasing the switching distance, which, however, also af-fects the sensitivity of the switching function.

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Assembly

06.02|GSM-P 32 - 64|en 31

Fig. 18 Assembly of GSM 090 variants with inductive monitoring

* Only included in the mounting kit for P-50

** In P-32, item 92 is identical to item 91

*** Item 112 is not a component of the mounting kit, it is part of the gripping module

Fig. 19 Assembly of GSM 180 variants with inductive monitoring

* Only included in the mounting kit for P-50

** In P-32, item 92 is identical to item 91

*** Item 112 is not a component of the mounting kit, it is part of the gripping module

Assembly of GSM with inductive moni-

toring with INW 40

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Commissioning

32 06.02|GSM-P 32 - 64|en

Commissioning

NOTICE

Damage to the rotary module possible! The rotary module can be damaged if it arrives too abruptly in the end position.

• The rotary motion must reach the end position without jerk or bounce.

• Therefore flow control valves and shock absorbers must be used( 8.1, ),( 8.2, Page 34).

• Please observe the diagrams and information in the catalog pages.

Setting the speed

NOTICE

Damage to the product is possible! The rotary module can be damaged if it arrives too abruptly in the end position.

• The exhaust flow control valves and the shock absorbers must be adjusted so that the rotation gradually and smoothly dece-lerates.

Fig. 20

1 Completely close the exhaust flow control valves.

2 Slowly and gradually open the exhaust flow control valves and rotate the load.

3 Further open the exhaust flow control valves until the rotation gradually and smoothly decelerates.

8

8.1

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Commissioning

06.02|GSM-P 32 - 64|en 33

Fig. 21

NOTE If the speed is too high the shock absorber will be overloaded.

Fig. 22

4 Open the exhaust flow control valve until a smooth movement is reached.

NOTE In most cases the rotation will still be too slow. Further adjustment and optimization of the swivel time is achieved via adjusting the shock absorber stroke.

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Commissioning

34 06.02|GSM-P 32 - 64|en

Adjustment of the shock absorber stroke

NOTE When received from the factory, the unit is set to utilize the max-imum shock absorber stroke.

Fig. 23

The shock absorber stroke is too long and the end position is reached too slowly.

Fig. 24

The shock absorber stroke is too short and the unit arrives in the end position too abruptly.

Fig. 25

Optimal shock absorber stroke.

8.2

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Trouble shooting

06.02|GSM-P 32 - 64|en 35

Trouble shooting

Module 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 module to the maximum that the movement of the jaws occurs without bouncing and hitting.

Check compressed air lines.

Inner diameter of the compressed air lines are sufficiently large relative to the compressed air consumption

Compressed air lines between module and control valve shoud be kept as short as possible.

Flow rate of valve is sufficiently large relative to the compressed air consumption.

NOTICE! The one-way flow control valves must not be removed even when the gripper has not reached the opening and closing times.

If, despite of optimal air connections, the opening and closing times are not achieved according to the catalog, we recommend the use of quick ex-haust valves direct at the module.

Load too high Review permissible weight and length of the jaws.

9

9.1

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Maintenance and care

36 06.02|GSM-P 32 - 64|en


Notes

Original spare parts

When replacing damaged parts (wearing parts/spare parts) only use SCHUNK original spares.

Replacement of the housing and base jaws

The cover housing (35), fingers (3), and needle rollers (13, 14, 15) are adapted to each other. To replace these parts, send the com-plete module together with a repair order to SCHUNK or order the housing with base jaws as a set.

NOTICE

The needle rollers are suitable only for this gripper and cannot be replaced with needle rollers belonging to another gripper of the same type and size.

Maintenance and care intervals

NOTICE

At ambient temperature above 60°C the lubricants can harden faster.

• Interval decrease accordingly.

