SCHUNK SPG 100 User instructions

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

Imprint
2 04.00 | SPG 100 | Assembly and Operating Manual | en | 0389423
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK SE & Co. KG.
All rights reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389423
Version: 04.00|21/07/2023|en
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
Customer Management
Tel. [phone]
Fax [phone]
[e-mail]
Please read the operating manual in full and keep it close to the product.

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 Constructional changes......................................................................... 8
2.3 Spare parts ........................................................................................ 8
2.4 Gripper fingers .................................................................................. 8
2.5 Ambient conditions and operating conditions ........................................... 9
2.6 Personnel qualification ........................................................................ 9
2.7 Personal protective equipment .............................................................. 10
2.8 Notes on safe operation........................................................................ 11
2.9 Transport........................................................................................... 11
2.10 Malfunctions ...................................................................................... 11
2.11 Disposal ............................................................................................ 11
2.12 Fundamental dangers .......................................................................... 12
2.13 Notes on particular risks ....................................................................... 12
3 Technical data ..................................................................................... 14
4 Assembly............................................................................................ 15
4.1 Mechanical connection......................................................................... 15
4.2 Pneumatic connection.......................................................................... 16
4.3 Mounting the sensor............................................................................ 18
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 the original declaration of incorporation ................................. 29
8 UKCA declaration of incorporation ............................................................ 30
9 Information on the RoHS Directive, REACH Regulation and Substances of Very High
Concern (SVHC) ..................................................................................... 31

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.
In addition to these instructions, the documents listed
under }1.1.2 [/6] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Dangers 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.
CAUTION
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
lGeneral terms of business *
lCatalog data sheet of the purchased product *
lAssembly and operating manuals of the accessories *
The documents labeled with an asterisk (*) can be downloaded
from 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:
lObserve the specified maintenance and lubrication intervals
lObserve 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
l2-Finger-Parallel Gripper SPG in the version ordered
lAssembly and Operating Manual
lAccessory pack
1.3.1 Accessories kit
Content of the accessory pack:
l3x O-ring
l6x Centering sleeve
Accessory pack for ID number
SPG 100 5510313
SPG 100 - High-temperature (HT) 395510313
Tab.: ID.-No. of the accessory pack

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
Designation Type
Magnetic switch MMS
Inductive proximity switches IN
lExact type designation of the compatible sensors see catalog.
lInformation on handling sensors is available at schunk.com or
from SCHUNK contact persons.
lFor mounting the sensors, mounting kits are partly necessary.
1.4.2 Seal kit
Seal kit for ID number
SPG 100 0370889
SPG 100 - High-temperature (HT) 39370889
Tab.: ID.-No. of the seal kit
contents of the sealing kit,}6.6 [/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.
lThe product may only be used within the scope of its technical
data, }3 [/14].
lThe product is intended for installation in a machine/
automated system. The applicable guidelines for the machine/
automated system must be observed and complied with.
lThe product is intended for industrial and industry-oriented
use. Its use outside enclosed spaces is only permitted if
suitable protective measures are taken against outdoor
exposure. The product is not suitable for use in salty air.
lThe product can be used within the permissible load limits
and technical data for holding workpieces during simple
machining operations, but is not a clamping device according
to EN 1550:1997+A1:2008.
lAppropriate use of the product includes compliance with all
instructions in this manual.
lAny utilization that exceeds or differs from the appropriate
use is regarded as misuse.
2.2 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.
lStructural changes should only be made with the written
approval of SCHUNK.
2.3 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
lUse only original spare parts or spares authorized by SCHUNK.
2.4 Gripper fingers
Requirements of gripper fingers
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.

Basic safety notes
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lExecute the gripper fingers in such a way that the product
reaches either the "open" or "closed" position in a de-
energized state.
lOnly change gripper fingers if no residual energy can be
released.
lMake sure that the product and the top jaws are a sufficient
size for the application.
2.5 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.
lMake sure that the product is used only in the context of its
defined application parameters, }3 [/14].
lMake sure that the product is a sufficient size for the
application.
lMake 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.
2.6 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.
lAll work may only be performed by qualified personnel.
lBefore working with the product, the personnel must have
read and understood the complete assembly and operating
manual.
lObserve the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the
various activities related to the product:
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.

Basic safety notes
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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.
2.7 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.
lWhen working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
lObserve the valid safety and accident prevention regulations.
lWear protective gloves to guard against sharp edges and
corners or rough surfaces.
lWear heat-resistant protective gloves when handling hot
surfaces.
lWear protective gloves and safety goggles when handling
hazardous substances.
lWear close-fitting protective clothing and also wear long hair
in a hairnet when dealing with moving components.

