SCHUNK PZB-plus User instructions

Translation of the original manual
3-Finger-Centric Gripper
PZB-plus
Assembly- and Operating Manual
Superior Clamping and Gripping
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Imprint
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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: 0389366
Edition: 06.00 |10/04/2015|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 Using personal protective equipment...................................................................... 9
2.7 Notes on particular risks........................................................................................... 9
2.7.1 Variant gripping force maintenance .......................................................... 10
3 Warranty................................................................................................................. 11
4 Scope of delivery ..................................................................................................... 12
5 Accessories.............................................................................................................. 12
5.1 Sensors.................................................................................................................... 12
6 Technical data ......................................................................................................... 13
7 Assembly................................................................................................................. 14
7.1 Mechanical connection .......................................................................................... 14
7.2 Mounting of the gripper by using a spring loaded pressure-piece........................ 16
7.3 air connections ....................................................................................................... 17
7.4 Sensors.................................................................................................................... 18
7.4.1 Inductive proximity switch IN 80 ................................................................ 18
7.4.2 Magnetic switch MMS 22 / RMS 22............................................................ 21
7.4.3 Programmable magnetic switch (MMS-P).................................................. 23
7.4.4 Flexible position sensor FPS........................................................................ 28
8 Trouble shooting ..................................................................................................... 29
8.1 Module does not move? ........................................................................................ 29
8.2 The module does not travel through the entire stroke? ....................................... 29
8.3 Module opens or closes abruptly? ......................................................................... 30
8.4 The gripping force drops? ...................................................................................... 30
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Table of contents
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8.5 Module does not achieve the opening and closing times? ................................... 30
9 Maintenance and care ............................................................................................. 31
9.1 Notes....................................................................................................................... 31
9.2 Maintenance and lubrication intervals .................................................................. 31
9.3 Lubricants/Lubrication points ................................................................................ 32
9.4 Disassembly of the module ................................................................................... 32
9.4.1 Version without gripping force maintenance............................................. 32
9.4.2 Version with gripping force maintenance "I.D. gripping"........................... 33
9.4.3 Version with gripping force maintenance I.D. ............................................ 34
9.5 Servicing and assembling the module.................................................................... 35
9.5.1 Screw tightening torques............................................................................ 35
10 Assembly drawing ................................................................................................... 36
11 Sealing kit................................................................................................................ 37
12 Accessories kit......................................................................................................... 38
13 Translation of original declaration of incorporation................................................. 39
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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.
1
1.1
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About this manual
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Variants
This operating manual applies for the following variations
•PZB-plus without gripping force maintenance
•PZB-plus with gripping force maintenance "O.D. gripping"
•PZB-plus with gripping force maintenance "I.D. gripping"
•PZB-plus 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 (6, Page 13).
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 31).
•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
Using personal protective equipment
When using this product, observe the relevant industrial safety
regulations and use the personal protective equipment (PPE) re-
quired!
•Use protective gloves, safety shoes and safety goggles..
•Observe safe distances.
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 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.
•Secure the product during all operations against uncontrolled
activation.
•Take a precautionary approach by maintenance and disassembly.
•Only specially trained staff should disassemble the product.
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!
Variant gripping force maintenance
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can, dur-
ing energy supply failure, still move independently in the direc-
tion specified by the mechanical gripping force maintenance.
•Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Risk of injury due to residual energy in the gripper because of
gripping force maintenance by springs!
2.7.1
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Warranty
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11
Warranty
If the product is used as intended, the warranty is valid for 36
months from the date of delivery from the production facility un-
der the following conditions:
•Observe the applicable documents (1.3, Page 6)
•Observance of the ambient conditions and operating conditions
(2.3, Page 7)
•Observe the mandatory maintenance and lubrication
intervals.(9, Page 31)
Parts touching the work piece and wearing parts are not part of
the warranty.
3
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Accessories
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Scope of delivery
The scope of delivery includes
•3-Finger-Centric Gripper PZB-plus 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
Magnetic switch MMS
Magnetic switch RMS
Programmable magnetic switch MMS-P
Position monitoring FPS
Position monitoring APS
•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.
4
5
5.1
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Technical data
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13
Technical data
Pressure medium Compressed air, compressed
air quality according to
ISO 8573-1:7 4 4
Min. pressure [bar]
without gripping force maintenance
with gripping force maintenance
2.0
4.0
Max. pressure [bar]
without gripping force maintenance
with gripping force maintenance
8.0
6.5
Pressure range for sealed air 0.5 - 1
Min. ambient temperature [°C] - 10
max. ambient temperature [°C] + 90
Noise emission [dB(A)] ≤ 70
IP rating 40
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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Assembly
Mechanical connection
WARNING
Risk of injury when the machine/system moves unexpectedly!
Switch off power supply.
The values relate to the entire bolting surface.
