SCHUNK EGA-W User instructions

Translation of the original manual
Assembly and Operating Manual
EGA-W
Parallel gripper

Imprint
2 05.00 | EGA-W | Assembly and Operating Manual | en | 389533
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389533
Version: 05.00|23/11/2022|en
Dear Customer,
Thank you for trusting our products and our family-owned company, the leading
technology 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
Customer Management
Tel. [phone]
Fax [phone]
[email protected]
Please read the operating manual in full and keep it close to the product.

Table of Contents
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 Versions ....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 7
1.3.1 Accessory pack..........................................................................................7
1.4 Accessories ........................................................................................................... 7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Constructional changes ........................................................................................ 8
2.3 Spare parts ........................................................................................................... 9
2.4 Gripper fingers ..................................................................................................... 9
2.5 Environmental and operating conditions ............................................................. 9
2.6 Personnel qualification....................................................................................... 10
2.7 Personal protective equipment.......................................................................... 11
2.8 Notes on safe operation.....................................................................................11
2.9 Transport ............................................................................................................ 12
2.10 Malfunctions....................................................................................................... 12
2.11 Disposal .............................................................................................................. 12
2.12 Fundamental dangers......................................................................................... 13
2.12.1 Protection during handling and assembly ..............................................13
2.12.2 Protection during commissioning and operation ...................................14
2.12.3 Protection against dangerous movements.............................................14
2.12.4 Protection against electric shock............................................................15
2.13 Notes on particular risks..................................................................................... 16
3 Technical data.........................................................................................................18
3.1 Type key and type plate ..................................................................................... 18
3.2 Basic data ........................................................................................................... 19
4 Design and description............................................................................................21
5 Assembly ................................................................................................................22
5.1 Mount servo motors........................................................................................... 22
5.1.1 Attaching the pinion to the motor..........................................................22
5.1.2 Attaching the motor adapter to the gripper...........................................23
5.1.3 Attaching the motor to the motor adapter ............................................26
5.2 Mechanical connection ...................................................................................... 27
5.3 Mounting of the top jaws ................................................................................... 29
5.4 Electrical connection ..........................................................................................30
5.5 Mounting the sensor .......................................................................................... 30
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Table of Contents
5.5.1 Switch-off hysteresis for magnetic switches ..........................................31
5.5.2 Inductive proximity switch IN 80 ............................................................31
5.5.3 Magnetic switch MMS 22 / RMS 22 .......................................................34
6 Commissioning .......................................................................................................36
6.1 Gripping process................................................................................................. 37
6.2 Data for start-up................................................................................................. 39
7 Troubleshooting .....................................................................................................40
7.1 Module does not move?..................................................................................... 40
7.2 The module does not travel through the entire stroke? .................................... 41
7.3 Closing time as specified in the catalog not reached during commissioning? ...41
7.4 Module opens or closes abruptly? .....................................................................42
7.5 Gripping force not reached during start-up?...................................................... 43
7.6 Gripping force changes during gripping?............................................................ 43
7.7 Gripper switches off during operation? ............................................................. 43
7.8 Gripping force decreases over life span? ........................................................... 44
7.9 Gripping force increases over life span?............................................................. 44
7.10 Proximity switch does not switch or is incorrect? .............................................. 45
8 Maintenance ..........................................................................................................46
8.1 Original spare parts ............................................................................................ 46
8.2 Maintenance and lubrication intervals............................................................... 46
8.3 Lubricants/greasing areas (basic lubrication)..................................................... 48
8.4 Disassembling the gripper (for relubricating the gearbox)................................. 50
8.5 Servicing the gripper........................................................................................... 52
8.6 Assembling the gripper....................................................................................... 53
8.7 Tightening torque for screws.............................................................................. 53
8.8 Assembly drawing............................................................................................... 53
9 Translation of the original declaration of incorporation ..........................................55
10 UKCA declaration of incorporation..........................................................................56
11 Annex to declaration of Incorporation ....................................................................57
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General
1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
In addition to these instructions, the documents listed
under }1.1.2 [/6] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Dangers 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.
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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 labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.3 Sizes
This operating manual applies to the following sizes:
• EGA-W 25
• EGA-W 40
1.1.4 Versions
This operating manual applies to the following variations:
• EGA-W with parallel motor attachment
• EGA-W with radial motor attachment
• EGA-W with and without motor
1.2 Warranty
If the product is used as intended, the warranty is valid for 24
months from the ex-works delivery date under the following
conditions:
• Observe the maximum service life. }3 [/18]
• Observe the ambient conditions and operating
conditions, }2.5 [/9]
• Observe the specified maintenance and lubrication
intervals, }8 [/46]
Parts touching the workpiece and wear parts are not included in
the warranty.

