Schmalz SNGi-AE User manual

www.schmalz.com
EN
VAKUUM-AUTOMATION
Operating Instructions
Needle gripper SNGi-AE
30.30.01.00576/03 | 05.2019

www.schmalz.com
Note
These operating instructions were written in the German language.
This document should be kept in a safe place for future reference.
The right to make technical changes is reserved. No responsibility is taken for printing errors or other
types of errors.
Publisher
© J. Schmalz GmbH, 05.2019
This document is protected by copyright. J. Schmalz GmbH retains the rights established thereby.
Reproduction of the contents, in full or in part, is only permitted within the limits of the legal provisions
of copyright law. Any modifications to or abridgments of the document are prohibited without explicit
written agreement from J. Schmalz GmbH.
Contact
J. Schmalz GmbH
Johannes-Schmalz-Straße 1
D-72293 Glatten
Tel. [phone]
Fax [phone]
[e-mail]
www.schmalz.com
Contact information for the Schmalz companies and trading partners, see
www.schmalz.com/vertriebsnetz

Contents
Operating Instructions
Needle gripper SNGi-AE
www.schmalz.com
1Safety Notes........................................................................................................5
1.1 Classification of Safety notes ............................................................................................5
1.2 Warnings ...........................................................................................................................6
1.3 Signs..................................................................................................................................6
1.4 General safety instructions................................................................................................7
1.5 Intended use......................................................................................................................7
1.6 Requirement for the user...................................................................................................8
1.7 Emissions..........................................................................................................................8
1.8 Definition of the Danger Zone ...........................................................................................8
2Product description .............................................................................................9
2.1 Versions.............................................................................................................................9
2.2 Design of the needle gripper...........................................................................................10
2.3 General description of functions......................................................................................10
2.4 I/O-Link description .........................................................................................................11
3Technical Data..................................................................................................12
3.1 Technical Data.................................................................................................................12
3.1.1 General parameters ........................................................................................................12
3.1.2Mechanical parameters...................................................................................................13
3.1.3 Dimensions......................................................................................................................13
3.1.4 Electrical parameters.......................................................................................................15
3.1.5 Materials used.................................................................................................................15
4Transport and mounting....................................................................................16
4.1 Transport.........................................................................................................................16
4.2 Mounting..........................................................................................................................16
4.3 Pneumatic connection.....................................................................................................17
4.4 Electrical connection .......................................................................................................18
4.4.1 Direct connection.............................................................................................................19
4.4.2 Connection via IO-Box ....................................................................................................19
5Start of Operations............................................................................................20
5.1 Project planning...............................................................................................................22
6Operation ..........................................................................................................23
6.1 IO-Link Data Dictionary (overview)..................................................................................24
6.2 Function description ........................................................................................................26
6.2.1 Needle movement (grabbing / depositing the workpiece)...............................................26
6.2.2 Select predefined profiles................................................................................................27
6.2.3 EPC values in the process data......................................................................................28
6.2.4 Travel time.......................................................................................................................30
6.2.5 Blowing-off (assisted deposition).....................................................................................30
6.3 Display elements.............................................................................................................31
6.4 General functions and parameters..................................................................................31
6.4.1 Software version..............................................................................................................31

SAFETY NOTES
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6.4.2 Serial number..................................................................................................................31
6.4.3 Part number.....................................................................................................................31
6.4.4 Zero-point adjustment of the needles (calibration)..........................................................31
6.4.5 Offset value for the needles ............................................................................................32
6.4.6 ECO mode.......................................................................................................................32
6.4.7 Resetting to factory settings............................................................................................32
6.4.8 Counters..........................................................................................................................33
6.4.9 Condition Monitoring warnings........................................................................................33
6.4.10 Error code........................................................................................................................34
6.4.11 Voltage monitoring ..........................................................................................................34
6.4.12 Energy monitoring (EM) ..................................................................................................35
6.5 Production setup profiles.................................................................................................35
7Maintenance and Accessories ..........................................................................36
7.1 General maintenance......................................................................................................36
7.1.1 Exterior dirt......................................................................................................................36
7.1.2 Interior dirt .......................................................................................................................36
7.1.3 Opening and sealing the maintenance openings............................................................37
7.2 Warranty, Spare Parts and Wearing Parts......................................................................41
7.2.1 Spare and Wearing Parts................................................................................................41
7.3 Troubleshooting...............................................................................................................42
7.4 Accessories.....................................................................................................................42
7.5 Decommissioning............................................................................................................43
8Explanations of terms........................................................................................44
9Conformity Declaration......................................................................................45

