Afag SG-50 User manual

Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 1–40
Assembly and operating instructions
Servo Gripper
SG-50
Translation of the Original Assembly Instructions EN
SG-50 Order no.: 50289595
SG-50-ABq Order no.: 50460223

2 – 40 Assembly instructions EN SG-50 Edition 01/2021 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 servo 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.
© 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
Fiechtenstrasse 32
CH - 4950 Huttwil (Switzerland)
Tel.: [phone]
Fax.: [phone]
e-mail: [e-mail]
Internet: www.afag.com

Table of contents
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 3–40
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 ..................................................................................... 8
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 and modifications ........................................................................ 11
2.8 General hazards / residual risks................................................................. 12
2.8.1 General hazards at the workplace ....................................................... 12
2.8.2 Danger due to electricity ...................................................................... 13
2.8.3 Danger due to strong magnetic fields. ................................................. 13
2.8.4 Danger due to high temperatures ........................................................ 13
2.8.5 Mechanical hazards ............................................................................. 13
3Technical data ...................................................................................................... 14
3.1 Dimensional drawing SG-50....................................................................... 14
3.2 Technical data SG -50................................................................................ 15
3.3 Preferred combinationsSG-50 .................................................................... 16
3.4 Gripping force diagram ............................................................................... 17
3.5 Gripper jaws maximum loads SG-50.......................................................... 17
4Transport, Packaging and Storage .................................................................... 18
4.1 Safety instructions for transport.................................................................. 18
4.2 Scope of supply .......................................................................................... 18
4.3 Transport .................................................................................................... 19
4.4 Packaging ................................................................................................... 19
4.5 Storage ....................................................................................................... 19
5Design and description ....................................................................................... 20
5.1 Design of servo gripper .............................................................................. 20
5.2 Product description..................................................................................... 20

Table of contents
4 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0
5.3 Accessories ................................................................................................ 21
6Installation, assembly & setting ......................................................................... 22
6.1 Safety Instructions for Installation & assembly........................................... 22
6.2 Assembly & attachment.............................................................................. 23
6.2.1 Mounting holes ..................................................................................... 23
6.2.2 Tightening torques................................................................................ 23
6.3 Manufacture of the gripper fingers ............................................................. 24
6.4 Reference position...................................................................................... 25
6.5 Pin assignment SG-50................................................................................ 25
7Commissioning .................................................................................................... 26
7.1 Safety instructions for commissioning ........................................................ 26
7.2 Preparatory activities for commissioning.................................................... 27
7.3 First commissioning.................................................................................... 27
7.4 Manual operation........................................................................................ 28
7.5 Setup & retrofitting - Parametrization of the positions................................ 28
7.5.1 Basics of gripping movements ............................................................. 28
7.5.2 Positioning mode.................................................................................. 29
7.5.3 Current mode ....................................................................................... 29
7.5.4 Further notes on settings ..................................................................... 30
8Fault elimination................................................................................................... 31
8.1 Safety instructions for troubleshooting ....................................................... 31
8.2 Fault causes and remedy ........................................................................... 32
9Maintenance and Repair...................................................................................... 33
9.1 General notes ............................................................................................. 33
9.2 Safety instructions for Maintenance and repair.......................................... 33
9.3 Maintenance activities and maintenance intervals..................................... 33
9.3.1 Overview of the maintenance points .................................................... 34
9.3.2 Further maintenance ............................................................................ 34
9.4 Spare parts and repair work ....................................................................... 34
10 Decommissioning, disassembly, disposal........................................................ 35
10.1 Safety instructions for decommissioning and disposal............................... 35
10.2 Decommissioning ....................................................................................... 35
10.3 Disposal...................................................................................................... 35
11 Declaration of incorporation............................................................................... 36

