Afag GE-25-P User manual

Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 1–48
Assembly and operating instructions
Electric gripper
GE-25-P
Translation of the Original Assembly Instructions EN
GE-25-P Order no.: 50538537

2 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
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 electric gripper or other options.
We wish you every success with our products!
With kind regards
Your Afag team
© Subject to modifications
The modules 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.
Updates of our documentations
Unlike the printed documents, our digital instructions manuals, product data
sheets and catalogues are being continuously updated on our website.
Please keep in mind that the digital documents on our website are always the
latest versions.
© Copyright 2021 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
Luzernstrasse 32
CH-6144 Zell (Switzerland)
Tel.: [phone]
e-mail: [e-mail]
Internet: www.afag.com

Table of contents
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 3–48
Table of contents
1General .................................................................................................................... 5
1.1 Contents and purpose of these assembly instructions................................. 5
1.2 Explanation of symbols................................................................................. 5
1.3 Additional symbols........................................................................................ 6
1.4 Applicable documents .................................................................................. 7
1.5 Warranty ....................................................................................................... 7
1.6 Liability.......................................................................................................... 7
2Safety instructions................................................................................................. 8
2.1 General ......................................................................................................... 8
2.2 Intended use ................................................................................................. 8
2.3 Foreseeable misuse ..................................................................................... 9
2.4 Obligations of the operator and the personnel ............................................. 9
2.4.1 Observe the assembly instructions ........................................................ 9
2.4.2 Obligations of the operating company.................................................... 9
2.4.3 Obligations of the personnel ................................................................ 10
2.5 Personnel requirements ............................................................................. 10
2.5.1 Personnel qualification ......................................................................... 10
2.6 Personal protective equipment (PPE) ........................................................ 11
2.7 Changes & Modifications............................................................................ 12
2.8 General Hazards /Residual Risks ............................................................. 12
2.8.1 General hazards at the workplace ....................................................... 12
2.8.2 Danger due to electricity ...................................................................... 14
2.8.3 Dangers in case of power failure.......................................................... 14
2.8.4 Mechanical hazards ............................................................................. 14
2.8.5 Danger caused by omitting maintenance work .................................... 15
3Technical data ...................................................................................................... 16
3.1 Dimensional drawing GE-25-P ................................................................... 16
3.2Technical data GE-25-P ............................................................................. 17
3.3 Preferred combinations GE-25-P ............................................................... 18
3.4 Gripping force diagram GE-25-P................................................................ 18
3.5 Load of gripper fingers GE-25-P ................................................................ 19
3.6 Maximum permissible cantilever ................................................................ 19
4Transport, packaging and storage ..................................................................... 20
4.1 Safety instructions for transport.................................................................. 20
4.2 Scope of supply .......................................................................................... 20
4.3 Transport .................................................................................................... 21
4.4 Packaging ................................................................................................... 21
4.5 Storage ....................................................................................................... 22
4.6 Operating and ambient conditions.............................................................. 22
5Design and description ....................................................................................... 23

