SCHUNK PFH 30 User instructions

Translation of the original manual
Assembly and Operating Manual
PFH 30-50
2-Finger-Parallel-Gripper

Imprint
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09.00 | PFH 30-50 | Assembly and Operating Manual | en | 389266
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: 389266
Version: 09.00|29/01/2019|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 About this manual ................................................................................................... 5
1.1 Presentation of Warning Labels ...........................................................................5
1.2 Variants ................................................................................................................ 5
1.3 Applicable documents .......................................................................................... 5
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Environmental and operating conditions ............................................................. 7
2.4 Product safety ...................................................................................................... 7
2.5 Personnel qualification......................................................................................... 8
2.6 Using personal protective equipment .................................................................. 9
2.7 Notes on particular risks....................................................................................... 9
2.7.1 Variant gripping force maintenance ......................................................10
3 Warranty ................................................................................................................11
4 Scope of delivery ....................................................................................................12
5 Accessories .............................................................................................................13
5.1 Sensors ............................................................................................................... 13
6 Technical Data ........................................................................................................14
7 Assembly ................................................................................................................15
7.1 Mechanical connection ...................................................................................... 15
7.2 Air connection .................................................................................................... 16
7.3 Mounting the sensor .......................................................................................... 18
7.3.1 Magnetic switch MMS 30/S....................................................................18
7.3.2 Inductive proximity switch INW 80/S .....................................................19
7.3.3 Inductive proximity switch IN 5/S...........................................................22
7.3.4 Flexible Positioning sensor FPS onto the Type PFH 30 ...........................23
8 Troubleshooting .....................................................................................................24
8.1 Modul does not move?....................................................................................... 24
8.2 The module does not travel through the entire stroke? ....................................24
8.3 Module opens or closes abruptly? ..................................................................... 24
8.4 Gripping force is dropping.................................................................................. 24
8.5 Module does not achieve the opening and closing times? ...............................25
9 Maintenance ..........................................................................................................26
9.1 Notes .................................................................................................................. 26
9.2 Maintenance and lubrication intervals............................................................... 26
9.3 Lubricants/Lubrication points (basic lubrication) ..............................................26
9.4 Disassembly of the module ............................................................................... 27

Table of contents
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9.4.1 Version without gripping force maintenance device..............................27
9.4.2 Version with gripping force maintenance device for O.D. gripping .......27
9.4.3 Version with gripping force maintenance device for I.D. gripping .........28
9.5 Servicing the module.......................................................................................... 30
9.6 Assembling the module...................................................................................... 30
9.6.1 Mounting devices ...................................................................................32
9.6.2 Tightening torques for screws ................................................................32
10 Assembly drawing...................................................................................................33
11 Seal kit....................................................................................................................34
12 Accesories kit..........................................................................................................35
13 Translation of original declaration of incorporation ................................................36
14 Annex to Declaration of Incorporation....................................................................37

About this manual
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1 About this manual
This instruction is an integral part of the product and contains
important information for a safe and proper assembly,
commissioning, operation, maintenance and help for easier
trouble shooting.
Before using the product, read and note the instructions,
especially the chapter "Basic safety notes".
1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
1.2 Variants
This operating manual applies to the following variations:
• PFHwithout gripping force maintenance
• PFHwith gripping force maintenanceO.D. gripping
• PFHwith gripping force maintenanceI.D. gripping
• PFHHigh-temperature (HT)
1.3 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manual of the gripper *

About this manual
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The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com

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 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 [}7].
• Make sure that the product and the top jaws are a sufficient
size for the application.
• Ensure that maintenance and lubrication intervals are observed,
Maintenance [}26].
2.4 Product safety
Dangers arise from the product, if:
• the product is not used in accordance with its intended
purpose.
• the product is not installed or maintained properly.
• the safety and installation notes are not observed.
Avoid any manner of working that may interfere with the function
and operational safety of the product.
Wear protective equipment.

Basic safety notes
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NOTE
More information is contained in the relevant chapters.
2.5 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:
Trained electrician Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and
regulations.
Qualified personnel Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and
avoid possible dangers and knows the relevant standards and
regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.

Basic safety notes
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2.6 Using personal protective equipment
When using this product, observe the relevant industrial safety
regulations and use the personal protective equipment (PPE)
required!
• Use protective gloves, safety shoes and safety goggles..
• Observe safe distances.
2.7 Notes on particular risks
Generally valid:
• Remove the energy supplies before installation, modification,
maintenance, or adjustment work.
• Make sure that no residual energy remains in the system.
• Do not move parts by hand when the energy supply is
connected.
• Do not reach into the open mechanism or the movement area
of the module.
• Perform maintenance, modifications, and additions outside of
the danger zone.
• For all work, secure the unit against accidental operation.
• Take a precautionary approach by maintenance and
disassembly.
• Only specially trained staff should disassemble the module.
CAUTION
Possible risk of injury due to electrostatic energy!
Components or assembly groups may become electrostatically
charged. When touched, the electrostatic discharge can trigger a
startle response, which can result in injuries.
•The operator must ensure that all components and assembly
groups are included in the local equipotential bonding in line
with the applicable regulations.
NOTE
• The equipotential bonding must be installed by a specialist
electrician in line with the applicable regulations, paying
particular attention to the actual conditions in the working
environment.
• The effectiveness of the equipotential bonding must be verified
by a specialist electrician through regular safety measurements.

Basic safety notes
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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
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.
2.7.1 Variant gripping force maintenance
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
Risk of injury due to uncontrolled movements!
While disassembling uncontrolled movements of the gripper's in-
dividual parts of grippers with gripping force maintenance may
cause serious injuries.
•Switch off the energy supply.
•Ensure there is no residual energy in the system.
•Disassemble the gripper carefully.

