SCHUNK EGI Series User instructions

Translation of Original Operating Manual
Assembly and Operating Manual
EGI
Gripper for small components

Imprint
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01.00 | EGI | Assembly and Operating Manual | en | 1396645
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and
requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1396645
Version: 01.00|17/06/2019|en
© SCHUNK GmbH & Co. KG
All rights reserved.
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
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 Definition of Terms...................................................................................5
1.1.3 Symbol definition......................................................................................6
1.1.4 Applicable documents ..............................................................................6
1.1.5 Sizes ..........................................................................................................6
1.1.6 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 7
1.4 Accessories ........................................................................................................... 7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Not intended use.................................................................................................. 8
2.3 Constructional changes ........................................................................................ 9
2.4 Spare parts ........................................................................................................... 9
2.5 Gripper fingers ..................................................................................................... 9
2.6 Ambient conditions and operating conditions .....................................................9
2.6.1 Environmental conditions.........................................................................9
2.6.2 Insulation resistance and voltage resistance in accordance with EN
60204-1...................................................................................................10
2.7 Personnel qualification....................................................................................... 11
2.8 Personal protective equipment.......................................................................... 12
2.9 Notes on safe operation .....................................................................................12
2.10 Transport ............................................................................................................ 12
2.11 Malfunctions....................................................................................................... 13
2.12 Disposal .............................................................................................................. 13
2.13 Fundamental dangers......................................................................................... 13
2.13.1 Protection during handling and assembly ..............................................13
2.13.2 Protection during commissioning and operation ...................................14
2.13.3 Protection against dangerous movements.............................................14
2.13.4 Protection against electric shock............................................................15
2.13.5 Protection against magnetic and electromagnetic fields .......................15
2.14 Notes on particular risks..................................................................................... 16
3 Technical data.........................................................................................................18
3.1 Basic data ........................................................................................................... 18
3.2 Diagrams............................................................................................................. 19

Table of contents
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4 Design and description............................................................................................20
4.1 Design ................................................................................................................. 20
4.2 Description ......................................................................................................... 20
4.3 Functional principle ............................................................................................ 21
4.4 Displays and control elements ........................................................................... 21
4.4.1 LED status display ...................................................................................21
4.4.2 Service interface .....................................................................................23
4.5 Types of communication of PROFINET ............................................................... 23
5 Assembly and settings ............................................................................................24
5.1 Assembling and connecting................................................................................ 24
5.2 Connections........................................................................................................ 25
5.2.1 Mechanical connection...........................................................................25
5.2.2 Electrical connection ..............................................................................26
5.3 Combining multiple products ............................................................................. 31
6 Start-up ..................................................................................................................32
6.1 Preparing commissioning with the web application .......................................... 32
6.2 Commissioning the product ............................................................................... 34
6.3 Operating behavior of the product .................................................................... 35
7 Troubleshooting .....................................................................................................36
7.1 Communication malfunction.............................................................................. 36
7.2 Product moves in a jerky fashion, is sluggish or blocked.................................... 36
7.3 Product does not open ....................................................................................... 36
8 Maintenance ..........................................................................................................37
8.1 Maintenance intervals........................................................................................ 37
8.2 Disassembly and assembling .............................................................................. 37
9 EU-Declaration of Conformity .................................................................................38
10 Translation of original declaration of incorporation ................................................39
11 Annex to Declaration of Incorporation....................................................................40

General
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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.
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
Applicable 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.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.

General
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1.1.3 Symbol definition
The following symbols are used in this manual:
■Prerequisite for an action
ØAction
✓Intermediate result
✔Final result
1.1.4 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• "EGI with PROFINET interface" software manual *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.5 Sizes
This operating manual applies to the following sizes:
• EGI 80
1.1.6 Variants
This operating manual applies to the following variations:
• EGI PROFINET with the current release variant
1.2 Warranty
The warranty is 24 months or a maximum of 10million cycles *
from the date of delivery from the production facility if used as
intended under the following conditions:
• Observe the ambient conditions and operating conditions,
Ambient conditions and operating conditions [}9]
• Observe the specified maintenance and lubrication intervals,
Maintenance [}37]
Parts touching the workpiece and wear parts are not included in
the warranty.
* One cycle consists of a complete gripping process:
"Open gripper" (release workpiece) and
"Close gripper" (grip workpiece).

