SCHUNK PGM 29 User instructions

Translation of the original manual
Assembly and Operating Manual
PGM 29 - 140
2-Finger Parallel Gripper

Imprint
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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: 389284
Version: 04.00|05/02/2019|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 General.................................................................................................................... 4
1.1 About this manual ................................................................................................ 4
1.1.1 Presentation of Warning Labels ...............................................................4
1.1.2 Applicable documents ..............................................................................5
1.2 Warranty .............................................................................................................. 5
1.3 Scope of delivery .................................................................................................. 5
1.3.1 Accessories pack.......................................................................................5
1.4 Accessories ........................................................................................................... 5
2 Basic safety notes ................................................................................................... 6
2.1 Intended use......................................................................................................... 6
2.2 Not intended use.................................................................................................. 6
2.3 Environmental and operating conditions ............................................................. 6
2.4 Product safety ...................................................................................................... 7
2.5 Personnel qualification......................................................................................... 7
2.6 Using personal protective equipment ..................................................................8
2.7 Notes on particular risks....................................................................................... 8
3 Technical data.........................................................................................................10
4 Assembly ................................................................................................................11
4.1 Mechanical connection ...................................................................................... 11
4.2 Air connection .................................................................................................... 12
4.3 Mounting the sensor ..........................................................................................13
4.3.1 Proximity switch IN 40 / 80.....................................................................13
4.3.2 Programmable magnetic switch (MMS-P)..............................................16
5 Troubleshooting .....................................................................................................21
5.1 Product is not moving......................................................................................... 21
5.2 The module does not travel through the entire stroke? ....................................21
5.3 Product opens or closes abruptly .......................................................................21
5.4 Gripping force is dropping.................................................................................. 22
5.5 Product does not achieve the opening and closing times.................................. 22
6 Maintenance ..........................................................................................................23
6.1 Notes .................................................................................................................. 23
6.2 Maintenance and lubrication intervals............................................................... 23
6.3 Lubricants/Lubrication points (basic lubrication) ..............................................23
6.4 Servicing the module.......................................................................................... 23
7 Translation of original declaration of incorporation ................................................24
8 Annex to Declaration of Incorporation....................................................................25

General
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1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under
Applicable documents [}5] 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
1.2 Warranty
If the product is used as intended, the warranty is valid for 24
months from the ex-works delivery date under the following
conditions:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• 2-Finger Parallel Gripper PGM in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.3.1 Accessories pack
Content of the accessory pack:
• 6 x Centering sleeves for mounting
ID.-No. of the accessory pack
Accessory pack for ID number
PGM 29 5516094
PGM 38 5516095
PGM 50 5516096
PGM 60 5516097
PGM 82 5516098
PGM 96 5516099
PGM 120 5516100
PGM 140 5516101
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.

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 [}10].
• 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 [}6].
• 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 [}23].

Basic safety notes
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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.
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.

Basic safety notes
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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.
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.

Technical data
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3 Technical data
Size 29 38 50 60 82 96 120 140
Weight [kg] 0.025 0.050 0.105 0.210 0.60 0.84 1.26 2.55
Max. permissible finger length [mm] 15 25 40 50 65 80 110 140
Max. permitted weight per top jaw
[kg]
0.010 0.017 0.035 0.070 0.17 0.28 0.58 1.0
Min. ambient temperature [°C] - 10
Max. ambient temperature [°C] + 90
Stroke per jaw [mm] 2 3 4 5 10 12 12 15
Closing force [N] 30 47 75 190 320 540 760 1180
Opening force [N] 40 63 95 210 350 580 810 1250
IP rating 30
Noise emission [dB(A)] ≤ 70
Pressure medium Compressed air, compressed air quality according
to ISO 8573-1:7 4 4
Min. pressure [bar] 2
Max. pressure [bar] 8
Nominal working pressure [bar] 6
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Assembly
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4 Assembly
4.1 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 module can be mounted from the side and rear.
Assembly options
Mounting material (provided by customer)
Item Mounting 29 38 50 60 82 96 120 140
1 Rear
module
M3
4.5 deep
- - - - - - M6
10
deep
2 Rear
module
M2.5
4.5 deep
M3
7 deep
M4
10 deep
M6
10
deep
M6
11
deep
M8
12
deep
3 Module on
the side
- M2.5 M4 M6 M8
4 Top jaws M3
4 deep
M3
7.5 deep
M4
8 deep
M4
10
deep
M6
10
deep
M4
11
deep
M4
12
deep
NOTE
• The centering sleeves needed for centering are supplied in the
accessory pack.
• For mounting from the rear or side fix the module on the
proposed fixing bores with centering sleeves.
• Mount the module using the mounting bores.
• Mount the top jaws using the mounting bores.

Assembly
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4.2 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 [}10].
• 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.
Luftanschlüsse
Thread diameter of the air connections
Item Connection 26 38 50 60 82 96 120 140
1 Hose connection
(A = AUF, B = ZU)
M3 M5 G 1/8"
• 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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4.3 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.
4.3.1 Proximity switch IN 40 / 80
Connection example for IN 80
1 brown 2 black 3 blue
4
25

Assembly
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brown
black
blue
load closer
Types that can be ordered (☞ catalog):
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:
• 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 (approx.
2 mA) is cumulative.