4 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
5.1 Design electric gripper GE-25-P................................................................. 23
5.1.1 Digital I/O variant.................................................................................. 23
5.2 Product description..................................................................................... 24
5.3 Displays ...................................................................................................... 24
5.3.1 Display and LED function description "Digital I/O" variant ................... 24
5.4 Accessories ................................................................................................ 26
6Installation, assembly and setting ..................................................................... 27
6.1 Safety instructions for installation, assembly and adjustment.................... 27
6.2 Installation & Assembly .............................................................................. 28
6.2.1 Mounting of variant «Digital I/O».......................................................... 28
6.3 Mechanical connection ............................................................................... 29
6.3.1 Flatness of the mounting surface ......................................................... 29
6.3.2 Connections on the housing................................................................. 29
6.3.3 Screw-in depth and tightening torques - Assembly GE-25-P .............. 29
6.3.4 Connections on the base jaws (for gripper fingers) ............................. 30
6.4 Electrical connection................................................................................... 31
6.4.1 Digital I/O variant.................................................................................. 31
6.5 Mounting the sensors ................................................................................. 33
6.5.1 General notes....................................................................................... 33
6.5.2 Overview of the sensors....................................................................... 33
6.5.3 Inductive proximity switch INI XXX....................................................... 33
7Commissioning .................................................................................................... 35
7.1 Safety instructions for commissioning ........................................................ 35
7.2 Commissioning of the modules .................................................................. 36
8Fault elimination................................................................................................... 37
8.1 General Notes ............................................................................................ 37
8.2 Safety instructions for troubleshooting ....................................................... 37
8.3 Table Fault causes and remedy ................................................................. 37
8.3.1 Troubleshooting table........................................................................... 37
9Maintenance and repair....................................................................................... 39
9.1 General notes ............................................................................................. 39
9.2 Safety instructions for Maintenance and Repair ........................................ 39
9.3 Maintenance activities and maintenance intervals..................................... 40
9.3.1 Maintenance intervals .......................................................................... 40
9.3.1 Lubricants and lubrication points.......................................................... 41
9.3.2 Further maintenance ............................................................................ 42
9.4 Spare parts and repair work ....................................................................... 42
10 Decommissioning, disassembly, disposal........................................................ 43
10.1 Safety instructions for decommissioning, dismantling and disposal .......... 43
10.2 Decommissioning ....................................................................................... 43
10.3 Disassembly ............................................................................................... 43
10.4 Disposal...................................................................................................... 44
11 Declaration of incorporation............................................................................... 45

General
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 5–48
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 gripper GE-25-P to ensure
safe and efficient handling and operation.
Consistent compliance with these assembly instructions will ensure:
permanent operational reliability of the GE-25-P,
optimal functioning of the GE-25-P,
timely detection and elimination of defects (thereby reducing maintenance
and repair costs),
extension of the service life of the GE-25-P.
The illustrations in this manual shall provide you with a basic understanding of
the module and may vary from the actual design of your module.
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
6 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
This note contains important additional information as well as useful tips for
safe, efficient and trouble-free operation of the module.
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
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

General
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 7–48
1.4 Applicable documents
In addition to the assembly instructions, the following documents must be
observed:
General terms and conditions
Catalogue data sheet of the GE-25-P
Instructions for integrated components (supplier documentation)
This documentation can be downloaded from www.afag.ch.
Each GE
-25-
P 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 GE
-25-P.
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.
Parts in contact with the workpiece and wear parts are excluded from the
warranty.
The warranty covers the replacement or repair of defective Afag parts. Further
claims are excluded.
Note: 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 module
Non-observance of the instructions regarding assembly, commissioning,
operation and maintenance as well as ambient and operating conditions.
Improper assembly, commissioning, operation and maintenance.
Repairs and design changes carried out without prior technical instructions
of Afag Automation AG.
Removing the serial number from the product.
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 module unless described in this instructions
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
8 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
2 Safety instructions
2.1 General
This chapter provides an overview of all important safety aspects to ensure safe
and proper use of the gripper and optimal protection of personnel.
Safe handling and trouble-free operation of the EPS handling system requires
knowledge of the basic safety regulations.
Every person carrying out installation, commissioning, maintenance work or
operating the cantilever axis must have read and understood the complete user
manual, especially the chapter on safety instructions.
Beyond this, there are rules and regulations regarding accident prevention that
are applicable to the place of installation which must be observed.
Improper use may result in danger to life and limb of the user or third parties or
in damage to the automation system or other material assets.
Failure to follow the directions and safety instructions given in this instructions
manual may result in serious hazards.
2.2 Intended use
The GE-25-P are used exclusively for gripping and time-limited safe holding of
workpieces or objects.
The GE-25-P are intended for industrial and industry-related applications.
The GE-25-P are intended for installation in a machine. The applicable
guidelines must be observed and complied with.
When implementing and operating the GE-25-P in safety-related parts of
control systems, the basic safety principles according to DIN EN ISO 13849-
2 must be applied. For categories 1, 2, 3 and 4, the proven safety principles
according to DIN EN ISO 13849-2 must also be applied.
The intended use of the module also includes:
observance of all instructions given in this instructions manual.

compliance with the inspection and maintenance work and the
specifications in the data sheets,
using only original spare parts.

