Afag PG 12 User manual

Precision gripper modules
PG 12 I PG 16 I PG 20
 Declaration of Incorporation
 Assembly Instructions
 Operating Instructions
 Maintenance Instructions
„Translation“ of the Original Operating Instructions
© Copyright by Afag Automation AG

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These operating instructions apply to: Precision gripper modules PG
Type Order No.
PG 12 50332223
PG 16
PG 20
50332224
50332225
Version of this documentation: PG 12-PG 16 -PG 20 - OI v 1.7 gb 20190314
Symbols: Assembly and initial start-up must be car-
ried out by qualified Personnel only and
according to these operating instructions.
WARNING
Indicates a possibly dangerous situation.
Non-compliance with this information can result in death or serious
personal injuries (invalidity).
CAUTION
Indicates a possibly dangerous situation.
Non-compliance with this information can result in damage to proper-
ty 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.

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1.0.0 EC Déclaration of incorporation (Document original) .......................................... 5
1.1.0 According to: 2006/42/EC ................................................................................... 5
2.0.0 Assembly Instructions ......................................................................................... 6
2.1.0 Safety instructions .............................................................................................. 6
2.1.1 Transport, handling, storage ............................................................................... 6
2.1.2 Description of the module parts .......................................................................... 7
2.1.3 Parts designation ................................................................................................ 8
2.1.4 Mounting, connection.......................................................................................... 8
2.1.5 Installation and fastening possibilities ................................................................. 9
2.1.6 Dimensional drawing PG 12 ............................................................................. 10
2.1.7 Technical data PG 12 ....................................................................................... 11
2.1.8 Dimensional drawing PG 16 ............................................................................. 12
2.1.9 Technical data PG 16 ....................................................................................... 13
2.2.0 Dimensional drawing PG 20 ............................................................................. 14
2.2.1 Technical data PG 20 ....................................................................................... 15
2.2.2 Preferred combinations to PG 12 ..................................................................... 16
2.2.3 Preferred combinations to PG 16 ..................................................................... 17
2.2.4 Preferred combinations to PG 20 ..................................................................... 18
2.2.5 Tightening moments for bolts ........................................................................... 19
2.2.6 Assembly of the gripper fingers ........................................................................ 19
2.2.7 Pneumatic connection ...................................................................................... 20
3.0.0 Montage Instructions (Document original) ........................................................ 21
3.1.0 Manufacturer address: ...................................................................................... 21
3.1.1 Intended use ..................................................................................................... 22
3.1.2 Warranty ........................................................................................................... 23
3.1.3 Safety instructions ............................................................................................ 23
3.1.4 Preparation for start-up of the PG precision grippers ....................................... 24
3.1.5 Installation of the initiators ................................................................................ 24
3.1.6 Start-up ............................................................................................................. 25
3.1.7 Training ............................................................................................................. 25
3.1.8 Adjustment, retrofitting ...................................................................................... 26
3.1.9 Standard operation ........................................................................................... 26
4.0.0 Maintenance Instructions .................................................................................. 27
4.1.0 Maintenance and servicing ............................................................................... 27
4.1.1 Maintenance ..................................................................................................... 28

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4.1.2 Troubleshooting ................................................................................................ 29
4.1.3 Spare parts ....................................................................................................... 30
4.1.4 Delivery ............................................................................................................. 30
4.1.5 Disassembly and repair .................................................................................... 31
4.1.6 Disposal ............................................................................................................ 31
5.0.0 Appendix ........................................................................................................... 32
5.1.0 List of figures .................................................................................................... 32
5.1.1 List of tables ..................................................................................................... 32

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1.0.0 EC Déclaration of incorporation (Document original)
1.1.0 According to: 2006/42/EC
Standard: EN ISO 12100:2010 (German Version)
:
Product: Precision gripper modules PG
Types:
Consecutive serial number:
PG 12
PG 16
PG 20
50xxxxxx
Place/Date :
Relevant EC Machinery Directive:
- Machinery Directive: 2006/42/EC
- Standard: EN ISO 12100:2010 (German Version)
- Safety of machinery General principles for risk assessment and risk reduc-
tion.
- The special technical documents shall be sent to a reasoned request by na-
tional authorities in printed documents or electronically (pdf).
Applied and fulfilled essential requirements:
1.1; 1.1.1; 1.1.2; 1.2.3; 1.3.3; 1.3.6; 1.3.7.1.4.1; 1.5; 1.6; 1.6.1;
1.6.2; 1.6.4; 1.7; 1.7.4; 1.7.4.2
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 (German Version)
Agent:
For the compilation of the technically relevant documents:
Niklaus Röthlisberger, Producte Manager Afag Automation AG, CH-4950 Huttwil
Place/Date: Huttwil, 14.03.2019
Siegfried Egli Niklaus Röthlisberger
Managing Director Producte Manager HT
Afag Automation AG Afag Automation AG
The manufacturer:
Afag Automation AG, Fiechtenstrasse 32, CH-4950 Huttwil
hereby declares that the incomplete machine:

