SCHUNK SPG 100 Quick start guide

Translation of the Original Operating Manual
Assembly and Operating Manual
SPG 100
2-Finger-Parallel Gripper

Imprint
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02.00 | SPG 100 | Assembly and Operating Manual | en | 0389423
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and
requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389423
Version: 02.00|19/02/2019|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading
technology supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
schunk.com

Table of contents
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Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.3.1 Accessories kit ..........................................................................................6
1.4 Accessories ........................................................................................................... 7
1.4.1 Sensors .....................................................................................................7
1.4.2 Seal kit ......................................................................................................7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Not intended use.................................................................................................. 8
2.3 Constructional changes ........................................................................................ 8
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 9
2.6 Ambient conditions and operating conditions .....................................................9
2.7 Personnel qualification......................................................................................... 9
2.8 Personal protective equipment.......................................................................... 10
2.9 Notes on safe operation.....................................................................................11
2.10 Transport ............................................................................................................ 11
2.11 Malfunctions....................................................................................................... 11
2.12 Disposal .............................................................................................................. 12
2.13 Fundamental dangers......................................................................................... 12
2.14 Notes on particular risks..................................................................................... 12
3 Technical data.........................................................................................................14
4 Assembly ................................................................................................................15
4.1 Mechanical connection ...................................................................................... 15
4.2 Pneumatical connection..................................................................................... 16
4.3 Mounting the sensor ..........................................................................................17
4.3.1 Programmable magnetic switch MMS 30...............................................18
4.3.2 Inductive proximity switch IN 80 ............................................................20
5 Troubleshooting .....................................................................................................23
5.1 Product is not moving......................................................................................... 23
5.2 Product is not executing the complete stroke ...................................................23
5.3 Product opens or closes abruptly ....................................................................... 23
5.4 Gripping force is dropping.................................................................................. 24
5.5 Product does not achieve the opening and closing times..................................24

Table of contents
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6 Maintenance ..........................................................................................................25
6.1 Notes .................................................................................................................. 25
6.2 Maintenance and service intervals..................................................................... 25
6.3 Lubricants/Lubrication points (basic lubrication) ..............................................25
6.4 Disassembly of the gripper................................................................................. 26
6.5 Servicing and assembling the product................................................................27
6.5.1 Screw tightening torques........................................................................27
6.6 Assembly drawing............................................................................................... 28
7 Translation of original declaration of incorporation ................................................29
8 Annex to Declaration of Incorporation....................................................................30

General
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1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under
Applicable documents [}6] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.2 Warranty
If the product is used as intended, the warranty is valid for 24
months from the ex-works delivery date under the following
conditions:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• 2-Finger-Parallel Gripper SPG in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.3.1 Accessories kit
Content of the accessory pack:
• 3x O-ring
• 6x Centering sleeve
ID.-No. of the accessory pack
Accessory pack for ID number
SPG 100 5510313
SPG 100 - High-temperature (HT) 395510313

General
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1.4 Accessories
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
1.4.1 Sensors
Overview of the compatible sensors
Designation Type
Magnetic switch MMS
Inductive proximity switches IN
• Exact type designation of the compatible sensors see catalog.
• Information on handling sensors is available at schunk.com or
from SCHUNK contact persons.
• For mounting the sensors, mounting kits are partly necessary.
1.4.2 Seal kit
ID.-No. of the seal kit
Seal kit for ID number
SPG 100 0370889
SPG 100 - High-temperature (HT) 39370889
Contents of the sealing kit, Assembly drawing [}28].

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
• The product may only be used within the scope of its technical
data, Technical data [}14].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
It is not intended use if the product is used, for example, as a
pressing tool, stamping tool, lifting gear, guide for tools, cutting
tool, clamping device or a drilling tool.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.

Basic safety notes
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2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious
injuries and significant property damage.
• Arrange the gripper fingers in a way that the product reaches
either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy
remains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.6 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}14].
• Make sure that the product is a sufficient size for the
application.
• 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
environments.
2.7 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:

Basic safety notes
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Trained electrician Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and
regulations.
Qualified personnel Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and
avoid possible dangers and knows the relevant standards and
regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
2.8 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.

Basic safety notes
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2.9 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material
damage.
• When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.
2.11 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the
malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.

Basic safety notes
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2.12 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.13 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
2.14 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
•Stand clear of suspended loads and do not step within their
swiveling range.
•Never move loads without supervision.
•Do not leave suspended loads unattended.
•Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
•Take appropriate protective measures to secure the danger
zone.

Basic safety notes
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WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during the base jaw procedure and
when breaking or loosening the gripper fingers.
•Wear suitable protective equipment.
•Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.