General
1.3 Scope of delivery
The scope of delivery includes
• Parallel gripper EGA-W in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.3.1 Accessory pack
Content of the accessory pack:
EGA-W
25 40
4 x centering sleeve Ø6 x 5.35 4 x centering sleeve Ø8 x 5.35
2 x centering sleeve Ø8 x 5.35 2 x centering sleeve Ø12 x 6.65
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• Motor add-on kit (included in scope of delivery for the version
with a standard motor)
• Servo motor (included in scope of delivery for the version with a
standard motor)
• Frequency converter (depending on motor)
• Cable set (depending on motor)
Optional accessories:
• Intermediate jaw for centric PGN-plus screw connection
diagram
• Sensors
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Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
The product is exclusively designed for linear movement of useful
loads into any position where the load does not react in a manner
endangering persons, property or the environment as a result of
this manipulation.
• The product may only be used within the scope of its technical
data, }3 [/18].
• The product is intended for installation in a machine/automated
system. The applicable guidelines for the machine/automated
system must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
Its use outside enclosed spaces is only permitted if suitable
protective measures are taken against outdoor exposure. The
product is not suitable for use in salty air.
• The product can be used within the permissible load limits and
technical data for holding workpieces during simple machining
operations, but is not a clamping device according to EN
1550:1997+A1:2008.
• Appropriate use of the product includes compliance with all
instructions in this manual.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.2 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
approval of SCHUNK.

Basic safety notes
2.3 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
2.4 Gripper fingers
Requirements of the gripper finger
Stored energy can make the product unsafe and risk the danger of
serious injuries and considerable material damage.
• Only replace gripper finger if no residual energy can be
released.
2.5 Environmental and operating conditions
• Make sure that the product and the top jaws are a sufficient
size for the application.
• Ensure that maintenance and lubrication intervals are
observed, }8 [/46].
• Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated
environments.
• Make sure that the product's range of application is outside the
explosive area. Excepted are products which were designed for
explosive areas.
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Basic safety notes
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2.6 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, 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
regulations.
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
regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated 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
2.7 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
2.8 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
function 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
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
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Basic safety notes
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2.9 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.
2.10 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
malfunction.
• 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.
2.11 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
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.

Basic safety notes
2.12 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
remains 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.
2.12.1 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
precautions 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
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
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Basic safety notes
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2.12.2 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.
2.12.3 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
remains and secure against inadvertent reactivation.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during
commissioning or software errors may trigger dangerous
movements.
• 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
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, 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. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. Before starting up the machine or
automated system, check that the EMERGENCY STOP system is
working. Prevent operation of the machine if this protective
equipment does not function correctly.

Basic safety notes
2.12.4 Protection against electric shock
Work on electrical equipment
Touching live parts may result in death.
• Work on the electrical equipment may only be carried out by
qualified electricians in accordance with the electrical
engineering regulations.
• Lay electrical cables properly, e. g. in a cable duct or a cable
bridge. Observe standards.
• Before connecting or disconnecting electrical cables, switch off
the power supply and check that the cables are free of voltage.
Secure the power supply against being switched on again.
• Before switching on the product, check that the protective
earth conductor is correctly attached to all electrical
components according to the wiring diagram.
• Check whether covers and protective devices are fitted to
prevent contact with live components.
• Do not touch the product's terminals when the power supply is
switched on.
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
accordance 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
regulations.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.
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Basic safety notes
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2.13 Notes on particular risks
• Disassembly as described in this operating manual may only be
carried out by specialists.
WARNING
Risk of injury due to crushing or impact when moving the base
jaws and top jaws
•Only qualified personnel may work on the machine.
•The danger zone must be surrounded by a protective barrier
during operation.
•Please be particularly careful when restarting after a
reference loss in the motor/frequency converter (e.g. after an
emergency stop or power failure). Provide acknowledgment
of the error message after a reference loss.
•Observe the position and direction of movement.
WARNING
Risk of injury from objects falling and being ejected
•Only qualified personnel may work on the machine
•The danger zone must be surrounded by a protective barrier
during operation.
•Please be particularly careful when starting up (choice of
speeds and input torques in accordance with the technical
specifications, choice of traverse paths)
•Please be particularly careful when restarting after a
reference loss in the motor/frequency converter (e.g. after an
emergency stop or power failure). Provide acknowledgment
of the error message after a reference loss.
•Observe the position and direction of movement
•Work in an EMC-safe environment.
•Avoid thermal overload in the motor
•Do not use the motor holding brake for maintaining the
gripping force