SAFETY NOTES
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1 Safety Notes
1.1 Classification of Safety notes
Danger
This warning informs the user of a risk that will result in death or serious injury if it is not avoided.
DANGER
Type and source of the Danger
Consequence

Remedial action
Warning
This warning informs the user of a risk that could result in death or serious injury if it is not avoided.
WARNING
Type and source of the Danger
Consequence

Remedial action
Caution
This warning informs the user of a risk that could result injury if it is not avoided.
CAUTION
Type and source of the Danger
Consequence

Remedial action
Important
This warning informs the user of a risk that could result damage to property if it is not avoided.
IMPORTANT
Type and source of the Danger
Consequence

Remedial action
Notice
This symbol is used when important notes and information regarding use of the machine/the
system/the device are provided.
Information on the use

SAFETY NOTES
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1.2 Warnings
Explanation of the warning symbols used in the operating instructions.
Warning
symbols
Description
Warning
symbols
Description
General warning symbols
Warning of hearing damage
Warning of a sharp object
Warning of overpressure
Warning of environmental damage
Warning of hot surface
Warning of explosive atmosphere
1.3 Signs
Explanation of the mandatory symbols used in the operating instructions.
Signs
Description
Signs
Description
Use ear protectors
Use eye protection
Use hand protection
Wear a mask
Adhere to the operating instructions
Activate prior to maintenance or
repair

SAFETY NOTES
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1.4 General safety instructions
WARNING
Ignoring the general safety guidelines
Personal injuries / damage to plants / systems

The operating instructions contain important information on using the gripper.
Read the operating instructions thoroughly and keep them for later reference.

The system may only be connected and operations started once the operating
instructions have been read and understood.

Use only the connections, mounting holes and attachment materials that have
been provided.

Carry out mounting or removal only when the device is in an idle,
depressurized state.

Only qualified specialist personnel, mechanics and electricians may perform
the installation. Qualified specialist personnel are persons who have received
technical training and have the knowledge and experience including
knowledge of corresponding regulations necessary to enable him or her to
recognize possible dangers and implement the appropriate safety measures
while performing tasks. The same applies to maintenance!

General safety regulations, European standards and VDE guidelines must be
observed and complied with.

Personnel and animals are not permitted to sit or stand in the transport area.

No person may sit or stand in the danger zone while the machine or plant is in
automatic mode.

It is not permitted to make changes to system components.

Protect the components from damage of any kind.
1.5 Intended use
The needle gripper is used for handling (gripping and transporting) non-rigid, porous workpieces (e.g.
substances, CFRP mats, foams...).
WARNING
Extending needles
Injuries caused by pricks, cuts and scratches

Wear cut resistant gloves

SAFETY NOTES
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1.6 Requirement for the user
All personnel working with the product must be familiar with basic mechanical and pneumatic
principles as well as the appropriate technical terminology.
To ensure safe operation, this work may only be performed by qualified personnel or trained persons
working under the supervision of qualified personnel.
"A qualified employee is defined as an employee who has received technical training and has the
knowledge and experience –including knowledge of corresponding regulations –necessary to enable
him or her to recognize possible dangers and implement the appropriate safety measures while
performing tasks. Qualified personnel must observe the pertinent industry-specific rules and
regulations".
1.7 Emissions
The lowering of the workpiece is assisted by a blow-off pulse. The needle gripper emits noise through
this blow-off pulse. The sound pressure level is listed in the Technical Data. (see chapter 3.1.2)
CAUTION
Noise pollution due to operation of the gripper with compressed air
Hearing impairments may occur in the longer term

Wear ear protectors
During processing / further processing, the materials to be handled may, in part, be converted to
respirable forms.
CAUTION
Emission of respirable particles
Damage to lungs and respiratory tract

Take the data sheets of the materials to be handled into account

Wear respiratory protection
1.8 Definition of the Danger Zone
The danger zone is the area inside, or in the vicinity of working equipment which poses a hazard or
potential hazard to the health of persons located within this area.
When lifting the load or transporting it, it is possible that the load could fall, which is why the area
directly under the gripper and the load is always considered a danger zone.
A person may not sit or stand under the load for any reason. This applies without exception to both
persons and individual body parts (head, hands, arms, legs, etc.).
No person may sit or stand in the designated danger zone.
The working area is to be secured (protective fence or sensors) by the user/operator in such a way
that no person can enter the danger zone.