General
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1.3 Scope of delivery
The scope of delivery includes
• Gripper for small components EGI in the version ordered,
firmware
• Assembly and Operating Manual
• DVD
• 4x centering sleeve Ø6x5.35
• 2x centering sleeve Ø8x5.35
Contents of DVD:
• "EGI with PROFINET interface" software manual
• Assembly and Operating Manual
• GSDML file v1.0
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• Power/logic connection cable
• Communication connecting cable PROFINET
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.

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is used solely for gripping, holding and releasing
dimensionally stable workpieces with low elasticity within load
limits. For permissible load values, see the catalog datasheet.
• The product may only be used within the scope of its technical
data, Technical data [}18].
• 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 use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
Any utilization that exceeds or differs from the appropriate use is
regarded as misuse. This includes in particular:
• Use outside of load limits
• Use by unauthorized personnel
• Use in unintended environments
• Use with gripping parameters (e.g. gripping force) that have not
been adapted to the sensitivity of the workpiece to be gripped
• Use with incorrectly configured workpieces
• Gripping of workpieces that are not approved
• Gripping and holding of living creatures
• Gripping and holding of food items
• Use as a clamping device for workpieces and lathe chucks
• Use as a guide for tools
• Use as machining tool e.g pressing, punching or cutting tool
• Operation without disconnecting protective equipment e.g
human/robot collaboration (HRC)
• Applications with strong interfering fields e.g. welding
operations, gripping and holding of magnetic clamping plates,
inductive hardening, radar or plasma applications
• Applications with splash water and dust load

Basic safety notes
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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
approval of SCHUNK.
2.4 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.
2.5 Gripper fingers
Requirements of gripper fingers
• Only replace gripper fingers if no residual energy can be
released.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.6 Ambient conditions 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.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}18].
2.6.1 Environmental conditions
Transport and storage requirements
For transport and storage of product in original packaging, the
following requirements apply:
• Loading and unloading with mechanical aids
• Ambient temperature from -40°C to +70°C
• Air humidity up to max. 85%
Operational requirements
The following requirements apply for operation of the product:
• Ambient temperature from +5°C to +55°C
• Air humidity up to max. 65%

Basic safety notes
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According to DIN EN 60068-2-6 and DIN EN 60068-2-27, in
accordance with EN 60721-3-2 and EN 60721-3-3, the product was
subjected to a vibration and shock inspection during transport and
in operation with respect to the ambient influences and
withstands the required loads.
The product may only be used in the following locations if
additional measures are taken:
• In locations with a high level of ionizing radiation
• In locations with difficult operating conditions, e.g. due to
caustic fumes, gases, oils or chemicals
• In facilities requiring special monitoring, e.g. in particularly at-
risk areas
• In applications during which the product is exposed to
unacceptably severe knocking or vibrations Suitable measures
must be taken to reduce the amplitude or acceleration of such
disturbances. Vibration-damping or vibration-absorbing systems
are to be used in such cases.
The product must also not be used in potentially explosive zones.
2.6.2 Insulation resistance and voltage resistance in accordance with
EN 60204-1
When measuring the insulation resistance and inspecting the
voltage resistance of the machine/automated system, observe the
following information in order to protect the product from
damage:
• The electronics are connected to the housing ground, in order
to protect against overvoltage.
• For measurements of the insulation resistance in accordance
with EN 60204-1, no voltage levels above the permitted
operating voltage range may be used. In addition, the maximum
measuring current must be safely limited to values below 10mA.
• Before testing the voltage resistance of the machine/automated
system in accordance with EN 60204-1, disconnect the product
from the electric circuits to be tested. This applies to all
connections on the product:
– positive and negative connections of the power and logic
supply
– Fieldbus connections

Basic safety notes
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2.7 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
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2.8 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.
2.9 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
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.
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
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.
2.12 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
environmental 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
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.
2.13.1 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
precautions to prevent jamming and crushing.

