SCHUNK PGN-plus User instructions

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

Imprint
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09.00 | PGN-plus | Assembly and Operating Manual | en | 389296
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: 389296
Version: 09.00|29/08/2019|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.................................................................................................................... 6
1.1 About this manual ................................................................................................ 6
1.1.1 Presentation of Warning Labels ...............................................................6
1.1.2 Definition of Terms...................................................................................7
1.1.3 Applicable documents ..............................................................................7
1.1.4 Sizes ..........................................................................................................7
1.1.5 Variants.....................................................................................................7
1.2 Warranty .............................................................................................................. 8
1.3 Scope of delivery .................................................................................................. 8
1.4 Accessories ........................................................................................................... 9
2 Basic safety notes ..................................................................................................10
2.1 Intended use....................................................................................................... 10
2.2 Not intended use................................................................................................ 10
2.3 Constructional changes ...................................................................................... 10
2.4 Spare parts ......................................................................................................... 10
2.5 Gripper fingers ................................................................................................... 10
2.6 Ambient conditions and operating conditions ...................................................11
2.7 Personnel qualification....................................................................................... 11
2.8 Personal protective equipment.......................................................................... 12
2.9 Notes on safe operation .....................................................................................12
2.10 Transport ............................................................................................................ 13
2.11 Malfunctions....................................................................................................... 13
2.12 Disposal .............................................................................................................. 13
2.13 Fundamental dangers......................................................................................... 14
2.13.1 Protection during handling and assembly ..............................................14
2.13.2 Protection during commissioning and operation ...................................15
2.13.3 Protection against dangerous movements.............................................15
2.14 Notes on particular risks..................................................................................... 16
3 Technical data.........................................................................................................17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18

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5 Assembly ................................................................................................................19
5.1 Installing and connecting.................................................................................... 19
5.2 Connections........................................................................................................ 20
5.2.1 Mechanical connection...........................................................................20
5.2.2 Pneumatic connection............................................................................23
5.3 Mounting the sensor .......................................................................................... 24
5.3.1 Overview of sensors ...............................................................................25
5.3.2 Turn control cam ....................................................................................26
5.3.3 Switch-off hysteresis for magnetic switches ..........................................26
5.3.4 Setting dimensions for magnetic switches .............................................27
5.3.5 Mount the inductive proximity switch IN 80 ..........................................28
5.3.6 Mount the magnetic switch MMS 22 .....................................................30
5.3.7 Mount the programmable magnetic switch MMS 22-PI2 ......................31
5.3.8 Mount the programmable magnetic switch MMS 22-P 22 ....................32
5.3.9 Mount the programmable magnetic switch MMS 22-PI1 ......................33
5.3.10 Mounting the magnetic switch MMS 22-IOL..........................................35
5.3.11 Mount the analog magnetic switch MMS 22-A ......................................37
5.3.12 Mount the analog position sensor APS-Z80 ...........................................39
5.3.13 Mount the reed switch RMS 22..............................................................41
5.3.14 Mount the reed switch RMS 80..............................................................42
5.3.15 Mount the flexible position sensor FPS ..................................................44
5.3.16 Mount the analog position sensor APS-M1............................................45
5.3.17 Mount the force-measuring jaw FMS.....................................................47
5.3.18 Mount the optical distance sensor OAS .................................................48
5.3.19 Mount the radio system RSS-R1/T2........................................................48
6 Troubleshooting .....................................................................................................49
6.1 Product does not move ...................................................................................... 49
6.2 Product is not executing the complete stroke ................................................... 49
6.3 Product opens or closes abruptly ....................................................................... 49
6.4 Product does not achieve the opening and closing times..................................50
6.5 Gripping force is dropping.................................................................................. 50

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7 Maintenance ..........................................................................................................51
7.1 Notes .................................................................................................................. 51
7.2 Maintenance and lubrication intervals............................................................... 52
7.3 Lubricants/Lubrication points............................................................................. 52
7.4 Disassembling the product ................................................................................. 52
7.4.1 Variant without maintenance of gripping force .....................................52
7.4.2 Variant with maintenance of gripping force (O.D. gripping) ..................53
7.4.3 Variant with maintenance of gripping force (I.D. gripping)....................55
7.4.4 Variant with dust cover ..........................................................................55
7.4.5 Version with power booster cylinder (KVZ) without gripping force .......56
7.5 Servicing and assembling the product................................................................ 56
7.5.1 Variant without maintenance of gripping force .....................................56
7.5.2 Variant with maintenance of gripping force (O.D. gripping) ..................57
7.5.3 Variant with maintenance of gripping force (I.D. gripping)....................58
7.5.4 Variant with dust cover ..........................................................................58
7.5.5 Version with power booster cylinder (KVZ) without gripping force .......58
7.5.6 Screw tightening torques........................................................................58
7.6 Assembly device cylinder piston with gripping force maintenance ................... 59
7.6.1 Sizes 40-100 ..........................................................................................59
7.6.2 Sizes 125 - 380 ........................................................................................60
7.7 Drawings............................................................................................................. 61
7.7.1 Standard .................................................................................................62
7.7.2 Dust cover...............................................................................................63
7.7.3 Version with power booster cylinder ....................................................64
8 Translation of original declaration of incorporation ................................................65
9 Annex to Declaration of Incorporation....................................................................66

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 [}7] 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.
CAUTION
Material damage!
Information about avoiding material damage.