PRODUCT DESCRIPTION
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2 Product description
2.1 Versions
The needle gripper has a specific part designation, e.g. SNGi-AE 10 0.8 V 3 IOL
The part designation can be broken down as follows:
Type
Supply energy
No. of needles
Needle
diameter
Additional
function
Stroke range
Communication
SNGi
AE
Operated
electrically
10
10 pcs.
0.8
0,8 mm
1.2
1,2 mm
V
Stroke is
continuously
adjustable
3
3 mm
10
10 mm
20
20 mm
IOL
I/O-Link
The needle grippers are classified according to their supply energy as either AP (pneumatically
operated) or AE (electrically operated).
This documentation only describes the AE version.

PRODUCT DESCRIPTION
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2.2 Design of the needle gripper
Item
Description
1
Connection plug M12, 5-pin, A-coded
2
Status display (green, yellow, red LED)
3
Power LED (green)
4
M5 mounting thread
5
Compressed air connection M5 "blow-off" (label 4)
6
Maintenance opening cover
7
Heat sink for drive
2.3 General description of functions
Needle grippers are designed to handle parts by means of positive locking of the needles with the
workpiece. To this end, a distinction is to be made between electrically and pneumatically operated
needle grippers. Only the electrical version is considered in these operating instructions.
The needles in an electrical needle gripper are moved by an electrical drive.
Communication can occur only via the IO-Link interface.
4
1
5
4
3
6
2
7
6

PRODUCT DESCRIPTION
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2.4 I/O-Link description
IO-Link is a communications system for linking intelligent sensors and actuators to an automation
system and is described in the standard IEC 61131-9 . The standards contains both the electrical
connection data as well as a digital communication protocol via which sensors and actuators
exchange with data the automation system.
An IO-Link system consists of an IO-Link master and one or more IO-link enabled sensors or
actuators. The IO-link master provides the interface to the higher level controller (SPS) and controls
the communication between connected IO-Link devices.
An IO-Link master can have one or more IO-Link ports, however only one IO-Link device can be
connected to each port. A more detailed description is provided in section 4.4.
IO-Link devices have parameters which are readable or writable via the IO-Link protocol. Parameters
can therefore be changed during operation via the higher level controllers.
The sensor and actuator parameters are device specific, therefore parameter information exists in the
form of IODD (IO Device Description) for each device. (see section 6.1).
Use of the IO link enables remote parameter setting for the needle gripper, besides this access to the
following functions is possible via the IO-Link:
Condition monitoring (CM):
Energy monitoring (EM):
Predictive maintenance [PM]
ECO Mode
Calibration
Offset value for the needles
Voltage monitoring
Production setup profiles
Diagnosis cushion
For details about these functions see section 6.4

TECHNICAL DATA
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3 Technical Data
IMPORTANT
Non adherence to the performance limits of the gripper
Malfunction and damage to the gripper and the components attached to it

Only operate the gripper within the specified performance limits
3.1 Technical Data
3.1.1 General parameters
Parameter
Symbol
Limit values
Unit
Note
min.
typ.
max.
Working temperature
Tamb
5

50
°C
Storage temperature
TSto
-10

60
°C
Humidity
Hrel
10

90
% r.h.
Free from
condensation
Protection class
-


IP53
Duty cycle
-
45
%
Extension / retraction time per 1 mm stroke *2)
-
0.06
-
0.6
s
Stroke resolution
-

0.1

mm
Repeatability
-

±0,05 *1)

mm
Operating pressure
P
2
5
6
bar
Installation position
Any
Operating medium
Air or neutral gas, 5 µm filtered, with or without oil, class 3-3-3
compressed air quality acc. to ISO 8573-1
*1) at constant temperature
*2)Extension / retraction time:
0
0,5
1
1,5
2
12345678910 11 12 13 14 15 16 17 18 19 20 21
[s]
[mm]
Extension / retraction time