Warranty
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3 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.

Scope of delivery
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4 Scope of delivery
The scope of delivery includes
• 2-Finger-Parallel-GripperPFHin the version ordered
• Enclosed pack

Accessories
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5 Accessories
A wide range of accessories are available for this product
• 2 Top jaws
• Sensors, if required , if required with extension cord Sensors
[}13]
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
5.1 Sensors
Overview of the compatible sensors
Designation Type
electronic Magnetic switch INS 30/S
Inductive proximity switches INW 80/S
Inductive proximity switches INK 120/S
Flexible Position Sensor FPS
• Exact type designation of the compatible sensors see catalog.
• Information on handling sensors is available at schunk.com or
from SCHUNK contact persons.

Technical Data
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6 Technical Data
Pressure medium Compressed air, compressed air
quality according to ISO
8573-1:7 4 4
Nominal working pressure [bar] 6
Min. pressure [bar]
without gripping force
maintenance
with gripping force maintenance
2
5
Max. pressure [bar]
without gripping force
maintenance
with gripping force maintenance
8
6,5
Min. ambient temperature [°C] -10
Max. ambient temperature [°C] 90
IP rating 41
Noise emission [dB(A)] ≤ 70
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Assembly
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7 Assembly
7.1 Mechanical connection
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
Mounting The product can be mounted from the bottom or on the side.
Greiferfixierung von
oben und unten
Ite
m
Designation PFH
30 40 50
1 Gripper fastening from the bottom
Max. screw-in depth [mm] 20 mm 20 mm 20 mm
2 Lateral gripper fastening
Max. screw-in depth [mm] 10 mm 14 mm 15 mm
3 Finger fastening
Max. screw-in depth [mm] 18 mm 20 mm 25 mm
4 Gripper fastening from the top - - -

Assembly
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The centering sleeves (5/6) which are required for fixing the
gripper, are always enclosed in the enclosed pack.
NOTICE
The gripper will be damaged if you exceed the maximum depth
of engagement for the mounting screws.
It is mandatory that you observe the maximum depths of
engagement for gripper attachment on base side.
7.2 Air connection
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 [}14].
• 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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Luftanschlüsse
Thread diameter of the air connections
Ite
m
Connection PFH 30 PFH 40 PFH 50
5 Hose connection
(A = open, B = close)
G 1/8“ G 1/8“ G 1/8“
6 Air purge connection M5 M5 M5
7 Hose-free direct connection at the base
(a = open, b = close)
M5 M5 M5
8 Hose-free direct connection at the side
(a = open, b = close)
M5 M5 M5
• Open only the air connections that are needed.
• Close unused main air connections using the screw plugs from
the enclosed pack.
• For a hose-free direction connection, use the O-rings from the
enclosed pack.

Assembly
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7.3 Mounting the sensor
NOTE
Observe the assembly and operating manual of the sensor for
mounting and connecting.
The product is prepared for the use of sensors.
• For the exact type designations of suitable sensors, please see
catalog datasheet and Link Übersicht Sensoren.
• For technical data for the suitable sensors, see assembly and
operating manual and catalog datasheet.
– The assembly and operating manual and catalog datasheet
are included in the scope of delivery for the sensors and are
available at schunk.com.
• Information on handling sensors is available at schunk.com or
from SCHUNK contact persons.
7.3.1 Magnetic switch MMS 30/S
brown
black
blue
load closer
NOTICE
The max. torque for the threaded pins is 30 Ncm.

Assembly
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Gripper open:
ØSwitch the gripper to the "open" position.
ØSlide the magnetic switch 1 (1) through the undercut (4) in the
T-Nut, until it contacts the cover plate (2).
ØSlide the magnetic switch slowly back again until it switches.
ØFix the magnetic switch in this position, by thightening the
setscrew in the T-nut until it jams.
ØControl function by closing and opening the gripper.
Gripper closed:
ØSwitch the gripper onto ”closed“ position.
ØSlide the magnetic switch 2 (3) through the undercut (4) in the
T-nut, until it contacts its first switching point.
ØFix the magnetic switch in this position, by thightening the
setscrew in the T-nut until it jams.
ØControl function by opening and closing the gripper.
Part gripped (O.D. gripping):
ØClamp the part to be gripped.
ØContinue as described under"Gripper closed" from point 2 to 4.
Part gripped (I.D. gripping)
ØClamp the part to be gripped.
ØContinue as described under"Gripper open" from point 2 to 4.
7.3.2 Inductive proximity switch INW 80/S
Connection example for IN 80
1 brown 2 black 3 blue
The inductive proximity switches used are equipped with reverse
polarity protection and are short-circuit-proof.
Make sure that you handle the proximity switches properly:

Assembly
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• Do not pull on the cable.
• Do not allow the sensor to dangle from the cable.
• Do not overtighten the mounting screw or mounting clip.
• Please adhere to a permitted bend radius of the cable. (☞
catalog)
• Avoid contact of the proximity switches with hard objects and
with chemicals, in particular nitric acid, chromic acid and
sulphuric acid.
The inductive proximity switches are electronic components,
which can react sensitively to high-frequency interference or
electromagnetic fields.
• Check to make sure that the cable is fastened and installed
correctly. Provide for sufficient clearance to sources of high-
frequency interference and their supply cables.
• Parallel switching of several sensor outputs of the same type
(npn, pnp) is permissible, but does not increase the permissible
load current.
• Note that the leakage current of the individual sensors (ca. 2
mA) is cumulative.
Assembly of the
proximity switch
NOTE
By moving laterally, the sensitivity of the switching point may be
adjusted more precise.