SCHUNK PGN-plus-P 64 User instructions

Translation of the original manual
Assembly- and Operating Manual
PGN-plus-P
2-Finger Parallel Gripper

Imprint
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05.00 | PGN-plus-P | Assembly- and Operating Manual | en | 0389753
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re-
served. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and re-
quires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389753
Version: 05.00|23/05/2018|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading techno-
logy supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
schunk.com

Table of contents
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Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.1.3 Sizes ..........................................................................................................6
1.1.4 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 7
1.3 Scope of delivery .................................................................................................. 7
1.4 Accessories ........................................................................................................... 8
2 Basic safety notes ................................................................................................... 9
2.1 Intended use......................................................................................................... 9
2.2 Not intended use.................................................................................................. 9
2.3 Constructional changes ........................................................................................ 9
2.4 Spare parts ........................................................................................................... 9
2.5 Gripper fingers ................................................................................................... 10
2.6 Environmental and operating conditions ........................................................... 10
2.7 Personnel qualification....................................................................................... 10
2.8 Personal protective equipment.......................................................................... 11
2.9 Notes on safe operation ..................................................................................... 11
2.10 Transport ............................................................................................................ 11
2.11 Malfunctions....................................................................................................... 12
2.12 Disposal .............................................................................................................. 12
2.13 Fundamental dangers......................................................................................... 12
2.13.1 Protection during handling and assembly ..............................................13
2.13.2 Protection during commissioning and operation ...................................13
2.13.3 Protection against dangerous movements.............................................14
2.13.4 Protection against electric shock............................................................14
2.14 Notes on particular risks..................................................................................... 15
3 Technical data.........................................................................................................16
4 Design and description............................................................................................17
4.1 Design ................................................................................................................. 17
4.2 Description ......................................................................................................... 17
5 Assembly ................................................................................................................18
5.1 Installing and connecting.................................................................................... 18
5.2 Connections........................................................................................................ 19
5.2.1 Mechanical connection...........................................................................19
5.2.2 Pneumatic connection............................................................................22
5.3 Attaching additional structure............................................................................ 23

Table of contents
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5.4 Mounting the sensor .......................................................................................... 24
5.4.1 Overview of sensors ...............................................................................25
5.4.2 Switch-off hysteresis...............................................................................25
5.4.3 Setting dimensions .................................................................................26
5.4.4 Mounting inductive proximity switch IN ................................................27
5.4.5 Mounting MMS 22 magnetic switch.......................................................29
5.4.6 Mounting programmable MMS 22-PI2 magnetic switch........................30
5.4.7 Mounting analog MMS 22-A magnetic switch .......................................31
5.4.8 Mounting programmable MMS 22-P 22 magnetic switch......................33
5.4.9 Mounting MMS 22-PI1 programmable magnetic switch........................34
6 Troubleshooting .....................................................................................................35
6.1 Product does not move ...................................................................................... 35
6.2 Product is not executing the complete stroke ................................................... 35
6.3 Product opens or closes abruptly ....................................................................... 36
6.4 Product does not achieve the opening and closing times? ................................ 36
6.5 Gripping force is dropping.................................................................................. 37
7 Maintenance ..........................................................................................................38
7.1 Notes .................................................................................................................. 38
7.2 Maintenance intervals........................................................................................ 39
7.3 Lubricants/Lubrication points (basic lubrication) .............................................. 39
7.4 Servicing the gripper........................................................................................... 40
7.4.1 Disassembling and maintaining the gripper ...........................................40
7.4.2 Maintaining gripper without disassembling ...........................................41
7.5 Repair ................................................................................................................. 42
7.5.1 Replace seal (variant without gripping force maintenance)...................42
7.5.2 Replace seal (variant with gripping force maintenance "O.D. gripping").........43
7.5.3 Replace seal (variant with gripping force maintenance "I.D. gripping") ....... 45
7.5.4 Tightening torques .................................................................................46
7.6 Assembly drawing............................................................................................... 47
8 Translation of original declaration of incorporation ................................................49
9 Annex to Declaration of Incorporation....................................................................50

General
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1 General
1.1 About this manual
This manual contains important information for a safe and appro-
priate use of the product.
This manual is an integral part of the product and must be kept ac-
cessible for the personnel at all times.
Before starting work, the personnel must have read and under-
stood this operating manual. Prerequisite for safe working is the
observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under Ap-
plicable documents [}6] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Sizes
This operating manual applies to the following sizes:
• PGN-plus-P 40
• PGN-plus-P 50
• PGN-plus-P 64
• PGN-plus-P 80
• PGN-plus-P 100
• PGN-plus-P 125
• PGN-plus-P 160
• PGN-plus-P 200
• PGN-plus-P 240
1.1.4 Variants
This operating manual applies to the following variations:
• PGN-plus-P stroke 1
• PGN-plus-P stroke 2
• PGN-plus-P with gripping force maintenance "O.D. gripping" (AS)
• PGN-plus-P with gripping force maintenance "I.D. gripping" (IS)
• PGN-plus-P dust-tight (SD)
• PGN-plus-P high-temperature (V/HT)
• PGN-plus-P anti-corrosion (K)
• PGN-plus-P precision (P)