Technical data
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3 Technical data
Designation SPG 100
Min. pressure [bar] 2
Max. pressure [bar] 8
Nominal working pressure [bar] 6
Stroke per jaw [mm] 100
Closing force [N] 10000
Repeatability [mm] 0,1
Ambient temperature [°C]
Min.
Max.
- 10
+ 90
Weight [kg] 35
IP protection class 30
Pressure medium Compressed air,
compressed air quality
according to ISO 8573-1:7
4 4
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Assembly
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4 Assembly
4.1 Mechanical connection
1 Finger fixing from below 6 Gripper fastening from above
2 Finger fastening from below 7 Gripper fixing from above
3 Gripper fixing from rear 8 Lateral finger fastening
4 Gripper fastening from rear 9 Lateral finger fixing
5 Gripper fixing from front 10 Gripper fastening from front
NOTE
The centring sleeves required for fastening and fixing the gripper
or the fingers are contained in the supplied accessories pack.
Thread diameter and max. depth of engagement of the fastening thread:
for gripper fastening from above M12 / 23 deep
for lateral gripper fastening M12 / 23 deep
for finger fastening from below M12 / 21 deep
for lateral finger fastening M12 / 25 deep

Assembly
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4.2 Pneumatical connection
NOTE
• Observe the requirements for the compressed air supply,
Technical data [}14].
• In case of compressed air loss (cutting off the energy line), the
components lose their dynamic effects and do not remain in a
secure position. However, the use of a SDV-P pressure
maintenance valve is recommended in this case in order to
maintain the dynamic effect for some time. Product variants
are also offered with mechanical gripping force via springs,
which also ensure a minimum clamping force in the event of a
pressure drop.
Close Open
Close Open
Close Open
Hose-free direct connection
Adapter
Gripper
O-ring

Assembly
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1. Ansicht
1+2 2 x M8 / 10 deep for lateral hose-free
direct connection
3 M8 / 10 deep for lateral air purge
connection
2. Ansicht
1+2 2 x M8 / 10 deep for hose-free direct
connection from above
3 M8 / 10 deep for air purge
connection from above
3. Ansicht
1+2 2 x R1/4" / 15 deep for hose connection 3 R1/4" / 15 deep for air purge
connection
• 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.
SDV-P 07 from accessories supplied
1 Valve
2 SDV-P 07 from accessories supplied
In case of design SPG 100 SDV-P please note:
The gripper has to be connected as shown on the adjoining circuit
diagram.
4.3 Mounting the sensor
NOTE
Observe the assembly and operating manual of the sensor for
mounting and connecting.
The product is prepared for the use of sensors.
• For the exact type designations of suitable sensors, please see
catalog datasheet and Link Übersicht Sensoren.
• For technical data for the suitable sensors, see assembly and
operating manual and catalog datasheet.
– The assembly and operating manual and catalog datasheet
are included in the scope of delivery for the sensors and are
available at schunk.com.
• Information on handling sensors is available at schunk.com or
from SCHUNK contact persons.

Assembly
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4.3.1 Programmable magnetic switch MMS 30
brown
black
blue
load closer
NOTICE
Sensor can be damaged during assembly.
Observe the maximal tightening torque of 30 Ncm.
NOTE
Ferromagnetic material changes the switching positions of the
sensor. For example: Adapter plate made of ordinary steel.
At ferromagnetic adapter plates:
• First mount the product on the adapter plate.
• Then set the position of the magnetic switch.
1 Magnetic switch 1
2 Magnetic switch 2

Assembly
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Gripper open:
ØSet the gripper to the position »Open«.
ØPush the magnetic switch 1 (see illustration below) backwards
through the T-groove towards the centre of the gripper, until
the latter is activated.
ØJam the magnetic switch in this position in the T-groove by
tightening the threaded pin.
ØTest the proper function by closing the gripper and then
opening it again.
Gripper closed:
ØSet the gripper to the position »Closed«.
ØPush the magnetic switch 2 (see illustration below) backwards
through the T-groove towards the centre of the gripper, until
the latter is activated.
ØJam the magnetic switch switch in this position in the T-groove
by tightening the threaded pin.
ØTest the proper function by closing the gripper and then
opening it again.
Part gripped (O.D. gripping):
ØClamp the part to be gripped.
ØProceed as described under Points 2 – 4 under »Gripper
closed«.
Part gripped (I.D. gripping):
ØClamp the part to be gripped.
ØProceed as described under Points 2 – 4 under »Gripper
closed«.

Assembly
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4.3.2 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
sulphuric acid.
The inductive proximity switches are electronic components,
which can react sensitively to high-frequency interference or
electromagnetic fields.
• Check to make sure that the cable is fastened and installed
correctly. 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.