Assembly
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Assembly of the
proximity switch
The switching points of the "open" and "closed" position were set
at the factory by SCHUNK.
NOTICE
The sensor may become damaged then the gripper os operated.
Observe the steps for mounting the sensor.
Gripper open:
ØSet the gripper in position "open".
ØCarefully push proximity switch 1 (1) into the bracket (3) until it
touches the base jaq (5).
ØPull proximity switch 1 (1) back again by approx. 0.5mm.
ØFasten the proximity switch by tightening the screw (4). Tighten
the screw (4) with max. 30Ncm.
ØTest the function by closing the gripper and then opening it
again.
Gripper closed:
ØSet the gripper in position "closed".
ØCarefully push proximity switch 2 (2) into the bracket (3) until it
touches the base jaw (5).
ØPull proximity switch 2 (2) back again by approx. 0.5mm.
ØFasten the proximity switch by tightening the screw (4). Tighten
the screw (4) with max. 30Ncm.
ØTest the function by closing the gripper and then opening it
again.

Assembly
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4.3.2 Programmable magnetic switch (MMS-P)
Magnetic switch MMS-P 22
1 Mounting screw 4 Teach-button
2 Center sensor elements 5 LED display
3 LED display 6 Ribs for cable tires
brown
white
black
blue
Connection diagram PNP-4 conductor (MMS-P 22)
Types available for order (see catalog):
• MMS-P 22-S-M8-PNP
• MMSK-P 22-S-PNP
• V2-M8-4-2XM8-3
The MMSK-P 22-S-PNP features a cable with open strands so that
it can be connected via terminal contacts.
The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin
connector plug of the MMS-P 22-S-M8-PNP sensor to two
standard M8 plugs with 3 pins each.
Mounting of the
sensor
NOTICE
Sensor can be damaged during assembly.
•Do not exceed the maximum tightening torque of 10 Ncm for
the set screws!

Assembly
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NOTE
Ferromagnetic material changes the switching positions of the
sensor (e.g. Adapter plate made of ordinary steel).
For ferromagnetic adapter plates:
• The module must be first mounted on the adapter plate.
• Then, the position of the magnetic switchs has to be set.
ØSlide or turn in the magnetic switch (1) into the groove until it
bears against the stop (2) (if available).
ØIf there is no terminal stop, then slide the magnetic switch
according to dimension l2 (bottom edge of gripper up to front
side of sensor) or according to dimension l1 (bottom edge of
gripper up to double arrow on sensor) and then clamp with the
mounting screw.
Type Maß l1Maß l2
PGM 60 23.9 32.8
PGM 82 21.3 30.2
PGM 96 27.4 36.3
PGM 120 26.9 35.8
PGM 140 34.2 43.1

Assembly
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ØTo relieve the cable, the electronics have to be fixed in place
using cable ties (7).
There are ribs (6) in place on the electronics for mounting
purposes.
ØTurn in the sensor (1 - 4).
OR
Push the sensor axially into the slot until it contacts the stop (5).
ØFix the sensor with an Allen wrench (6).
ØKeep the Teach-Button (4) pressed for 2 seconds.
✓After 2 seconds flashing LED 1 (3).
ØMove the gripper into position 1 (e.g. "0 - position").
ØPress the Teach-Button (4) briefly.
✓LED 1 (3) lights up and LED 2 (5) is flashing.
ØMove the gripper manually into position 2 (e.g. "-2mm").
✓LED 1 (3) should turn out as soon as the switching point 1 is
left.
ØPress the Teach-Button (4) briefly.
✓LED 2 (5) lights up.
✔The switching points are set.

Assembly
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Adjusting the
hysteresis
The hysteresis to both switching points will be adjusted
automatically corresponding to the characteristics of the magnetic
field.
The user can set the switching and trigging points of each position
a little bit closer than for the automatic mode. The trigging point is
closer to the switching point. At the same time the susceptibility to
trouble and damage increases. In the mode of the lowest
hysteresis, an error signal (such as jitter or untimely switch off) can
be avoided, if the sensor is protected against all types of
disturbances (i.e. by shielding). Frequent types of disturbances are
change in temperature and electro-magnetic influences.
Within the closest fine-teach mode, SCHUNK cannot guarantee
EMC-compatibility any more.
The hysteresis adjustment is used for the manual adjustment of
the switching points (if necessary).
In case that the hysteresis automatically determined by the sensor
should be too high or too low after “the adjustment of the
switching points”, you may correct the value as follows.
The sensor avoids a too small hysteresis during hysteresis
adjustment.
Sensors MMS 22, MMS-P 22, MMS 22-PI1 and MMS 22-PI2
The smallest detectable difference in stroke is defined in the
following table:
The smallest detectable difference in stroke based on the nominal stroke
For grippers with X mm
nominal stroke per jaw
Min. query range per jaw/
min. queried stroke difference per jaw
X ≤ 5 mm 30% of the nominal stroke per jaw
X > 5 mm to X ≤ 10 mm 20% of the nominal stroke per jaw
X > 10 mm 10% of the nominal stroke per jaw
Example: Product with 7 mm nominal stroke per jaw
7 mm * 20% = 1.4 mm

Assembly
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ØPress the Teach-button (4) for 5 seconds.
✓LED 1 (3) will flash up after 2 seconds.
✓LED 1 will stop after 5 seconds.
ØRelease the Teach-button.
ØPut the gripper to position "switch-off point of switching point
1".
ØPress the Teach-Button (4) briefly. LED 1 (3) will light up twice.
ØPut the gripper to position "switch-off point of switching point
2".
ØPress the Teach-Button (4) briefly.
✓LED 1 (3) will light up twice.
✔The mounting of the sensor MMS-P is completed.