SCHUNK PZN-plus User instructions

Translation of the original manual
3-Finger Centric Gripper
PZN-plus
Assembly and Operating Manual
03.01/3-Finger Centric Gripper PZN-plus/en

Translation of the original manual
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 unit. This
documentation may not be duplicated or made accessible to third parties, in particular
competitive companies, without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389374
Edition: 03.01 / 27/07/2012 / en
© SCHUNK GmbH & Co. KG, Lauffen/Neckar
All rights reserved
Dear customer,
congratulation 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
Precision Workholding Systems
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
www.schunk.com
03.01/3-Finger Centric Gripper PZN-plus/en

Table of contents
03.01/3-Finger Centric Gripper PZN-plus/en 3
Table of contents
1 About this manual .................................................................................................... 5
1.1 Warnings................................................................................................................... 5
1.1.1 Signal words .................................................................................................. 5
1.1.2 Symbols ......................................................................................................... 5
1.2 Varianten .................................................................................................................. 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 ..................................................................................................... 11
5 Accessories ............................................................................................................. 12
5.1 Sensors.................................................................................................................... 12
6 Technical Data ........................................................................................................ 13
7 Assembly................................................................................................................. 15
7.1 Mechanical connection .......................................................................................... 15
7.1.1 Fastening of the gripper.............................................................................. 15
7.1.2 Fastening the gripper with spring-loaded pressure piece.......................... 17
7.2 Air connection ....................................................................................................... 18
7.3 Sensors.................................................................................................................... 20
7.3.1 Inductive proximity switch IN 80 ................................................................ 20
7.3.2 Magnetic switch MMS 22 / RMS 22............................................................ 23
7.3.3 Programmable magnetic switch (MMS-P) ................................................. 26
7.3.4 FPS flexible position sensor ........................................................................ 31

Table of contents
4 03.01/3-Finger Centric Gripper PZN-plus/en
8 Troubleshooting ...................................................................................................... 33
8.1 Modul does not move? .......................................................................................... 33
8.2 The module does not travel through the entire stroke? ....................................... 33
8.3 Module opens or closes abruptly? ......................................................................... 34
8.4 The gripping force drops? ...................................................................................... 34
8.5 Module does not achieve the opening and closing times? ................................... 35
9 Maintenance and care ............................................................................................. 36
9.1 Notes....................................................................................................................... 36
9.2 Maintenance and lubrication intervals ................................................................. 36
9.3 Lubricants/Lubrication points (basic lubrication) ................................................. 37
9.4 Disassembly of the module ................................................................................... 37
9.4.1 Variant with dust cover............................................................................... 37
9.4.2 Version without gripping force maintenance ............................................ 38
9.4.3 Version with gripping force maintenance O.D. ......................................... 39
9.4.4 Version with gripping force maintenance I.D. ........................................... 40
9.4.5 Variant with power booster cylinder (KVZ) ................................................ 41
9.5 Servicing and assembling the module ................................................................... 42
9.5.1 Assembly mounting device ......................................................................... 43
9.5.2 mounting device - gripping force maintenance.......................................... 45
9.5.3 Assembly option HUE “protective cover”................................................... 47
9.5.4 Increasing the IP protection class through use of the HUE “protective
sleeve”......................................................................................................... 48
9.5.5 Screw tightening torques ........................................................................... 49
10 Assembly drawing ................................................................................................... 50
10.1 Variant without dust cover..................................................................................... 50
10.2 Assembly of the dust cover .................................................................................... 51
10.3 Assembling the power booster cylinder ................................................................ 52
10.4 Assembly of the protective cover .......................................................................... 53
11 Sealing kit................................................................................................................ 54
12 Accessories kit......................................................................................................... 55
13 Translation of original EC declaration of incorporation ............................................ 56

