Afag PG 12 User manual

Assembly Instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0 1–48
Assembly and operating instructions
Precision gripper
PG12 IPG 16 IPG 20
Translation of the Original Assembly Instructions EN
PG 12  Order no.: 50332223
PG 16  Order no.: 50332224
PG 20  Order no.: 50332225

2 – 48 Assembly instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0
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 precision gripper or other options.
We wish you every success with our products!
With kind regards
Your Afag team
© Subject to modifications
The precision 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 PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0 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........................................................................................ 7
1.4 Applicable documents .................................................................................. 7
1.5 Warranty ....................................................................................................... 7
1.6 Liability.......................................................................................................... 8
2Safety instructions................................................................................................. 9
2.1 General ......................................................................................................... 9
2.2 Intended use ................................................................................................. 9
2.3 Foreseeable misuse ..................................................................................... 9
2.4 Obligations of the operator and the personnel ........................................... 10
2.4.1 Observe the assembly instructions ...................................................... 10
2.4.2 Obligations of the operating company.................................................. 10
2.4.3 Obligations of the personnel ................................................................ 11
2.5 Personnel requirements ............................................................................. 11
2.5.1 Personnel qualification ......................................................................... 11
2.6 Personal protective equipment (PPE) ........................................................ 12
2.7 Changes & modifications............................................................................ 12
2.8 General hazards / residual risks................................................................. 13
2.8.1 General hazards at the workplace ....................................................... 13
2.8.2 Danger due to electricity ...................................................................... 14
2.8.3 Danger due to pneumatics ................................................................... 14
2.8.4 Mechanical hazards ............................................................................. 14
3Technical data ...................................................................................................... 15
3.1 Precision gripper PG12 .............................................................................. 15
3.1.1 Dimension drawing PG12 .................................................................... 15
3.1.2 Technical data PG12............................................................................ 16
3.1.3 Preferred combinations PG12.............................................................. 17
3.1.4 Module stresses PG12......................................................................... 18
3.2 Precision gripper PG16 .............................................................................. 19
3.2.1 Dimensional drawing PG16.................................................................. 19
3.2.2 Technical data PG16............................................................................ 20
3.2.3 Preferred combinations PG16.............................................................. 21
3.2.4 Module stresses PG16......................................................................... 22
3.3 Precision gripper PG20 .............................................................................. 23
3.3.1 Dimensional drawing PG20.................................................................. 23
3.3.2 Technical data PG20............................................................................ 24
3.3.3 Preferred combinations PG20.............................................................. 25
3.3.4 Module stresses PG20......................................................................... 26

Table of contents
4 – 48 Assembly instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0
4Transport, packaging and storage ..................................................................... 27
4.1 Safety instructions for transport.................................................................. 27
4.2 Scope of supply .......................................................................................... 27
4.3 Transport .................................................................................................... 28
4.4 Packaging ................................................................................................... 28
4.5 Storage ....................................................................................................... 28
5Structure and description ................................................................................... 29
5.1 Design precision gripper............................................................................. 29
5.2 Product description..................................................................................... 29
5.3 Accessories ................................................................................................ 29
6Installation, assembly & setting ......................................................................... 30
6.1 Safety Instructions for installation & assembly ........................................... 30
6.2 Assembly & attachment.............................................................................. 31
6.2.1 Attachment ........................................................................................... 31
6.2.2 Tightening torques................................................................................ 32
6.3 Assembly of the gripper fingers.................................................................. 32
6.3.1 Example connection geometry gripper finger ...................................... 32
6.3.2 Pneumatic connection .......................................................................... 33
7Commissioning .................................................................................................... 34
7.1 Safety instructions for commissioning ........................................................ 34
7.2 Preparatory activities for commissioning.................................................... 35
7.2.1 Installation of the inductive sensors ..................................................... 35
7.2.2 Installation of the initiators.................................................................... 35
7.3 Commissioning of the modules .................................................................. 36
7.4 Setting up & retrofitting ............................................................................... 36
8Fault elimination................................................................................................... 37
8.1 Safety instructions for troubleshooting ....................................................... 37
8.2 Fault causes and remedy ........................................................................... 37
9Maintenance and repair....................................................................................... 38
9.1 General notes ............................................................................................. 38
9.2 Safety instructions for maintenance and repair.......................................... 38
9.3 Maintenance activities and maintenance intervals..................................... 39
9.3.1 Overview of the maintenance points .................................................... 39
9.3.2 Further maintenance ............................................................................ 39
9.4 Lubrication .................................................................................................. 40
9.5 Spare parts and repair work ....................................................................... 41
10 Decommissioning and disposal ......................................................................... 42
10.1 Safety instructions for decommissioning and disposal............................... 42
10.2 Decommissioning ....................................................................................... 42
10.3 Disposal...................................................................................................... 42
11 Declaration of incorporation............................................................................... 43

General
Assembly Instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0 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 precision grippers to ensure
safe and efficient handling of the precision grippers PG12, PG16 and PG20.
Consistent compliance with these assembly instructions will ensure:
permanent operational reliability of the precision gripper,
optimal functioning of the precision gripper,
timely detection and elimination of defects (thereby reducing maintenance
and repair costs),
prolongation of the precision gripper’s service life.
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 PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0
This note contains important additional information as well as useful tips for
safe, efficient and trouble-free operation of the precision gripper.
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
Assembly Instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0 7–48
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
Each
precision 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
precision 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 are excluded from the warranty (The customer is entitled to a
product free of defects. This does also apply to defective accessories and
wear parts. Normal wear and tear are excluded from the warranty).
The warranty covers the replacement or repair of defective Afag parts. Further
claims are excluded.
The warranty shall expire in the following cases:
Improper use of the module.
Non-observance of the instructions regarding assembly, commissioning,
operation and maintenance of the module.
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.

