Afag EU-20 User manual

Electric gripper
EU-20
- Declaration of Incorporation
- Module Information
- Montage Instruction
- Maintenance Instruction
„Translation“ of the Original Montage Instructions
© Copyright by Afag Automation AG

2EU-20-OI-v-1.2 gb. 28.07.14.docx
These Montage Instructions apply to:
Type
Order No.
EU-20 Electric gripper
50346017
Assembly and initial start-up must be carried out by qualified personnel only and ac-
cording to these Montage Instructions
Version of this
documentation:
EU-20-OI-v-1.2 gb. 28.07.14.docx
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.

EU-20-OI-v-1.2 gb. 28.07.14.docx 3
Table of Contents:
1.0 Declaration for Incorporation (Original Document) ........................5
2.0 Modul Information...........................................................................7
2.1 Safety instructions ...............................................................................................7
2.2Transport, handling, storage.................................................................................7
2.3 Module description...............................................................................................8
2.4 Gripper finger .......................................................................................................9
2.5 Mounting Connection ..........................................................................................9
2.6Installation and fastening possibilities ................................................................10
2.7Option with connecting plate...............................................................................11
2.8 Tightening torques for bolts................................................................................11
2.9 Incorporation into a line .....................................................................................12
2.10 Preferred combinations of the EU-20...............................................................14
3.0 Montage Instruction......................................................................15
3.1 Scope of delivery................................................................................................16
3.2 Intended use .....................................................................................................16
3.3Warranty............................................................................................................17
3.4Safety instructions .............................................................................................17
3.5Dimension drawing............................................................................................18
3.6Technical data....................................................................................................19
3.7Gripper load........................................................................................................20
3.8Electrical interface..............................................................................................20
3.9 Standard operation............................................................................................21
3.10 Checking the gripping process with external sensors.......................................23
3.11 Fitting the EU-20 gripper with initiators……………………………………………23
3.12 LED-Display.....................................................................................................24
3.13 Commissioning, operation, training .................................................................25
3.14 Preparation for start-up.....................................................................................25
3.15 Start-up........................................................................................................... 26
3.16 Adjustement rerofitting.....................................................................................26
3.17 Normal operation.............................................................................................27

4EU-20-OI-v-1.2 gb. 28.07.14.docx
4.0 Maintenance Instruction...............................................................28
4.1 Maintenance and servicing ...............................................................................28
4.2 Regular maintenance........................................................................................29
4.3 Further maintenance........................................................................................ 29
4.4 Troubleshooting................................................................................................29
4.5 Accessories ......................................................................................................30
4.6Disassembly and repair ....................................................................................31
4.7 Disposal............................................................................................................31
5.0 Appendix.......................................................................................31
5.1 List of figures.....................................................................................................31
5.2 Tabellenverzeichnis...........................................................................................31

EU-20-OI-v-1.2 gb. 28.07.14.docx 5
1.0 EC Declaration for Incorporation
1.1 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.
Designation:
Electric gripper
Types:
EU-20
Sequential series:
Voici la livraison du
Appareil, le numéro de série actuel
collé.
-Machinery Directive 2006/42/EC
-EMV-Guideline 2004/108/EG
-EG Production Safety Directive 2001/95/EG
-EG RoHS 2002/95/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).
Increase of the harmonized
Standard applied:
EN 349; EN ISO 12100-1; EN 121000-2; EN ISO
14121-1; EN 60204-1: 2006: EN 61000-6-2;
EN 61000-6-4
Notes to the Declaration of Incorporation according to the Machinery Directive
2006/42/EC, Annex IIB, section 4.
(Checklist on accurate and basic health and safety 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

6EU-20-OI-v-1.2 gb. 28.07.14.docx
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 2006/42/EC, where appropriate.
Name and address of the person authorised to compile the relevant technical docu-
mentation: Lanz Beat, PM & Marketing-Services, Afag Automation AG
Place / Date: Huttwil,28.07.2014
Markus Werro
Managing Director
Afag Automation AG
Siegfried Egli
Head of HT
Afag Automation AG

EU-20-OI-v-1.2 gb. 28.07.14.docx 7
2.0 Modul Information
2.1 Safety instructions
Modifications on the EU-20 electric 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 EU-20 electric 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 EG electric gripper is less than 0.290 kg.
NOTE
Please note:
A technical safety information sheet is enclosed with each module.
The module may only be deployed in accordance with the intended
use. This information sheet must be read by every person who oper-
ates the module.

