SCHUNK GAP User instructions

Assembly and Operating Manual
GAP
2-finger angular/parallel gripper
Translation of the Original Manual

Imprint
2 07.00 | GAP | Assembly and Operating Manual | en | 389418
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK SE & Co. KG.
All rights reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389418
Version: 07.00|26/07/2023|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]
[e-mail]
Please read the operating manual in full and keep it close to the product.

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 ........................................................................................... 6
1.3 Scope of delivery................................................................................. 6
1.3.1 Accessories kit ........................................................................... 7
1.4 Accessories ........................................................................................ 7
2 Basic safety notes ................................................................................ 8
2.1 Intended use...................................................................................... 8
2.2 Constructional changes......................................................................... 8
2.3 Spare parts ........................................................................................ 8
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
2.13 Notes on particular risks ....................................................................... 15
3 Technical data ..................................................................................... 17
3.1 Basic data ......................................................................................... 17
3.2 Variant with maintenance of gripping force .............................................. 17
4 Design and description .......................................................................... 18
4.1 Configuration ..................................................................................... 18
4.2 Description ........................................................................................ 18
5 Assembly............................................................................................ 19
5.1 Installing and connecting ..................................................................... 19
5.2 Connections ....................................................................................... 20
5.2.1 Mechanical connection................................................................ 20

Table of contents
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5.2.2 Pneumatic connection................................................................. 22
5.3 Adjusts absorber, only variants with end position dampening ...................... 24
5.4 Mounting the sensor............................................................................ 25
5.4.1 Overview of sensors .................................................................... 25
5.4.2 Mounting MMS 22 magnetic switch................................................. 25
6 Troubleshooting................................................................................... 27
6.1 Product does not move......................................................................... 27
6.2 Product does not execute a complete stroke.............................................. 27
6.3 Product opens or closes jerkily ............................................................... 27
6.4 Gripping force is dropping..................................................................... 28
6.5 Product does not achieve the opening and closing times ............................. 28
7 Maintenance ....................................................................................... 29
7.1 Notes................................................................................................ 29
7.2 Maintenance intervals.......................................................................... 29
7.3 Lubricants/Lubrication points (basic lubrication) ........................................ 30
7.4 Disassembly and assembly .................................................................... 31
7.4.1 Variant with maintenance of gripping force ..................................... 31
7.4.2 Variant without maintenance of gripping force................................. 32
7.5 Assembly drawing ............................................................................... 33
8 Translation of the original declaration of incorporation ................................. 34
9 UKCA declaration of incorporation ............................................................ 35
10 Information on the RoHS Directive, REACH Regulation and Substances of Very High
Concern (SVHC) ..................................................................................... 36

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.
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.
CAUTION
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
lGeneral terms of business *
lCatalog data sheet of the purchased product *
lAssembly 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:
lGAP 16
lGAP 20
lGAP 28
lGAP 32
1.1.4 Variants
This operating manual applies to the following variations:
lGAP without gripping force maintenance, GAP...
lGAP with gripping force maintenance, GAP...-AS
lGAP with end positioning dampening of the base jaw, GAP...-S
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:
lObserve the specified maintenance and lubrication intervals
lObserve the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
l2-finger angular/parallel gripper GAP in the version ordered
lAssembly and Operating Manual
lAccessory pack

General
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1.3.1 Accessories kit
Content of the accessory pack:
l6 x centering sleeves for mounting
l2 x O-rings for hose-free direct connection
l2 x locking screws for hose connections
GAP
16 20 28 32
5522430 5521287 5521317 5521348
Tab.: ID.-No. of the accessory pack
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.
GAP
16 20 28 32
0314639 0314609 0314619 0314629
Tab.: ID.-No. of the seal kit
contents of the sealing kit,}7.5 [/33].

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.
lThe product may only be used within the scope of its technical
data, }3 [/17].
lThe product is intended for installation in a machine/
automated system. The applicable guidelines for the machine/
automated system must be observed and complied with.
lThe 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.
lThe 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.
lAppropriate use of the product includes compliance with all
instructions in this manual.
lAny 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.
lStructural changes should only be made with the written
approval of SCHUNK.
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.
lUse only original spare parts or spares authorized by SCHUNK.

Basic safety notes
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2.4 Gripper fingers
Requirements of gripper fingers
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.
lExecute the gripper fingers in such a way that the product
reaches either the "open" or "closed" position in a de-
energized state.
lOnly change gripper fingers if no residual energy can be
released.
lMake sure that the product and the top jaws are a sufficient
size for the application.
2.5 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.
lMake sure that the product and the top jaws are a sufficient
size for the application.
lEnsure that maintenance and lubrication intervals are
observed, }7 [/29].
lMake 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.
lMake sure that the product is not exposed to excessive
vibrations and/or strokes.
lEnsure that no strong magnetic fields impair the function of
the product.
Contact your SCHUNK partner if the product is to be used in
strong magnetic fields.

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.
lAll work may only be performed by qualified personnel.
lBefore working with the product, the personnel must have
read and understood the complete assembly and operating
manual.
lObserve 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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2.7 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.
lWhen working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
lObserve the valid safety and accident prevention regulations.
lWear protective gloves to guard against sharp edges and
corners or rough surfaces.
lWear heat-resistant protective gloves when handling hot
surfaces.
lWear protective gloves and safety goggles when handling
hazardous substances.
lWear 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.
lAvoid any manner of working that may interfere with the
function and operational safety of the product.
lUse the product as intended.
lObserve the safety notes and assembly instructions.
lDo not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
lEliminate any malfunction immediately.
lObserve the care and maintenance instructions.
lObserve the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.