TECHNICAL DATA
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3.1.2 Mechanical parameters
Type
No. of
needles
Needle
diameter
Max.
stroke
Needle
angle
Total
force
Sound level1
when blowing-
off
Weight
pcs.
mm
mm
°
N
dBA
kg
SNGi-AE 10 0.8 V 3 IOL
10
0.8
3
30
50
78
0.500
SNGi-AE 10 1.2 V 3 IOL
10
1.2
3
30
50
78
0.500
SNGi-AE 10 0.8 V 10 IOL
10
0.8
10
45
50
78
0.515
SNGi-AE 10 1.2 V 10 IOL
10
1.2
10
45
50
78
0.515
SNGi-AE 10 1.2 V 20 IOL
10
1.2
20
45
50
78
0.600
1 at 5bar and 1m distance
3.1.3 Dimensions
Type
L
B
H
L1
L2
H2
H3
SNGi-AE 10 0.8 V 3 IOL
65
35
140,2
80
28
41,7
86,2
SNGi-AE 10 1.2 V 3 IOL
65
35
140,2
80
28
41,7
86,2
SNGi-AE 10 0.8 V 10 IOL
80
35
152
88
22
52
95
SNGi-AE 10 1.2 V 10 IOL
80
35
152
88
22
52
95
SNGi-AE 10 1.2 V 20 IOL
120
35
178
108
22
78
121

TECHNICAL DATA
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Type
G1
G2
G4
Lg4
X1
Z
W
SNGi-AE 10 0.8 V 3 IOL
M5 (female)
M12 (male)
M5 (female)
7
29
3
30
SNGi-AE 10 1.2 V 3 IOL
M5 (female)
M12 (male)
M5 (female)
7
29
3
30
SNGi-AE 10 0.8 V 10 IOL
M5 (female)
M12 (male)
M5 (female)
7
29
10
45
SNGi-AE 10 1.2 V 10 IOL
M5 (female)
M12 (male)
M5 (female)
7
29
10
45
SNGi-AE 10 1.2 V 20 IOL
M5 (female)
M12 (male)
M5 (female)
7
29
20
45
All specifications are in mm

TECHNICAL DATA
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3.1.4 Electrical parameters
Parameter
Symbol
Limit values
Unit
Note
min.
typ.
max.
Power supply for sensor
Us
19.2
24
26.4
V<cf
subscript=
"on">DC</
cf>
PELV 1)
Power supply for actuator
UA
19.2
24
26.4
V<cf
subscript=
"on">DC</
cf>
PELV 1)
Rated current for sensor
IS


80
mA
Rated current for actuator
IA

550
900 2)
mA
1) The power supply must correspond to the regulations in accordance with EN60204 (protected extra-low voltage).
The power supply and IO-Link pin are protected against reverse polarity.
2) The maximum power is only measured in boost mode.
3.1.5 Materials used
Component
Material
Main body
PA6-GF10GK20
Inner
components
Aluminum alloy, anodized aluminum alloy, brass, red bronze, stainless-steel, PA, PU, POM
steel
Sealings
NBR
Lubrication
Silicone-free
Screws
Galvanized steel

TRANSPORT AND MOUNTING
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4 Transport and mounting
4.1 Transport
The needle gripper comes in cardboard packaging. In order to ensure safe transport, the gripper must
be transported in this packaging for all subsequent transports. Transport of the needle gripper is only
permitted when the needles are retracted.
WARNING
Extending needles
Injuries caused by pricks, cuts and scratches

Wear cut resistant gloves

Make sure that the needles have been retracted
4.2 Mounting
There are two M5 tapped holes on the front, rear and top respectively for mounting the needle gripper
(see the table below for tightening torque). The appropriate holder for integrating the needle gripper
into a tooling system is available from Schmalz (see accessories). Only the mounting threads provided
are to be used for mounting.
Item
Description
Maximum torque
1
Connection plug M12, 5-pin, A-coded
Hand-tight
4
M5 mounting thread
2 Nm
5
Compressed air connection M5 "blow-off" (label 4)
4 Nm
Please note the connection symbols and descriptions on the gripper.
4
1
5
4

TRANSPORT AND MOUNTING
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IMPORTANT
Faulty mountings and connections
Damage to the gripper

Use only the connections, mounting holes and attachment materials that have
been provided

Observe the thread length of the connection thread, c.f. Fehler!
erweisquelle konnte nicht gefunden werden.