Maintenance and care intervals GSM-P

Size GSM-P 32 - 64

Interval [Mio. cycles] 2

Maintenance and care intervals DKM

Size DKM 40 / 64


Maintenance and care intervals FAN

Size FAN 40 / 64


10

10.1

10.2

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06.02|GSM-P 32 - 64|en 37

Grease/greasing areas


Types of grease used

Designation PGM DKM FAN

Renolit HLT 2 (not on surfaces that assume a function on the rotary feed-through)

Item 100 Item 101 Item 102

Item 42 Item 43 Item 44 Item 46

Item 109

Item 131

GP303-P - - -

Isoflex-Topas NCA 52 (MPG grease) Item 3 Item 4

Item 15 Item 35

Item 85 Item 122

-

Mixture of Interflon Fin assembly grease for In-terflon Fin Lupe EP (mass ratio 1:1)

Item 103 Item 11 Item 82 Item 42 Item 43 Item 44

Item 46 *

Item 51 Item 52 Item 53 Item 58 Item 59

Item 109 Item 110

* Especially seals of the rotary feed-through and therefore ad-joining surfaces

Adhesives used

Designation GSM-P DKM

Activator from Weicon for all magnets Item 120 -

Adhesive from Weicon, 302-10 for all magnets Item 120 Item 123

Adhesive from Weicon, 302-43 for all screws Item 110/ 111/112 Item 104/140

Equivalent adhesives and activators from other manufacturers may be used.

10.3

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38 06.02|GSM-P 32 - 64|en

Screw tightening torques


Screw tightening torques GSM-P

GSM-P Item 110 Item 111 Item 112 Item 115

32 2.7 Nm 2.7 Nm 0.7 Nm 5.8 Nm

40 5.8 Nm 5.8 Nm 0.7 Nm 5.8 Nm

50 5.8 Nm 12 Nm 0.7 Nm 5.8 Nm

64 6 Nm 12 Nm 1.3 Nm 12 Nm

DKM screw tightening torques

Rotary gripping module

Item 121/124 Item 133 Item 140 Item 231 Item 232

GSM-P-32/-P-40 Basic size 40x40

1.2 Nm - 2 Nm 6 Nm 3 Nm

GSM-P-50/-P-64 Basic size 64x64

2.0 Nm - 4 Nm 10 Nm 6 Nm

Tightening torques for screws FAN

Rotor drive Item 101 Item 104

FAN 40 1.3 Nm

FAN 64 3.1 Nm

10.4

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06.02|GSM-P 32 - 64|en 39

Disassembly/assembly of the unit in the basic modules


1 Remove the compressed air lines.

2 Turn the gripping module (GSM) into the middle position.

3 Remove the screws (104) and pull the DKM feed-through compact module (40) off the FAN rotor drive (50).

1 Turn the rectangular section of the rotor drive (53) with the longer side towards the center of the air connections A and B.

2 Turn the DKM back stop 1 (81) with the magnet towards the 90° position, i.e. with the 090 version, one magnet has to point towards the 90° position and the other one towards the 180° position.

3 Put the DKM feed-through compact module (40) on the FAN ro-tor drive (50) and secure the two modules with the screws (104). Observe the permissible tightening torques ( 10.4, Page 38).

10.5

Disassembly

Assembly

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40 06.02|GSM-P 32 - 64|en

Disassembly/assembly of the gripping module

For disassembly/assembly of the gripping modules, observe the assembly drawing ( 11, Page 50).

For assembly, observe the permissible tightening torques as well as the greases and adhesives to be used; ( 10.4, Page 38) and ( 10.3, Page 37).

Version without maintenance of gripping force unit GSM-P

NOTICE



2 Loosen the screws (111) and remove the bushing (44).

3 Remove the magnet (120) ( 10.6.3, Page 43).

4 Unscrew the screw (110) and pull off the piston (39).

5 Remove the seal rings (102) from the piston.

6 Loosen the screws (112) and remove the holders (8).

7 Take the needle rollers (15) out of the cover housing and re-move the needle rollers (13 and 14).

8 Use the piston rod (4) to pull the fingers (3) upwards out of the cover housing (35).

9 Loosen the quad ring (101) from the cover housing.

10 Remove the O-ring (100) from the cover housing (35).

10.6

10.6.1

Disassembly

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06.02|GSM-P 32 - 64|en 41

For assembly, observe the permissible tightening torques as well as the greases and adhesives to be used ( 10.4, Page 38) and ( 10.3, Page 37).