Safety instructions
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 9–48
2.3 Foreseeable misuse
Any use other than or beyond the intended use described above is considered
a misuse of the GE-25-P.
Especially the following use is considered a misuse:
The use of the module as a pressing tool, punching tool, lifting tool, guiding
aid, cutting tool, clamping device or drilling tool.
The GE-25-P must not be exposed to corrosive media. Products for special
environmental conditions are excluded.
Risks can occur if the module is not used as intended. In the event of
damages caused by improper use the following shall apply:
the operating company shall be solely responsible for such damage, and
Afag does not accept any liability for damage caused by improper use.
2.4 Obligations of the operator and the personnel
2.4.1 Observe the assembly instructions
A basic prerequisite for safe and proper handling of the electric gripper is a good
knowledge of the basic safety instructions.
These assembly instructions, in particular the safety instructions contained
therein, must be observed by all persons working with the electric gripper.
2.4.2 Obligations of the operating company
In addition to the safety instructions given in this manual, the operating company
must comply with the safety, accident prevention and environmental protection
regulations valid for the field of application of the electric gripper. The operating
company is required to allow only persons to work on the GE-25-P who:
have the necessary professional qualifications and experience,
are familiar with the basic rules regarding occupational safety and accident
prevention,
have been instructed in the correct handling of the GE-25-P,
have read and understood these assembly instructions.
WARNING
Risk of injury if the module is not used as intended!
The improper use of the module poses a potential hazard to the personnel.

The module may only be used in a technically perfect condition in
accordance with its intended use and the instructions in this manual as well
as in compliance with the safety requirements!

Any malfunctions, particularly those that could impair safety, must be
eliminated immediately!

Safety instructions
10 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
The operating company is also required to:
monitor on an ongoing basis that the personnel work safely considering any
potential hazard involved and the assembly instructions are observed,
ensure that the assembly instructions are always kept at hand at the
installation in which the modules are mounted,
observe and communicate universally applicable laws and regulations
regarding accident prevention and environmental protection,
provide the necessary personal protective equipment (e.g. protective
gloves) and instruct the personnel to wear it,
update the related safety data sheets.
2.4.3 Obligations of the personnel
All personnel working with the GE-25-P are required to:
read and observe these assembly instructions, especially the chapter on
safety,
to use the GE-25-P as intended,
observe the occupational safety and accident prevention regulations,
observe all safety and warning signs on the GE-25-P,
all questionable safety practices are to be avoided
to refrain from any working methods that impair the function and operational
safety of the GE-25-P,
to eliminate any faults that occur immediately,
observe the maintenance and care instructions,
to observe the safety, accident prevention and environmental protection
regulations for the area of application of the GE-25-P.
In addition, the personnel must wear the personal protective equipment
required for carrying out their work. (Chapter 2.6).
2.5 Personnel requirements
2.5.1 Personnel qualification
The activities described in the assembly instructions require specific requisites
at the level of professional qualifications of the personnel.
Personnel not having the required qualification will not be able to asses the risks
that may arise from the use of the electric gripper thus exposing himself and
others to the risk of serious injury. Therefore, only qualified personnel may be
permitted to carry out the described activities on the electric gripper.
Persons whose ability to react is restricted due to the intake of medication or the
like must not interact with the electric gripper.
These installation instructions are intended for skilled personnel (installers,
system integrators, maintenance personnel, technicians), electricians and
operating personnel.
The following is a description of the professional skills (qualifications) required
for carrying out the different activities:

