Afag DG 16 Quick reference guide

Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0 1–50
Assembly & Operating Instructions
Rotary Gripper
DG 16 &
DG 16 (zero position 90°)
Translation of the Original Assembly Instructions EN
DG 16 Order no.: 50294010
DG 16 (zero pos. 90°)  Order no.: 50407663

2 – 50 Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0
Dear Customer,
Thank you for choosing our products and placing your trust and confidence in
our company!
These assembly and operating instructions contain all essential information you
need about your product. Our aim is to provide the required information as
concisely and clearly as possible. If, however, you still have any questions on
the contents or suggestions, please do not hesitate to contact us. We are always
grateful for any feedback.
Our team will also be glad to answer any further question you may have
regarding the rotary gripper or other options.
We wish you every success with our products!
With kind regards
Your Afag team
© Subject to modifications
The rotary grippers have been designed by Afag Automation AG according to
the state of the art. Due to the constant technical development and improvement
of our products, we reserve the right to make technical changes at any time.
© Copyright 2020 Afag Automation AG
All contents of the present assembly and operating instructions, in particular the
texts, photographs and graphics, are protected by copyright. All rights reserved.
No part of these assembly and operating instructions may be reproduced,
distributed (made available to third parties), or transmitted in any form or by any
means, including photocopying, recording, or other electronic or mechanical
methods, without the prior written permission of Afag Automation AG.
Afag Automation AG
Fiechtenstrasse 32
CH - 4950 Huttwil (Switzerland)
Tel.: [phone]
Fax.: [phone]
e-mail: [e-mail]
Internet: www.afag.com

Table of contents
Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0 3–50
Table of contents
1General .................................................................................................................... 6
1.1 Contents and purpose of these assembly instructions................................. 6
1.2 Explanation of symbols................................................................................. 6
1.3 Additional symbols........................................................................................ 8
1.4 Applicable documents .................................................................................. 8
1.5 Warranty ....................................................................................................... 8
1.6 Liability.......................................................................................................... 9
2Safety instructions............................................................................................... 10
2.1 General ....................................................................................................... 10
2.2 Intended use ............................................................................................... 10
2.3 Foreseeable misuse ................................................................................... 10
2.4 Obligations of the operator and the personnel ........................................... 11
2.4.1 Observe the assembly instructions ...................................................... 11
2.4.2 Obligations of the operating company.................................................. 11
2.4.3 Obligations of the personnel ................................................................ 12
2.5 Personnel requirements ............................................................................. 12
2.5.1 Personnel qualification ......................................................................... 12
2.6 Personal protective equipment (PPE) ........................................................ 13
2.7 Changes and modifications ........................................................................ 14
2.8 General hazards / Residual risks ............................................................... 14
2.8.1 General hazards at the workplace ....................................................... 14
2.8.2 Danger due to electricity ...................................................................... 15
2.8.3 Mechanical hazards ............................................................................. 16
2.8.4 Danger due to pneumatics ................................................................... 16
2.8.5 Danger caused by omitting maintenance work .................................... 16
3Technical data ...................................................................................................... 17
3.1 Dimensional drawing DG 16....................................................................... 17
3.2 Technical data DG 16................................................................................. 18
3.3 Dimensional drawing DG 16 (zero position 90°) ........................................ 19
3.4 Technical data DG 16 (zero position 90°) .................................................. 20
3.5 Preferred combinations DG 16................................................................... 21
3.6 Rotation time diagram DG 16 ..................................................................... 21
3.7 Centric gripping force diagram DG 16........................................................ 22
3.8 Load of gripper fingers DG 16 .................................................................... 22
4Transport, packaging and storage ..................................................................... 23
4.1 Safety instructions for transport.................................................................. 23
4.2 Scope of supply .......................................................................................... 23
4.3 Transport .................................................................................................... 24
4.4 Packaging ................................................................................................... 24

Table of contents
4 – 50 Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0
4.5 Storage ....................................................................................................... 25
5Structure and description ................................................................................... 26
5.1 Structure of the rotary grippers................................................................... 26
5.2 Product description..................................................................................... 26
5.3 Accessories ................................................................................................ 27
5.3.1 End stop and attachment kit - DG 16 & DG 16 (zero position 90°)...... 27
5.3.2 Sensor system - DG 16 ........................................................................ 28
5.3.3 Connections - DG 16............................................................................ 28
5.4 Field of application and assembly options.................................................. 29
5.4.1 Assembly example DG 16.................................................................... 29
6Installation, assembly and setting ..................................................................... 30
6.1 Safety Instructions for installation & assembly ........................................... 30
6.2 Preparation - Manufacture of the gripper fingers ....................................... 31
6.3Installation and assembly ........................................................................... 32
6.3.1 Assembly and attachment.................................................................... 32
6.3.2 Tightening torques for screws .............................................................. 32
6.3.3 Connection to the pneumatic system ................................................... 33
6.3.4 Mounting of the 90° fixed stop (option) ................................................ 34
6.3.5 Assembly of the sensors ...................................................................... 35
6.4 Settings....................................................................................................... 36
6.4.1 Safety instructions for adjustment work ............................................... 36
6.4.2 Adjustment of the rotary gripper modules DG 16................................. 37
7Commissioning .................................................................................................... 38
7.1 Safety instructions for commissioning ........................................................ 38
7.2 Commissioning of the rotary grippers......................................................... 38
8Fault elimination................................................................................................... 39
8.1 General notes ............................................................................................. 39
8.2 Safety instructions for troubleshooting ....................................................... 39
8.3 Table Fault causes and remedy ................................................................. 39
8.3.1 Troubleshooting table........................................................................... 39
8.3.2 Sensor fault .......................................................................................... 40
9Maintenance and Repair...................................................................................... 41
9.1 General notes ............................................................................................. 41
9.2 Safety instructions for maintenance and repair .......................................... 41
9.3 Maintenance activities and maintenance intervals..................................... 42
9.3.1 Overview of the maintenance points .................................................... 42
9.3.2 Compressed air specifications ............................................................. 43
9.3.3 Further maintenance ............................................................................ 43
9.4 Spare parts and repair work ....................................................................... 44
10 Decommissioning, disassembly, disposal........................................................ 45
10.1 Safety instructions for decommissioning, dismantling and disposal .......... 45

