Afag DG 16 User manual

Rotary gripper
DG 16
Declaration of Incorporation
Module Information
Montage Instructions
Maintenance Instructions
„Translation“ of the Original Montage Instructions
© Copyright by Afag Automation AG

2DG 16-BA-v-1.9 gb. 11.11.14
These Montage Instructions apply to:
Type
Order No.
Rotary gripper DG 16
50294010
Assembly and initial start-up must be carried out by qualified personnel only and ac-
cording to these Montage Instructions.
Version of this docu-
mentation:
DG 16-BA-v-1.9 gb. 11.11.14
Symbols:
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.

DG 16-BA-v-1.9 gb. 11.11.14 3
Table of Contents:
1.0.0 EC Declaration for Incorporation ................................................................5
2.0 Module Information ......................................................................................6
2.1 Safety instructions..........................................................................................6
2.2 Transport, handling, storage...........................................................................6
2.3 Module description .........................................................................................6
2.4 Installation, connections.................................................................................8
2.5 Installation and fastening possibilities.............................................................8
2.6 Tightening moments for screws......................................................................9
2.7 Pneumatic connection....................................................................................9
2.8 Manufacture of gripper fingers......................................................................11
2.9 End stop 90°.................................................................................................12
3.0.0 Montage Instructions .................................................................................14
3.1 These Montage Instructions are valid for:………………………………… 14
3.2 Included in the scope of delivery ..................................................................15
3.3 Intended use.................................................................................................15
3.4 Guarantee ....................................................................................................16
3.5 Safety instructions........................................................................................16
3.6 Dimensions drawing of the DG 16................................................................17
3.7 Technical data of the DG 16.........................................................................18
3.8 Perferred combinations of the DG 16...........................................................19
3.9 Loads on the gripper fingers.........................................................................20
3.10 Adjustment of the DG 16 rotary grippers......................................................20
3.11 Installation of the sensors.............................................................................20
3.12 Preparation for start-up.................................................................................21
Start-up........................................................................................................ 22
Training........................................................................................................ 22
3.13 Adjustment, retrofitting..................................................................................22
3.14 Standard operation.......................................................................................23
4.0 Maintenance Instructions...........................................................................24
4.1 Maintenance and servicing...........................................................................24
Regular maintenance................................................................................... 24

4DG 16-BA-v-1.9 gb. 11.11.14
Further maintenance.................................................................................... 24
4.2 Servicing.......................................................................................................25
4.3 Troubleshooting............................................................................................26
4.4 Spare parts...................................................................................................27
4.5 Accessories..................................................................................................28
4..6 Disassembly and repair................................................................................29
5.0 Disposal ......................................................................................................30
6.0 Appendix .....................................................................................................30
6.1 List of Figures...............................................................................................30
6.2 List of Tables................................................................................................30

DG 16-BA-v-1.9 gb. 11.11.14 5
1.0.0 EC Declaration for Incorporation
1.1.0 According to 2006/42/EC dated 09. June 2006, Appendix II B VI for
Incorporation of partly completed machinery.
The manufacturer: Afag Automation AG, Fiechtenstrasse 32, CH-4950 Huttwil
Tel. [phone], www.afag.com
As manufacturer of the partly completed machine we declare that:
-The specified machine corresponds to the listed essential requirements of the
directive 2006/42/EG, wehere applicable the other directives and standards
listed below.
Product name: Rotary gripper (pneumatic)
Types: DG 16
Consecutive serial No. 50xxxxxx
Machinery Directive 2006/42/EG
-The relevant technical documentation is compiled in accordance with part B of
Annex VI
-The relevant technical documentation in accordance with part B of Annex VI
will be transmitted in response to a reasonable request by the national authori-
ties in printed from or in electronic from (pdf).
Applied and fulfilled essential requirements:
-1.1; 1.1.1; 1.1.2; 1.2.3; 1.2.4.4; 1.3; 1.3.5; 1.3.6; 1.3.7; 1.3.9; 1.4.1; 1.5; 1.5.3;
1.6; 1.6.1; 1.6.3; 1.6.4; 1.7; 1.7.4; 1.7.4.1; 1.7.4.2
-Increase of the harmonized standards applied:
-EN ISO 12100-1; EN 12100-2 partly fulfilled
This partly completed machinery must not be put into service until the final machinery
into which it ist o be incorporated has been declared in conformity with the provisions
of this Directive 2006/42/EC, where appropriate.
Name and address of the person authorised to compile the relevant technical documentation:
Lanz Beat, PM & Marketing-Services, Afag Automation AG
Place, Date: Huttwil, 22.07.2014
Siegfried Egli Markus Werro
Head of HT Managing Director
Afag Automation AG Afag Automation AG

