SCHUNK PWG 65 User instructions

Translation of the original operating manual
2-finger angular gripper
PWG
Assembly and operating manual
Superior Clamping and Gripping
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Imprint
2 03.03|PWG |en
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely
supplied to our customers and operators of our products and forms part of the product.
This documentation may not be duplicated or made accessible to third parties, in particu-
lar competitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389355
Edition: 03.03 |29/04/2015|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear customer,
congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for
the highest precision, top quality and best service.
You are going to increase the process reliability of your production and achieve best
machining results – to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time – even after purchase.
Kindest Regards
Yours SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
www.schunk.com
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Table of contents
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3
Table of contents
1 About this manual .................................................................................................... 5
1.1 Warnings................................................................................................................... 5
1.2 Variants..................................................................................................................... 6
1.3 Applicable documents .............................................................................................. 6
2 Basic safety notes .................................................................................................... 7
2.1 Intended use............................................................................................................. 7
2.2 Not intended use ...................................................................................................... 7
2.3 Environmental and operating conditions................................................................. 7
2.4 Product safety........................................................................................................... 8
2.4.1 Protective equipment ................................................................................... 8
2.4.2 Demands on the top jaws ............................................................................. 8
2.4.3 Constructional changes, attachments, or modifications.............................. 8
2.5 Personnel qualification............................................................................................. 8
2.6 The use of personal protective equipment.............................................................. 9
2.7 Notes on particular risks........................................................................................... 9
3 Warranty................................................................................................................. 11
4 Scope of delivery ..................................................................................................... 11
5 Accessories.............................................................................................................. 11
5.1 Sensors.................................................................................................................... 11
6 Technical data ......................................................................................................... 12
7 Assembly................................................................................................................. 13
7.1 Mounting the gripper ............................................................................................. 13
7.2 Mounting options on the gripper........................................................................... 13
7.3 Air connection ........................................................................................................ 14
7.4 Sensors.................................................................................................................... 15
7.4.1 IN inductive proximity switch ..................................................................... 15
7.4.2 FPS - S13 ...................................................................................................... 18
8 Trouble shooting ..................................................................................................... 19
8.1 Module does not move? ........................................................................................ 19
8.2 The module does not travel through the entire stroke? ....................................... 19
8.3 The gripping force drops? ...................................................................................... 19
9 Maintenance and care ............................................................................................. 20
9.1 Notes....................................................................................................................... 20
9.2 Maintenance and lubrication intervals .................................................................. 20
9.3 Lubricants/Lubrication points (basic lubrication) ................................................. 20
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Table of contents
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9.4 Disassembly of the module ................................................................................... 20
9.5 Servicing and assembling the module.................................................................... 21
10 Assembly drawing ................................................................................................... 22
11 Sealing kit................................................................................................................ 24
12 Accessories kit......................................................................................................... 25
13 Mounting kit for proximity switch ........................................................................... 26
14 Translation of original declaration of incorporation................................................. 27
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About this manual
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5
About this manual
This instruction is an integral part of the product and contains im-
portant information for a safe and proper assembly, commission-
ing, operation, maintenance and help for easier trouble shooting.
Before using the product, read and note the instructions, especial-
ly the chapter "Basic safety notes".
Warnings
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons.
Non-compliance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons.
Ignoring a safety note like this 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.
WARNING
Warning about hand injuries
1
1.1
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About this manual
6 03.03|PWG |en
Variants
This operating manual applies for the following variations
•PWG - F (finger version)
•PWG - F (finger version) High-temperature version (HT)
•PWG - B (jaw version)
•PWG - B (jaw version) High-temperature version (HT)
Applicable documents
•General terms of business
•Catalog data sheet of the purchased product
•Assembly and Operating manuals of the accessories
The documents listed here, can be downloaded on our homepage
www.schunk.com
1.2
1.3
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Basic safety notes
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7
Basic safety notes
Intended use
The product was designed to grip and to temporarily and securely
hold workpieces and objects.
The product is intended for installation in a machine/system. The
requirements of the applicable guidelines must be observed and
complied with.
The product may be used only in the context of its defined applica-
tion parameters Link Technische Daten.
SCHUNK assumes that application in question was tested with the
calculation program for gripping modules (SSG).
The product is designed for industrial use.
To use this unit as intended, it is also essential to observe the
technical data and installation and operation notes in this manual
and to comply with the maintenance intervals.
Not intended use
Use which is not specified as an intended use is for instance when
the product is for example used as a pressing tool, stamping tool,
lifting tool, guide for tools, cutting tool, tensioning mean, boring
tool.
Environmental and operating conditions
•Make sure that the product and the top jaws are a sufficient
size for the application.
