SCHUNK PGL-plus-P User instructions

Translation of the original manual
Assembly- and Operating Manual
PGL-plus-P
2-Finger Parallel Gripper

Imprint
2 02.00 | PGL-plus-P | Assembly- and Operating Manual | en | 1508050
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: 1508050
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 Constructional changes ........................................................................................ 9
2.3 Spare parts ........................................................................................................... 9
2.4 Gripper fingers ................................................................................................... 10
2.5 Ambient conditions and operating conditions ...................................................10
2.6 Personnel qualification....................................................................................... 11
2.7 Personal protective equipment.......................................................................... 12
2.8 Notes on safe operation ..................................................................................... 12
2.9 Transport ............................................................................................................ 13
2.10 Malfunctions....................................................................................................... 13
2.11 Fundamental dangers......................................................................................... 13
2.11.1 Protection during handling and assembly ..............................................14
2.11.2 Protection during commissioning and operation ...................................14
2.11.3 Protection against dangerous movements.............................................14
2.12 Notes on particular risks..................................................................................... 15
3 Technical data.........................................................................................................16
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.1.1 Variant IOL structure ..............................................................................19
4.2 Description ......................................................................................................... 20
5 Assembly and settings ............................................................................................21
5.1 Safety.................................................................................................................. 21
5.2 Installing and connecting.................................................................................... 22
5.3 Connections........................................................................................................ 23
5.3.1 Mechanical connection...........................................................................23
5.3.2 Pneumatic connection............................................................................25
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Table of Contents
5.3.3 Electrical connection - IOL variant..........................................................27
5.4 Attaching additional structure............................................................................ 28
5.5 Mounting the sensor .......................................................................................... 30
5.5.1 Overview of sensors ...............................................................................30
5.5.2 Setting dimensions for magnetic switches .............................................31
5.5.3 Switch-off hysteresis for magnetic switches ..........................................33
5.5.4 Mounting inductive proximity switch IN ................................................34
5.5.5 Mounting MMS 22 magnetic switch.......................................................36
5.5.6 Mounting programmable MMS 22-PI2 magnetic switch........................37
5.5.7 Mounting MMS 22-PI1 programmable magnetic switch........................38
5.5.8 Mounting the magnetic switch MMS 22-IOL..........................................40
5.5.9 Mounting analog MMS 22-A magnetic switch .......................................41
6 Troubleshooting .....................................................................................................42
6.1 Product does not move ...................................................................................... 42
6.2 Product is not executing the complete stroke ................................................... 42
6.3 Product opens or closes abruptly ....................................................................... 42
6.4 Product does not achieve the opening and closing times..................................43
6.5 Gripping force is dropping.................................................................................. 43
6.6 Variant IOL.......................................................................................................... 44
6.6.1 No communication with the product (LED is flashing or does not light up) . 44
6.6.2 Faults that are displayed via LED status .................................................44
7 Maintenance ..........................................................................................................45
7.1 Safety.................................................................................................................. 45
7.2 Maintenance intervals........................................................................................ 46
7.3 Lubricants/Lubrication points (basic lubrication) .............................................. 47
7.4 Replace seals ..................................................................................................... 48
7.4.1 Changing seals(variant without gripping force maintenance)...............48
7.4.2 Changing seals (variant with "O.D. gripping" gripping force maintenance).....50
7.4.3 Changing seals (variant with "I.D. gripping" gripping force maintenance) ... 52
7.5 Changing the sensor (for IOL variant)................................................................. 55
7.6 Tightening torques ............................................................................................. 56
7.7 Assembly drawing............................................................................................... 57
8 Disassembly and disposal........................................................................................60
9 Translation of original declaration of incorporation ................................................61
10 UKCA declaration of incorporation..........................................................................62
11 Annex to Declaration of Incorporation....................................................................63
12 EU-Declaration of Conformity .................................................................................66
13 UKCA Declaration of Conformity .............................................................................67
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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"*
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
• PGL-plus-P with gripping force maintenance "O.D. gripping" (AS)
• PGL-plus-P with gripping force maintenance "I.D. gripping" (IS)
• PGL-plus-P high-temperature (V)
• PGL-plus-P precision (P)
• PGL-plus-P with integrated sensor system (IOL)
NOTE
Variants with safe, certified gripping force maintenance (ASC and
ISC) 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, }2.5 [/10]
• Observe the specified maintenance intervals, }7 [/45]
Parts touching the workpiece and wear parts are not included in
the warranty.
Designation PGL-plus-P
Warranty duration [months] 36
or maximum cycles [mil.]* 30
* A cycle consists of a complete gripping process: "Open gripper"
and "Close gripper".
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 10-V 1510679
PGL-plus-P 13 1505891
PGL-plus-P 13-V 1510690
PGL-plus-P 16 1505892
PGL-plus-P 16-V 1510691
PGL-plus-P 20 1505894
PGL-plus-P 20-V 1510692
PGL-plus-P 25 1505895
PGL-plus-P 25-V 1510693
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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 "Sealing kit"
• Spare part package "IO-Link sensor"
ID. No. spare part kit "Seal kit"
Size ID number
PGL-plus-P 10 1504656
PGL-plus-P 10-V 1510567
PGL-plus-P 13 1504658
PGL-plus-P 13-V 1510669
PGL-plus-P 16 1504659
PGL-plus-P 16-V 1510703
PGL-plus-P 20 1504660
PGL-plus-P 20-V 1510717
PGL-plus-P 25 1504661
PGL-plus-P 25-V 1510720
Contents of the spare parts package, }7.7 [/57].
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 [/16].
• 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.
• 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.
2.2 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.
2.3 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.
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Basic safety notes
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2.4 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.
2.5 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 [/16].

