Afag GMK 20 Series User manual

1
Gripper Module
GMK 20 / GMQ 20
Rotary Gripper Modules
GMQ 20-RM 16/GMQ 20-RM 25
- Declaration of Incorporation
- Module Information
- Montage Instructions
- Maintenance Instructions

2 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
These Montage Instructions apply to:
Type
Order. No.
Type
Order. No.
Gripper Module
GMQ 20/P
GMQ 20/K
GMK 20/P-01
Gripper- rotations
module
GMQ 20/RM 16
GMQ 20/RM 25
11010491
11010494
50409826
GMQ 20/K
GMQ 20/P
GMQ 20/P-01
11010477
11010483
50409827
Version of this documentation:
GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
Symbols:
Assembly and initial start-up must be
carried out by qualified Personnel only and
according to these Montage Instructions.
WARNING
Indicates a possible dangerous situation.
Non-compliance with this information can result in death or
serious personal injuries (invalidity).
CAUTION
Indicates a possible 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
recommendations which don’t affect safety and health of the
personnel.

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
Table of contents:
1.0.0 Declaration of Incorporation Page 5
1.1.0 Declaration of Incorporation according to the Machinery Directive
2006/42/EG Page 5
2.0.0 Module Information Page 6
2.1.0 Transport and storage (packing and unpacking) Page 6
2.1.1 Possibilities of fastening GMQ 20 and GMQ 20/RM 16/25 Page 7
2.1.2 Hole matrix and centering bushings Page 8
2.1.3 Tightening torques for bolts Page 9
2.1.4 Diagramme GMK 20 Page 10
2.1.5 Diagramme GMQ 20 Page 11
2.1.6 Preferred combinations GMQ 20 Page 12
3.0.0 Montage Instructions Page 13
3.1.0 Manufacturer address Page 13
3.1.1 Symbols Page 14
3.1.2 General description GMQ 20 Page 14
3.1.3 Description of the module GMQ 20 / GMK 20 Page 15
3.1.4 Description of the rotary gripper module GMQ 20/RM 16/25 Page 16
3.1.5 Included in the delivery GMQ 20 / GMK 20 Page 17
3.1.6 Intended use Page 17
3.1.7 Safety information GMQ 20 / GMK 20 Page 17
3.1.8 Included in the delivery GMQ 20/RM 16/25 Page 18
3.1.9 Intended use Page 18
3.2.0 Warranty Page 19
3.2.1 Areas of application Page 19
3.2.2 Dimensions drawing GMQ 20 / GMK 20 Page 20
3.2.3 Technical data of the GMK 20,GMQ 20 Page 21
3.2.4 Dimensions drawing GMK 20, GMQ 20/RM 16/25 Page 22
3.2.5 Pneumatic connection GMK 20, GMQ 20 Page 23
3.2.6 Pneumatic connection GMQ 20/RM 16/25 Page 23
3.2.7 Adjusting the GMK 20, GMQ 20 Page 24
3.2.8 Modifying the GMQ 20 to inner tension Page 25
3.2.9 Modifying the GMQ 20 double acting Page 26

4 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.3.0 Installation of Gripper Page 27
3.3.2 Adjustment of the stop screw GMQ 20 Page 28
3.3.3 Adjustment of the stop screw AS 08/15 Page 28
3.3.4 Adjustment the stop pin Page 28
3.3.5 Adjustment for the proximity switch Page 29
3.3.6 Mounting proximity switch 6,5 mm GMQ 20 Page 30
3.3.7 Mounting proximity switch 8x8 mm GMQ 20 Page 31
3.3.8 Preparation for start-up Page 32
3.3.9 Preparation for Start-up Page 32
4.0.0 Maintenance Instruction Page 33
4.1.0 Servicing Page 33
4.1.1 Maintenance Page 34
4.1.2 Trouble-shooting GMQ 20/RM 16 Page 35
4.1.3 Accessories for GMQ 20 / GMK 20 Page 36
4.1.4 Disassembly and repair Page 37
4.1.5 Spare parts GMQ 20 Page 38
4.1.6 Spare parts GMK 20 Page 39
4.1.7 Rotary gripper module GMQ 20/RM 16/25 Page 40
4.1.8 Dimensions drawing GMQ 20 /RM 16/25 Page 41
4.1.9 Product overview Page 42
4.2.0 Parts drawing GMQ 20/RM 16 Page 43
4.2.1 Accessories RM 16 et RM 25 Page 44
4.2.2 Spare parts RM 16 Page 45
4.2.3 Spare parts RM 25/RM 25/1 Page 47
4.2.5 Spare parts RMZ 25/2 Page 48
5.0.0 Disposal Page 49