1 Lubricate the seals (101) and mount them into the cover hous-ing (35).

2 Grease the guide grooves in the cover housing (35).

3 Lubricate the running surfaces of the fingers (3).

4 Grease the piston rod (4) in the diagonal pull area, separately from the lower part of the piston rod (4) ( 10.3, Page 37).

5 Install the fingers (3) onto the piston rod (4) and insert the parts into the cover housing (35).

6 Fit the needle rollers (13 and 14) between the fingers (3) and the cover housing (35) into the guiding grooves intended for this purpose.

7 Lubricate the needle rollers (15) and fit them between the fin-gers (3).

8 Mount the bracket and the collar (8) with screws (112) onto the fingers.

9 Lubricate the O-ring (100) and mount it onto the cover hous-ing (35).

10 Fasten the piston (39) to the piston rod (4) using the screw (110).

11 Grease the seals (102) and mount them on the piston (39).

12 Glue the magnet into the piston ( 10.6.3, Page 43).

13 Carefully fit the cover housing (35) with the mounted parts in-to the bushing (44).

14 Screw the cover housing (35) into the bushing (44) using the screws (111).

Assembly

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42 06.02|GSM-P 32 - 64|en

Version with maintenance of gripping force unit

WARNING

Risk of injury due to spring forces With the "O.D. gripping" version, the bushing (46) or cover hous-ing (35) is under spring tension.

WARNING

Risk of injury due to spring forces With the "I.D. gripping" version, the piston (36) is under spring tension.

NOTICE


"O.D. gripping" version GSM-P-...-AS:

1 Repeat steps 1 to 11 of the gripper disassembly without main-tenance of the gripping force ( 10.6.1, Page 40). However, the bushing has item 46 and a spring (121) is installed to main-tain the gripping force.

2 Carefully clamp the gripping module between the cover hous-ing (35) and the bushing (46) when loosening the screws (111), since the two parts are under spring tension.


1 Repeat steps 1 to 14 of the gripper assembly without main-tenance of the gripping force ( 10.6.1, Page 40). However, the bushing has item 46 and a spring (121) is installed to main-tain the gripping force.

2 With the variant with maintenance of the gripping force, make sure the spring (121) is inserted in the bushing (46) between steps 12 and 13 of the assembly without maintenance of the gripping force.

10.6.2

Disassembly

Assembly

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06.02|GSM-P 32 - 64|en 43

"I.D. gripping" version GSM-P-...-IS:

1 Repeat steps 1 to 11 of the gripper disassembly without main-tenance of the gripping force ( 10.6.1, Page 40). However, the bushing has item 46 and a spring (121) is installed to main-tain the gripping force.

2 Carefully clamp the gripping module between the cover hous-ing (35) and piston (36), since the two parts are under spring tension.


1 Repeat steps 1 to 14 of the gripper assembly without main-tenance of the gripping force ( 10.6.1, Page 40). However, the bushing has item 46 and a spring (121) is installed to main-tain the gripping force.

2 With the variant with maintenance of the gripping force, make sure the spring (121) is put on the piston (36) between steps 9 and 10 of the assembly without maintenance of the gripping force.

Mounting orientation of the magnets, item 120

Fig. 26 Top view in rotating angle position for 0°-180° variants

Fig. 27 Top view in rotating angle position for 0°-90° variants

Disassembly

Assembly

10.6.3

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44 06.02|GSM-P 32 - 64|en

Disassembly/assembly of the DKM feed-through compact module (item 40)


NOTICE

If the housing (11), bearing ring (82), or bushing (44 or 46) is re-placed, a new set of fitting disks (111 and 112) must be ordered.

