SCHUNK GSM-R Series User instructions

Original operating manual
Assembly and Operating Manual
GSM-R
Rotary gripping module with radial gripper

Imprint
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04.00 | GSM-R | Assembly and Operating Manual | en | 389106
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: 389106
Version: 04.00|12/04/2019|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 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 Accessory pack rotational speed rotor FAN .............................................6
1.3.2 GSM accessory kit.....................................................................................7
1.4 Accessories ........................................................................................................... 7
1.4.1 Sealing kit .................................................................................................7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Not intended use.................................................................................................. 8
2.3 Constructional changes ........................................................................................ 8
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 9
2.6 Environmental and operating conditions ............................................................. 9
2.7 Personnel qualification......................................................................................... 9
2.8 Personal protective equipment.......................................................................... 10
2.9 Notes on safe operation .....................................................................................10
2.10 Transport ............................................................................................................ 11
2.11 Malfunctions....................................................................................................... 11
2.12 Disposal .............................................................................................................. 11
2.13 Fundamental dangers......................................................................................... 11
2.13.1 Protection during handling and assembly ..............................................12
2.13.2 Protection during commissioning and operation ...................................12
2.13.3 Protection against dangerous movements.............................................12
2.13.4 Protection against electric shock............................................................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
4 Design and description............................................................................................17
4.1 Design ................................................................................................................. 17
4.2 Description ......................................................................................................... 17

Table of contents
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5 Assembly ................................................................................................................18
5.1 Installing and connecting.................................................................................... 18
5.2 Connections........................................................................................................ 20
5.2.1 Mechanical connection...........................................................................20
5.2.2 Air connections.......................................................................................22
5.3 Mounting the sensor .......................................................................................... 24
5.3.1 Overview of sensors ...............................................................................24
5.3.2 Sensor monitoring range ........................................................................24
5.3.3 Settings for magnetic switch ..................................................................25
5.3.4 Switch-off hysteresis for magnetic switch MMS-P 22 ............................25
5.3.5 Assembly and setup of the MMS-P 22....................................................26
5.4 Mounting a customized construction................................................................. 27
5.5 Adjusting the end positions................................................................................ 28
6 Commissioning .......................................................................................................31
6.1 Setting the speed................................................................................................ 31
6.2 Adjustment of the shock absorber stroke .......................................................... 32
6.3 Restart after long standstill ................................................................................ 33
7 Troubleshooting .....................................................................................................34
7.1 Product does not achieve the opening and closing times..................................34
7.2 Swivel movement is not executed immediately.................................................34
8 Maintenance and care ............................................................................................35
8.1 Notes .................................................................................................................. 35
8.2 Maintenance and care intervals ......................................................................... 35
8.3 Grease/greasing areas........................................................................................ 36
8.4 Screw tightening torques ................................................................................... 37
8.5 Disassembly/assembly of the unit in the basic modules....................................37
8.6 Disassembly/assembly of the gripping module.................................................. 38
8.6.1 Version without maintenance of gripping force.....................................38
8.6.2 Version with maintenance of gripping force unit...................................39
8.6.3 Mounting orientation of the magnets, item 120....................................41
8.7 Disassembly/assembly of the DKM feed-through compact module (item 40).... 41
8.8 Replacing a shock absorber for S variants .......................................................... 43
8.9 Replacing an elastomer for E variants ................................................................ 43
8.10 Disassembly/assembly of the FAN rotor drive (50) ............................................ 44
8.11 Servicing and assembling the module ................................................................ 45
8.12 Drawings............................................................................................................. 46
8.12.1 Assembly drawing of basic modules.......................................................46
8.12.2 Assembly drawing for the DKM and FAN modules.................................47
8.12.3 Assembly drawing of the GSM gripping modules...................................48
9 Translation of original declaration of incorporation ................................................49
10 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
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.

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:
• GSM-R 16
• GSM-R 20
• GSM-R 25
• GSM-R 32
• GSM-R 40
1.1.4 Variants
This operating manual applies to the following variations:
• GSM-R without gripping force maintenance
• GSM-R with gripping force maintenance "O.D. gripping" (AS)
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 specified maintenance and lubrication intervals
• Observe 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
• Rotary gripping module with radial gripper GSM-R in the version
ordered
• Assembly and Operating Manual
• Accessory pack
1.3.1 Accessory pack rotational speed rotor FAN
Position of the item numbers Drawings [}46]
Content of the accessory pack:
• Centering sleeves (205 or 206)
• O-rings (207)
• Steel balls (108)
• Locking screws (230)
• Screws (231 / 232)

