SCHUNK PGL-plus-P 10 User instructions

Translation of the original manual
Assembly- and Operating Manual
PGL-plus-P ASC/ISC
2-Finger Parallel Gripper
mit zertifizierter Grreifkafterhaltung

Imprint
2 02.00 | PGL-plus-P ASC/ISC | Assembly- and Operating Manual | en | 1511189
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: 1511189
Version: 02.00|26/10/2022|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 Definition of Terms...................................................................................5
1.1.3 Symbol definition......................................................................................6
1.1.4 Applicable documents ..............................................................................6
1.1.5 Sizes ..........................................................................................................6
1.1.6 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 7
1.3 Scope of delivery .................................................................................................. 7
1.4 Accessories ........................................................................................................... 8
1.4.1 Spare parts packages................................................................................8
2 Basic safety notes ................................................................................................... 9
2.1 Intended use......................................................................................................... 9
2.2 Obligations of the operator/integrator ............................................................. 10
2.2.1 SAC - Safety Applications Conditions......................................................10
2.2.2 Permitted HRC applications....................................................................12
2.3 Constructional changes ...................................................................................... 13
2.4 Spare parts ......................................................................................................... 13
2.5 Gripper fingers ................................................................................................... 13
2.6 Ambient conditions and operating conditions ...................................................13
2.7 Personnel qualification....................................................................................... 14
2.8 Personal protective equipment.......................................................................... 15
2.9 Notes on safe operation ..................................................................................... 15
2.10 Transport ............................................................................................................ 16
2.11 Malfunctions....................................................................................................... 16
2.12 Fundamental dangers......................................................................................... 16
2.12.1 Protection during handling and assembly ..............................................17
2.12.2 Protection during commissioning and operation ...................................17
2.12.3 Protection against dangerous movements.............................................18
2.13 Notes on particular risks..................................................................................... 18
3 Technical data.........................................................................................................20
4 Design and description............................................................................................23
4.1 Design ................................................................................................................. 23
4.1.1 Variant IOL structure ..............................................................................24
4.2 Description ......................................................................................................... 25
5 Assembly and settings ............................................................................................26
5.1 Safety.................................................................................................................. 26
5.2 Installing and connecting.................................................................................... 27
5.3 Connections........................................................................................................ 28
5.3.1 Mechanical connection...........................................................................28
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Table of Contents
5.3.2 Pneumatic connection............................................................................31
5.3.3 Electrical connection - IOL variant..........................................................37
5.4 Attaching additional structure............................................................................ 38
5.5 Mounting the sensor .......................................................................................... 40
5.5.1 Overview of sensors ...............................................................................40
5.5.2 Setting dimensions for magnetic switches .............................................41
5.5.3 Switch-off hysteresis for magnetic switches ..........................................43
5.5.4 Mounting inductive proximity switch IN ................................................44
5.5.5 Mounting MMS 22 magnetic switch.......................................................46
5.5.6 Mounting programmable MMS 22-PI2 magnetic switch........................47
5.5.7 Mounting MMS 22-PI1 programmable magnetic switch........................48
5.5.8 Mounting the magnetic switch MMS 22-IOL..........................................50
5.5.9 Mounting analog MMS 22-A magnetic switch .......................................51
6 Troubleshooting .....................................................................................................52
6.1 Product does not move ...................................................................................... 52
6.2 Product is not executing the complete stroke ................................................... 52
6.3 Product opens or closes abruptly ....................................................................... 52
6.4 Product does not achieve the opening and closing times..................................53
6.5 Gripping force is dropping.................................................................................. 53
6.6 Variant IOL.......................................................................................................... 54
6.6.1 No communication with the product (LED is flashing or does not light up) . 54
6.6.2 Faults that are displayed via LED status .................................................54
7 Maintenance ..........................................................................................................55
7.1 Safety.................................................................................................................. 55
7.2 Maintenance intervals........................................................................................ 56
7.3 Lubricants/Lubrication points (basic lubrication) .............................................. 57
7.4 Replace seals ..................................................................................................... 57
7.5 Changing the sensor (for IOL variant)................................................................. 58
8 Disassembly and disposal........................................................................................59
9 Translation of original declaration of incorporation ................................................60
10 UKCA declaration of incorporation..........................................................................61
11 Annex on declaration of incorporation....................................................................62
12 EU-Declaration of Conformity .................................................................................65
13 UKCA Declaration of Conformity .............................................................................66
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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.
In addition to these instructions, the documents listed
under }1.1.4 [/6] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
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.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
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General
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1.1.3 Symbol definition
The following symbols are used in this manual:
■Prerequisite for an action
1. Action 1
2. Action 2
✓Intermediate results
✔Final results
}1.1.3 [/6]: chapter number and [page number] in hyperlinks
1.1.4 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• For variant with integrated sensor system (IOL): Software
Manual "PGL-plus-P with Integrated Sensor System, IO-Link
Protocol"*
• DGUV certificate HM 220107 *
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.5 Sizes
This operating manual applies to the following sizes:
• PGL-plus-P 10
• PGL-plus-P 13
• PGL-plus-P 16
• PGL-plus-P 20
• PGL-plus-P 25
1.1.6 Variants
This operating manual applies to the following variations:
• PGL-plus-P with safe, certified GripGuard gripping force
maintenance "O.D. gripping" (ASC)
• PGL-plus-P with safe, certified GripGuard gripping force
maintenance "I.D. gripping" (ISC)
• PGL-plus-P precision (P)
• PGL-plus-P with integrated sensor system (IOL)
NOTE
Variants without safe, certified gripping force maintenance are
described in a separate manual. This can be downloaded from
schunk.com.