General
8 – 48 Assembly instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0
1.6 Liability
No changes shall be made to the precision gripper 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
Assembly Instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0 9–48
2 Safety instructions
2.1 General
This chapter provides an overview of all important safety aspects to ensure safe
and proper use of the precision grippers and optimal protection of personnel.
Safe handling and trouble-free operation of the precision grippers requires
knowledge of the basic safety regulations.
Every person carrying out installation, commissioning, maintenance work or
operating the modules must have read and understood the complete user
manual, especially the chapter on safety instructions.
Also observe all rules and regulations regarding accident prevention applicable
to the place of installation of the modules.
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 precision grippers series is designed for the shock-free linear movement of
permanently mounted loads in non-explosive environments and in the ambient
and operating specially conditions defined for these modules.
The precision grippers are used in automation systems.
The precision grippers are exclusively intended for operation with original
LinMot components (controller, cables ...).
Any use beyond the described purpose is considered to be not in accordance
with the intended use.
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.
2.3 Foreseeable misuse
Any use other than or beyond the intended use described above is considered
a misuse/improper use of the precision grippers.
Especially the following use is considered a misuse:
Use in potentially explosive atmospheres

Safety instructions
10 – 48 Assembly instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0
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 damages 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 parallel 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 precision gripper.
2.4.2 Obligations of the operating company
In addition to the safety instructions given in this manual, the operating company
must also comply with the safety, accident prevention and environmental
protection regulations valid for the field of application of the precision gripper.
The operating company is required to use only personnel 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 precision gripper,
have read and understood these assembly instructions.
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
automation system in which the precision grippers have been integrated,
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.
WARNING
Risk of injury if the module is not used as intended!
The improper use of the precision gripper poses a potential hazard to the
personnel.
The precision gripper may only be used in a technically perfect condition in
accordance with their intended use and 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
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2.4.3 Obligations of the personnel
All personnel working with the precision gripper are required to:
read and observe these assembly instructions, especially the chapter on
safety,
observe the occupational safety and accident prevention regulations,
observe all safety and warning signs on the precision gripper,
refrain from any activity that might compromise safety and health.
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 assess the
risks that may arise from the use of the precision 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 precision gripper.
Persons whose ability to react is restricted due to the intake of medication or the
like must not interact with the precision 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:
Qualified personnel:
Qualified personnel with appropriate training who are qualified 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.
Operator (trained personnel):
Authorized persons
who due to their specialized professional training,
expertise and experience are capable of identifying risks and preventing
possible hazards arising from the use of the machine.

Safety instructions
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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 precision gripper, 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:
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.
2.7 Changes & modifications
No changes may be made to the precision grippers which have not been
described in these assembly instructions or approved in writing by Afag
Automation AG.
AFAG Automation AG accepts no liability for unauthorised changes or improper
assembly, installation, commissioning, maintenance or repair work.
The precision grippers may not be changed or modified in any way, except
with the prior written consent of AFAG Automation AG.

Safety instructions
Assembly Instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0 13–48
2.8 General hazards / residual risks
Despite the safe design of the precision gripper 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 precision gripper.
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 precision grippers have been built according to the state-of-the-art and the
applicable health and safety requirements. Nevertheless, improper use of the
precision grippers may cause the following hazards to the personnel:
danger to life and limb of the operator or third parties,
on the precision grippers themselves,
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.
Observe the safety information sheet for the precision grippers.
WARNING
Danger - Do not use in unsuitable environment!
The precision grippers are designed for use in non-explosive atmospheres.
Do not use the precision gripper in potentially explosive atmospheres!
CAUTION
Risk of injuries due to uncontrolled parts movements!
When connecting the precision gripper to the control unit or when operating
the precision gripper sudden, unexpected movements may occur which can
cause personal injury or property damage.
Only qualified personnel may work with or on the precision gripper.
Read the assembly instructions carefully before carrying out any work on
or with the precision gripper.

Safety instructions
14 – 48 Assembly instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0
2.8.2 Danger due to electricity
2.8.3 Danger due to pneumatics
2.8.4 Mechanical hazards
WARNING
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.
WARNING
Risks by the pneumatic system!
The pneumatic system can pose various hazards that can cause serious or
fatal injuries if the work is carried out improperly.
Only qualified personnel may work with or on the pneumatic system!
The necessary personal protective equipment must be provided and used.
CAUTION
Danger of injury from moving components!
Limbs can be crushed by moving components!
Work on and with the precision gripper may only be carried out by qualified
personnel.
Never reach into the system during normal operation!

Technical data
Assembly Instructions EN PG12 I PG16 I PG20 Edition 08/2020 Rev. 2.0 15–48
3 Technical data
3.1 Precision gripper PG12
3.1.1 Dimension drawing PG12
Fig. 1 Dimensional drawing of precision gripper PG12

Technical data
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3.1.2 Technical data PG12

Technical data
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3.1.3 Preferred combinations PG12

Technical data
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3.1.4 Module stresses PG12

Technical data
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3.2 Precision gripper PG16
3.2.1 Dimensional drawing PG16
Fig. 2 Dimensional drawing of precision gripper PG16

Technical data
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3.2.2 Technical data PG16