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
1.0.0 EC Declaration for Incorporation (Document original)
1.1.0 According to: 2006/42/EC
Standard: EN ISO 12100:2010 (German Version)
The manufacturer:
Afag Automation AG, Fiechtenstrasse 32, CH-4950 Huttwil
hereby declares that the incomplete machine:
Producte name: Gripper module /Rotary gripper Module (pneum.)
Types: GMK 20 / GMQ 20
GMQ 20 /RM 16/25
Sequential series: No. 50xxxxxx
-Machinery Directive: 2006/42/EC
-Standard: EN ISO 12100:2010 (German Version)
-Safety of machinery General principles for risk assessment and risk reduction.
-The special technical documents shall be sent to a reasoned request by
national authorities in printed documents or electronically (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
Who installs this incomplete machine or assemble with other machines, a risk
assessment 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, 05.02.2015
Siegfried Egli Niklaus Röthlisberger
Managing Director Producte Manager HT
Afag Automation HT Afag Automation AG

6 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
2.0.0 Montage Instructions
2.1.0 Transport and storage (packing and unpacking)
CAUTION
The GMK 20, GMQ 20 module is packed in the original
cardboard box, if the module is not handled property it may fall
out of the box when unpacking and cause injuries to limbs or
squeeze your fingers.
The GMQ 20/RM 16/25 are delivered assembled and are packed
not special, if not handled properly can fall down on this.
NOTE
Consider please! With each module security is settled a technical
newspaper. This newspaper is to be reas busily by each person with
the module.

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
2.1.1 Possibilities of fastening: GMK 20, GMQ 20 and GMQ 20/RM16
CAUTION
The GMQ 20, GMK 20 and GMQ 20/RM 16/25 gripper- (rotary
gripper module) is a fine mechanical unit and must be handled
with the necessary care and cleanliness during transport and
storage as well as when handling, setting-up and assembling.
Fixing the gripper module (rotary gripper module)
In Order to guarantee a high and repetitive fitting accuracy on assembly, during
operation and on exchange of a module, the components of the Afag modules are
equipped with a precise module centering.
In the gripper module, there are two centering bushings Ø 4x6mm (Fig. 27)
In the gripper module, there are four centering bushings 9x4mm (Fig. 28)

8 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
2.1.2 Hole matrix and centering bushings
GMK 20, GMQ 20 (GMQ 20/RM 16/25)
Gripper module
Rotary gripper module
GMK 20
GMQ 20
GMQ 20-
RM16/RM 25
Hole matrix
30mm
48mm
(30mm)
Thread / bore hole
M5
M6
(M5)
Centering pin (H7)
Centering bushings (H7)
4x6mm
9x4mm
Use the centering bushings included in the scope of supply for positioning and insert
these sleeves in the diagonally opposite bore holes of the mounting grid.

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
2.1.3 Tightening torques 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
M3
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
This is an incomplete machine
Installation of the GMQ (GMQ / RM) Gripper module, (Rotary gripper module) in
a station/system.
The range of GMQ and (GMQ / RM) is the shock-free gripper rotary motion of rigidly
in the load for this module defined environmental and operational conditions, see
technical data. The GMQ the mounting position GMQ (GMQ / RM) modules can be
horizontally or vertically.
NOTE
Before any activity on or with the GMQ and GM / RM modules,
this instruction manual carefully. The GMQ, (GMQ / RM)
modules may only be used there in accordance with the
intended use.
NOTE
Safety instructions
Modifications on the GMQ and GM / RM module 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 and
maintenance or repairs Afag rejects all liability.

10 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
2.1.4 Diagramme GMK 20
NOTE
Gripper GM 20/K
Ensure that the movement of the jaws occurs without impacts and
bounce-free. This can be achieved by reducing the movement
speed. Otherwise the service life will be shortend.

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
2.1.5 Gripper load GMQ 20
NOTE
Gripper GMQ 20/K
Ensure that the movement of the jaws occurs without impacts and
bounce-free. This can be achieved by reducing the movement
speed. Otherwise the service life will be shortend.

12 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
2.1.6 Preferred combinations GMQ 20

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
These operating instructions apply to:
Producte name: Gripper module (pneumatic)
Rotary gripper module
Types: GMQ 20 / GMK 20
GMQ 20 / RM 16-RM 25
Sequential series: No. 50xxxxxx
This is an incomplete machine
Who installs this incomplete machine or assemble with other machines, a risk
assessment for its resulting machine which must make the provisions of the
EC directive: 2006/42/EC
Standard: EN ISO 12100:2010 (German version)
Agent:
For the compilation of the technically relevant documents:
Niklaus Röthlisberger, Products Manager Afag Automation AG, CH-4950 Huttwil

14 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.1.1 Symbols
Assembly and initial start-up must be carried out by qualified personnel only and
according to these instructions.
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
recommendations which don't affect safety and health of the
personnel.
3.1.2 General description
This is an incomplete machine
The series of the GMQ 20 Gripper and (GMQ 20/RM 16/25 Rotary gripper module) is
used for the Gripper and (Rotary gripper module) smooth movement of rigidly
mounted loads under the ambient and operating conditions defined, see Technical
data.
The installation position of the GMQ 20 Gripper- and (GMQ 20/RM 16/25 Rotary
gripper module) can take place both vertically and horizontally.
Modifications on the GMQ 20 and GMQ 20/RM 16/25 module 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.

