SCHUNK LGZ 16 User instructions

Translation of the original manual
Assembly and Operating Manual
LGZ
3-Finger Centric Gripper

Imprint
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04.00 | LGZ | Assembly and Operating Manual | en | 389192
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re-
served. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and re-
quires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389192
Version: 04.00|19/11/2018|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading techno-
logy 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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3
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 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.4 Accessories ........................................................................................................... 6
1.4.1 Sensors .....................................................................................................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 Ambient conditions and operating conditions .....................................................9
2.7 Personnel qualification......................................................................................... 9
2.8 Personal protective equipment.......................................................................... 10
2.9 Notes on safe operation .....................................................................................11
2.10 Transport ............................................................................................................ 11
2.11 Malfunctions....................................................................................................... 11
2.12 Disposal .............................................................................................................. 12
2.13 Fundamental dangers......................................................................................... 12
2.13.1 Protection during handling and assembly ..............................................12
2.13.2 Protection during commissioning and operation ...................................13
2.13.3 Protection against dangerous movements.............................................13
2.13.4 Protection against electric shock............................................................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
4 Assembly ................................................................................................................18
4.1 Mechanical connection ...................................................................................... 18
4.2 Pneumatic connection........................................................................................ 19
4.3 Sensors ............................................................................................................... 20
4.3.1 Programmable magnetic switch (MMS-P)..............................................21

Table of contents
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5 Troubleshooting .....................................................................................................26
5.1 Product is not moving......................................................................................... 26
5.2 The module does not travel through the entire stroke? ....................................26
5.3 Module opens or closes abruptly? .....................................................................26
5.4 Gripping force is dropping.................................................................................. 27
5.5 Magnetic switch does not work ......................................................................... 27
5.6 Product does not achieve the opening and closing times.................................. 27
6 Maintenance ..........................................................................................................28
6.1 Maintenance and care........................................................................................ 28
7 Translation of original declaration of incorporation ................................................29
8 Annex to Declaration of Incorporation....................................................................30

General
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1 General
1.1 About this manual
This manual contains important information for a safe and appro-
priate use of the product.
This manual is an integral part of the product and must be kept ac-
cessible for the personnel at all times.
Before starting work, the personnel must have read and under-
stood 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 Ap-
plicable 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 Variants
This operating manual applies to the following variations:
• LGZ without gripping force maintenance
• LGZ with gripping force maintenance "O.D. gripping" (AS)
• LGZ with gripping force maintenance "I.D. gripping" (IS)
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 con-
ditions:
• 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
• 3-finger centric gripper LGZ in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.4 Accessories
The following accessories that are required for the module must
be ordered separately:
• Sensors
A wide range of accessories is available for this module.
For information about which accessories can be used with the ap-
propriate product version ☞ catalog.

General
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1.4.1 Sensors
Overview of the compatible sensors
Designation Type
Programmable magnetic switch with two
switching points
MMS-P
• Exact type designation of the compatible sensors see ☞ catalog.
• If you require information on sensor operation, contact your
SCHUNK contact person or download information from our
homepage. www.schunk.com
• For mounting the sensors, mounting kits are partly necessary.

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 [}16].
• When implementing and operating components in safety-re-
lated 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 in-
structions 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 ap-
proval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and dam-
age 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 injur-
ies 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 re-
mains in the product.
• 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 [}16].
• Make sure that the product is a sufficient size for the applica-
tion.
• Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated en-
vironments.
2.7 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently quali-
fied, 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.

Basic safety notes
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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 regu-
lations.
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 reg-
ulations.
Instructed person Instructed persons were instructed by the operator about the del-
egated 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 occupa-
tional health and safety regulations and wear the required per-
sonal 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 sur-
faces.
• Wear protective gloves and safety goggles when handling haz-
ardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.

Basic safety notes
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11
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 func-
tion 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 environ-
ments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and environ-
mental protection regulations regarding the product's applica-
tion field.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material dam-
age.
• 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 malfunc-
tion.
• 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.

Basic safety notes
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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 en-
vironmental 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 re-
mains 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 pre-
cautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their swiv-
eling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.