About this manual
03.01/3-Finger Centric Gripper PZN-plus/en 5
About this manual
This instruction is an integral part of the product and contains im-
portant information for a safe and proper assembly, commissioning,
operation, maintenance and helps for an easier trouble shooting.
Before using the product, read and note the instruction, especially
the chapter "Basic safety notes".
Warnings
The following signal words and symbols are used to highlight dan-
gers.
Signal words
DANGER Dangers for persons.
Non-compliance will inevitably cause irreversible injury or death.
WARNING Dangers for persons.
Non-compliance may cause irreversible injury or death.
CAUTION Dangers for persons.
Non-observance may cause minor injuries.
CAUTION Information about avoiding material damage
Symbols
Warning about a danger point
Warning about hot surfaces
Warning about dangerous electrical voltage
Warning about hand injuries
General mandatory sign to prevent material damage
1
1.1
1.1.1
1.1.2

About this manual
6 03.01/3-Finger Centric Gripper PZN-plus/en
Variants
This operating manual applies for the following variations
•PZN-plus without gripping force maintenance device
•PZN-plus with gripping force maintenance device "O.D. gripping"
•PZN-plus with gripping force maintenance device "I.D. gripping"
•PZN-plus Force intensified version
•PZN-plus dust protection version
•PZN-plus ATEX-Version (EX)
•PZN-plus Anti-corrosion version
•PZN-plus Precision version
Applicable documents
•General terms of business
•SCHUNK catalogue gripping modules
•Supplementary sheet "Installation and operating instructions - EX"
•Assembly and Operating Manuals for sensors
•Calculation program for gripping modules (SSG)
The documents listed up here, can be download on our homepage
www.schunk.com.
1.2
1.3

Basic safety notes
03.01/3-Finger Centric Gripper PZN-plus/en 7
Basic safety notes
Intended use
The module was designed to grip and to temporarily and securely
hold workpieces and objects.
The module is intended for installation in a machine/system. The
requirements of the applicable guidelines must be observed and
complied with.
The module may be used only in the context of its defined applica-
tion parameters(6, Page 13).
SCHUNK assumes that application in question was tested with the
calculation program for gripping modules (SSG).
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
It is not an intended use if the module is used, for example, as a
pressing tool, stamping tool, lifting gear, guide for tools, cutting
tool, clamping device or a drilling tool.
Environmental and operating conditions
•Make sure that the module and the top jaws are a sufficient
size for the application.
•Make sure that the environment is clean and the ambient tem-
perature corresponds to the specifications per the catalog.
Maintenance and lubrication intervals (9.2, Page 36).
•Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Excepted
are modules that are designed especially for contaminated en-
vironments.
2
2.1
2.2
2.3

Basic safety notes
8 03.01/3-Finger Centric Gripper PZN-plus/en
Product safety
Dangers arise from the module, if e.g.:
•the module is not used in accordance with its intended purpose.
•the module 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 module.
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 module 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 module may be performed only by trained specialist person-
nel. Every person called upon by the operator to work on the
module must have read and unterstood 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

Basic safety notes
03.01/3-Finger Centric Gripper PZN-plus/en 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.
•Minimal safety requirements for the use of equipment.
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 module.
•Perform maintenance, modifications, and additions outside the
danger zone.
•For all work, secure the unit against accidental operation.
•Take a precautionary approach by maintenance and disassem-
bly.
•Only specially trained staff should disassemble the module.
WARNING
Risk of injury from objects falling and being ejected
Avoidance: The danger zone must be surrounded by a safety
fence during operation.
WARNING
While disassembling uncontrollable moves of parts of the grip-
per possible!
2.6
2.7

Basic safety notes
10 03.01/3-Finger Centric Gripper PZN-plus/en
Variant gripping force maintenance
WARNING
Risk of injury from objects falling during energy supply failure
Modules 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.
Avoidance: Secure the end positions of the module 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

Scope of delivery
03.01/3-Finger Centric Gripper PZN-plus/en 11
Warranty
The warranty is valid for 36 months from the delivery date to the
production facility under the following conditions:
•Intented use in 1-shift operation
•Observation of the maintenance and lubrication intervals
•Observation of the ambient conditions and operating condi-
tions
Parts touching the workpiece and wearing 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:
•3-Finger-Centric gripper PZN-plus in the ordered model.
•accessory pack
3
4