•Observe Maintenance and lubrication intervals (9.2, Page 20).
•Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated en-
vironments.
2
2.1
2.2
2.3
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Basic safety notes
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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 are contained in the relevant chapters.
Protective equipment
Provide protective equipment per EC Machinery Directive.
Demands on the top jaws
Arrange the top jaws such that when the product is depressurized
it can reach one of the end positions either open or closed and
therefore no residual energy can be released when changing the
top jaws.
Constructional changes, attachments, or modifications
Additional drill holes, threads, or attachments that are not offered
as accessories by SCHUNK may be attached only with permission
of SCHUNK.
Personnel qualification
The assembly, initial commissioning, maintenance, and repair of
the product may be performed only by trained specialist person-
nel. Every person called upon by the operator to work on the
product must have read and understood the complete assembly
and operating manual, especially the chapter "Basic safety notes"
(2, Page 7). This applies particularly to personnel only used oc-
casionally, such as maintenance personnel.
2.4
2.4.1
2.4.2
2.4.3
2.5
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Basic safety notes
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9
The use of personal protective equipment
When installing or removing the product, observe the relevant health
and safety at work rules and use the required personal protective
equipment (protective gloves, safety boots and safety goggles).
Notes on particular risks
The general rule is:
•Remove the energy supplies before installation, modification,
maintenance, or adjustment work.
•Ensure that no residual energy remains in the system.
•Do not move parts by hand when the energy supply is con-
nected.
•Do not reach into the open mechanism or the movement area
of the unit.
•Perform maintenance, modifications, and additions outside the
danger zone.
•For all work, secure the product against accidental operation.
•Take particular care during maintenance and disassembly.
•Only qualified personnel may disassemble the product.
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 partic-
ular attention to the actual conditions in the working environ-
ment.
•
The effectiveness of the equipotential bonding must be verified
by a specialist electrician through regular safety measurements.
2.6
2.7
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Basic safety notes
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WARNING
Risk of injury due to squeezing and bumping during movement of
the gripper jaws and breaking or loosening of the gripper fingers !
WARNING
Risk of injury from objects falling and being ejected
•The danger zone must be surrounded by a safety fence during
operation.
WARNING
While disassembling uncontrollable moves of parts of the grip-
per possible!
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Accessories
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11
Warranty
If the product is used as intended, the warranty is valid for 24
months from the date of delivery from the production facility un-
der the following conditions:
•Intended use in 1-shift operation
•Observe the mandatory maintenance and lubrication intervals
•Observe the environmental and operating conditions
Parts touching the work piece and wear parts are not part of the
warranty.
If necessary, check the application with the calculation program
for gripping modules (SSG).
Scope of delivery
The scope of delivery includes
•2-finger angular gripper PWG in the ordered model.
•Accessory pack
Accessories
A wide range of accessories is available for this module.
For information about which accessories can be used with the ap-
propriate product version ☞catalog.
Sensors
Overview of the compatible sensors
Designation Type
Inductive proximity switches IN
Position monitoring FPS
•Exact type designation of the compatible sensors see ☞catalog.
•If you require information on sensor operation, contact your
SCHUNK contact person or download information from our
homepage. www.schunk.com
•For mounting the sensors, mounting kits are partly necessary.
3
4
5
5.1
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Technical data
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Technical data
Size PWG 65 PWG 90 PWG
130
PWG
170
PWG
230
Closing torque [Nm] 6.44 35.69 125.4 324.9 934.2
Closing moment produced by spring [Nm] 1.7 9 34.2 80.4 237.6
Recommended workpiece weight [kg] 0.8 3.3 8 15.7 35.8
Air consumption per double stroke [cm3] 8 35 120 320 860
Pressure medium Compressed air, compressed air quality
according to ISO 8573-1:7 4 4
Nominal working pressure [bar]
Min. pressure [bar]
Max. pressure [bar]
6
4
8
Max. permissible finger length [mm] 60 80 125 160 200
Max. permitted weight per finger [kg] 0.15 0.5 1 2.5 4
IP rating 20
Min. ambient temperature [°C]
Max. ambient temperature [°C]
-10
90
Noise emission [dB(A)] ≤ 70
More technical data are included in the catalog data sheet. Whi-
chever is the latest version.
6
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Assembly
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13
Assembly
Mounting the gripper
The gripper can be fastened on the side, on the finger side and on
the bottom.
Screws are included in the accessory pack for lateral and finger-
side mounting.
Centering is performed by means of centering sleeves, which are
also included in the accessory pack.
Mounting options on the gripper
The plate (6) can be removed to mount a shaft support, workpiece
centering device or the like (10, Page 22).