Basic safety notes
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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.
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.
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
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
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2.13.4 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 pre-
vent 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.
2.13.5 Protection against magnetic and electromagnetic fields
Work in areas with magnetic and electromagnetic fields
Magnetic and electromagnetic fields can lead to serious injuries.
• Persons with pace-makers, metal implants, metal shards, or
hearing aids require the consent of a physician before entering
areas in which components of the electric drive and control sys-
tems are mounted, started up, and operated.
• Persons with pace-makers, metal implants, metal shards, or
hearing aids require the consent of a physician before entering
areas in which magnetic grippers or motor parts with perman-
ent magnets are stored, repaired, or assembled.

Basic safety notes
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• Do not operate high-frequency or radio devices in the proximity
of electric components of the drive system and their feed lines.
If the use of such devices is necessary:
When starting up the electric drive and control system, check
the machine or automated system for possible failures when
such systems are used at different intervals and in different
states of the control system. A special additional EMC test may
be necessary if the system has a high risk potential.
2.14 Notes on particular risks
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
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, 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.

Basic safety notes
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WARNING
Risk of burns through contact with hot surfaces!
The product can heat up considerably during operation. Touching
hot surfaces can cause burns.
•Do not touch hot surfaces.
•Let them cool down before working on the product.
•Wear appropriate safety equipment.
WARNING
Risk of injury from objects falling during energy supply failure!
Electronic devices are not fail-safe. In case of an energy supply
failure, the gripping force decreases. As a consequence, it cannot
be guaranteed that the workpiece is held safely.
•In case of an energy supply failure, it is the user's
responsibility to revert the drive into a safe state.
CAUTION
Risk of injury due to nickel-coated surfaces!
Contact with nickel-coated surfaces can cause allergic reactions.
•Wear suitable protective equipment.

Technical data
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3 Technical data
3.1 Basic data
Designation EGI 80
Mechanical operating data
Weight [kg] 1.55
Gripping force [N]
Min.
Max.
25
100
Ambient conditions and operating conditions
Noise emission [dB(A)] ≤70
IP rating 20
Ambient temperature [°C]
Min.
Max.
5
55
Electrical operating data
Nominal voltage [VDC] 24 ± 10%
Max. logic current input [A] 0.25
Max. current input power [A] 1.5
Communication interface
PROFINET [100MBit/s] IRT Class-C
NOTICE!The product is delivered with PROFINET and comes with
web server functionality
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Technical data
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3.2 Diagrams
NOTE
The dependency of gripping force on finger length is shown in the
diagram below. The range shown has been determined with a
standardized SCHUNK test finger. The gripping force attainable in
a specific application case depends on the design of the gripper
finger.
Gripping force diagram
F [N] Gripping force L [mm] Finger length
The gripping force diagram shows the gripping force range to be
reached with a selected finger height The setpoint default for
gripping force can be specified.
The specified gripping force is the force that the gripper applies at
point Pand that it can hold continuously.
To determine the nominal gripping force, the product is installed
with a positive locking on an aluminum plate (200x200x20mm³).
The product can hold this nominal gripping force up to an ambient
temperature of 55°C. A temperature malfunction may occur if the
product reaches excessively high temperatures. For measures to
avoid an excess temperature fault, see chapter Assembly and
settings [}24].

Design and description
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4 Design and description
4.1 Design
Gripper for small components EGI, example PROFINET variant
1 Finger interface
2 Finger centering sleeves
3 Housing
4 LED status display
5 Ground connection
6 Power connectionPWR
7 Bus connectionP1
8 Bus connectionP2
9 Service interface
4.2 Description
The product is a servo-electric 2-finger parallel gripper featuring
maintenance of gripping force, integrated electronics and
communication interface.
The product is actuated via anPROFINETinterface. The product has
an integrated web server that can be accessed via a browser,
Preparing commissioning with the web application [}32].
Details on exchange of information and activation of the module
are described in the software manual, Applicable documents [}6].
For further information on the bus system PROFINET see chapter
Types of communication of PROFINET [}23].