Accessories
12 03.01/3-Finger Centric Gripper PZN-plus/en
Accessories
A wide range of accessories is available for this module.
To get information about which accessories can be used with the
appropriate product variant, ☞catalog.
Sensors
Designation Type
Inductive proximity switches IN
Magnetic switch MMS
Magnetic switch RMS
Position monitoring FPS
Programmable magnetic switch MMS-P
Overview of the compativle sensors
•Exact type designation of the compatible sensors see ☞catalog
•If you require further information on sensor operation, contact
your SCHUNK contact person or download information from
our homepage.
•For mounting the sensors, mounting kits are partly necessary.
5
5.1

Technical Data
03.01/3-Finger Centric Gripper PZN-plus/en 13
Technical Data
Further technical data can be found in our catalog. The most re-
cent version applies.
size PZN-plus 40 50 64 80 100
Stroke per jaw [mm]
Stroke 1
Stroke 2
2.5 4
2
6
3
8
4
10
5
Weight [kg]
without gripping force maintenance
with gripping force maintenance device
0.13
0.15
0.27
0.35
0.43
0.54
0.79
0.96
1.41
1.95
Weight [kg]
Force intensified version
without gripping force maintenance
with gripping force maintenance device
0.19
0.21
0.38
0.46
0.7
0.8
1.2
1.4
2.3
2.7
Weight [kg]
Dust protection version
without gripping force maintenance
with gripping force maintenance device
0.16
0.18
0.33
0.41
0.6
0.71
1.0
1.17
1.9
2.44
recommended workpiece weight [kg]
Stroke 1
Stroke 2
1.3
1.3
1.65
3.4
2.9
4.85
5.0
11.5
9.0
20.0
Max. permitted weight per finger [kg] 0.1 0.18 0.35 0.6 1.1
Fluid consumption per double stroke [cm3]
without gripping force maintenance
with gripping force maintenance device
5
9
9
18
25
48
60
108
120
210
Min. pressure [bar] / Maximum pressure [bar]
without gripping force maintenance
with gripping force maintenance device
2 / 8
4 / 6.5
nominal working pressure 6
IP rating 40
IP rating
dust protection version 64
ambient temperature min. [°C] -10
ambient temperature max. [°C] 90
Repeatability [mm] 0.01
noise emission [dB(A)] ≤ 70
6

Technical Data
14 03.01/3-Finger Centric Gripper PZN-plus/en
size PZN-plus 125 160 200 240 300
Stroke per jaw [mm]
Stroke 1
Stroke 2
13
56
16
8
25
14
30
17
35
20
Weight [kg]
without gripping force maintenance
with gripping force maintenance device
2.47
3.34
5.6
8.0
11.0
15.7
20.0
24.0
33.0
43.5
Weight [kg]
Force intensified version
without gripping force maintenance
with gripping force maintenance device
3.7
4.5
7.8
9.6
-
-
-
-
-
-
Weight [kg]
dust protection version
Without gripping force maintenance
with gripping force maintenance device
2.9
3.7
6.5
8.9
12
16.7
21.5
25.5
35.5
46.0
recommended workpiece weight [kg]
Stroke 1
Stroke 2
15.5
29.0
30.0
55.0
35.5
63.5
50.0
100.5
72.5
127.5
Max. permitted weight per finger [kg] 2.1 3.5 6.5 8.5 11.5
Fluid consumption per double stroke [cm3]
without gripping force maintenance
with gripping force maintenance device
230
383
520
875
1040
1725
1780
3090
2850
5050
Min. pressure [bar] / Maximum pressure [bar]
without gripping force maintenance
with gripping force maintenance device
2 / 8
4 / 6.5
nominal working pressure 6
IP rating 40
IP rating
dust protection version 64
ambient temperature min. [°C] -10
ambient temperature max. [°C] 90
noise emission [dB(A)] ≤ 70
Repeatability [mm] 0.01 0.02 0.05