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.
lWhen handling heavy weights, use lifting equipment to lift
the product and transport it by appropriate means.
lSecure the product against falling during transportation and
handling.
lStand clear of suspended loads.
2.10 Malfunctions
Behavior in case of malfunctions
lImmediately remove the product from operation and report
the malfunction to the responsible departments/persons.
lOrder appropriately trained personnel to rectify the
malfunction.
lDo not recommission the product until the malfunction has
been rectified.
lTest 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.
lFollow local regulations on dispatching product components
for recycling or proper disposal.

Basic safety notes
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2.12 Fundamental dangers
General
lObserve safety distances.
lNever deactivate safety devices.
lBefore commissioning the product, take appropriate
protective measures to secure the danger zone.
lDisconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
lIf the energy supply is connected, do not move any parts by
hand.
lDo 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.
lHave all work carried out by appropriately qualified
personnel.
lFor all work, secure the product against accidental operation.
lObserve the relevant accident prevention rules.
lUse 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.
lStand clear of suspended loads and do not step into their
swiveling range.
lNever move loads without supervision.
lDo not leave suspended loads unattended.

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.
lTake appropriate protective measures to secure the danger
zone.
lNever 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.
lSwitch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
lNever 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.
lTo 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 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
lStand clear of suspended loads and do not step within their
swiveling range.
lNever move loads without supervision.
lDo not leave suspended loads unattended.
lWear 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.
lTake appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
lUse suitable protective equipment.
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.
lBefore starting any work on the product: Switch off the power
supply and secure against restarting.
lMake sure, that no residual energy remains in the system.

Basic safety notes
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WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during movement of the base jaw, due
to breakage or loosening of the gripper fingers or if the
workpiece is lost.
lWear suitable protective equipment.
lDo not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury due to spring forces!
Parts are under spring tension on products which clamp using
spring force or which have gripping force maintenance. While
disassembling components can move unexpectedly and cause
serious injuries.
lDisassemble the product cautiously.
lMake sure that no residual energy remains in the system.
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can,
during energy supply failure, still move independently in the
direction specified by the mechanical gripping force
maintenance.
lSecure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.

Technical data
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3 Technical data
More technical data is included in the catalog data sheet.
Whichever is the latest version.
3.1 Basic data
Designation GAP
16 20 28 32
Opening angle per jaw [°] 30 / 60 / 90
Parallel stroke per jaw [mm] 1.0 1.0 1.5 2.0
Closing / opening force * 56.0 92.0 180.0 250.0
Max. permissible finger length [mm] 32 40 50 65
Max. permissible mass moment of inertia
per jaw [kgcm2]
1.0 3.12 7.45 14.87
IP rating 40
Min. ambient temperature [°C] 5
Max. ambient temperature [°C] 60
Noise emission [dB(A)] ≤70
Pressure medium Compressed air, compressed air quality
according to ISO 8573‐1:2010 [7:4:4]
Min. pressure [bar]* 3.0
Max. pressure [bar]* 7
Nominal operating pressure [bar] 6
* Deviating values for variants with maintenance of gripping
force.
3.2 Variant with maintenance of gripping force
Tab.: Deviating values for the variants with maintenance of gripping force
Designation GAP
16-AS 20-AS 28-AS 32-AS
Closing / opening force 90 150 270 430
Min. spring force [N] 14 58 90 180
Min. pressure [bar] 4.5
Max. pressure [bar] 6.5

Design and description
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4 Design and description
4.1 Configuration
2-finger angular/parallel gripper
1 Tubeless direct connection
2 Main air connections (A = open, B = close)
3 Base jaw
4 Case
4.2 Description
2-finger angle parallel gripper for parallel external gripping with
prior swivelling of the gripper fingers up to 90° per jaw

Assembly
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5 Assembly
5.1 Installing and connecting
CAUTION
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.
lA jaw movement always has to be without jerks and bounce.
lYou must therefore implement sufficient reduction and/or
damping.
lObserve the information in the catalog data sheet.
1. Check the flatness of the mounting surface,
}5.2.1 [/20].
2. Connect the product via the hose-free direct
connection, }5.2.2 [/22].
ðScrew throttles in the main air connections A and B.
3. OR: Connect supply lines to the main air connections A and
B, }5.2.2 [/22].
ðUnscrew locking screws.
ðScrew on air connections
ðOR: Screw on air throttle in order to be able to perform
sufficient throttling and/or dampening.
4. Screw the product to the machine/system, }5.2.1 [/20].
ðUse suitable connecting elements (adapter plates) if
necessary.
ðObserve the permissible depth of engagement.
ðObserve the tightening torque for the mounting screws.
5. Connect the sensor, see Sensor Assembly and Operating
Manual.
6. Install the sensor, }5.4 [/25].

Assembly
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5.2 Connections
5.2.1 Mechanical connection
NOTE
When mounting the product and when mounting loads, do not
allow impermissible forces and moments to be exerted, see
catalog data sheet.
Select a suitable tightening torque when assembling the product
or loads on the product in accordance with the generally
accepted guidelines for screw connections.
Secure all screw connections using a suitable chemical screw
lock.
Evenness of the
mounting surface
The values apply to the whole mounting surface to which the
product is mounted.
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Tab.: Requirements for evenness of the mounting surface (Dimensions in mm)
Mounting The connection geometries are above and at the side of the
product. See catalog for dimensions to position the mounting
holes
1. Use the provided fixing bores for mounting the product on
the side. For the tightening torque, see following table.
2. Fasten the product using the mounting holes provided for
this purpose.
Mounting GAP
16 20 28 32
Max. tightening torque [Nm] 3 6
Tab.: Max. permissible tightening torque for lateral mounting