Connection dimensions for threads and centering devices ☞catalog.
7
7.1
7.2
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Assembly
14 03.03|PWG |en
Air connection
WARNING
Warning: Risk of injury when the machine/system moves unex-
pectedly!
Remove the energy supplies before starting with assembly and
adjustments.
Make sure that no residual energy remains in the system.
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.
NOTICE
Observe the requirements for the air supply
Link Technische Daten.
1 Main connections
(A= open, B = closed)
2 Direct connection for air purge
(a= open, b = closed)
7.3
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Assembly
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15
•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.
Sensors
•If you require further information on sensor operation, contact
your SCHUNK contact person or download information from
our homepage.
•Technical data for the sensors can be found in the data sheets
(included in the scope of delivery).
IN inductive proximity switch
IN 60 inductive proximity switch
IN 80 inductive proximity switch
IN 120 inductive proximity switch
7.4
7.4.1
PWG 65
PWG 90 - 230
Optional for PWG 130
-
230
Switching function:
drawn in undam-
pened condition
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Assembly
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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 sul-
phuric acid.
The inductive proximity switches are electronic components,
which can react sensitively to high-frequency interference or elec-
tromagnetic fields.
•Check to make sure that the cable is fastened and installed cor-
rectly. Provide for sufficient clearance to sources of high-
frequency interference and their supply cables.
•Parallel switching of several sensor outputs of the same type
(npn, pnp) is permissible, but does not increase the permissible
load current.
•Note that the leakage current of the individual sensors (ca. 2 mA)
is cumulative.
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Assembly
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17
Assembly and adjustment of the proximity switches
A Proximity switch
A Proximity switch
PWG 65
PWG 90 -
130
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Assembly
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Gripper closed:
1 Set the gripper to »CLOSED« position.
2 Loosen the screw (29) and turn the switching lug (9) so that it
faces towards the proximity switch.
3 Re-tighten the screw (29).
4 For PWG 65 (INW 60): Carefully push the proximity switch into
the bracket (10) until it touches the switching lug. Then pull
back the proximity switch approx. 0.5 mm.
For PWG 90 - 230: Carefully push the proximity switch up to
the back stop in the bracket (10). The switching distance can
be varied as required by loosening the screws (26).
5 Mount the proximity switch with the attachment screw (27).
Max. tightening torque of 100 Ncm.
6 Connect the proximity switch.
7 Test the function by opening and closing the fingers.
Gripper open:
1 Set the gripper to »OPEN« position.
2 Mount the other proximity switch as described in points 2) to 7).
FPS - S13
The FPS sensor is screwed directly onto the housing.
Use the M2.5 x 8 screws from the accessory pack for this purpose.
7.4.2
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Trouble shooting
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19
Trouble shooting
Module does not move?
Possible cause Corrective action
Pressure drops below minimum. Check the air supply.
(
7.3, Page 14)
Compressed air lines switched Check compressed air lines.
(
7.3, Page 14)
Proximity switch defective or set incorrect. Repair the proximity switch.
Unused air connections not closed. Close the unused air connections.
Flow control valve closed. Open the flow control valve.
Component is broken, e.g. through over-
loading
Replace component or send the module
with a repair order to SCHUNK. Ensure that
the module was only used within its defined
application parameters.
The module does not travel through the entire stroke?
Pressure drops below minimum. Check the air supply.
(
7.3, Page 14)
The gripping force drops?
Possible cause Corrective action
Compressed air can escape Check seals, if necessary disassemble mod-
ule and replace seals.
Too much grease in the mechanical motion
spaces of the module
Clean the module and relubricate it.
(
9, Page 20)
Pressure drops below minimum. Check the air supply.
(7.3, Page 14)
8
8.1
8.2
8.3
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Maintenance and care
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Maintenance and care
Notes
Original spare parts
When replacing damaged parts (wearing parts/spare parts) only
use SCHUNK original spares.
Maintenance and lubrication intervals
NOTICE
At ambient temperature above 60°C the lubricants can
harden faster.
•Interval decrease accordingly.
Maintenance- and lubrication interval
Interval [Mio. cycles] 2
Lubricants/Lubrication points (basic lubrication)
We recommend the lubricants listed.
During maintenance, treat all greased areas with lubricant. Thinly
apply lubricant with a lint-free cloth.
Lubricant point Lubricant
Metallic sliding surfaces microGLEIT GP 360
All seals Renolit HLT 2
Bores on the piston Renolit HLT 2
Disassembly of the module
Position of the position numbers (10, Page 22)
WARNING
Risk of injury due to spring forces!
The lid is under spring tension.
Carefully disassemble the module.
9
9.1
9.2
9.3
9.4
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