General
1.2 Warranty
If the product is used as intended, the warranty is valid for 36
months from the ex-works delivery date under the following
conditions:
• Observe the ambient conditions and operating
conditions, }2.6 [/13]
• Observe the specified maintenance intervals, }7 [/55]
Parts touching the workpiece and wear parts are not included in
the warranty.
Designation PGL-plus-P ASC / ISC
Warranty duration [months] 36
or maximum cycles [mil.]* 30
safe, certified gripping force
maintenance -
maximum cycles [mil.]**
1
* A cycle consists of a complete gripping process: "Open gripper"
and "Close gripper".
** Cycle of safe gripping force maintenance, determined according
to DINENISO 13849-2-2020. Safe gripping force maintenance is
only triggered in the event of a pressure drop and is not active
during every regular gripping process.
1.3 Scope of delivery
The scope of delivery includes
• 2-Finger Parallel Gripper PGL-plus-P in the version ordered
• Accessory pack
Content of the accessory pack:
• 2x centering sleeves for gripper fastening
• 2x locking screw
• 3 x O-ring for hose-free direct connection
ID.-No. of the accessory pack
Size ID number
PGL-plus-P 10 1505890
PGL-plus-P 13 1505891
PGL-plus-P 16 1505892
PGL-plus-P 20 1505894
PGL-plus-P 25 1505895
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General
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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 Spare parts packages
Spare parts packages allow for the maintenance and repair of
individual components. For information on the range of the spare
parts packages, see www.schunk.com > Service.
The following spare parts packages are available for this product:
• Spare part package "IO-Link sensor"
ID. No. spare part kit "IO-Link sensor"
Size ID number
PGL-plus-P 10 1524550
PGL-plus-P 13 1524554
PGL-plus-P 16 1524561
PGL-plus-P 20 1524563
PGL-plus-P 25 1524564

Basic safety notes
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, }3 [/20].
• The product is intended for installation in a machine/automated
system. The applicable guidelines for the machine/automated
system must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
Its use outside enclosed spaces is only permitted if suitable
protective measures are taken against outdoor exposure. The
product is not suitable for use in salty air.
• The product can be used within the permissible load limits and
technical data for holding workpieces during simple machining
operations, but is not a clamping device according to EN
1550:1997+A1:2008.
• The use of the product in HRC applications (human/robot
collaboration) is permitted according to defined
applications, }2.2.2 [/12].
• Appropriate use of the product includes compliance with all
instructions in this manual.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
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Basic safety notes
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2.2 Obligations of the operator/integrator
The operator / integrator must ensure that:
• the product is only used as intended,
• the product is only operated in an impeccable, functional
condition and is regularly inspected to make sure it is working
properly,
• the operating manual is always available in a legible condition
and in its entirety at the machine's application location
• only sufficiently qualified and authorized personnel operate and
maintain the product,
• this personnel is regularly trained in all relevant questions
relating to operational safety and environmental protection,
and is familiar with the operating manual, particularly the safety
information contained therein.
• 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.
2.2.1 SAC - Safety Applications Conditions
In particular, the operator / integrator must ensure that the
following requirements and instructions for safe operation with a
robot are met.
NOTE
Safety is only guaranteed if the following safety application
conditions (SAC) are met.
Alternatively, the integrator/operator can implement their own
risk-reducing measures and evaluate them as part of their risk
analysis. Implementation of a risk analysis is vital in any event.
The following SACs are divided into general SAC-Gs and product-
specific SAC-Ps.
•SAC-Gs refer to the interface of the product to or on the overall
system. Since the configuration of the overall SCHUNK system is
not known, these SAC-Gs are usually provided as a
recommendation.
SAC-Gs that are not indicated below as a recommendation,
must be followed or replaced by equivalent risk-mitigating
measures.
•SAC-Ps refer to the product PGL-plus-P and must be complied
with or replaced by equivalent risk-mitigating measures.