NOTICE

The balls (142) lie loosely in the DKM GSM ball guide (85).

1 In order to start disassembling the DKM, the steps of disas-sembly/assembly of the unit must have been carried out in the basic modules ( 10.5, Page 39).

2 Remove the O-rings (109) and ball guide rail DKM GSM (85) from the DKM GSM housing.

3 Remove the balls (142).

4 Turn the screws (140) from the bushing of the gripping mod-ule (31-34) and pull DKM GSM stop 1 (81) and the set of fitting disks (111/112) off the bushing (44 or 46).

5 Pull the gripping module (31-34) from the DKM GSM housing.

6 For elastomer variants, proceed as follows: Remove the back stops (83) after loosening the nuts (124). Also remove the needle rollers (122).

7 For shock absorber variants, proceed as follows: Remove the dampers (120) after loosening the nuts (121). Also remove the sleeves (122).

10.7

Disassembly

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06.02|GSM-P 32 - 64|en 45

For assembly, observe the permissible tightening torques as well as the greases and adhesives to be used; ( 10.4, Page 38) and ( 10.3, Page 37).

1 Lubricate the DKM GSM housing (11) and the bushing (44 or 46) on the running surfaces and bearings.

2 Grease the bearing ring (82).

3 Insert the bearing ring with the outer chamfer downwards in-to the DKM GSM housing.

4 Lubricate the O-rings (103) and mount them into the recesses on the bushing (44 or 46).

5 Insert the gripping module into the DKM GSM housing.

6 Adjust the axial bearing seat of the bushing with the fitting disks (111 or 112).

7 Set DKM stop 1 (81) onto the bushing and fasten it to the bushing using the screws (140).

8 Grease the DKM ball guide (85).

9 Turn the bushing so that DKM stop 1 (81) is pointing 180° away from the bore holes for the damper.

10 Lubricate the needle rollers (122) and put them into the ap-propriate fits.

11 For elastomer variants, proceed as follows: Lubricate the needle rollers (122) and put them into the ap-propriate fits. Place one ball (142) in the housing in front of each needle roller (122) and screw the DKM back stop 2 (83) into the housing.

12 For shock absorber variants, proceed as follows: Grease the sleeves (122) and put them on the dampers (120). In-sert the sleeve into the provided fit in the DKM GSM housing (11) and screw the damper into the housing. Place one ball (142) in the housing in front of each sleeve (122).

13 Mount the locknut (124) onto the stops/shock absorbers.

14 Connect the DKM module (11) to the FAN rotor drive using the screws (104). When doing this, pay attention to the assembly of the basic modules ( 10.5, Page 39).

Assembly

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46 06.02|GSM-P 32 - 64|en

Replacing a shock absorber for S variants


The shock absorbers have a limited lifespan, depending on the load. For this reason, their function should be checked regularly. The shock absorber is working correctly if the unit moves gently to the end positions. When replacing it, observe the control number "-446" at the end of the damper designation. These specially tested shock absorbers are only to be ordered from SCHUNK. When replacing a damper, the complete additional parts list for hydraulic dampening should be ordered.

Proceed as follows with the replacement:


2 Loosen the counter nut (124).

3 Remove the shock absorber (121) from the unit and remove the sleeve (122). If the latter cannot be loosened from the shock absorber, it may be helpful to use a small bar magnet or turn the unit by hand.

Clean all parts thoroughly and check all parts for defects and wear.

The unit is assembled in reverse order; finish by re-adjusting the end positions (Adjusting the end positions).

10.8

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06.02|GSM-P 32 - 64|en 47

Replacing an elastomer for E variants


The elastomers have a limited lifespan, depending on the load. For this reason, their function should be checked regularly. The elas-tomer is working correctly if the unit moves gently to the end posi-tions. When replacing an elastomer, the complete additional parts list for elastomer dampening should be ordered.