Table of contents
Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0 5–50
10.2 Decommissioning ....................................................................................... 45
10.3 Disassembly ............................................................................................... 45
10.4 Disposal...................................................................................................... 46
11 Declaration of incorporation............................................................................... 47

General
6 – 50 Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0
1 General
1.1 Contents and purpose of these assembly instructions
These assembly instructions contain important information on assembly,
commissioning, functioning and maintenance of the rotary grippers DG 16 to
ensure safe and efficient handling and operation.
Consistent compliance with these assembly instructions will ensure:
Permanent operational reliability of the rotary gripper,
optimal functioning of the rotary gripper,
timely detection and elimination of defects (thereby reducing maintenance
and repair costs),
prolongation of the rotary gripper's service life.
The illustrations in this manual shall provide you with a basic understanding of
the rotary gripper and may vary from the actual design of your rotary gripper.
1.2 Explanation of symbols
The safety notes are marked by a pictogram and a signal word. The safety notes
describe the extent of the hazard.
DANGER
Danger!
This safety note indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING
Warning!
This safety note points out a potentially hazardous situation which, if not
avoided, could result in death or serious injury.
CAUTION
Caution!
This safety note points out a potentially dangerous situation which, if not
avoided, can result in minor or slight injuries.
NOTICE
This safety note points out a potentially dangerous situation which, if not
avoided, can cause substantial damage to property and the environment.

General
Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0 7–50
This note contains important additional information as well as useful tips for
safe, efficient and trouble-free operation of the device.
Further warning signs:
Where applicable, the following standardised symbols are used in this manual
to point out the various potential health risks.
Warning
- Dangerous electrical voltage.
Warning
- Risk of injury from contact with hot surfaces.
Warning
- Risk of hand
and finger injury due to uncontrolled
movements of components.
Warning
- Magnetic field
Warning
- back injury due to heavy lifting.
Warning
- Risk of injury as a result of parts being flung out!
Warning
-high noise levels

General
8 – 50 Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0
1.3 Additional symbols
In these assembly instructions the following symbols are used to highlight
instructions, results, references, etc..
Symbol Description
1.
Instructions (steps ...)
 Results of actions
 References to sections
 Enumerations not ordered
1.4 Applicable documents
In addition to the assembly instructions, the following documents must be
observed:
Safety data sheets etc.
Instructions for integrated components (Supplier documentation)
Each rotary gripper is accompanied by a safety information sheet. This
information sheet must be read carefully by every person who carries out work
on and with the rotary gripper.
1.5 Warranty
The warranty terms for Afag handling components and handling systems are
the following:
24 months from initial operation and up to a maximum of 27 months from
delivery.
Wear parts (e.g. shock absorbers) are excluded from the warranty.*
The warranty covers the replacement or repair of defective Afag parts. Further
claims are excluded.
* However, a customer has a right to a defect-free product. This does also
apply to defective accessories and wear parts. Normal wear and tear is
excluded from the warranty.
The warranty shall expire in the following cases:
Improper use of the rotary grippers.
Non-observance of the instructions regarding assembly, commissioning,
operation and maintenance of the rotary grippers.
Improper assembly, commissioning, operation and maintenance.
Repairs and design changes carried out without prior technical instructions
of Afag Automation AG.

General
Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0 9–50
Removing the serial number from the product.
Using the rotary gripper without shock absorbers or with defective shock
absorbers.
Inadequate checking of wear parts.
Non-observance of the EC Machinery Directive, the Accident Prevention
Regulations, the Standards of the German Electrotechnology Association
(VDE) and these safety and assembly instructions.
1.6 Liability
No changes shall be made to the rotary grippers DG 16 unless described in this
manual or approved in writing by Afag Automation AG.
Afag Automation AG accepts no liability for unauthorized changes or improper
assembly, installation, commissioning, operation, maintenance or repair work.

Safety instructions
10 – 50 Assembly instructions EN DG 16 Edition 07/2020 Rev. 3.0
2 Safety instructions
2.1 General
This chapter provides an overview of important safety aspects to ensure safe
and proper use of the rotary gripper and optimal protection of personnel.
Failure to follow the directions and safety instructions given in this instructions
manual may result in serious hazards.
2.2 Intended use
The DG 16 rotary grippers are used for shock-free gripping/rotating of loads in
non-hazardous atmospheres under the ambient and operating conditions
defined for these modules.
The DG 16 rotary grippers are designed exclusively for gripping payloads that
do not pose any danger to persons, property or the environment during
manipulation. In combination with other modules the rotary grippers can be used
as a pick & place Station.
In the chemical industry and in potentially explosive areas, the use of rotary
grippers is not permitted without additional safety measures. In such cases,
please consult with the Afag technical department.
The intended use of the rotary gripper also includes:
Observance of all instructions given in these assembly instructions.
C
ompliance with the inspection and maintenance work and the
specifications in the data sheets.
Using only original spare parts.
2.3 Foreseeable misuse
Any use other than or beyond the intended use described above is considered
a misuse of the rotary gripper.
Especially the following use is considered a misuse:
Use in potentially explosive atmospheres