Basic safety notes
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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 re-
mains 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 ac-
tion being dependent on the control unit and the current oper-
ating condition of the drive. Perform maintenance work, modi-
fications, 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 auto-
mated 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 accord-
ance 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 seri-
ous 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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15
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.
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 dis-
assembling components can move unexpectedly and cause seri-
ous 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, dur-
ing energy supply failure, still move independently in the direc-
tion specified by the mechanical gripping force maintenance.
•Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.

Technical data
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3 Technical data
Size 16 32 50
Mechanical operating data
Stroke per jaw [mm] 3 4 7
Weight [kg]
without gripping force maintenance
with gripping force maintenance
0,1
0,1
0,32
0,35
0,95
0,99
Recommended workpiece weight [kg] 0,6 2,25 5,7
Max. permissible finger length [mm] 30 60 80
Max. permitted weight per finger [kg] 0,03 0,08 0,25
Ambient temperature [°C]
Min.
Max.
-10
90
-10
90
-10
90
Min. Federkraft [N]
without gripping force maintenance
with gripping force maintenance AS
with gripping force maintenance IS
-
30
30
-
150
150
-
330
330
Closing force [N]
without gripping force maintenance
with gripping force maintenance AS
with gripping force maintenance IS
120
150
-
450
600
-
1140
1470
-
Opening force [N]
without gripping force maintenance
with gripping force maintenance AS
with gripping force maintenance IS
144
-
174
540
-
590
1320
-
1650
IP rating 40 40 40

Technical data
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Size 16 32 50
Operating data for compressed air connection
Pressure medium Compressed air, compressed air quality accord-
ing to ISO 8573-1:7 4 4
Noise emission [dB(A)] ≤ 72
Min. pressure [bar]
without gripping force maintenance
with gripping force maintenance
2
4
2
4
2
4
Max. pressure [bar]
without gripping force maintenance
with gripping force maintenance
8
6,5
8
6,5
8
6,5
Nominal working pressure [bar]
without gripping force maintenance
with gripping force maintenance AS
with gripping force maintenance IS
6
6
6
6
6
6
6
6
6
More technical data are included in the catalog data sheet.
Whichever is the latest version.

Assembly
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4 Assembly
4.1 Mechanical connection
WARNING
Warning: Risk of injury when the machine/system moves unex-
pectedly!
Remove the energy supplies before starting with assembly and
adjustments.
Make sure that no residual energy remains in the system.
Check the evenness
of the bolting surface
The values relate to the entire bolting surface.
Requirements for levelness of the bolting surface (Dimensions in mm)
Diameter Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Mounting The module can be mounted from the front or the rear.
Assembly options

Assembly
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Mounting material (provided by customer)
Item Mounting 16 32 50
1 Rear module M3 x
max. 7,4
M4 x
max. 10
M8 x
max. 16
2 Module on the side M3 x
max. 7,4
M4 x
max. 10
M8 x
max. 16
3 Top jaws M3 x
max. 5
M4 x
max. 10
M8 x
max. 16
4 Centering pin Ø3 x max. 3 Ø5 x max. 5 Ø8 x max. 8
99 Centering sleeve Ø5h6 / 4,35 Ø5h6 / 4,35 Ø8h6 / 5,35
NOTE
• For mounting from the rear fix the module using the provided
centering pins (4).
• Mount the module using the mounting bores.
• Mount the top jaws using the mounting bores provided. Use
centering sleeves (99).
4.2 Pneumatic connection
WARNING
Risk of injury when machine/system moves unexpectedly!
•Switch off power supply before assembly and installation.
•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.

Assembly
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NOTICE
Observe the requirements for the air supply
Technical data [}16].
Air connections
Thread diameter of the air connections
Item Connection 16 - 50
4 Thread diameter of the air connections
(A = open, B = close)
2 x M5
• Only open the air connections required.
• Seal air connections not required using
the locking screws from the enclosed pack.
• For hose-free direct connections use the two O-rings from the
enclosed pack.
Further information on the hose-free direct connection contains
the catalog data sheet.
4.3 Sensors
The module is prepared for a number of sensors. Other sensors
can be used with a mounting kit.
• If you require further information on sensor operation, contact
your SCHUNK contact person or download information from our
homepage.
• Technical data for the sensors can be found in the data sheets
(included in the scope of delivery).