Safety instructions
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 11–48
Qualified personnel:
Qualified personnel with appropriate training who are quali
fied due to their
special know-how and fully familiar with the machine and who have been given
instructions on how to carry out the task entrusted to them safely.
Qualified electrician:
Persons who have obtained their electri
cal qualifications through appropriate
professional training and complementary courses that enables them to identify
risks and prevent possible hazards resulting from electricity.
Operator (trained personnel):
Authorized persons who due t
o their specialized professional training,
expertise and experience can identify
risks and preventing possible hazards
arising from the use of the machine.
2.6 Personal protective equipment (PPE)
The personal protective equipment serves to protect the personnel from hazards
affecting their safety and health at work.
When working on/with the module, the personnel must wear the personal
protective equipment assigned by the safety officer of the operating company or
as required by safety regulations. In addition, the personnel are required to:
To observe the occupational health and safety regulations and to comply
with valid safety and accident prevention regulations,
wear the personal protective equipment provided by the operating company
(employer),
check the personal protective equipment for proper condition, and
immediately notify the person responsible on site of any defects found on the
personal protective equipment.
Personal protective equipment and the respective mandatory signs:
Protective clothing is a close-
fitting clothing specifically
designed to protect personnel from hazards during work.
Protective gloves
are specifically designed to protect the
personnel
against hand injuries (such as cuts, abrasion,
burns).
Safety shoes
are specifically designed to protect the
personnel against foot injuries from crushing, falling objects or
slipping on slippery surfaces.
Hearing protectors
are required to protect the personnel
against excessive noise levels to prevent noise-
induced
hearing loss.

Safety instructions
12 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
2.7 Changes and modifications
No changes may be made to the GE-25-P which have not been described in
these assembly instructions or approved in writing by Afag. Conversions,
modifications and reworking (e.g. additional threads, drill holes, etc.) can impair
function or safety or cause damage to the GE-25-P.
Afag Automation AG accepts no liability for unauthorised changes or improper
assembly, installation, commissioning, maintenance or repair work.
The electric gripper may not be changed or modified in any way, except with
the prior written consent of Afag Automation AG.
2.8 General hazards / residual Risks
Despite the safe design of the machine and the technical protective measures
taken, there still remain residual risks that cannot be avoided and which present
a non-obvious residual risk when operating the modules.
Observe the safety instructions in this chapter and in the other sections of this
manual to avoid damage to property and dangerous situations for the personnel.
2.8.1 General hazards at the workplace
The electric gripper has been built according to the state-of-the-art and the
applicable health and safety requirements. However, improper use of the
electric gripper may cause the following hazards to the personnel:
danger to life and limb of the operator or third parties,
to the GE-25-P itself,
property damage.
Always keep the assembly instructions ready at
hand at the workplace!
Please, also observe:
the general and local regulations on accident prevention and environmental
protection,
the safety information sheet for the electric gripper.
WARNING
Danger - Do not use the GE-25-P in unsuitable environment!
Incorrect ambient and operating conditions can cause hazards from the GE-
25-P that can lead to serious injuries and considerable damage to property or
reduce the service life of the modules.
Ensure that the GE-25-P is only used within the defined application
parameters (Technical data).

Safety instructions
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 13–48
WARNING
Risk of injury from sharp edges and pointed corners!
Sharp edges and pointed corners can cause cuts.
Wear personal protective equipment.
WARNING
Danger of injury from hot surfaces!
Surfaces of components can heat up strongly during operation. Skin contact
with hot surfaces will cause severe burns to the skin.
Wear protective gloves when working near hot surfaces.
Ensure that all surfaces have cooled down before carrying out any work.
CAUTION
Danger of injury in the working area of the modules!
Due to the decentralised control system, the operator must not necessarily
stand next to the grippers during operation so that he may not have a com-
plete view of the working area. Persons in the working area may be injured.
During operation ensure a good overview of the entire working area.

Unauthorized persons must not stay within the working area during
operation.
Observe safety distances.
CAUTION
Risk of injuries due to uncontrolled parts movements!
Incorrect control of connected drives, operating errors, incorrect
parameterisation during commissioning or software errors can trigger
unexpected movements that can cause personal injury or damage to
property.
Only qualified personnel may work with or on the GE-25-P.
Read the instructions carefully before working on or with the GE-25-P.
CAUTION
Risk of noise-induced hearing loss!
When the modules are installed in a machine or plant, the permissible noise
level may be exceeded depending on t
he various components, the
environment and the resonance.
The operating company is responsible for ensuring that the permissible
noise levels are observed.
If the noise level exceeds 85 dB(A) in normal operation, the operator must
wear hearing protectors at the workplace.