General
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1.2 Warranty
If the product is used as intended, the warranty is valid for 36 months
from the ex-works delivery date under the following conditions:
• Observe the ambient conditions and operating conditions, Tech-
nical data [}16]
• Observe the specified maintenance intervals, Maintenance [}38]
Parts touching the workpiece and wear parts are not included in
the warranty.
Designation PGN-plus-P
40 50-160 200-240
Warranty duration [months] 36 36 36
or maximum cycles [Mio] * 40 30 20
* A cycle consists of a complete gripping process, gripper "open"
and gripper "close".
1.3 Scope of delivery
The scope of delivery includes
• 2-Finger Parallel Gripper PGN-plus-P in the version ordered
• Accessory pack
Content of the accessory pack:
• 2x centering sleeve for gripper fastening
• 4x centering sleeve for finger fastening
• 2 x O-ring for hose-free direct connection
ID.-No. of the accessory pack
Size ID number
PGN-plus-P PGN-plus-P V/HT
PGN-plus-P 40 5518410 395518410
PGN-plus-P 50 5512043 395512043
PGN-plus-P 64 5512044 395512044
PGN-plus-P 80 5512045 395512045
PGN-plus-P 100 5512046 395512046
PGN-plus-P 125 5512047 395512047
PGN-plus-P 160 5512048 395512048
PGN-plus-P 200 5512049 395512049
PGN-plus-P 240 5513858 395513858

General
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1.4 Accessories
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
Content of the sealing kit:
• 1x Cylinder piston seal
• 1x Piston rod seal
• 1x Cover gasket
ID.-No. of the seal kit
Size ID number
PGN-plus-P PGN-plus-P V/HT
PGN-plus-P 40 1342290 1342298
PGN-plus-P 50 1000115 1000116
PGN-plus-P 64 1000117 1000118
PGN-plus-P 80 1000119 1000120
PGN-plus-P 100 1000121 1000122
PGN-plus-P 125 1000123 1000124
PGN-plus-P 160 1342256 1342270
PGN-plus-P 200 1339255 1339273
PGN-plus-P 240 1342278 1342287

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporariy
holding workpieces or objects.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• When implementing and operating components in safety-re-
lated parts of the control systems, the basic safety principles in
accordance with DIN EN ISO 13849-2 apply. The proven safety
principals in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
• Appropriate use of the product includes compliance with all in-
structions in this manual.
2.2 Not intended use
It is not intended use if the product is used, for example, as a
pressing tool, stamping tool, lifting gear, guide for tools, cutting
tool, clamping device or a drilling tool.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written ap-
proval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and dam-
age the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.

Basic safety notes
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2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious injur-
ies and significant property damage.
• Arrange the gripper fingers in a way that the product reaches
either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy re-
mains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.6 Environmental and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
See also Technical data [}16].
2.7 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently quali-
fied, the result may be serious injuries and significant property
damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:
Trained electrician Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and regu-
lations.
Qualified personnel Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and
avoid possible dangers and knows the relevant standards and reg-
ulations.
Instructed person Instructed persons were instructed by the operator about the del-
egated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.

Basic safety notes
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2.8 Personal protective equipment
Using personal protective equipment
Not wearing personal protective equipment while working with
the product, may result in dangers that impact the personnel's
safety and health.
• While working with the product, observe the health and safety
regulations and wear the required personal safety equipment.
• Observe the valid safety and accident prevention regulations.
• In case of sharp edges and corners and rough surfaces, wear
protection gloves.
• In case of hot surfaces, wear heat-resistant protection gloves.
• When dealing with hazardous substances, wear protection
gloves and goggles.
• In case of moving parts, wear tight protection clothes.
2.9 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the func-
tion and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special environ-
ments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and environ-
mental protection regulations regarding the product's applica-
tion field.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's safety
and cause serious injuries and considerable material damage.
• When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.

Basic safety notes
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2.11 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the malfunc-
tion.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.
2.12 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and en-
vironmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.13 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy re-
mains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.

Basic safety notes
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2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take pre-
cautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their swiv-
eling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.

Basic safety notes
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2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy re-
mains and secure against inadvertent reactivation.
• Never rely solely on the response of the monitoring function to
avert danger. Until the installed monitors become effective, it
must be assumed that the drive movement is faulty, with its ac-
tion being dependent on the control unit and the current oper-
ating condition of the drive. Perform maintenance work, modi-
fications, and attachments outside the danger zone defined by
the movement range.
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Re-
strict unintentional access by persons to this range e.g. via a
protective cover, protective fence or photoelectric barrier. The
protective cover and protective fence must be rigid enough to
withstand the maximum possible movement energy. EMER-
GENCY STOP switches must be easily and quickly accessible.
Check the function of the EMREGENCY STOP before starting up
the machine or system. If this protective equipment is not work-
ing properly, prevent the operation of the machine.
2.13.4 Protection against electric shock
Possible electrostatic energy
Components or assembly groups may become electrostatically
charged. When the electrostatic charge is touched, the discharge
may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly
groups are included in the local potential equalisation in accord-
ance with the applicable regulations.
• While paying attention to the actual conditions of the working
environment, the potential equalisation must be implemented
by a specialist electrician according to the applicable regula-
tions.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.