General
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 5–40
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 servo gripper to ensure safe
and efficient handling and operation.
Consistent compliance with these assembly instructions will ensure:
permanent operational reliability of the servo gripper,
optimal functioning of the servo gripper,
timely detection and elimination of defects (thereby reducing maintenance
and repair costs),
prolongation of the servo grippers’ 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.
This note contains important additional information as well as useful tips for
safe, efficient and trouble-free operation of the servo gripper.
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 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0
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 uncont
rolled
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 SG-50 Edition 01/2021 Rev. 2.0 7–40
1.4 Applicable documents
Each servo 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
servo 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.
1.6 Liability
No changes shall be made to the servo 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
8 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0
2 Safety instructions
2.1 General
This chapter provides an overview of all important safety aspects to ensure safe
and proper use of the servo gripper and optimal protection of personnel.
Safe handling and trouble-free operation of the servo gripper requires
knowledge of the basic safety regulations.
Every person carrying out installation, commissioning, maintenance work or
operating the servo gripper 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 SG servo gripper is intended for the shock-free gripping movement of loads
in non-hazardous and in the ambient and operating conditions defined for this
module (Chapter 3 Technical data).
The servo grippers are intended exclusively for gripping payloads up to 0.5 kg
that do not pose any danger to persons, property or the environment during
manipulation (see also Chapter 5.2 Product description).
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 wo
rk 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 of the servo gripper.
Especially the following use is considered a misuse:
Use in potentially explosive atmospheres

Safety instructions
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 9–40
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 servo 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 servo 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 servo 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 servo 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
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.
WARNING
Risk of injury if the module is not used as intended!
The improper use of the servo gripper poses a potential hazard to the
personnel.
The servo gripper 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 c
ould impair safety, must be
eliminated immediately!

Safety instructions
10 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0
2.4.3 Obligations of the personnel
All personnel working with the servo 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 servo gripper,
refrain from any activity that might compromise safety and health.
In addition, the personnel must wear the pers
onal 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 servo 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 servo gripper.
Persons whose ability to react is restricted due to the intake of medication or the
like must not interact with the servo 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.
Qualified electrician:
Perso
ns who have obtained their electrical 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 to their specialized professional training,
expertise and experience ar
e capable of identifying risks and preventing
possible hazards arising from the use of the machine.

Safety instructions
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 11–40
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 servo 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, ab
rasion,
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 and modifications
No changes may be made to the servo gripper 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 servo gripper may not be changed or modified in any way, except with
the prior written consent of Afag Automation AG.

Safety instructions
12 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0
2.8 General hazards / residual risks
Despite the safe design of the servo 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 servo 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 servo gripper has been built according to the state-of-the-art and the
applicable health and safety requirements. However, improper use of the servo
gripper may cause the following hazards to the personnel:
danger to life and limb of the operator or third parties,
on the servo 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,
the safety information sheet for the servo gripper.
WARNING
Danger - Do not use in unsuitable environment!
The servo grippers are designed for use in non explosive atmospheres.
Do not use the servo gripper in potentially explosive atmospheres!
CAUTION
Risk of injuries due to uncontrolled parts movements!
When operating the servo gripper uncontrolled movements may occur which
can cause personal injury or property damage.
Only qualified personnel may work with or on the servo gripper.
Read the assembly instructions carefully before carrying out any work on
or with the servo gripper.

Safety instructions
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 13–40
2.8.2 Danger due to electricity
2.8.3 Danger due to strong magnetic fields.
2.8.4 Danger due to high temperatures
2.8.5 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.
DANGER
Danger due to strong magnetic fields.
Due to the strong magnetic fields, electronic devices such as pacemakers
can be disturbed or their function impaired.
Persons with a pacemaker must keep a safety distance of at least 50 cm.
CAUTION
Danger of injury from hot surfaces.
During continuous operation of the servo gripper, the surface of the axis heats
up.
Before touching hot surfaces without protective gloves, make sure they
have cooled down to ambient temperature.
CAUTION
Danger of injury by moving components!
Limbs can be crushed by moving components!
Work on and with the servo gripper may only be carried out by qualified
personnel.
Never reach into the system during normal operation!

