Afag GMQ 20/RE-50 User manual

Rotary gripper module
pneumatic / electric
GMQ 20 / RE-50
GMQ 20 / RE-50 18-100V
Declaration of Incorporation
Module Information
Montage Instructions
Maintenance Instructions
„Translation“ of the Original Operating Instructions
© Copyright by Afag Automation AG

2 GMQ 20-RE-50 OI. vers.1.4 gb. 07.03.2016
These operating instructions apply to:
Type Order No. Type Order No.
GMQ
2
0
/P
/
RE
-
50
50
355544
GMQ 20/P-01 / RE-50 50410326
GMQ 20/K / RE-50 50355546
GMQ
2
0
/P
/
RE
-
75
18
-
100V
50
355547
GMQ 20/P-01 / RE-75 18-100V 50410327
GMQ 20/K / RE-75 18-100V 50355549
Assembly and initial start-up must be carried out by qualified personnel only and ac-
cording to these operating instructions.
Version of this
documentation: GMQ 20-RE-50 OI. vers.1.4 gb. 07.03.2016
DANGER
Indicates an immediate threatening danger.
Non-compliance with this information can result in death or se-
rious personal injuries (invalidity)
WARNING
Indicates a possible dangerous situation.
Non-compliance with this information can result in death or se-
rious personal injuries (invalidity)
CAUTION
Indicates a possibly dangerous situation.
Non-compliance with this information can result in damage to
property or light to medium personal injuries.
NOTE
Indicates general notes, useful operator tips and operating recom-
mendations which don’t affect safety and health of the personnel.
12
The actual serial number will
be sticked in here upon delivery of
the device.

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20-RE-50 OI. vers.1.4 gb. 07.03.2016 3
Table of Contents
1.0 Declaration of Incorporation.............................................................................5
2.0 Module Information .......................................................................................…7
2.1 Safety ..................................................................................................................7
2.2 Transport, Handling, Storage...............................................................................6
2.3 Module Desgription..............................................................................................7
2.4 Nomenclature construction gripper rotary Module…………………………………8
2.5 GMQ 20 / RE-50 18-100V…………………………………………………………….9
2.6 Mounting of the gripping pliers ...........................................................................10
2.7 The gripper fingers are not included....................................................................9
2.8 Assembly connection.........................................................................................11
2.9 Tightening moments for screw.......................................................................... 11
2.10 Centering module.............................................................................................13
2.11 Installation in a system .....................................................................................13
2.12 Turning the rotary module if the cable outlets don’t fit.....................................14
3.0 Montage Instructions ......................................................................................16
3.1 Intended use.......................................................................................................17
3.2 Warranty.............................................................................................................18
3.3 Safety .................................................................................................................18
3.4 Dimension drawing: GMQ 20-RE-50 ..................................................................19
3.5 Technical data GMQ 20......................................................................................20
3.6 Technical data RE-50…………………………………………………………………21
3.7 Rotation time RE-50 ……..…………………………………………………………...22
3.8 Installation of external modules.........................................................................22
3.9 Electrical Interfaces ...........................................................................................22
3.10 Sensor plug ......................................................................................................25
3.11 Commissioning, operation, training ..................................................................26
3.12 Preparation for commissioning..........................................................................27
3.13 Commissioning.................................................................................................27
3.14 Setting / Changeover........................................................................................28
3.15 Normal operation…………………………………………………………………….27

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4.0 Maintenance Instructions ................................................................................29
4.1 Servicing.............................................................................................................29
4.2 Further maintenance ...........................................................................................30
4.3 Possible failures on rotary module RE-50............................................................31
4.4 Exchanging the gripper actuator (pnematically/electric) ......................................32
4.5 Exchanging the RE-50 rotary module.................................................................34
4.6 End position sensor replacement ........................................................................34
4.7 Spare parts..........................................................................................................34
4.8 Accessories........................................................................................................36
4.9 Extension and repair...........................................................................................37
5.0 Disposal..............................................................................................................36
6.0 Annexe................................................................................................................37
6.1 Liste of Figures...................................................................................................37
6.2 Liste of Tables ...................................................................................................37

