SCHUNK KGG 60 User instructions

Translation of the original manual
Assembly and Operating Manual
KGG
2-Finger Parallel Gripper

Imprint
2 17.00 | KGG | Assembly and Operating Manual | en | 389166
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: 389166
Version: 17.00|10/06/2021|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 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 7
1.3.1 Enclosed pack ...........................................................................................7
1.4 Accessories ........................................................................................................... 7
1.4.1 Seal 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 ........................................................................................................... 9
2.5 Gripper fingers ..................................................................................................... 9
2.6 Ambient conditions and operating conditions .....................................................9
2.7 Personnel qualification....................................................................................... 10
2.8 Personal protective equipment.......................................................................... 11
2.9 Notes on safe operation .....................................................................................11
2.10 Transport ............................................................................................................ 12
2.11 Malfunctions....................................................................................................... 12
2.12 Disposal .............................................................................................................. 12
2.13 Notes on particular risks..................................................................................... 13
3 Technical data.........................................................................................................14
4 Design and description............................................................................................15
4.1 Design ................................................................................................................. 15
4.2 Description ......................................................................................................... 15
5 Assembly ................................................................................................................16
5.1 Installing and connecting ................................................................................... 16
5.2 Connections........................................................................................................ 18
5.2.1 Mechanical connection...........................................................................18
5.2.2 Air connection ........................................................................................20
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Table of Contents
5.3 Mounting the sensor .......................................................................................... 22
5.3.1 Overview of sensors ...............................................................................22
5.3.2 Switch-off hysteresis for magnetic switches ..........................................23
5.3.3 Setting dimensions for magnetic switches .............................................24
5.3.4 Mounting inductive proximity switch IN 40 ...........................................28
5.3.5 Installing the magnetic switch MMS 22 / RMS 22 ..................................30
5.3.6 Mount programmable magnetic switch MMS 22-PI1 ............................31
5.3.7 Mounting programmable MMS-P 22 magnetic switch...........................32
5.3.8 Mount programmable magnetic switch MMS 22-PI1 ............................33
5.3.9 Mounting the magnetic switch MMS 22-IOL..........................................35
5.3.10 Mount the analog magnetic switch MMS 22-A ......................................36
5.3.11 Mount the radio system RSS-R1/T2........................................................36
6 Troubleshooting .....................................................................................................37
6.1 Product is not moving......................................................................................... 37
6.2 Product is not executing the complete stroke ................................................... 37
6.3 Product is opening or closing abruptly ............................................................... 37
6.4 Gripping force is dropping.................................................................................. 38
6.5 Product does not achieve the opening and closing times..................................38
7 Maintenance ..........................................................................................................39
7.1 Notes .................................................................................................................. 39
7.2 Maintenance intervals........................................................................................ 39
7.3 Lubricants/Lubrication points............................................................................. 39
7.4 Disassembly and assembly ................................................................................. 40
7.4.1 Disassemble............................................................................................40
7.4.2 Assembly.................................................................................................41
7.5 Screw tightening torques ................................................................................... 41
7.6 Assembly drawings ............................................................................................. 42
7.6.1 Assembly drawing KGG 60 and KGG 70..................................................42
7.6.2 Assembly drawing KGG 80......................................................................43
7.6.3 Assembly drawing KGG 100 and KGG 140..............................................44
8 Translation of original declaration of incorporation ................................................45
9 Annex to Declaration of Incorporation....................................................................46
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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.
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.
CAUTION
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 marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Sizes
This operating manual applies to the following sizes:
• KGG 60
• KGG 70
• KGG 80
• KGG 100
• KGG 140
1.1.4 Variants
This operating manual applies to the following variations:
• KGG 60-20
• KGG 60-40
• KGG 70-24
• KGG 70-48
• KGG 80-30
• KGG 80-60
• KGG 100-40
• KGG 100-80
• KGG 140-60
• KGG - high-temperature (V/HT)
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.