Basic safety notes
2.6 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.
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Basic safety notes
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2.7 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.
2.8 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.

Basic safety notes
2.9 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.
2.10 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.
2.11 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.
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Basic safety notes
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2.11.1 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.
2.11.2 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.
2.11.3 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

Basic safety notes
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.
2.12 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.
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.
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Technical data
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3 Technical data
Connection data
Designation PGL-plus-P
Pressure medium Compressed air, compressed air
quality according to
ISO 8573-1: 7:4:4
Nominal operating pressure [bar] 6
Minimum pressure [bar]:
• without maintenance of
gripping force
2.5
• with maintenance of gripping
force AS/IS
4
Maximum pressure [bar]:
• without maintenance of
gripping force
8
• with maintenance of gripping
force AS / IS
6.5
Pressure range for air purge [bar] 0.5 – 1
Ambient conditions and operating conditions
Designation PGL-plus-P
Ambient temperature [°C]:
• Min. 5
• Max. 90
• Max. - high-temperature (V)** 130
• Max. - with integrated sensor
system (IOL)
70
Protection class IP * 64
Noise emission [dB(A)] ≤70
* The product achieves protection class IP67 through use of an
air purge.
** The product is suitable for gripping hot objects and for
temporary use at higher ambient temperatures.
Avoid heating the product up to the specified maximum
ambient temperature by taking appropriate protective
measures, otherwise this can lead to increased wear and
reduce the service life. Contact SCHUNK about selecting
possible protective measures.

Technical data
Connection data of the integrated IO-Link sensor (variant IOL)
Designation PGL-plus-P-IOL
Nominal voltage [VDC] 24
• Min. 18
• Max. 30
Residual ripple supply voltage
[% Vss]
≤ 2
Nominal current [mA] ≤ 200
Short circuit protection yes
Inverse-polarity protection yes
Material, sensor housing PBT GF15 / stainless steel 430 f
Material, active sensor surface PBT GF20
Cable connector M8 connector, 4-pin
Specification: V1.1
Transmission rate COM2
Port ClassA
Protection class IP, Sensor 67
Protection class, sensor 3
Ambient temperature [°C]
• Min. Sensor -25
• Min. Product 5
• Max. Sensor, Product 70
Max. Linearity deviation from
the final value [%]
1.5*
Resolution [mm] 0.025*
Detectable workpiece difference
[mm]
0.1*
Max. Temperature error from
the final value [%]
3*
Response time / typ. Switching
time / cycle time [ms]
2.7
* Values apply at nominal operating pressure (6bar), room
temperature (23°C), gripping height at point "P" (see catalog)
and when operating without air purge. Deviations may occur
with other parameters.
More technical data is included in the catalog data sheet.
Whichever is the latest version.
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Design and description
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4 Design and description
4.1 Design
2-Finger Parallel Gripper
1 Housing
2 Base jaw
3 Compressed air main connection
4 Air purge connection
5 Groove for magnetic switch

Design and description
4.1.1 Variant IOL structure
2-Finger Parallel Gripper- IOL
1 Housing
2 Base jaw
3 LED display
4 Connecting plug
5 Compressed air main connection
6 Air purge connection
LED display
Display 2-Finger Parallel Gripper- IOL
LED Designa-
tion
Color Status Mode
SIO * IOL**
1 COM | S1 Green/
Orange
Off Voltage supply
polarity is reversed
or not in the valid
range.
Voltage supply po-
larity is reversed or
not in the valid
range.
On (Orange) Sensor output S1=1
On (Green) Sensor is ready for
operation.
Sensor output S1=0
IO-Link
communication not
active.
Flashing (Green),
100ms off, 90ms on
IO-Link
communication
active.
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Design and description
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LED Designa-
tion
Color Status Mode
SIO * IOL**
2 STATUS |
S2
Green/
Orange
Off Sensor output S2=0 Sensor is ready for
operation
On (Orange) Sensor output S2=1 Error. Error message
sent via IO-Link.
* SIO mode for operation without IO-Link master
** IO-Link mode for operation without IO-Link master
NOTE
For more information, see Software Manual "PGL-plus-P with
Integrated Sensor System, IO-Link Protocol".
4.2 Description
Universal 2-finger parallel gripper with a large jaw stroke,
integrated sensor system and high maximum moments due to use
of a multi-tooth guidance.