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1.0.0 EC Declaration for Incorporation (Document original)
1.1.0 According to: 2006/42/EC
Standard: EN ISO 12100:2010 (German Version)
The manufacturer:
Afag Automation AG, Fiechtenstrasse 32, CH-4950 Huttwil
hereby declares that the incomplete machine:
Applied and fulfilled essential requirements:
1.1; 1.1.1; 1.1.2; 1.2; 1.2.1; 1.2.3; 1.2.4.4; 1.2.5; 1.3; 1.3.3; 1.3.5; 1.3.6; 1.3.7;
1.3.8.1; 1.3.8.2; 1.3.9; 1.4.1; 1.5; 1.5.1; 1.6; 1.6.1; 1.6.3; 1.6.4; 1.7; 1.7.1; 1.7.4.;
1.7.4.1; 1.7.4.2; 1.7.4.3; 3.3.5; 3.4.1
Designation:
Rotary gripper modules
(pneumatic / electric)
Types
:
GMQ
2
0
RE
-
50
GMQ 20 RE-50 18-100V
Relevant EC Machinery Directive:
EC Low voltage Directive: 2006/95/EC
EMC Directive: 2004/108/EC
Increase of the harmonized EN 60204-1:2006; EN 349
Standard applied:
Safety of machinery General principles for risk assessment and risk reduction.
The special technical documents shall be sent to a reasoned request by national au-
thorities in printed documents or electronically (pdf).
Who installs this incomplete machine or assemble with other machines, a risk as-
sessment for its resulting machine which must make the provisions of the
EC directive: 2006/42 /EC
Norme: EN ISO 12100:2010
Agent:
For the compilation of the technically relevant documents:
Niklaus Röthlisberger, Producte Manager Afag Automation AG, CH-4950 Huttwil
Place/Date: Huttwil, 07.03.2016
Siegfried Egli Niklaus Röthlisberger
Managing Director Producte Manager HT
Afag Automation AG Afag Automation AG

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2.0 Module Informations
2.1 Safety
Modifications to the rotary-gripper module that are not described in this operating
manual or have not been approved in writing by the company Afag Automation AG
are not permitted. In case of improper changes or assembly, installation, operation,
maintenance or repairs, Afag Automation AG rejects all liability.
2.2 Transport, handling, storage
For transport and storage, the following conditions must be met:
Temperature storage: 0-50°C
Humidity: <90%, non condensing
Caution
The rotary-gripper module is packed in the original box. In the case
of improper handling the module may drop out of the box when it is
unpacked and cause injuries to limbs.
NOTE
Please note!
A technical safety information sheet is enclosed with each module.
This information sheet must be read by every person who operates
the module.
2.3 Module Description
The rotary-gripper module is a very compact electrical / pneumatic rotary module
which is suitable for rotating useful loads (see Technical Data). The RE rotary mod-
ules are fitted with a 17-pole industrial connector (G13) and a 4-pole M15 connector.
The RE rotary modules are designed for operation with the Afag controllers SE-
Power 1kVA, SE-48 and SE-24. They can, however, also be operated with control-
lers of other manufacturers.

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2.4 Nomenclature construction gripper rotary modules GMQ 20 RE-50
18-100V

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2.5 GMQ 20 RE-50 18-100V pneumatically / electric
1 Gripper 2 Servo drive with gears
3 Encoder housing 4 Proximity switch
5 Encoder connection 6 Motor connection
7 Adapter unit 8 Gripper actuator
9 Air connection 10 Connecting flange
1
4
5 6 7 8
9
2 3