General
1.3 Scope of delivery
The scope of delivery includes
• 2-Finger Parallel Gripper KGG in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.3.1 Enclosed pack
Content of the accessories pack: Assembly drawings [}42].
ID.-No. of the accessory pack
Accessory pack for ID number
KGG 60 5520756
KGG 60 - High-temperature (HT) 5520757
KGG 80 5510504
KGG 80 - High-temperature (HT) 395510504
KGG 100 5520758
KGG 100 - High-temperature (HT) 5520759
KGG 140 5510565
KGG 140 - High-temperature (HT) 395510565
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 Seal kit
Contents of the sealing kit, Assembly drawings [}42].
ID.-No. of the seal kit
Seal kit for ID number
KGG 60 5516931
KGG 70 5516933
KGG 80 5516935
KGG 100 5516937
KGG 140 5516939
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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 may only be used within the scope of its technical
data, Technical data [}14].
• 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.

Basic safety notes
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
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.
• Execute the gripper fingers in such a way that the product
reaches either the "open" or "closed" position in a de-energized
state.
• Only change 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 [}14].
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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
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.
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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.

Basic safety notes
2.13 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.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.
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Technical data
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3 Technical data
Designation KGG
Pressure medium Compressed air, compressed air
quality according to
ISO 8573-1:7 4 4
Nominal working pressure [bar] 6
Min. pressure [bar] 2
Max. pressure [bar] 8
More technical data is included in the catalog data sheet.
Whichever is the latest version.
Ambient conditions and operating conditions
Designation KGG
Ambient temperature [°C]
min.
max.
+5
+90
Protection class IP * 40
Noise emission [dB(A)] ≤70
* For use in dirty ambient conditions (e.g. sprayed water, vapors,
abrasion or processing dust) SCHUNK offers corresponding
product options as standard. SCHUNK also offers customized
solutions for special applications in dirty ambient conditions.

Design and description
4 Design and description
4.1 Design
1 Housing 3 Holder for sensors
2 Base jaw
4.2 Description
The KGG is a narrow 2-finger parallel gripper with long stroke.
Field of application
for universal use in clean environments with light to medium
workpiece weights and a large stroke range.
Functional description
The aligned base jaws are actuated with compressed air directly by
the fixed piston, which opens and closes them. The base jaws are
synchronized by the internal rack and pinion arrangement..
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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.
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.
•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 [}14].
• In case of compressed air loss (cutting off the energy line), the
product loses its dynamic effects and does 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.

Assembly
1. Check the evenness of the mounting surface,
Mechanical connection [}18].
2. Only open the required air connections (main connection or
direct connection), Air connection [}20].
3. Connect 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.
4. OR: 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 damping.
5. Screw the product to the machine/system,
Mechanical connection [}18].
✓If necessary, use appropriate connection elements (adapter
plates).
6. Secure the gripper fingers to the base jaws,
Mechanical connection [}18].
7. Connect the sensor, see assembly and operating manual of the
sensor.
8. Mount the sensor, Mounting the sensor [}22].
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Assembly
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5.2 Connections
5.2.1 Mechanical connection
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.
Evenness of the
mounting surface
The values apply to the whole mounting surface to which the
product is mounted.
Requirements for evenness of the mounting surface (Dimensions in mm)
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Connections at the
base jaws
Connections to the base jaws
Item Mounting KGG
60 70 80 100 140
1 Thread in base jaws M3 M3 M4 M5 M5
2 Centering sleeve* Ø5 Ø5 Ø6 Ø8 Ø8
* Contained in accessory pack.

Assembly
Connections at the
housing
The product can be assembled from the top, bottom and laterally.
CAUTION
Material damage due to incorrect assembly!
The maximum depth of engagement of Xmm for fastening the
gripper on the floor-side and the maximum depth of engagement
of Ymm for fastening of the gripper laterally must always be
observed.
Connections at the housing
Item Mounting KGG
60 70 80 100 140
1 Centering sleeve* Ø5 Ø5 Ø6 Ø8 Ø8
Gripper fastening from above
2 Mounting screw M3 M3 M4 M5 M5
Screw-in depthX[mm] 6 7.5 7.5 10 10.7
Gripper fastening from the side
2 Mounting screw M3 M3 M4 M5 M5
Screw-in depthY[mm] 8.4 8.4 7.5 12 12.9
* Contained in accessory pack.
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Assembly
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5.2.2 Air connection
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.
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.
•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.
CAUTION
Observe the requirements for the air supply
Technical data [}14].