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.1.3 Description of the module GMQ 20
General
These Montage Instructions describe Gripper Module GM 20 and Rotary gripper
module GM 20/RM 16/25, which can be operated with different grippers.
All Information in these Montage Instructions relates to the above-mentioned types.
NOTE
Special mention is given to type-specific information.
Gripper module GMQ 20
The pneumatically actuated GM 20 Gripper Module (piston Ø 20mm), together with a
gripper, are designed for gripping small parts.
The GMQ 20 is designed for outer tensioning (Fig.1), inner tensioning (Fig.2), or
double-acting (Fig.3).
An integrated spring (1) serves as clamping force protection in the unpressurized
condition. All GM’s are delivered from the factory with outer tensioning (Fig.1) and
can be modified to a different function as necessary.

16 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.1.4 Description of the rotary gripper module GMQ 20/RM 16/25
1
Gripper
5 Pneumatic connection RM
2
3
4
Rotary module
Gripper actuator
Angle the mountig
6
7
8
Pneumatic connection, Gripper
actuator
Adjusting stop screw
Proximity switch (not included in
the delivery)
The rotary gripper module consists of a gripper (1), and rotary module (2), and the
Gripper actuator (3) and the mounting angle (4). Connection (5) with the
pneumatically on rotary module (6) and the connection on the gripper actuator.
The final positions will each have a stop screw (7) is et.
For sensing the end positions, the stop screw can be equipped with a proximity
switch proximity switch holder and a 6.5mm. (not included in the delivery)
The movement in the end of travel can also be buffered by the hydraulic stop
absorber.
(Rotary gripper module with shock absorber must be ordered separate).
2
1
3
4
5
6
7
8

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.1.5 Included in the delivery GMQ 20/GMK 20
Number
Description GMK 20 Description GMQ 20
2
Centering pin 4x6 mm 2 Centering pin 4x6 mm
2
2
Mounting screw M5x35 mm 2 Mounting screw M5x35 mm
U-Disc M5 2 U-Disc M5
3.1.6 Designated use
The series of the GMQ 20, GMK 20 gripper module and GMQ 20/ RM16/25 rotary
gripper module is used for the movement of rigidly mounted loads in non-explosion
harzadous ambient and operating conditions that are specified for this module ; see
catalogue.
3.1.7 Safety Instructions
NOTE
These Montage Instructions should be read carefully before carrying
out any activity on or with the module.
The module may only be deployed in accordance with the intended
use.
Modifications on the module that are not described in these Montage
Instructions 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 rejects all liability.
CAUTION
Connection of compressed air and operation of pneumatic
systems may cause unpredictable movement which may result
in personal injury or damage to property.
When connecting compressed air for the first time make sure that all air chokes are
closed. Ventilate the system slowly.

18 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.1.8 Included in the rotary griper module GMQ 20/RM 16/25
Number
Description
1
2
2
2
2
Angle the mounting
Mounting screw M5x20
Rip discs M6
Rip discs M5
Centering pin 9x4 mm
3.1.9 Designated use
The series of the GMQ 20/RM 16/25 rotary gripper modules is used for the
movement of rigidly mounted loads in non-explosion harzadous ambient and
operating conditions that are specified for this module ; see catalogue.
3.2.0 Safety GMQ 20/RM 16/25
NOTE
These Montage Instructions should be read carefully before carrying
out any activity on or with the module.
The module may only be deployed in accordance with the intended
use.
Modifications on the module that are not described in these Montage
Instructions 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 rejects all liability.
CAUTION
Connection of compressed air and operation of pneumatic
systems may cause unpredictable movement which may result
in personal injury or damage to property.
When connecting compressed air for the first time make sure that all air chokes are
closed. Ventilate the system slowly.

GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.2.1 Warranty
The module is designed for 40 million load alternations* under the ambient conditions
and conditions of use defined for this module, see catalogue. Wearing parts (shock
absorbers and stop screws) are excluded from the warranty. The warranty includes
repair or replacement of faulty Afag parts.
*whichever comes first
When repairs are carried out by the customer without prior training or instruction by
Afag AG the warranty will become void. Any additional claims are excluded.
3.2.2 Areas of application
The GMQ 20/GMK 20 are exclusively for the resort in any situation of load until a
maximum of 40-57N, which the manipulation is not people, property and
environmental hazard response. But they can also be combined with other modules
as pick and place station used with the allowable loads must not be exceeded.
Any other use is regarded as inadequate.
NOTE
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
observing the maintenance and repair instructions specified by the manufacturer.
The GM gripper and GM rotary gripper module may only be operated and serviced
by correspondingly trained personnel who have also profound knowledge of the
dangers.
CAUTION
The applicable regulations for prevention of accidents and the
other generally accepted safety-relevant and occupational
safety and health regulations are to be followed.

20 GMQ20; GMQ20-RM16-25-OI-vers. 2.5 gb. 05.02.15
3.2.3 Dimensions drawing GMK 20/GMQ 20