8EU-20-OI-v-1.2 gb. 28.07.14.docx
2.3 Module description
The EU-20 electric gripper is an electrically driven gripper actuator. When the EG-20
is combined with suitable gripping pliers it becomes a complete gripper.
The gripper actuator is driven via an automatic gearbox. The actuator is operated at
rapid traverse if there is no resistance. The gripper actuator automatically switches to
Force mode if there is a resistance.
The gripper actuator contains an integrated electronics. The electronics control the
motor on the basis of the motor current. The gripper maintains its force by a spring
element, he works so very economically and environmentally.
Note:
Gripper actuator and gripper pliers must be ordered separately.
The EU-20 electric gripper consists of the gripper actuator (1) with integrated electric
motor. The transition piece (2) takes up the gripper pliers (3). The gripper has a con-
nection cable (4) of 1 m length, without plug (tinned strands).
Please see the Technical Data for further details
Figure 1: Module description
Gripper actuator
Gripper pliers
1m cable, with
open strands

EU-20-OI-v-1.2 gb. 28.07.14.docx 9
2.4 Gripper finger
NOTE
The gripper fingers are not part of the delivery and must be manufac-
tured by the user of the EG electric gripper.
CAUTION
Design of the gripper fingers
The design of the gripper fingers is in most cases symmetric.
Observe the maximum permissible loads on the fingers, see
chapter Technical Data.
Please note: The length (L) and the offset (X) of the gripper fin-
gers should not exceed the recommended dimensions in the
gripping force diagrams of the corresponding pliers.
Please see centric gripping force diagrams page 3.7
2.7 Mounting, Connection
WARNING
The gripper fingers are moved by the electric control. If the
gripper fingers cannot move freely there is danger of injuries
and bruises near the add-ons.
If add-ons at the EU-20 electric gripper could cause danger in
connection with the moving jaws a safe Installation must be en-
sured.

10 EU-20-OI-v-1.2 gb. 28.07.14.docx
WARNING
Due to the decentral controller the operator of the EU-20 electric
gripper needs not to be near the product so that third persons
might be endangered by the gripper operation.
Always switch off the control of the module and protect it from
being switched on again unintentionally when you work on the
EU-20 electric gripper. The signals of the control system may
cause unintentional movements of the module which may lead
to personal injuries.
2.8 Installation and fastening possibilities
The EU-20 electric gripper can be installed horizontally and vertically.
Depending on the use and application the grippers can be fastened on the wide side
with two M4 bolts in a 30 mm grid. You can also fasten the grippers on the rear side
with a 4xM3 adapter plate in a grid of 20x20 mm. Depending on the cultivation and
types of modules Afag the corresponding connection plates must be used.
Table 2: Installation and mounting options
L = 1m

EU-20-OI-v-1.2 gb. 28.07.14.docx 11
2.9 Option with connecting plate
When the EU-20 electric gripper is equipped with an optional connecting plate on its
rear side it can be mounted directly with another module with 30 mm grid and a di-
ameter of 4.4 mm.
VP 149 connecting plate; order no.: 50332010
2.10 Tightening torques for bolts
The bolts 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 torques
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 torques for bolts

12 EU-20-OI-v-1.2 gb. 28.07.14.docx
2.11 Incorporation into a line
DANGER
The EU-20 electric gripper must not be used in an explosion-
hazardous environment.
WARNING
The gripper fingers are moved by the electric control. If the
gripper fingers cannot move freely there is danger of injuries
and bruises near the add-ons.
If add-ons at the EU-20 electric gripper could cause danger in
connection with the moving jaws a safe operation must be en-
sured.
Ensure that the operator cannot reach into the operating range
of the EU-20 electric gripper 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 gripper fingers.
WARNING
Due to the decentral controller the operator of the gripper needs
not to be near the product so that third persons might be en-
dangered by the module operation.
Lock the controller while you are working on the gripper and
switch the controller only on again after work is finished.

