SCHUNK RP 1212 User instructions

Translation of the Original operating manual
Gripping rotary modules
RP / RW / RC 1212-2128
Assembly and Operating Manual
Superior Clamping and Gripping
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Imprint
2 01.01|RP / RW / RC 1212-2128|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: 0389392
Edition: 01.01 |27/01/2014|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
1.1.1 Key words...................................................................................................... 5
1.1.2 Symbols ......................................................................................................... 5
1.2 Variants..................................................................................................................... 6
1.3 Applicable documents .............................................................................................. 7
2 Basic safety notes .................................................................................................... 8
2.1 Intended use............................................................................................................. 8
2.2 Not intended use ...................................................................................................... 8
2.3 Environmental and operating conditions................................................................. 8
2.4 Product safety........................................................................................................... 9
2.4.1 Protective equipment ................................................................................... 9
2.4.2 Demands on the top jaws ............................................................................. 9
2.4.3 Constructional changes, attachments, or modifications.............................. 9
2.5 Personnel qualification............................................................................................. 9
2.6 Using personal protective equipment.................................................................... 10
2.7 Notes on particular risks......................................................................................... 10
2.7.1 Variant gripping force maintenance .......................................................... 11
3 Warranty................................................................................................................. 12
4 Scope of delivery ..................................................................................................... 12
5 Accessories.............................................................................................................. 13
5.1 Sensors.................................................................................................................... 13
6 Technical data ......................................................................................................... 14
7 Module design and options ..................................................................................... 15
8 Assembly and settings ............................................................................................. 16
8.1 Mechanical connection .......................................................................................... 16
8.2 Air connections....................................................................................................... 17
8.3 Settings and options of the GM gripping module.................................................. 18
8.3.1 GMW / GMP/ GMC modular design ........................................................... 18
8.3.2 Maintenance of gripping force unit ............................................................ 19
8.3.3 Rotation adapter ......................................................................................... 20
8.3.4 End position monitoring ............................................................................. 20
8.4 Settings and options of the RM... rotary module .................................................. 22
8.4.1 Adjusting the end positions ........................................................................ 22
8.4.2 End position monitoring ............................................................................. 24
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Table of contents
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8.4.3 Intermediate stop RZ12/15/21 ................................................................... 26
9 Start-up................................................................................................................... 29
10 Troubleshooting ...................................................................................................... 30
10.1 Modul does not move? .......................................................................................... 30
10.2 The module does not travel through the entire stroke? ....................................... 30
10.3 Module opens or closes abruptly? ......................................................................... 31
10.4 Module opens / does it grip the workpiece hard?................................................. 31
10.5 The gripping force drops? ...................................................................................... 31
10.6 Is the gripper not able to grip or hold on to the workpiece? ................................ 31
10.7 Module does not achieve the opening and closing times? ................................... 32
10.8 End position signal not present?............................................................................ 32
10.9 Does the module not travel through the rotating angle?...................................... 32
10.10 Is torque dropping? ................................................................................................ 33
10.11 Does the module rotate abruptly?......................................................................... 33
10.12 Does the module move hard against the end positions? ...................................... 33
10.13 End position signal not present?............................................................................ 34
11 Maintenance and care ............................................................................................. 35
11.1 Maintenance and lubrication, gripping module GM.............................................. 35
11.1.1 Maintenance and lubrication intervals....................................................... 35
11.1.2 Lubricants/Lubrication points (basic lubrication) ...................................... 35
11.2 Maintenance and lubrication, rotary module RM... .............................................. 36
11.2.1 Shock absorber............................................................................................ 36
11.2.2 Maintenance and lubrication intervals....................................................... 36
11.2.3 Lubricants/Lubrication points (basic lubrication) ...................................... 37
11.3 Dismantling the module ......................................................................................... 38
11.4 Assembling the module.......................................................................................... 39
12 Assembly / spare parts ............................................................................................ 40
12.1 Complete design..................................................................................................... 40
12.1.1 Shock absorber............................................................................................ 41
12.2 Gripping module GM.............................................................................................. 42
12.2.1 GMWPC assembly drawing......................................................................... 42
12.2.2 Seal kit ......................................................................................................... 44
12.3 RM rotary module... ............................................................................................... 45
12.3.1 Assembly drawing ....................................................................................... 45
12.3.2 Sealing kit .................................................................................................... 46
13 Translation of original declaration of incorporation................................................. 47
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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
The following key words and symbols are used to highlight dan-
gers.