Safety instructions
14 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
2.8.2 Danger due to electricity
2.8.3 Dangers in case of power failure
2.8.4 Mechanical hazards
DANGER
Danger! Risk of electric shock!
If work on electrical components is required, ensure that the work is carried
out properly, failure to do so will cause serious or fatal injuries.
Work on the machine's electrical equipment may only be performed by
skilled electrician or trained personnel under the supervision of a skilled
electrician in accordance with all relevant electrical regulations.
Before connecting or disconnecting electrical lines and before assembly,
conversion, maintenance and adjustment work, switch off the power supply
and secure it against being switched on again.
When the power supply is connected, do not touch the connection points of
the GE-25-P and do not move any parts by hand.
Cover live parts.
WARNING
Risk of injuries due to uncontrolled parts movements!
If the power supply is switched on or there is still residual energy in the
system, unexpected movements when working on the GE-25-P can cause
serious injuries.
Switch off the power supply and use a lockout device to make sure that the
system cannot be switched on again.
Ensure that there is no residual energy left in the system.
WARNING
Risk of injury from falling objects if the power supply fails!
Electronic products are fundamentally not fail-safe. If the power supply fails,
the gripping force drops and it cannot be guaranteed that the gripped
workpiece is held securely.
The operator is responsible for ensuring that the drive is brought to a safe
state in the event of a power supply failure.
WARNING
Risk of injury - Do not reach into the system during operation!
There is a risk of injury if the personnel reaches into the system during normal
operation.
Never reach into the system during normal operation!

Safety instructions
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 15–48
2.8.5 Danger caused by omitting maintenance work
WARNING
Risk of injury from falling or ejected objects!
During operation, falling or ejected objects can cause serious injuries or even
death.
Secure the danger zone with suitable measures!
CAUTION
Risk of injury from crushing and pushing!
When moving the base jaws and by breaking or loosening the gripping
fingers, injuries to limbs can occur!
Wear personal protective equipment!
Do not reach into the open mechanism and into the movement area of the
GE-25-P.
CAUTION
Danger of injury!
Poor or not regularly performed maintenance work may cause malfunction of
the components which may result in injuries.
The due diligence obligations of the operating company include ensuring
that the personnel carrying out maintenance work is appropriately trained
and qualified.

Technical data
16 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
3 Technical data
3.1 Dimensional drawing GE-25-P
Fig. 1 Dimensional drawing electric gripper GE-25-P

Technical data
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 17–48
3.2 Technical data GE-25-P
Note on EMC conformity (according to EN 61000-6-4:2007 + A1:2011): The GE-25-
P may only be used in DC distribution networks with an extension < 30 m.

Technical data
18 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
3.3 Preferred combinations GE-25-P
3.4 Gripping force diagram GE-25-P

Technical data
Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0 19–48
3.5 Load of gripper fingers GE-25-P
Fig. 2 Load of gripper fingers GE-25-P
Type GE-25-P
Max. static torque Mx 0.50 Nm
Max. static torque My 0.42 Nm
Max. static torque Mz 1.50 Nm
Max. static force Fz 70 N
3.6 Maximum permissible cantilever
Permissible range Inadmissible range
Lmax corresponds to the max. permissible finger length (techn. data)

Transport, packaging and storage
20 – 48 Assembly instructions EN GE-25-P Date 02.11.2021 Version 1.0
4 Transport, packaging and storage
This chapter provides information regarding proper transport, packaging and
storage of the electric grippers.
4.1 Safety instructions for transport
Incorrect ambient and operating conditions can cause hazards from the GE-25-
P that can lead to serious injuries and considerable damage to property or
reduce the service life of the modules.
Also observe the safety instructions in chap. 2 „Safety instructions“ in this
manual.
4.2 Scope of supply
The GE-25-P are supplied with an operating and assembly manual and a safety
data sheet (see scope of supply below).
Fig. 3 Scope of delivery electric gripper GE-25-P
[Unt] GE-25-P
1 x Electric gripper
1 x Assembly and operating instructions
1 x Supplementary set
CAUTION
Danger of injury when unpacking the GE-25-P!
The electric grippers are packed in the original packaging (cardboard box). If
handled incorrectly, the module may fall out of the box when unpacked and
cause limb injuries.
Carefully unpack the GE-25-P.