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2.0.0 Assembly Instructions
2.1.0 Safety instructions
Modifications to the PG precision gripper 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.
2.1.1 Transport, handling, storage
The following conditions must be met for transport and storage:
Storage temperature: 0 - 50 ℃
Humidity: <90%, non condensing
CAUTION
The PG precision grippers are 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
A package slip is supplied with every module from Afag Automation
AG. Please follow the instructions before installing the module into a
station or a system.

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2.1.2 Description of the module parts
The Afag PG precision gripper is the right solution when it comes to gripping and
precise insertion of parts.
The PG precision grippers are precise and compact gripping modules designed for
gripping oriented serial parts. They can be combined with other modules from the
Afag modular kit. The positions “open” and “close” can be queried by initiators (not
included in the scope of delivery, must be ordered separately). The grippers have a
repeatability of +/- 0.01 mm, the turning precision of the grippers is +/- 0.05 mm.
The gripping forces are indicated in the corresponding table of the gripper type in
these instructions.
NOTE
Please note:
Modifications to the PG precision gripper 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.

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2.1.3 Parts designation
1 Gripper housing
2 Gripping head
3 Gripper jaws
4 Mounting grid at the rear and at the sides
5 Air connections at the rear and at the sides
6 Holders for sensors
7 Mounting holes for options such as holding-down appliances
Figure 1: Module description
2.1.4 Mounting, connection
WARNING
The gripper fingers are moved by the pneumatic control. If the grip-
per fingers cannot move freely there is danger of injuries and bruises
near the add-ons.
If add-ons at the PG grippers could cause danger in connection with
the gripper fingers a safe operation must be ensured.
2
3
1
7
4
6
4
5
5

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WARNING
Due to the decentral controller the operator of the PG needs not to
be near the product so that third persons might be endangered by
the gripper operation.
Always switch off the controller and disconnect the module from the
compressed air supply and secure against being switched on again
unintentionally when you work on the PG precision gripper. The sig-
nals of the control system may cause unintentional movements of
the module which may lead to personal injuries.
2.1.5 Installation and fastening possibilities
The PG precision grippers can be installed in a vertical and horizontal position.
The Afag module components are provided with a precise module centring which
guarantees a high and repetitive accuracy of fit during installation, operation and ex-
change of a module.
Installation of the precision grippers
Use the centring bushings included in the scope of delivery for positioning.
Use the centring bushings included in the scope of delivery for positioning.
The precision grippers can be mounted at the and at the sides.
Attachment at the sides

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2.1.6 Dimensional drawing PG 12
Figure 2: Installation and fastening possibilities

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2.1.7 Technical data PG 12

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2.1.8 Dimensional drawing PG 16

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2.1.9 Technical data PG 16

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2.2.0 Dimensional drawing PG 20

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2.2.1 Technical data PG 20

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2.2.2 Preferred combinations to PG 12

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2.2.3 Preferred combinations to PG 16

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2.2.4 Preferred combinations to PG 20

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2.2.5 Tightening moments for bolts
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
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 bolts
2.2.6 Assembly of the gripper fingers
Example: connecting geometry gripper fingers

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2.2.7 Pneumatic connection
Pneumatic diagram of the PG modules. Two pneumatic connections each are at the
rear and at the sides of the base body of the PG pneumatic gripper. Please see the
Technical dimensional drawings in this manual.
Operating pressure: 6 bar +/-2
NOTE
Please note:
Close air connections which are not used air-tight before installing
the module in a system.
Carry out a leakage test.
(P1)
(P2) P1 = open
P2 = close
1 Compressed air connection 4 One-way restrictor
2 Maintenance unit 5 Gripper (PG)
3 5/2 port directional control valve P1/P2 Air connection