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2.6 Mounting of the gripping pliers
Pliers can be retrofitted to rotary-gripper modules which were ordered without pliers.
The EG-20 gripper actuator can be fitted with the standard gripper pliers of the GMQ
20 pneumatic grippers. There are 3 different types available.
Mounting of the gripping pliers:
Extend the drawbar on the GMQ pliers actuator electrically when mounting the gripper pliers.
Disassembly of the gripper:
Extend the drawbar on the EG pliers actuator when dismounting the gripper pliers
NOTE
The gripper fingers are not part of the delivery and must be manufac-
tured by the user of the rotary-gripper module.
Procedure:
Material for assembly / disas-
sembly:
Allen screwdriver 3 mm
Cylinder pin Ø 2.5 x30 mm
Drawbar GMQ-Gripper actuator
1 Centering bushings
2 Gripper
3 Disc
4 Screw
5 Centering
6 Drawbar
7 Clamping screw
Processure:
-Insert centering ring 5 and centering sleeve 1
-Insert cylinder pin in flange (fix)
-Push on gripper pliers 2
-Tighten screw 4
-Align gripper pliers, tighten clamping screw 7
18-100V

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2.7 The gripper fingers are not included!
It’s the customer’s responsibility to manufacture the gripper fingers. The jaws of the
gripper pliers are provided with a default seat (10 G8) for this.
The drawings of the pliers are included in the Technical Catalogue.
NOTE
The gripper fingers are not part of the delivery and must be manufac-
tured by the user of the rotary-gripper module.
Cylinder pin
Drawbar
Loosen clamping screw at the
gripper pliers. The pliers head can
be removed
New gripper pliers can now be
mounted on the rotary gripper.
Procedure:
Please see „Mounting of the grip-
per pliers“
Insert cylinder pin in the
flange holes so that the
gripper pliers is locked.
Loosen screw using the
Allen screwdriver.

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2.8 Assembly connection
WARNING
Due to the rotating
movement of the gripper pliers, hair or other
materials may be caught and drawn into the system while the
module is being operated.
Caution: Commissioning may only be executed by qualified
personnel.
WARNING
Always switch off the controller and
protect it against being
switched on again unintentionally when you work on the rotary-
gripper module. The signals of the control system may cause
unintentional movements of the module which may lead to per-
sonal injuries.
The rotary-gripper module can be mounted in a vertical or horizontal position.
The rotary-gripper module can be fastened to the black intermediate piece (grid of 30
x 30 mm), using 4 M4 screw.
Acreage:
Use the centring sleeves included in the scope of delivery for positioning and insert
these sleeves in the diagonally opposite bore holes of the mounting grid.
2.9 Tightening moments for screw
The screws to be used for assembly must at least satisfy the following conditions:
Standard: VDI 2230
Strength: class 8.8
Surface: galvanized blue, oiled or greased

Fixing gridØ58mm, 4x
Ø3,4mm can be tapped
Fixing grid 30x30mm,
4xØ4,5mm can be
tapped
Squaring Ø49h7
for flange
mounting
ounting grid 2x 4 (e.g.
for hold-down)

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Thread Tightening moments
M2
M2.5
M3
0,3 … 0,35 Nm
0,5 … 0,73 Nm
1,1 … 1,4 Nm
M4 2,6 … 3,3 Nm
M5 5,2 … 6,5 Nm
M6 9,0 ... 11,3 Nm
M8 21,6 ..27,3 Nm
Table 1: Tightening moments for screw
2.10 Centering module

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2.11 Installation in a system
DANGER
The gripper rotary engine may not be used in hazardous envi-
ronments.
WARNING
If add
-
ons at the rotary
-
gripper module could cause danger in
connection with moving parts a safe operation must be en-
sured.
Ensure that the operator cannot reach into the operating range
of the rotary-gripper module during normal operation.
Ensure that there is no danger to the operator of the system in
special operating modes. The concept depends on the safety
concept of the system and the attached machine parts.
WARNING
Due to the decentral controller the operator of the rotary
-
gripper
module needs not to be near the product so that third persons
might be endangered by the rotation mode.
Lock the controller while you are working on the rotary-gripper
module and switch the controller only on again after work is
finished.
CAUTION
The rotary
-
gripper module is a partly complete machine.
The rotary-gripper module must be integrated in the safety con-
cept of the system so that a safe operation can be ensured.
Ensure that the operating personnel cannot reach into the op-
erating range of the rotary-gripper modules during operation.
The rotary-gripper module may only be used in accordance with
the intended purpose.
Ensure that the operator cannot reach into the operating range
of the rotary-gripper module during normal operation. This can
be achieved by taking appropriate safety measures such as
casings, a light grid or by disconnecting the system from the
power supply.