Key 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.
NOTICE Information about avoiding material damage
Symbols
Warning about a danger point
Warning about hot surfaces
Warning about hand injuries
General mandatory sign to prevent material damage
1
1.1
1.1.1
1.1.2
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About this manual
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Variants
This operating manual applies for the following variations
•RP / RW / RC without gripping force maintenance
•RP / RW / RC with gripping force maintenance (...-K)
•RP / RW / RC with gripping force maintenance (...-S)
Two versions are also available for the RW type:
•Gripper stroke mainly inwards (RWI...)
•Gripper stroke mainly outwards (RWA...)
Fig. 1 Type key
1.2
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About this manual
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Applicable documents
•General terms of business
•Catalog data sheet of the purchased product
•Assembly and Operating manuals of the accessories
•Assembly and operating manual for RM rotary modules
•Assembly and operating manual for GM W/P/C gripping mod-
ules
•"Toolbox Rotation" program
•"Kombibox" program
(-> for selection of parts list for adaptation of RP/W/C modules
to other modules of the modular system)
The documents listed here, can be downloaded on our homepage
www.schunk.com
1.3
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Basic safety notes
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Basic safety notes
Intended use
The module is designed solely for the gripping and swiveling of
useful loads into any desired position, where the load does not
react in a manner endangering persons, property or the environ-
ment as a result of this manipulation.
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 14).
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
•The module may be used only within its defined application pa-
rameters.
•Ensure that the environment is clean. Observe the lubrication
intervals (11.1.1, Page 35).
•Ensure that the environment is free of splashing water and va-
pors, and also of abrasive dust and process dust. This does not
apply to modules designed especially for unclean environ-
ments.
•Do not subject the module to excessive vibrations and/or me-
chanical shocks.
2
2.1
2.2
2.3
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Basic safety notes
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•Strong magnetic fields can impair the function of the module. If
the product is to be used in strong magnetic fields, contact your
SCHUNK partner.
•Make sure that the module and the top jaws are a sufficient
size for the application.
Product safety
Dangers arise from the product, if:
•the product is not used in accordance with its intended pur-
pose.
•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
2.4
2.4.1
2.4.2
2.4.3
2.5
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Basic safety notes
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and operating manual, especially the chapter "Basic safety notes"
(2, Page 8). This applies particularly to personnel only used oc-
casionally, such as maintenance personnel.
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 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 disassem-
bly.
•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 fin-
gers !
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!
WARNING
Risk of injury due to rotating components!
Avoidance: The danger zone must be surrounded by a safety
fence during operation.
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 / Scope of delivery
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Warranty
The warranty is valid for 24 months from the delivery date to the
production facility under 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.
Scope of delivery
The scope of delivery includes:
•Gripping rotary modules RP / RW / RC in the ordered model.
•Exhaust air throttles
•Accessory pack
3
4
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Accessories
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13
Accessories
A wide range of accessories are 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
Gripping movement monitoring set GMNS-...
Rotary movement monitoring set RMNS...
Magnetic switch MMS
•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.
5
5.1
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Technical data
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Technical data
Module type RP/W/C ... RP/W/C ... - K / S
Angle of rotation [°] - 5 ... 185
Ambient temperature [°C] 5 - 60
IP rating 40
Noise emission [dB(A)] ≤ 70
Pressure medium Compressed air, compressed air quality ac-
cording to ISO 8573-1:7 4 4
Min. pressure [bar] 3 5
Max. pressure [bar] 8
Nominal working pressure [bar] 6
Size ... 12 ... 16 ... 20 ... 28
Max. permissible finger length [mm]
RP... 40 50 75 100
RW... 25 30 35 40
RC... 40 50 75 100
Further technical data can be found in the catalog data sheet.
The most recent version applies.
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Module design and options
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Module design and options
Gripping rotary modules of this series have a module design:
•GMW/P/C gripper, consisting of
– Gripper kit G...B
– GMD rotation adapter (optional)
– GMA drive unit
– Gripping force safety device, GKS (optional)
•RM 12 to 21 rotary modules
All components are separated by function; all characteristics of the
individual modules are maintained.
•Additional details ☞Catalog data sheet.
•The design is shown in the chapter "Complete design" (12.1,
Page 40).
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Assembly and settings
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Assembly and settings
NOTICE
Assembly measures
•When mounting loads, do not allow impermissible forces and
moments to be exerted (see catalog data).