Assembly
03.01/3-Finger Centric Gripper PZN-plus/en 15
Assembly
Mechanical connection
Fastening of the gripper
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)!
WARNING
Risk of injury when the machine/system moves unexpectedly!
Remove the energy supplies.
The values relate to the entire bolting surface.
Edge length [mm] Permissible unevenness [mm]
< 100 < 0,02
> 100 < 0,05
Demands on the evenness of the bolting surface
7
7.1
7.1.1
Check the evenness
of the bolting surface

Assembly
16 03.01/3-Finger Centric Gripper PZN-plus/en
2
1
Fig. 1 Assembly options
Item 40 50 64 80/100 125/160 200 240 300 380
1 Ø2H7 Ø3H7 Ø4H7 Ø5H7 Ø6H7 Ø8H7 Ø8H7 Ø10H7 Ø12H7
2 3 x M3 3 x M3 3 x M5 3 x M6 3 x M8 3 x M10 3 x M12 3 x M16 3 x M20
40 50 64 80 100
/125
160 200 240 300 380
Thread diameter/
max. depth of
engagement for finger
fastening
M2.5/
6
M3/
8
M4/
10
M5/
10
M6/
13
M10/
17
M12/
17
M12/
20
M16/
26
M20/
30
mounting material (provided by customer)
NOTE
•For mounting from the rear or side fix the module on the pro-
posed fixing bores
•Mount the module using the mounting bores.
•Mount the top jaws using the mounting bores provided.
Mounting

Assembly
03.01/3-Finger Centric Gripper PZN-plus/en 17
Fastening the gripper with spring-loaded pressure piece
Before assembly, the spring-loaded pressure piece must be disas-
sembled!
NOTICE
The pressure piece is spring-loaded!
1
2
3
4
5
6
Fig. 2
1 Pressure piece (71)
2 Mounting screws (73)
3 Guide bolt (72)
4 Sealing ring (from size PZN-plus 100) (76)
5 Set screws (74)
6 Compression spring (75)
7.1.2

Assembly
18 03.01/3-Finger Centric Gripper PZN-plus/en
1 Carefully undo the 3 set screws (74)
2 Remove the pressure piece.
3 Remove the springs (75).
4 Fasten the gripper.
5 To fit the pressure piece, reverse the sequence described
above.
NOTE
If the pressure piece is jamming when fitted, undo the set screw a
little (74) and secure it with Loctite No. 243.
Air 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)!
WARNING
Risk of injury when the machine/system moves unexpectedly!
Remove the energy supplies.
Make sure, that no residual energy remains in the system.
NOTICE
Observe the requirements for the air supply.
(6, Page 13)„Technical Data“
7.2

Assembly
03.01/3-Finger Centric Gripper PZN-plus/en 19
B A
3
2
1
Fig. 3 Air connections
Item connection 40 50 64 80 100/
125
160 200 240 300/
380
1 hose connection
(A = Open, B = Closed)
2 x
M3
2 x
M5
2 x
M5
2 x
M5
2 x G1/8" 2 x G1/4"
2 hose-free direct connec-
tion (a = Open, b = Closed)
2 x
M3
2 x
M3
2 x
M4
2 x
M4
2 x
M5
2 x
M4
2 x
M5
2 x
M5
2 x
M8
3 air purge connection M3 M5
thread diamteter of the air connections
•Only open the air connections required.
•Seal air connections not required using the locking screws from
the enclosed pack.
•For hose-free direct connections use the two O-rings from the
enclosed pack.
•If the max. permitted finger weight is exceeded, it is imperative
to throttle the air pressure so that the jaw movement occurs
without any hitting or bouncing

Assembly
20 03.01/3-Finger Centric Gripper PZN-plus/en
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 of the sensors can be found in the data sheets
(included in the scope of delivery).
Inductive proximity switch IN 80
Fig. 4 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.
(☞information in catalog)
•Avoid contact of the proximity switches with hard objects and
with chemicals, in particular nitric acid, chromic acid and sul-
phuric acid.
7.3
7.3.1