General
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1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
1.1.3 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• For ATEX versions: Supplementary sheet "Installation and
operating instructions - EX" *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.4 Sizes
This operating manual applies to the following sizes:
• PGN-plus 40
• PGN-plus 50
• PGN-plus 64
• PGN-plus 80
• PGN-plus 100
• PGN-plus 125
• PGN-plus 160
• PGN-plus 200
• PGN-plus 240
• PGN-plus 300
• PGN-plus 380
1.1.5 Variants
This operating manual applies to the following variations:
• PGN-plus stroke 1
• PGN-plus stroke 2
• PGN-plus with gripping force maintenance "O.D. gripping" (AS)
• PGN-plus with gripping force maintenance "I.D. gripping" (IS)
• PGN-plus dust-tight (SD)
• PGN-plus high-temperature (V/HT)
• PGN-plus force intensification (KVZ)
• PGN-plus anti-corrosion (K)
• PGN-plus precision (P)
• PGN-plus ATEX (EX)

General
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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 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 PGN-plus in the version ordered
• Accessory pack
Content of the accessory pack:
• 6 x Centering sleeves for mounting
• 2 x O-ring for hose-free direct connection
• 2 x screw plug for hose connection
ID.-No. of the accessory pack
Size ID number
PGN-plus PGN-plus V/HT
PGN-plus 40 5518410 395518410
PGN-plus 50 5512043 395512043
PGN-plus 64 5512044 395512044
PGN-plus 80 5512045 395512045
PGN-plus 100 5512046 395512046
PGN-plus 125 5512047 395512047
PGN-plus 160 5512048 395512048
PGN-plus 200 5512049 395512049
PGN-plus 240 5513858 395513858
PGN-plus 300 5512050 395512050
PGN-plus 380 5515137 395515137

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.
ID.-No. of the seal kit
Size ID number
PGN-plus PGN-plus-V/HT PGN-plus-SD PGN-plus-KVZ
PGN-plus 40 5516793 395516793 5518709 -
PGN-plus 50 0370891 0370940 5518710 5515863
PGN-plus 64 0370892 0370908 5518711 5515864
PGN-plus 80 0370893 0370941 5518712 5515865
PGN-plus 100 0370894 0370942 5518713 5515866
PGN-plus 125 0370895 0370926 5518714 5515867
PGN-plus 160 0370896 0370922 5518715 5515868
PGN-plus 200 0370897 0370939 5518716 5520936
PGN-plus 240 0370987 0370988 5518717 -
PGN-plus 300 0370898 0370943 5518718 -
PGN-plus 380 0370989 0370990 5518719 -

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 [}17].
• 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 accord-
ance 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 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 for the gripper fingers
Stored energy within the product creates the risk of serious
injuries and significant property damage.
• Arrange the gripper fingers in a way that the product reaches
either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy
remains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.

Basic safety notes
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2.6 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}17].
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
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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 environ-
mental protection regulations regarding the product's applica-
tion field.

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 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.

Basic safety notes
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2.13 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
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.
2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
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.

Basic safety notes
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2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy
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.

Basic safety notes
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2.14 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
•Stand clear of suspended loads and do not step within their
swiveling range.
•Never move loads without supervision.
•Do not leave suspended loads unattended.
•Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
•Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during the base jaw procedure and
when breaking or loosening the gripper fingers.
•Wear suitable protective equipment.
•Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.

Technical data
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3 Technical data
Designation PGN-plus
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
with maintenance of gripping force
2.5
4
Max. pressure [bar]
without gripping force maintenance
with gripping force maintenance
Force intensified version (KVZ)
8
6.5
6
Pressure range for air purge [bar] 0.5 - 1
More technical data is included in the catalog data sheet.
Whichever is the latest version.
Ambient conditions and operating conditions
Designation PGN-plus
Ambient temperature [°C]
min.
max.
+5
+90 / (V/HT: +130)
Protection class IP * 40 / (SD: 64)
Noise emission [dB(A)] ≤ 70
* For use in dirty ambient conditions (e.g. sprayed water, vapors,
abrasion or processing dust) SCHUNK offers corresponding
product options as standard. SCHUNK also offers customized
solutions for special applications in dirty ambient conditions.

Design and description
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4 Design and description
4.1 Design
2-Finger Parallel Gripper
1 Air purge connection
2 Base jaw
3 Compressed air main connection
4 Groove for magnetic switch
5 Housing
4.2 Description
Universal 2-finger parallel gripper with large gripping force and
high maximum moments thanks to multi-tooth guidance.

Assembly
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5 Assembly
5.1 Installing and connecting
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.
CAUTION
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.
ØCheck the eveness of the mounting surface,
Mechanical connection [}20].
ØConnect product via the hose-free direct connection,
Pneumatic connection [}23].
ØOR: Connect supply lines to the main air connections A and B,
Pneumatic connection [}23].
✓Unscrew locking screws.
✓Screw air connections.
✓OR: Screw throttle valve in order to be able to carry out
sufficient throttling and/or dampening.
ØScrew the product to the machine/system,
Mechanical connection [}20].
✓Use suitable connecting elements (adapter plates) if
necessary.
✓Observe permissible depth of engagement and if required
strength class.
ØConnect air purge connection if necessary.
ØConnect the sensor, see sensor assembly and operating manual.
ØInstalling the sensor, Mounting the sensor [}24].

Assembly
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Dust-tight (SD) NOTE
In order to achieve perfect functioning of the gripper, the set-
screw of the air purge connection must be removed and replaced
with a pneumatic connection when using the dust-tight variant
(SD). SCHUNK recommends using the air purge connection within
the scope of the technical data, Technical data [}17].
5.2 Connections
5.2.1 Mechanical connection
DANGER
Danger of explosion in explosion risk areas!
•Follow the instructions in supplementary sheet "Installation
and operating instructions - EX" for modules in explosion-
resistant versions (EX)!
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
Connections at the
base jaws
Connections at the base jaws