•Select the suitable screw tightening torque when assembling
the module or loads at the module in accordance with the
generally accepted guidelines for screw connections.
•Secure all screws using a suitable chemical screw lock.
Mechanical connection
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
RP/W/C ... Gripper rotary modules are fastened at the side on the
base body.
Furthermore, connection geometries for the top jaws can be found
on the base jaws.
Dimensions for the position and size of the connection geometries,
☞Catalog data sheet.
1 Mount the module using the fixing bores provided.
2 Mount the modules using the fixing bores provided.
3 Attach the top jaws using the mounting bores provided.
8
8.1
Check the evenness
of the bolting surface
Mounting
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Assembly and settings
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Air connections
NOTICE
Pressure medium:
The unit must not under any circumstances be operated with
oiled air before operation with unoiled air (washing out of factory
lubrication).
NOTICE
Observe the requirements for the air supply.
(6, Page 14)"Technical Data"
Use connecting wires with the same or a larger cross-section as
the connection thread.
See the catalog for precise information about the position and size
of the connection geometries.
Fig. 2 Air connections
RP air connection
Connection Function
A Clockwise rotation (direction of arrow)
B Counterclockwise rotation
C Open the gripper
D Close the gripper
8.2
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Assembly and settings
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Settings and options of the GM gripping module...
GMW / GMP/ GMC modular design
The GM modules have a modular design.
The main window consists of:
•Gripper kit: GWB / GCB / GPB
•Drive unit: GMA
The basis module can be expanded by ordering options and acces-
sories.
Fig. 3 Design of the GM.... modules
GWB Angle gripper kit GMD Rotation adapter
GPB Parallel gripper kit GMA Drive unit
GCB 2-jaw gripper kit GKS Gripping force maintenance
device
8.3
8.3.1
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Assembly and settings
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Maintenance of gripping force unit
To maintain secure the gripping force in case of a drop in pressure,
an additional module can be integrated without any additional
parts.
Optionally, the maintenance of gripping force unit is available in
the direction of clamping or spreading.
The GKS is completely separated (GKS 1 ... 9) from the gripper.
1 Remove the rod (2) downwards.
2 Mount the safety disc (8) in the upper groove of the rod.
3 Insert the rod from above into the GKS.
The GKS is completely separated (GKS 1 ... 9) from the gripper.
1 Remove the rod (2) upwards.
2 Mount the safety disc (8) in the lower groove of the rod.
3 Insert the rod from below into the GKS.
Order numbers of the maintenance of gripping force unit:
•GKE 12 for GMW / GMP / GMC 12 gripping module
•GKE 16 for GMW / GMP / GMC 16 gripping module
•GKE 20 for GMW / GMP / GMC 20 gripping module
•GKE 28 for GMW / GMP / GMC 28 gripping module
When ordering a gripping module including a gripping force main-
tenance unit as described in the catalog, the gripping force main-
tenance unit will have already been installed by SCHUNK.
8.3.2
Modifying from
clamping direction to
spreading direction
Modifying from
spreading direction to
the clamping direc-
tion
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Assembly and settings
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Rotation adapter
A GMD-... rotation adapter is available for step-less turning of the
GWB / GWP / GWC gripper kit on the GMA-... drive unit.
This is installed between the gripper kit and drive unit.
ID no. of the rotation adapter
Rotation adapter for Designation ID number
GMW / GMP / GMC 12 GMD 12 5507895
GMW / GMP / GMC 16 GMD 16 5507896
GMW / GMP / GMC 20 GMD 20 5507897
GMW / GMP / GMC 28 GMD 28 5507898
When ordering a gripping module including a rotation adapter as
described in the catalog, the rotation adapter will have already
been installed by SCHUNK.
End position monitoring
To monitor the end positions, standardized monitoring sets for di-
rect installation are available.
The installation of up to four monitoring sets is possible for the
GMW/P/C 16, GMW/P/C 20, and GMW/P/C 28 types, whereby
four gripper jaws positions can be monitored.
For the GMW/P/C 12 type, only two monitoring sets can be in-
stalled.
The end-to-end piston rod in the GMA drive unit (8.3.1, Pa-
ge 18)is monitored.
Proximity switch monitoring: GMNS-...
The monitoring set's scope of delivery includes the following:
•1x retaining plate
•1x proximity switch
•1x connection cable
8.3.3
8.3.4
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