Proceed as follows with the replacement:


2 Loosen the counter nut (124).

3 Remove the shock absorber (121) from the unit and remove the sleeve (122). If the latter cannot be loosened from the shock absorber, it may be helpful to use a small bar magnet or turn the unit by hand.

Clean all parts thoroughly and check all parts for defects and wear.

The unit is assembled in reverse order; finish by re-adjusting the end positions (Adjusting the end positions).

10.9

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48 06.02|GSM-P 32 - 64|en

Disassembly/assembly of the FAN rotor drive (50)



2 Loosen the screws (101) and take the upper housing (51) off the lower housing (52).

3 Remove the O-rings (109) and the centering sleeve (108).

4 Take the rotor (53) out of the housing (52) and pull the bear-ing (100) off the rotor.

5 Pull the O-rings (110) off the rotor.

6 Remove the stop rotor (58) and pull the stop seal (59) off the stop rotor.

7 Clean all parts thoroughly and check all parts for defects and wear.

8 Renew the seals listed in the seal set.

1 Lubricate the upper and lower housing (51 and 52) from the inside.

2 Grease the entire stop rotor (58).

3 Pull the stop seal (59) into the correct position on the stop ro-tor (58) and grease the two parts completely again.

4 Put the stop rotor in the correct position in the intended fit in the upper rotor housing (51).

5 Grease the entire rotor (53) except for the rectangular section.

6 Pull both O-rings (110) onto the rotor and lubricate them.

7 Stick the ball bearing onto the rotor.

8 Stick the rotor with the rectangular part facing down into the upper housing. Move the rotor into the 90° position, which means opposite the stop rotor (53).

9 Put the centering sleeve (108) in the upper housing (51) for assembly with the lower housing (52).

10 Lubricate four O-rings (109) and place them into the provided mirrored views in the lower housing (52).

11 Mount the upper housing with the lower housing and attach both with screws (101). The screws (101) are to be tightened "crosswise".

10.10

Disassembly

Assembly

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06.02|GSM-P 32 - 64|en 49

12 Lubricate two O-rings (109) and fit them into the upper hous-ing (51) into the appropriate counterbores.

13 Mount the centering sleeve (108) or cylindrical pin (107) onto the upper housing (51).

Servicing and assembling the module

• Clean all parts thoroughly and check for damage and wear.

• Treat all greased areas with lubricant. ( 10.3, Page 37)

• Oil or grease bare external steel parts.

• Replace all wear parts / seals.

– Position of the wearing parts ( 11, Page 50)

– Seal kit ( 12, Page 53)

Assembly takes place in the opposite order to disassembly. Ob-serve the following:

• Unless otherwise specified, secure all screws and nuts with Loc-tite no. 243 and tighten with the appropriate tightening torque.( 10.4, Page 38)

10.11

Maintenance

Assembly

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Assembly drawings

50 06.02|GSM-P 32 - 64|en

Assembly drawings The following figures are example images. They serve for illustration and assignment of the spare parts. Variations are possible depending on size and variant.

Assembly drawing of the basic module

Fig. 28 Basic module overview

34 PGM gripping module

40 DKM feed-through compact module

50 FAN rotor drive

11

11.1

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Assembly drawings

06.02|GSM-P 32 - 64|en 51

Assembly drawing of the DKM and FAN modules

Fig. 29 DKM and FAN overview

* Included in the seal kit. Seal kit can only be ordered completely.