Comply with the specified tightening torque
Use washers when mounting.
The needle gripper may be installed in any position.
4.3 Pneumatic connection
Prior to coupling or uncoupling of the needle gripper, the line to the compressed air supply is to be
depressurized. Make sure prior to pressurizing the needle gripper with operating pressure that the
plug-in screw unions of the compressed air connections are safely screwed together, the supply lines
are properly aligned in the plug-in screw union and that the area around the outlet openings of the
needle is free of any objects.
CAUTION
Installation of the gripper under compressed air
Personal injury and/or damage to property

Depressurize the gripper

Screw and / or align the supply lines safely in plug-in screw unions and
connections

Secure the machine / plant / system so that it cannot be switched on again
High quality compressed air prolongs the service life of the needle gripper.
Use only well maintained compressed air (air or neutral gas according to EN 983,
filtered 5 µm, oiled or unoiled). See also chapter 1.5
The workpiece is used in connection with compressed air when using the blow-off
function.
Lay hose and pipe lines as short as is possible and without bends or crimps.

TRANSPORT AND MOUNTING
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4.4 Electrical connection
The electrical connection is established via a five-pin, A-coded M12 plug with an IO-Link class B pin
assignment. The needle gripper is supplied with sensor and actuator voltage via this plug, the IO-Link
signal is also connected (Pin 4).
The sensor power supply and the IO-Link signal are electrically isolated from the actuator voltage.
The maximum line length between the IO-Link master and the needle gripper is 20 m.
Plug
Pin
Wire color1)
Symbol
Function
1
Brown
Us
Power supply for sensor
2
White
UA
Power supply for actuator
3
Blue
Gnds
Sensor ground
4
Black
C/Q
IO-Link
5
Gray
GndA
Actuator ground
1) for use with Schmalz connection line part no. 21.04.05.00080
DANGER
The output signals can change when the power supply is switched on or
the M12 connector is plugged in.
Danger to life and limb

The electrical connection must only be carried out by individuals who are able
to assess the impact of signal changes on the overall machine / facility /
system.
CAUTION
Connection of gripper when voltage and / or compressed air is applied
Personal injury and/or damage to property

Disconnect the gripper completely from the supply lines

Secure the machine / plant / system so that it cannot be switched on again
12
3
45
12
33
44 55
Control
M12-5
2: 24V-Aktor
5: GND-Aktor
4: C/Q
3: GND-Sensor
1: 24V-Sensor
Insulators
Motor

TRANSPORT AND MOUNTING
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ATTENTION
Inappropriate voltage supply
Destruction of gripper

Only operate gripper using power supply units with protected extra-low voltage
(PELV)

The system must incorporate safe electrical cut-off of the power supply in
compliance with EN60204

Do not connect or disconnect the plug connectors when voltage is applied
4.4.1 Direct connection
For connecting the needle gripper
directly to the controller, a Schmalz
connection line, for example, can be
used.
M12-5 with open end, 5m
part no. 21.04.05.00080
4.4.2 Connection via IO-Box
For connecting the needle gripper to IO-Boxes, Schmalz connection lines and Schmalz connection distributors,
for example, can be used.
M12-5 on 2xM12, 1m part no. 10.02.02.04336
M12-5 on M12-5, 1m part no. 21.04.05.00158
or
M12-5 on M12-5, 2m part no. 21.04.05.00211
BUS
US/ UA
BUS
US/ UA

START OF OPERATIONS
20 | EN www.schmalz.com 30.30.01.00576/03
5 Start of Operations
DANGER
Risk of fire and explosion.
Death or very serious injury

The gripper must not be used in environments where there is a risk of
explosion.
CAUTION
Pressure can cause closed devices to explode
Personal injury and/or damage to property

Wear protective glasses
CAUTION
Hot drive heat sink
This presents a burn hazard

Wear gloves
WARNING
Extending needles
Injuries caused by pricks, cuts and scratches

Wear cut resistant gloves