Basic safety notes
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2.8 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.
lAvoid any manner of working that may interfere with the
function and operational safety of the product.
lUse the product as intended.
lObserve the safety notes and assembly instructions.
lDo not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
lEliminate any malfunction immediately.
lObserve the care and maintenance instructions.
lObserve the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
2.9 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material
damage.
lWhen handling heavy weights, use lifting equipment to lift
the product and transport it by appropriate means.
lSecure the product against falling during transportation and
handling.
lStand clear of suspended loads.
2.10 Malfunctions
Behavior in case of malfunctions
lImmediately remove the product from operation and report
the malfunction to the responsible departments/persons.
lOrder appropriately trained personnel to rectify the
malfunction.
lDo not recommission the product until the malfunction has
been rectified.
lTest the product after a malfunction to establish whether it
still functions properly and no increased risks have arisen.
2.11 Disposal
Handling of disposal

Basic safety notes
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The incorrect handling of disposal may impair the product's
safety and cause serious injuries as well as considerable material
and environmental harm.
lFollow local regulations on dispatching product components
for recycling or proper disposal.
2.12 Fundamental dangers
General
lObserve safety distances.
lNever deactivate safety devices.
lBefore commissioning the product, take appropriate
protective measures to secure the danger zone.
lDisconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
lIf the energy supply is connected, do not move any parts by
hand.
lDo not reach into the open mechanism or movement area of
the product during operation.
2.13 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
lStand clear of suspended loads and do not step within their
swiveling range.
lNever move loads without supervision.
lDo not leave suspended loads unattended.
lWear 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.
lTake 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.
lBefore starting any work on the product: Switch off the power
supply and secure against restarting.
lMake sure, that no residual energy remains in the system.
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during movement of the base jaw, due
to breakage or loosening of the gripper fingers or if the
workpiece is lost.
lWear suitable protective equipment.
lDo 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.
lUse 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
Protection class IP 30
Pressure medium Compressed air,
compressed air quality
according to ISO
8573-1:2010 [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.
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
Tab.: Thread diameter and max. depth of engagement of the fastening
thread:

Assembly
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4.2 Pneumatic connection
NOTE
lObserve the requirements for the compressed air
supply, }3 [/14].
lIn 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. View
1+2 2 x M8 / 10 deep for lateral hose-free direct
connection
3 M8 / 10 deep for lateral air purge
connection
2. View
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. View
1+2 2 x R1/4" / 15 deep for hose connection 3 R1/4" / 15 deep for air purge
connection
lOpen only the air connections that are needed.
lClose unused main air connections using the screw plugs from
the enclosed pack.
lFor 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.

Assembly
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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.
lFor the exact type designations of suitable sensors, please see
catalog datasheet and Link Übersicht Sensoren.
lFor 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.
lInformation on handling sensors is available at schunk.com or
from SCHUNK contact persons.
4.3.1 Programmable magnetic switch MMS 30
brown
black
blue
load closer
CAUTION
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:
lFirst mount the product on the adapter plate.
lThen set the position of the magnetic switch.

Assembly
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1 Magnetic switch 1
2 Magnetic switch 2
Gripper open:
1. Greifer in Stellung »Auf« stellen.
2. Magnetschalter 1 rückwärts durch die T-Nut in Richtung
Greifermitte schieben, bis dieser schaltet.
3. Durch Anziehen des Gewindestiftes, den Magnetschalter in
dieser Stellung in der T-Nut verklemmen.
4. Funktion testen durch Schließen und wieder Öffnen des
Greifers.
Gripper closed:
1. Greifer in Stellung »Zu« stellen.
2. Magnetschalter 2 rückwärts durch die T-Nut in Richtung
Greifermitte schieben, bis dieser schaltet.
3. Durch Anziehen des Gewindestiftes, den Magnetschalter in
dieser Stellung in der T-Nut verklemmen.
4. Funktion testen durch Öffnen und wieder Schließen des
Greifers.
Part gripped (O.D. gripping):
1. Das zu greifende Teil spannen.
2. Weiter, wie unter »Greifer geschlossen« von Punkt 2 – 4
beschrieben, vorgehen.
Part gripped (I.D. gripping):
1. Das zu greifende Teil spannen.
2. Weiter, wie unter »Greifer geöffnet« von Punkt 2 – 4
beschrieben, vorgehen.

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:
lDo not pull on the cable.
lDo not allow the sensor to dangle from the cable.
lDo not overtighten the mounting screw or mounting clip.
lPlease adhere to a permitted bend radius of the cable. (☞
catalog)
lAvoid 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.
lCheck 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.
lParallel switching of several sensor outputs of the same type
(npn, pnp) is permissible, but does not increase the
permissible load current.
lNote that the leakage current of the individual sensors (ca. 2
mA) is cumulative.