EU-20-OI-v-1.2 gb. 28.07.14.docx 13
CAUTION
The EU-20 electric gripper is a partly complete machine.
The EU-20 electric gripper must be integrated in the safety con-
cept of the line so that a safe operation can be ensured.
Ensure that the operating personnel cannot reach into the op-
erating range of the EU-20 electric gripper during operation.
Depending on the design of the gripper jaws, there is an addi-
tional safety risk, e.g. by shearing.
The EU-20 electric gripper may only be used in accordance with
the intended purpose.
Ensure that the operator cannot reach into the operating range
of the EU-20 electric gripper during normal operation. This can
be achieved by taking appropriate safety measures such as
casings, a light grid or by disconnecting the drive from the
power supply.
NOTE
This Montage Instructions should be read carefully before carrying
out any activity on or with the EU-20 electric gripper.

14 EU-20-OI-v-1.2 gb. 28.07.14.docx
2.12 Preferred combinations of the EU-20

EU-20-OI-v-1.2 gb. 28.07.14.docx 15
3.0 Montage Instructions
These Montage Instructions are valid for:
Producte name: EU-20 electric gripper
Types: EU-20
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, Annex II B IV where appropriate.
The manufacturer: Afag Automation AG, Fiechtenstrasse 32, CH-4950
Huttwil, Tel. [phone], www.afag.com
Name and address of the person authorised to compile the relevant technical docu-
mentation: Lanz Beat, PM & Marketing-Services, Afag Automation AG

16 EU-20-OI-v-1.2 gb. 28.07.14.docx
3.1 Scope of delivery
Quantity
Description
1
Module
2
Centering bushings Ø5x2.5mm
2
Centering bushings Ø7x3mm
2
M4x35mm mounting bolts
1
Operating instructions
Table 2: Scope of delivery
3.2 Intended use
The EU-20 electric gripper is used for the smooth gripping movement of loads in non-
explosion hazardous ambient and operating conditions that are specified for this
module (see Technical Data).
The EU-20 electric 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 Instructions and observ-
ing the maintenance and repair instructions specified by the manufacturer.
CAUTION
The EU-20 electric 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.

EU-20-OI-v-1.2 gb. 28.07.14.docx 17
3.3 Warranty
The EU-20 electric gripper is designed for 40 million load changes / 2 years
1
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 wear parts on the EG electric 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.
Any additional claims are excluded.
3.4 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 case of
improper changes or assembly, installation, operation, maintenance or repairs, Afag
AG rejects all liability.
CAUTION
Connection of a control system and operation of the EU-20 elec-
tric gripper can 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 comes first

18 EU-20-OI-v-1.2 gb. 28.07.14.docx
3.5 Dimensional drawing EU-20
Figure 3: Dimensional drawing EU-20

EU-20-OI-v-1.2 gb. 28.07.14.docx 19
3.6 Technical data EU-20
Figure 3: Technical data EU-20

20 EU-20-OI-v-1.2 gb. 28.07.14.docx
3.7 Gripper load
3.8 Electrical interface
Connecting cable
Strand colour
Assignment
white
24VDC (1A)
brown
0 VDC (GND)
yellow
Digital input (DI)
Edge change 0 24V: extend
Edge change 24V 0V: retract
green
Digital output 1: (DO 1) (1 = retracted on resistance)
grey
Digital output 2: (DO 2) (1 = extended)
Figure 4: Table of the connecting cables