Basic safety notes
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2.14 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
•Stand clear of suspended loads and do not step within their
swiveling range.
•Never move loads without supervision.
•Do not leave suspended loads unattended.
•Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
•Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause seri-
ous injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Ensure that no residual energy remains in the system.
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during the base jaw procedure and
when breaking or loosening the gripper fingers.
•Wear suitable protective equipment.
•Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.

Technical data
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3 Technical data
Connection data
Designation PGN-plus-P
Pressure medium Compressed air, compressed
air quality according to
ISO 8573-1:7 4 4
Nominal working pressure [bar] 6
Minimum pressure [bar]
without gripping force maintenance
with gripping force maintenance
2.5
4
Maximum pressure [bar]
without gripping force maintenance
with gripping force maintenance
8
6.5
Pressure range for air purge [bar] 0.5 – 1
Environmental and operating conditions
Designation PGN-plus-P
Ambient temperature [°C]
min.
max.
+5
+90 / VHT: +130
IP protection class * 40 / SD: 64
Noise emission [dB(A)] ≤ 70
* For use in dirty ambient conditions (e.g. sprayed water, vapors,
abrasion or processing dust) SCHUNK offers corresponding
product options as standard. SCHUNK also offers customized
solutions for special applications in dirty ambient conditions.
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Design and description
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4 Design and description
4.1 Design
2-Finger Parallel Gripper
1 Air purge connection
2 Base jaw
3 Compressed air main connection
4 Groove for magnetic switch
5 Housing
4.2 Description
Universal 2-finger parallel gripper with large gripping force and
high maximum moments thanks to multi-tooth guidance.

Assembly
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5 Assembly
5.1 Installing and connecting
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause seri-
ous injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Ensure that no residual energy remains in the system.
NOTICE
Damage to the gripper is possible!
If the maximum permissible finger weight or the permissible
mass moment of inertia of the fingers is exceeded, the gripper
can be damaged.
•A jaw movement always has to be without jerks and bounce.
•You must therefore implement sufficient reduction and/or
damping.
•Observe the diagrams and information in the catalog data
sheet.
ØCheck the evenness of the mounting surface, Mechanical con-
nection [}19].
ØConnect the product via the hose-free direct connection.
ØOR: Connect compressed air lines to the main air connec-
tions"A" and"B".
✓Remove the locking screws.
✓Screw in air connections (plug connections).
OR: Screw on throttle valve in order to be able to perform
sufficient throttling and/or dampening.
ØScrew the product to the machine/system, Mechanical connec-
tion [}19].
✓If necessary, use appropriate connection elements (adapter
plates).
✓Observe permissible depth of engagement and if required
strength class.
ØConnect air purge connection if necessary.
ØAttach additional structure to the product if necessary, Attach-
ing additional structure [}23]

Assembly
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ØConnect the sensor, see assembly and operating manual of the
sensor.
ØMount the sensor, Mounting the sensor [}24].
Dust-tight (SD) NOTE
In order to achieve perfect functioning of the gripper, the set-
screw of the air purge connection must be removed and replaced
with a pneumatic connection when using the dust-tight variant
(SD). SCHUNK recommends using the air purge connection within
the scope of the technical data, Technical data [}16].
5.2 Connections
5.2.1 Mechanical connection
Evenness of the
mounting surface
The values apply to the whole mounting surface to which the
product is mounted.
Requirements for evenness of the mounting surface (Dimensions in mm)
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Connections at the
base jaws
Connections at the base jaws

Assembly
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Item Mounting PGN-plus-P
40 50 64 80 100 125 160 200 240
1 Centering sleeve Ø 4 Ø 5 Ø 6 Ø 8 Ø10 Ø10 Ø14 Ø16 Ø16
2 Thread in base
jaws
M2.5 M3 M4 M5 M6 M6 M10 M12 M12
Mounting screw
strength class
12.9
Max. depth of
engagement
from locating
surface [mm]
6.1 8.5 10.7 11.9 14.2 14.2 17 19.3 21.1
Dust-tight (SD) NOTE
On delivery of the dust-tight version (SD) the intermediate jaws
are screwed onto the base jaws. The intermediate jaws can be-
come off while removing the screws.
Observe during assembly, that the intermediate jaws are between
the base jaws und the gripper finger.
Connections at the
housing
The product can be mounted from three sides.
Connections at the housing
Item Mounting PGN-plus-P
40 50 64 80 100 125 160 200 240
Side A
1 Mounting screw M3 M4 M5 M5 M6 M8 M8 M10 M12
Max. depth of
engagement
from locating
surface [mm]
6 11 12 15 14 20 20.5 20 25.5
2 Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 Ø12 Ø14 Ø16