6DG 16-BA-v-1.9 gb. 11.11.14
2.0 Module Information
2.1 Safety instructions
Modifications on the DG 16 rotary gripper that are not described in these Montage
Instructions or have not been approved in writing by Afag Automation AG are not
permitted. In case of improper changes or assembly, installation, operation, mainte-
nance or repairs, Afag Automation AG rejects all liability.
2.2 Transport, handling, storage
The following conditions must be met for transport and storage:
Storage temperature: 0 –50°
Humidity: <90%, non condensing
CAUTION
The DG 16 rotary 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.
The weight of the DG 16 rotary gripper is less than 0.5kg.
NOTE
Consider please!
With each module security is settled a technical newspaper. This
newspaper is to be read busily by each person with the module.
2.3 Module description
The DG 16 rotary gripper is a precise mechanical device and must be handled with
adequate care and kept clean.
The DG 16 is a very compact pneumatic rotary gripper and is suitable for gripping
and turning small parts. It is fitted with a parallel gripping head. The rotary gripper
can be mounted vertically and horizontally.
The DG 16 rotary gripper consists of the rotary drive and the rotating pliers head. The
angle of rotation is 180°. An intermediate stop can be ordered as option which limits
the angle of rotation to 90°.

DG 16-BA-v-1.9 gb. 11.11.14 7
NOTE
Please note:
Modifications on the DG 16 rotary gripper that are not described in
these Montage Instructions or have not been approved in writing by
Afag Automation AG are not permitted. In case of improper changes
or assembly, installation, operation, maintenance or repairs, Afag
Automation AG rejects all liability.
For further technical details please see chapter 3 on page 18 in these operating in-
structions.
Figure 1: Module description
1 Rotary gripper - basic housing
2 Turret
3 Mounting holes Ø 4,3 mm

8DG 16-BA-v-1.9 gb. 11.11.14
2.4 Installation, connections
WARNING
The gripper fingers are moved by the pneumatic control. If the
gripper fingers cannot move freely there is danger of injuries
and bruises near the add-ons.
If add-ons at the DG 16 rotary gripper could cause danger in
connection with the gripper fingers a safe operation must be
ensured.
WARNING
Due to the decentral controller the operator of the rotary gripper
needs not to be near the product so that third persons might be
endangered by the rotary/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 DG 16
rotary gripper. The signals of the control system may cause un-
intentional movements of the module which may lead to per-
sonal injuries.
2.5 Installation and fastening possibilities
The DG 16 rotary 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.
There are 2 centering sleeves with a diameter of 7 x 3 mm each at the short end and
on the rear of the module.
There are 4 centering sleeves with a diameter of 5 x 2.5 mm each on both sides of
the gripper drive.
Please see the dimension drawing for the dimensions of the mounting holes and the
distance between the holes (page 17).

DG 16-BA-v-1.9 gb. 11.11.14 9
2.6 Tightening moments for screws
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
M2,5
M3
0,6 … 0,8 Nm for fastening bolts of the stop
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
2.7 Pneumatic connection
Pneumatic diagram DG 16. The pneumatic connections (total of 16 x M3) are fitted
on four sides of the base body of the DG 16 rotary gripper. The 4 air connections
(M3) at the rear of the DG 16 rotary gripper are normally open. Close air connections
which are not used air-tight before installing the module in a system.
4 Tuflon coated stud bolts M3 x 3 are supplied with the accessories.
Operating pressure: 6 bar +/-1
NOTE
Please note:
Close air connections which are not used air-tight before installing
the module in a system.
Carry out a leakage test.

10 DG 16-BA-v-1.9 gb. 11.11.14
HINWEIS
Minimal compressed air quality according to
ISO 8573-1; 2010 (7-4-4)
2
1 Rotary gripper 2 Maintenance unit
2 Directional valve 4/2 P Compressed air connection

DG 16-BA-v-1.9 gb. 11.11.14 11
NOTE
Please note!
For a reliable interrogation of grasping „Part gripped“ is recommend-
ed to realize in the middle of the jaw stroke and not restrict the over-
all jaw.
Example: DG 16 2x3mm, jaw part gripped with 2x1.5mm
2.8 Manufacture of gripper fingers
The gripper fingers must be designed and manufactured for the parts to be gripped.
The design of the gripper fingers is in most cases symmetric.
Observe the maximum permissible loads on the fingers, see chapter Technical Data.
max. Fingers length 30 mm.
Fastening options on the rotary head
You can also attach you own appliances (e.g. holding-down appliances) at the cen-
tering-/mounting holes (on both sides of the rotary head) for the 90° end stop of the
DG 16.
L = max. 30 mm

12 DG 16-BA-v-1.9 gb. 11.11.14
2.9 End stop 90°
A fixed end stop can be mounted as option on the DG 16 rotary gripper so that the
rotary gripping pliers can move at an angle of 90° to the end stop from both sides.
The approach is not dampened (fine adjustment must be carried out via the air
choke).The rotary angle is set with a tolerance of +/-5° for 90° (as for the 180° rotary
range).
Fastening on both sides of
the rotary head
Mounting to the turrent
You have the option of centering the mounting holes (eg to attach retainer) for the
end stop 90° DG 16 (on the rotating head on both sides) separate institutions.