** Only for the basic sizes 40 x 40 and 64 x 64

11.2

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Assembly drawings

52 06.02|GSM-P 32 - 64|en

Assembly drawing of the gripping modules

Fig. 30 Assembly drawing of the basic modules

* Included in the parts list for the DKM feed-through compact module

** Item 113 only available for the sizes P-40, P-50, and P-64

11.3

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Accessory pack rotational speed rotor FAN

06.02|GSM-P 32 - 64|en 53

Seal kit

Sealing kit lists for the FAN 40 - 64 rotor drive


ID.-No. of the seal kit 5516256

Item ID number Quantity Designation

53 5514529 1 Rotor FLU 40

59 9939734 1 Stop seal SFL 40

109 9611155 2 O-ring DIN3771 NBR70 2.5x1

131 9611155 4 O-ring DIN3771 NBR70 2.5x1

132 9611086 2 O-ring DIN3771 NBR70 6x2



53 5514530 1 Rotor FLU 64

59 9939735 1 Stop seal SFL 64

109 9611163 2 O-ring DIN3771 NBR70 4x1

131 9611163 4 O-ring DIN3771 NBR70 4x1

132 9939882 2 O-ring DIN3771 NBR70 11.3x2.40

12

12.1

FAN 40

FAN 64

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54 06.02|GSM-P 32 - 64|en

Sealing kit lists for the P-32 - P-64 gripping modules




100 9936332 1 O-ring DIN3771 NBR70 16x2

101 9610005 1 Quad ring AS568A NBR70 6.07x1.78 4010

102 9612610 2 Cylinder seal 16x10x2.55 /Z8-1610-N3580

103 9939719 3 O-ring DF-coated 18x1 NBR70



100 9611115 1 O-ring DIN3771 NBR70 18x1

101 9610111 1 Quad ring AS568A NBR70 8.20x1.78 4012A

102 9907469 2 Cylinder seal 20x14x2.55 / Z8-2014-N3580




100 9907474 1 O-ring DIN3771 NBR70 22x1


102 9937411 2 Cylinder seal 25x19x3.25 / Z8-2519-N3580

103 9937577 3 O-ring DF-coated 26.70x1.76 NBR70

12.2

P-32

P-40

P-50

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06.02|GSM-P 32 - 64|en 55



100 9907605 1 O-ring DIN3771 NBR70 25x1


102 9936473 1 Quad ring AS568A NBR70 23.52x1.78 4021


Accessory pack rotational speed rotor FAN Position of the position numbers ( 11, Page 50)

Content of the accessories pack:

• Centering sleeves (205 or 206)

• O-rings (207)

• Steel balls (108)

• Locking screws (230)

• Screws (231 / 232)

Rotational speed rotor FAN

Rotational speed rotor ID number

FAN 40 5514441

FAN 64 5514442

P-64

13

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Translation of original declaration of incorporation

56 06.02|GSM-P 32 - 64|en

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 incomplete 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: Rotary gripping module with parallel gripper / GSM-P 32 - 64 / pneumatic

ID number 0304630 / 0304730 / 0304631 / 0304731 / 0304632 / 0304732 / 0304640 / 0304740 / 0304641 / 0304741 / 0304642 / 0304742 / 0304650 / 0304750 / 0304651 / 0304751 / 0304652 / 0304752 / 0304660 / 0304760 / 0304661 / 0304761 / 0304662 / 0304762 / 0303830 / 0303930 / 0303831 / 0303931 / 0303832 /0303932 / 0303840 / 0303940 / 0303841/ 0303941 / 0303842 / 0303942 / 0303850 / 0303950 / 0303851 / 0303951 / 0303852 / 0303952 / 0303860 / 0303960 / 0303861 / 0303961 / 0303862 / 0303962

The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machine is to be installed with the provisions of the Machinery Directive (2006/42/EC) is confirmed.

Applied harmonized standards, especially:

EN ISO 12100:2011-03 Safety of machinery - General principles for design - Risk assess-ment and risk reduction

The manufacturer agrees to forward on demand the relevant technical documentation for the partly completed machinery to state offices.

The special technical documents according to Appendix VII, Part B belonging to the in-complete machine have been compiled.

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

Lauffen/Neckar, January 2014 p.p. Ralf Winkler, Head of Gripping Systems Development

14

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rotary gripping module with parallel gripper gsm-p 32 - 64

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