Basic safety notes
WARNING
Risk of injury due to unexpected movements of the machine/automated
system
•Before conducting work on the gripper, disconnect it from the power
supply (both from the load voltage and from the logic voltage) and make
sure it cannot be accidentally switched back on again.
•Only qualified personnel may work on the machine
•The danger zone must be surrounded by a protective barrier during
operation.
•Please be particularly careful when starting up (choice of speeds and
input torques in accordance with the technical specifications, choice of
traverse paths).
•Please be particularly careful when restarting after a reference loss in the
motor/frequency converter (e.g. after an emergency stop or power
failure). Provide acknowledgment of the error message after a reference
loss.
•Observe the position and direction of movement.
•Work in an EMC-safe environment.
•Avoid thermal overload in the motor.
WARNING
Risk of injury from electric shock due to contact with live parts
•Observe the motor's operating manual.
•Before conducting work on the product, disconnect it from the power
supply (both from the load voltage and from the logic voltage) and make
sure it cannot be accidentally switched back on again.
•Wait until the frequency converter is discharged.
WARNING
Risk of injury from inhaling harmful vapors
•Leave the danger zone in the event of fire or smoldering in the
electronic system.
•Ensure sufficient ventilation.
WARNING
Risk of burns through contact with hot surfaces!
Surfaces of components can heat up severely during operation.
Skin contact with hot surfaces causes severe burns to the skin.
•For all work in the vicinity of hot surfaces, wear safety gloves.
•Before carrying out any work, make sure that all surfaces have
cooled down to the ambient temperature.
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Technical data
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3 Technical data
3.1 Type key and type plate
EGA-W 25 - 060 - P - N - B
Designation
Size 25/40
30/45/60
50/75/100
Size 25:
Size 40:
Jaw stroke
Attachment variants
Gripping force maintenance device
Motor version
P (= parallel) / R (= radial)
N (= without gripping force maintenance device)
Size 40:
Size 25:
B (= basic version without motor) /MSK030C (=MSK030C-0900-NN-M1-UG1-NNNN)
B (= basic version without motor) /MSK030B (=MSK030B-0900-NN-M1-UG1-NNNN)
i Gear ratio
p Spindle pitch
M max Maximum driving
torque
V max,imp Maximum
permissible speed in
motor operation

Technical data
3.2 Basic data
Designation EGA-W
25 40
Power mode
Max. permissible motor torque [Nm]
(speed ≤ 5 mm/s)
0.28 0.8
Max. permissible motor torque [Nm]
(speed ≤ 30 mm/s)
0.16 0.57
Max. permissible speed [mm/s] 30 30
Max. permissible motor speed [rpm] 825 740
Positioning mode
Max. permissible motor torque [Nm] 0.28 0.8
Max. permissible speed [mm/s] 80 80
Max. permissible motor speed [rpm] 2200 1970
Acceleration [mm/s²] 2000 3000
Reference run
Recommended motor torque [Nm] 0.10 0.20
Recommended speed [mm/s] 10 10
Idling torques
Max. idling torque
(speed 5mm/s) [Nm]
0.06 0.09
Max. idling torque
(speed 30mm/s) [Nm]
0.10 0.14
Max. idling torque
(speed 80mm/s) [Nm]
0.15 0.21
General operating data
Overall transmission [mm/rev] 24/11 39/16
IP rating 40 40
Noise emission [dB(A)] 85 85
Motor used MSK030B MSK030C
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Technical data
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Warranty
Designation EGA-W
25 40
Warranty duration [months] 24 24
or maximum cycles [piece] 10million 6million
NOTE
The technical data were ascertained using the Bosch Rexroth
IndraDyns S MSK motors and Indradrive C or Indradrive CS
frequency converters named in the table.
* The input torques and idling torques for the technical data were
ascertained using the converter's software (Indraworks).
Therefore, they also include motor power and control losses.
Please refer to the Start-up chapter for more information on the
correlation between input torques and gripping force.