DG 16-BA-v-1.9 gb. 11.11.14 13
End stop 90°
Order No: 50307648 (see Chapter 4 Accessories)
Mounting of the 90° fixed end stop (the end stop is part of the accessories)
Mounting of the fixed end stop depends on the desired direction of rotation (to the left
or to the right). The rotary head must then be turned through 180° by hand so that
the end stop acts on the correct side.
Mount the fixed stop using the 2 M2.5 mm Allen screws on the free side of the drive
(see figure).
Rotary gripper DG 16
Standard version
Without fixed stop
Order no: 50294010
Installation of the 90° fixed end stop
DG 16 mounting
side for the fixed
stop
Option: Rotary gripper DG 16
Zero position at 90° on request
Order no: 50407663

14 DG 16-BA-v-1.9 gb. 11.11.14
3.0.0 Montage Instructions
3.1 These Montage Instructions are valid for:
Producte name: Rotary gripper (pneumatic)
Types: DG 16
Sequential series: No. 50xxxxxx
This is an incomplete machine
This partly completed machinery must not be put into service until the final machinery
into which it is to be incorporated has been declared in conformity with the provisions
of this Directive 206/42/EG, where appropriate.
Name and address of the person authorised to compile the relevant technical docu-
mentation: Lanz Beat, PM & Marketing-Services, Afag Automation AG

DG 16-BA-v-1.9 gb. 11.11.14 15
3.2 Included in the scope of delivery
Number
Description
1
2
Module
Centering sleeves Ø7x3 mm
2
Mounting screw M4x16 mm
4
Pin screw M3x3 mm (Tuflok coated)
Table 1: Scope of delivery
3.3 Intended use
The DG 16 rotary gripper is used for the smooth rotary and gripping movement of
loads in non-explosion hazardous ambient and Installation conditions that are speci-
fied for this module (see Technical Data).
The DG 16 rotary grippers are exclusively intended for gripping 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 Montage Instruction and observing
the maintenance and repair instructions specified by the manufacturer.
CAUTION
The DG 16 rotary gripper 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.

16 DG 16-BA-v-1.9 gb. 11.11.14
3.4 Guarantee
The DG rotary gripper is designed for 40 million load changes / 2 years
1
operational
performance under the ambient and Installation conditions defined for this module
(see “Technical Data”). Load data and design- and acceleration diagrams must be
observed.
There are no wear parts for the DG 16 rotary gripper.
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.
NOTE
Torx screws may only be loosened by the manufacturer.
You are only allowed to loosen Allen screws.
Any additional claims are excluded.
3.5 Safety instructions
This Montage Instruction should be read carefully before carrying out any activity on
or with the module. The module may only be deployed in accordance with the in-
tended use. Modifications on the module that are not described in this Montage In-
struction 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 rejects all liability.
CAUTION
Connection of a control system or compressed air and opera-
tion of the DG 16 rotary gripper may lead to unpredictable
movements which may result in personal injury or damage to
property.
These Montage Instructions should be read carefully before carrying out any activity
on or with the module.
1
whichever occurs first

DG 16-BA-v-1.9 gb. 11.11.14 17
3.6 Dimensions drawing of the DG 16
Figure 2: DG 16 dimensions drawing
Use the centering sleeves included in the scope of delivery for positioning and insert
these sleevs in the borings of the mounting grid.
Note: It gives the DG 16 rotary gripper with the zero position at 90° on request.

18 DG 16-BA-v-1.9 gb. 11.11.14
3.7 Technical data of the DG 16
Table 2: Technical data of the DG 16

DG 16-BA-v-1.9 gb. 11.11.14 19
3.8 Perferred combinations of the DG 16

20 DG 16-BA-v-1.9 gb. 11.11.14
3.9 Loads on the gripper fingers
Actually in progress, please contact our technicians for details.
3.10 Adjustment of the DG 16 rotary grippers
There are different possibilities to connect the air supply. Please select the option
which is the most suitable for your requirements. The connections for gripping are at
the back of the black module part, those for turning the gripping pliers are in the red
module part. Installation of air chokes is recommended so that the control of the rota-
ry gripper can be easily adjusted. The end positions can be set with a tolerance of +/-5°.
3.11 Installation of the sensors
Magnetic proximity switches can be installed in the C-grooves for end-position sens-
ing of the DG 16 rotary grippers. These are specified in chapter 4 of this Montage
Instructions (Accessories).
CAUTION
The DG 16 rotary grippers must not be used in an explosion-
hazardous area.