Technical data
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3 Technical data
3.1 Dimensional drawing SG-50
Fig. 1 Dimensional drawing SG-50

Technical data
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 15–40
3.2 Technical data SG-50

Technical data
16 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0
3.3 Preferred combinations SG-50

Technical data
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 17–40
3.4 Gripping force diagram
3.5 Gripper jaws maximum loads SG-50
The values given are static values related to one jaw - starting from the centre
of gravity of the jaw.
Fig. 2 Maximum loads on gripper jaws
For multiple loads, the following also applies:
When parametrizing the force and dynamic values, observe the chapter
7.5 Setup & retrofitting - Parametrization of the positions!
Type Maximum load
Mx 22 Nm
My 9 Nm
Mz 17 Nm
Fz 150 N
Fy 100 N

Transport, Packaging and Storage
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4 Transport, Packaging and Storage
4.1 Safety instructions for transport
Also observe the safety instructions in chap. 2 „Safety instructions“ in this
manual.
4.2 Scope of supply
In addition to the assembly and operating instructions, a safety information
sheet is enclosed with each servo gripper.
This information sheet must be read by every person who carries out work
with and on the servo gripper!
Fig. 3 The servo gripper has a weight of < 1 kg
Unt. SG-50
1 x Module SG -50
2 x Centering bushing ø 8x3.5
4 x Fastening screws M5x16
1 x Assembly & operating instructions
CAUTION
Risk of injury when unpacking the servo gripper!
The servo 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 servo grippers.

Transport, Packaging and Storage
Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 19–40
4.3 Transport
No liability can be assumed for damages caused by improper installation on
the part of the operating company.
The following conditions must be complied with for transport and storage:
Storage temperature: 0-50 °C
Relative air humidity: < 90%, non condensing
4.4 Packaging
The servo gripper is transported in the Afag Automation AG transport
packaging. If no Afag packaging is used, the servo gripper must be packed in
such a way that it is protected against shocks and dust.
4.5 Storage
If the servo gripper is stored for an extended period of time, observe the
following:
Store the servo gripper in the transport packaging.
Do not store the servo gripper outdoors or expose it to weather conditions.
The storage space must be dry and dust free.
Room temperature of the storage space: 0-50 °C.
Relative air humidity: < 90% non condensing.
Clean the servo gripper and protect the blank metal parts against corrosion
using the appropriate means.
Protect the servo gripper from dirt and dust.
NOTICE
Risk to the environment due to incorrect disposal of the packaging
material
Environmental damage can be caused by incorrect disposal of the packaging
material.
Dispose of the packaging material in an environmentally sensitive way in
accordance with the local environmental regulations.

Design and description
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5 Design and description
5.1 Design of servo gripper
Fig. 4 Design of the servo gripper
1. Drive housing 3. Connection cable
2. Jaw guide 4. Gripper finger (not included in delivery!)
The servo gripper SG-50 consists of the base body (Fig. 4, 1) in which the
electric motor is integrated. The precise gripper guide system is integrated in
the transition piece (Fig. 4, 2). The gripper drive is designed with a connection
cable (length 0.35 m) with 12-pin industrial plug.
The gripper fingers (Fig. 4) are not included in the scope of delivery, they are
made individually by the customer (Chapter 6.3)!
5.2 Product description
The servo gripper SG-50 is a highly compact parallel gripper with object
recognition for gripping payloads weighing up to 0.5 kg.
The servo gripper is equipped with a 12-pin industrial connector (M17 or M19)
and is designed for operation with the AFAG servo controller SE-24, C11xx or
C12 xx.
Operation with other controllers is also possible. When using third-party
controllers, it must be ensured that the maximum gripping force of the servo
grippers is not exceeded.
In combination with other modules the servo grippers can be used as a pick &
place Station.
Due to its integrated measuring function, the servo gripper can measure parts
during the gripping process. This function can be used for quality control or
sorting of parts.