General
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Rotational speed rotor FAN
Rotational speed rotor ID number
FAN 40 5514441
FAN 64 5514442
1.3.2 GSM accessory kit
Content of the accessory pack:
• Centering sleeves (201)
ID.-No. of the accessory pack
Accessory pack for ID number
GSM-R 16 5514444
GSM-R 20 5514445
GSM-R 25 5514446
GSM-R 32 5514447
GSM-R 40 5514448
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.
1.4.1 Sealing kit
Seal kits contain all seals necessary for maintaining a SCHUNK
component.
Seal kit for ID.-No. of the seal kit
GSM-R 16 5516265
GSM-R 20 5516266
GSM-R 25 5516267
GSM-R 32 5516268
GSM-R 40 5516269
FAN 40 5516256
FAN 64 5516257
Contents of the sealing kit, Drawings [}46].

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product was designed for swiveling, gripping and time-limited
holding of workpieces or other objects.
The functions "actuate gripper" and "swivel" must be executed
alternately.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles 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
instructions 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
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.

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
injuries 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
remains 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 Environmental and operating conditions [}9].
• Make sure that the product and the top jaws are a sufficient
size for the application.
• Ensure that maintenance and lubrication intervals are observed,
Link Wartung.
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.

Basic safety notes
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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.
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.

Basic safety notes
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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.
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.

Basic safety notes
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2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly can make the product unsafe and
pose a risk of serious injuries and considerable material damage.
• Order all work to be performed only by appropriately qualified
personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention regulations.
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.
• 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.

Basic safety notes
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• 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.
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
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.

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
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.

Basic safety notes
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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.
•Disassemble the product cautiously.
•Make 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.
•Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Danger of injury due to uncontrolled movements!
Due to incorrect control and incorrect operation, loss of work-
pieces and uncontrolled movement of the product may occur and
can cause serious injuries.
•Take checks in the user's program.
•The danger zone must be secured by suitable measures.
WARNING
Risk of injury from rotating components!
In the case of swivel units or rotary tables with a rotary drive,
serious injuries can be caused by rotating components.
•Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury by parts becoming detached and destruction of
the rotary actuator if the shock absorbers are defective.
Avoidance measures: Regular visual inspections of individual
components for wear and damage.

Technical data
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3 Technical data
Designation GSM-R 16 GSM-R 20 GSM-R 25 GSM-R 32 GSM-R 40
Noise emission [dB(A)] ≤ 70
IP rating 30
Pressure medium Compressed air, compressed air quality
according to ISO 8573-1:7 4 4
Nominal working pressure [bar] 6
Min. pressure [bar] for gripping
without gripping force maintenance
with gripping force maintenance
2
4
Min. pressure [bar] for swiveling 3.5 4 3
Max. pressure [bar] 6.5
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
Rotary gripping module with radial gripper
1 Compressed air main connection
2 DKM feed-through compact module
3 Base jaws
4 RGM gripping module
5 Rotor drive FAN
4.2 Description
Rotary gripping module with parallel gripper

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
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.
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.
NOTE
• Observe the requirements for the compressed air supply,
Technical data [}16].
• In case of compressed air loss (cutting off the energy line), the
components lose their dynamic effects and do not remain in a
secure position. However, the use of a SDV-P pressure
maintenance valve is recommended in this case in order to
maintain the dynamic effect for some time. Product variants
are also offered with mechanical gripping force via springs,
which also ensure a minimum clamping force in the event of a
pressure drop.

Assembly
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ØCheck the evenness of the mounting surface, Mechanical
connection [}20].
ØOnly open the required air connections (main connection or
direct connection), Air connections [}22].
ØConnect the product via the hose-free direct connection.
✓Use O-rings from the accessory pack.
✓Seal main air connections which are not required with locking
screws.
ØOR: Connect compressed air lines to the main air
connections"A" and"B".
✓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
connection [}20].
✓If necessary, use appropriate connection elements (adapter
plates).
✓Observe the maximal tightening torque, admissible screw-in
depth and, if necessary, strength class.
✓When mounting from the rear or at the side: use cylindrical
pins for fixing the product in place.
ØSecure the gripper fingers to the base jaws, Mechanical
connection [}20].
✓Use centering sleeves from the enclosed accessory pack.
ØConnect air purge connection if necessary.
ØConnect the sensor, see assembly and operating manual of the
sensor.
ØMount the sensor, Mounting the sensor [}24].

Assembly
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5.2 Connections
5.2.1 Mechanical connection
Mounting the GSM on the side and base side
** To ensure the function of the sensors, the A2 screws from the
accessory pack are to be used.
For process-reliable monitoring, adapter plates should be
made of non-ferromagnetic material.