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NOTE
This operating manual should be read carefully before carrying out
any activity on or with the rotary-gripper module.
2.12 Turning the rotary module if the cable outlets don’t fit
In the delivery state the cable connections on the rotary module are facing forward.
You can turn the black mounting part so that the cable outlets are pointing to the left
or right side. Please proceed as follows:
Selectabele cable outlet:
Gripper actuator G Q: Eve-
ry possible position 360°
RE-50 rotary module: 4 Po-
sition each 90° possible

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20-RE-50 OI. vers.1.4 gb. 07.03.2016 15
Procedure:
Loosen 4 screws on the RE-50
using the 2.5 mm allen screw-
driver
Remove the RE-50 turn to the
desired side and remount.
Bolt down the RE-50 in the new
position.

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3.0 Montage Instructions
Manufacturer address: Afag Automation AG
Fiechtenstrasse 32
CH-4950 Huttwil
Sales Handling:
Tel. [phone]
www.afag.com
These Montage Instructions are valid for:
Product name: Rotary gripper module (pneumatically / electric)
Types: GMQ 20 RE-50
GMQ 20 RE-50 18-100V
This is an incomplete machine
Who installs this incomplete machine or assemble with other machines, a risk as-
sessment for its resulting machine which must make the provisions of the EC di-
rective: 2006/42/EC
Standard: EN ISO 12100:2010 (German Version)
Agent:
For the compilation of the technically relevant documents:
Niklaus Röthlisberger, Products Manager Afag Automation AG, CH-4950 Huttwil

GMQ
20-RE-50 OI. vers.1.4 gb. 07.03.2016 17
3.1 Intended use
The rotary-gripper modules are used for the smooth rotary movement of loads in
non-explosion hazardous ambient and operating conditions that are specified for this
module (see Technical Data).
The rotary-gripper modules are exclusively intended for rotating useful loads (see
Technical Data) which do neither impair the safety of persons nor present a danger
to property and the environment. Combined with other modules they can be used as
a pick&place station.
NOTE
Any use that exceeds the use mentioned above is regarded as im-
proper.
The manufacturer does not accept any liability for damage resulting
from such use. The risk is that of the user alone.
Intended use also includes paying attention to the operating manual and observing
the maintenance and repair instructions specified by the manufacturer.
CAUTION
The rotary-gripper module may only be operated and serviced
by correspondingly trained personnel who have also profound
knowledge of the dangers.
The applicable regulations for prevention of accidents and the
other generally accepted safety-relevant and occupational safe-
ty and health regulations are to be followed.

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3.2 Warranty
The rotary-gripper module is designed for 40 million load changes / 2 years opera-
tional performance under the ambient and operating conditions defined for this mod-
ule (see “Technical data”). Load data and design- and acceleration diagrams must be
observed.
There are no wearing parts for the rotary-gripper module!
The warranty includes the replacement or repair of defective module parts at Afag
Automation AG.
When repairs are carried out by the customer without prior training or instruction from
Afag Automation AG the warranty will become void. Any use which exceeds the in-
tended purpose will result in the warranty becoming null and void.
Any additional claims are excluded.
3.3 Safety
This operating manual should be read carefully before carrying out any activity on or
with the module. The module may only be deployed in accordance with the intended
use. Modifications on the module that are not described in this operating manual or
have not been approved in writing by Afag are not permitted. In the case of improper
changes or assembly, installation, operation, maintenance or repairs, Afag AG re-
jects all liability.
CAUTION
Connection of a control system and operation of the rotary-gripper
module can lead to unpredictable movements which may result in
personal injury or damage to property.

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3.4 Dimensional drawing: GMQ 20 RE-50
Figure 1: Dimension drawing GMQ 20-RE-50

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3.5 Technical data GMQ 20
Tabelle 2: Technische Daten EG-20 RE-50
RE-50
18-100V