Requirements for levelness of the bolting surface (Dimensions in mm)
Diameter Permissible unevenness
< 100 < 0.02
> 100 < 0.05
The module can be mounted from the front or the rear.
Assembly options
The centring sleeves (55) and cylindrical pin (56) are included in
the accessories kit.
7
7.1
Check the evenness
of the bolting surface
Mounting
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Assembly
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Mounting material
Item Mounting PZB-plus
50 64 80 100 125 160 200 240 300
1 Thread diameter a for
gripper fastening from
the front
M3 M5 M6 M6 M8 M8 M10 M12 M16
2 Thread diameter and
Max. depth of engage-
ment for finger fastening
M2,5
6
deep
M3
8
deep
M4
10
deep
M5
10
deep
M6
13
deep
M6
13
deep
M12
16
deep
M12
20
deep
M16
28
deep
3 Thread diameter and max. depth of engagement for rear mounting
without gripping force
maintenance
M4
10
deep
M6
14
deep
M8
16
deep
M8
18
deep
M10
18
deep
M10
18
deep
M12
25
deep
- -
with gripping force main-
tenance(AS / IS)
M4
20
deep
M6
26
deep
M8
32
deep
M8
38
deep
M10
45
deep
M10
46
deep
M12
60
deep
- -
NOTE
•When mounting from the back, fasten the module by means of
the provided fixing bore.
•Fasten the module using the provided mounting holes.
•Fasten the top jaws using the provided mounting holes.
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Assembly
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Mounting of the gripper by using a spring loaded pressure-
piece
CAUTION
The spring-loaded pressure piece is under spring tension.
The pressure piece can fly out in an uncontrolled fashion and
cause contusions.
•During assembly or disassembly, be especially careful with the
springs.
When mounting the gripper from the side of the gripper fingers,
the assembly of the pressure piece must be done after the mount-
ing of the gripper.
Mounting the pressure piece is described in the insert "Installation
instructions - pressure piece", which is included in the pressure
piece's scope of delivery.
7.2
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Assembly
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17
air connections
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
(6, Page 13).
air connections
Thread diameter of the air connections
Item Connection PZB-plus
50 64 80 100 125 160 200 240 300
1 Hose connection
(A= open, B = closed)
2x
M5
2x
G1/8"
2x
G1/4"
2 Air purge connection M5
3 Hose-free direct connection
(a= open, b = closed)
2x
M3
2 x
M4
2 x
M5
2 x
M4
2 x
M5
2 x
M8
7.3
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Assembly
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Sensors
The module is prepared for a number of sensors. Other sensors
can be used with a mounting kit.
•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).
Inductive proximity switch IN 80
Connection example for IN 80
1 brown 2 black 3 blue
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.
7.4
7.4.1
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Assembly
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19
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
(approx. 2 mA) is cumulative.
NOTICE
Blockade of the gripper after setting or replacing of the switch-
ing cam!
The switching cam can be tilt in the guide, if it was not fixed ex-
actly in the base jaw.
•Apply the switching cam in the direction of the base jaw, so
that the cam does not contact the housing of the gripper.
The switching points of the “open” and “closed” position were set
at the factory by SCHUNK.
Gripper open:
1 Push the proximity switch 1 (14) to the stop in the bracket (17)
2 Fasten the proximity switch by tightening the screw (13).
3 Set the gripper to the »Open« Position and test the function.
Mounting of the
proximity switch
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Assembly
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Gripper closed:
1 Push the proximity switch 2 (15) in the bracket (17) to the stop.
2 Fasten the proximity switch by tightening the screw (13).
3 Set the gripper to the »Closed« position and test the function.
Part gripped (O.D. gripping):
1 Push the proximity switch 2 (15) to the stop in the bracket (17)
2 Fasten the proximity switch by tightening the screw (13).
3 Clamp the part to be gripped.
4 Unscrew the screw (42).
5 Move the position of the switching cam (15) by turning the
screw (43). The switching cam (15) must be moved outward
until the proximity switch is no longer actuated.
6 Move the switching cam (15) inward again until the proximity
switch starts to switch.
7 Secure this switching point by tightening the screw (42).
8 Test the function by opening the gripper and then closing it again.
Part gripped (I.D. gripping):
1 Push the proximity switch 1 (14) to the stop in the bracket (17).
2 Fasten the proximity switch by tightening the screw (17).
3 Clamp the part to be gripped.
4 Untighten the screw (42). In case of versions with dust cover,
the set-screws from the lateral cover have to be removed so
that the screws (6, 7) can be adjusted.
5 Move the position of the switching cam (15) by turning the
screw (43). The switching cam (15) must be moved outward
until the proximity switch is no longer actuated.
6 Move the switching cam (15) inward again until the proximity
switch starts to switch.
7 Secure this switching point by tightening the screw (42).
8 Test the function by opening the gripper and then closing it
again.
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