Basic safety notes
SAC Content
SAC-04-G Personnel should wear tight-fitting clothing. Wear long hair in a hairnet
to protect it from getting caught in moving parts.
⇨For additional information, see chapter:
}2.8 [/15]
SAC-05-G The integrator must ensure that the safety of the robot system is
verified in accordance with the standards/sections of standards
applicable to the defined application.
SAC-10-G The integrator must ensure that the product is only used within the
scope of its technical data.
⇨For additional information, see chapter:
}3 [/20]
}2.6 [/13]
}2.9 [/15]
SAC-11-G Robots should be equipped with a visual display that indicates when
the robot is in collaborative operation mode.
SAC-12-G The integrator must carefully observe the shape of the workpiece,
gripping force, alignment when the workpiece is gripped, travel height,
path and speed of the product in order to minimize the risk of
workpiece loss.
SAC-13-G If there is a risk of the mounting screws/connection of the gripper
loosening due to vibration, additional precautions must be taken, e.g.
self-locking screws, spring washer or similar.
SAC-03-P Only clean and decommission the product when it is switched off.
⇨For additional information, see chapter:
}5.1 [/26]
}8 [/59]
SAC-05-P Any accidental, unnecessary or unintentional activation of the product
must be prevented.
⇨For additional information, see chapter:
}2.12.1 [/17]
}2.12.3 [/18]
SAC-10-P The product may become damaged if in contact with acidic or alkaline
substances.
⇨For additional information, see chapter:
}2.6 [/13]
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Basic safety notes
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2.2.2 Permitted HRC applications
Protective
fence
Protective
fence with
opening
Coexistenc
e
Cooperatio
n
(no danger
of
crushing)*
Cooperatio
n
(danger of
crushing)*
*
Collaborati
on
Application
life phase
operation
PGL-plus-
PASC/ISC
* Actuation of the gripper outside the danger zone, e.g. two-hand control
** Actuation of the gripper in the danger zone, additional sensor system/safety function
required
Application permitted
Application not permitted

Basic safety notes
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.
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, }3 [/20].
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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 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
2.12.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• 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
precautions 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
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.12.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
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Basic safety notes
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2.12.3 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.
• 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 Notes on particular risks
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 from crushing and impacts!
Serious injury could occur during movement of the base jaw, due
to breakage or loosening of the gripper fingers or if the
workpiece is lost.
•Take suitable protective measures to secure the danger zone.

Basic safety notes
WARNING
Risk of injury due to magnetic fields in the immediate vicinity!
In case of exposure to magnetic fields, the product may
malfunction. Workpieces may fall down or be ejected and cause
severe injuries.
•Adequately shield magnetic fields in the immediate vicinity of
the product, so that exact limits according to ENIEC61000 are
not exceeded.
•Make sure that the product is prevented from malfunctioning.
WARNING
Risk of burns through contact with hot surfaces!
Surfaces of components can heat up severely during operation.
Skin contact with hot surfaces causes severe burns to the skin.
•For all work in the vicinity of hot surfaces, wear safety gloves.
•Before carrying out any work, make sure that all surfaces have
cooled down to the ambient temperature.
CAUTION
Risk of injury due to collision with the product and workpiece!
Moving components on the end effector or on external axes can
cause injuries.
•Wear suitable protective equipment.
•Keep a sufficient distance from moving components.
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Technical data
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3 Technical data
Connection data
Designation PGL-plus-P ASC / ISC
Variant 4 bar Variant 6 bar
Pressure medium Compressed air, compressed air
quality according to ISO 8573-1:
7:4:4
Nominal operating pressure [bar] 4 6
Minimum pressure [bar] 3.5 5.5
Maximum pressure [bar] 6.5 6.5
Pressure range for air purge [bar] 0.5 – 1
Ambient conditions and operating conditions
Designation PGL-plus-P ASC / ISC
Ambient temperature [°C]:
• Min. 5
• Max. 90
• Max. - with integrated sensor
system (IOL)
70
Protection class IP * 64
Noise emission [dB(A)] ≤70
Performance level** PLd, Cat3
* The product achieves protection class IP67 through use of an
air purge.
** Definition according to DIN EN ISO 13849-1: Discrete level
that specifies the ability of safety-related parts of a control
system to perform a safety function under foreseeable
conditions.