SCHUNK SWG 10 User instructions

Translation of the original manual
2-Finger Angular Gripper
SWG 10 - 50
Assembly and Operating Manual
Superior Clamping and Gripping

Imprint
2 01.02|SWG 10 - 50|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 particular competitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389453
Edition: 01.02 |16/08/2013|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

Table of contents
01.02|SWG 10 - 50|en
3
Table of contents
1 About this manual .................................................................................................... 4
1.1 Warnings................................................................................................................... 4
1.1.1
Key words...................................................................................................... 4
1.1.2
Symbols ......................................................................................................... 4
1.2
Variants..................................................................................................................... 5
1.3
Applicable documents ............................................................................................. 5
2
Basic safety notes .................................................................................................... 6
2.1
Intended use............................................................................................................. 6
2.2
Not intended use...................................................................................................... 6
2.3
Environmental and operating conditions................................................................. 6
2.4
Product safety........................................................................................................... 7
2.4.1
Protective equipment ................................................................................... 7
2.4.2
Demands on the top jaws ............................................................................. 7
2.4.3
Constructional changes, attachments, or modifications.............................. 7
2.5
Personnel qualification............................................................................................. 7
2.6
Using personal protective equipment...................................................................... 8
2.7
Notes on particular risks........................................................................................... 8
3 Warranty.................................................................................................................. 9
4
Scope of delivery ...................................................................................................... 9
5
Accessories .............................................................................................................. 9
5.1
Sensors...................................................................................................................... 9
6
Technical Data ........................................................................................................ 10
7
Assembly................................................................................................................. 11
7.1
Mechanical connection .......................................................................................... 11
7.2
Air connection ....................................................................................................... 12
7.3
Sensors.................................................................................................................... 14
7.3.1
Programmable magnetic switch (MMS-P) ................................................. 14
7.3.2 Optical proximity switch ONS for SWG 10 and 12...................................... 19
8 Troubleshooting ...................................................................................................... 21
8.1 The module does not move?.................................................................................. 21
8.2 The module does not travel through the entire stroke? ....................................... 21
8.3 Reduced gripping force?......................................................................................... 22
8.4 The magnetic switch does not function? ............................................................... 22
9
Maintenance ........................................................................................................... 23
10
Accessories kit......................................................................................................... 23
11
Translation of original declaration of incorporation................................................. 24

About this manual
4 01.02|SWG 10 - 50|en
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 hand injuries
General mandatory sign to prevent material damage
1
1.1
1.1.1
1.1.2

About this manual
01.02|SWG 10 - 50|en
5
Variants
This operating manual applies for the following variations
•SWG
•SWG High-temperature version [HT]
Applicable documents
•General terms of business
•SCHUNK catalog Gripping modules
•Assembly and Operating Manuals of the accessories
•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
6 01.02|SWG 10 - 50|en
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
application parameters (6, Page 10).
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 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
01.02|SWG 10 - 50|en
7
Product safety
Dangers arise from the module, if:
•the module is not used in accordance with its intended pur-
pose.
•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 understood the complete assembly
and operating manual, especially the chapter "Basic safety notes"
(2, Page 6). 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
8 01.02|SWG 10 - 50|en
Using personal protective equipment
When using this product, observe the relevant industrial safety
regulations and use the personal protective equipment (PPE)
required!
•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
•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

Accessories
01.02|SWG 10 - 50|en
9
Warranty
The warranty is valid for 24 months from the delivery date to the
production facility under the following conditions:
•Appropriate use in 1-shift operation
•Observance of the ambient conditions and operating conditions
Parts touching the workpiece and wearing parts
are not part of the warranty.
Scope of delivery
The scope of delivery includes:
•2-Finger Angular Gripper SWG in the ordered model.
•Accessory pack
Accessories
A wide range of accessories is available for this module.
For information about which accessories can be used with the ap-
propriate product version ☞catalog.
Sensors
Overview of the compatible sensors
Designation Type
Programmable magnetic switch MMS-P
Optical switch ONS
•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.
3
4
5
5.1

Technical Data
10 01.02|SWG 10 - 50|en
Technical Data
SWG
10
SWG
12
SWG
16
SWG
20
SWG
25
SWG
32
SWG
40
SWG
50
Opening angle per jaw [°] 15
About rake angle per jaw
up to [°]
7
Closing torque [N] 0.01 0.03 0.058 0.11 0.28 0.62 1.2 2.8
closing torque generated by
spring [Nm]
0.0027 0.009 0.017 0.033 0.08 0.18 0.36 0.6
Weight [kg] 0.0025 0.0048 0.011 0.019 0.035 0.069 0.106 0.213
Recommended workpiece
weight [kg]
0.007 0.017 0.027 0.043 0.09 0.156 0.24 0.46
Air consumption per double
stroke [cm3]
0.055 0.07 0.012 0.25 0.4 0.85 1.6 3.8
Min. pressure [bar] 4.0
Max. pressure [bar] 6.5
Nominal working pressure
[bar]
6.0
Closing- / Opening time [s] 0.015/0.02 0.02/
0.025
0.025/
0.03
0.03/
0.06
Max. permissible finger
length [mm]
10.0 12.0 15.0 18.0 22.0 28.0 35.0 42.0
Max. permitted weight per
finger [kg]
0.003 0.006 0.012 0.02 0.028 0.036 0.05 0.08
IP rating 30
Min. ambient temperature
[°C]
-10
Max. ambient temperature
[°C]
90
Repeatability [mm] 0.05
Noise emission [dB(A)] ≤ 70
Further technical data can be found in the catalog data sheet.
The most recent version applies.
6

Assembly
01.02|SWG 10 - 50|en
11
Assembly
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
WARNING
Risk of injury when the machine/system moves unexpectedly!
Switch off power supply.
The centering sleeves required for centering during the fastening
of the gripper and for the fixation of the gripperfingers are in-
cluded in the accessories kit.
1
2
3
4
Fig. 1 Assembly options
1 Finger mounting
(SWG 10 and 12 with threads and without centring)
2 Lateral gripper fastening
3 Centering sleeves for fixing
4 Gripper fastening from below
7
7.1
Check the evenness
of the bolting surface
Mounting

Assembly
12 01.02|SWG 10 - 50|en
NOTE
•
For attachment from behind or lateral fix the modular unit with
the locating holes intended for this purpose.
•Secure the modul unit with the securing holes intended for this
purpose.
•Secure the top jaws with the securing holes intended for this
purpose.
NOTICE
Magnetic fields and magnetisable materials can disturb the
monitoring by proximity switches. Only use screws made of
stainless steel for fastening the grippers (non-magnetisable
screws). Fastening plates, fixing brackets etc. should not be
made out of non-magnetisable materials such as aluminium or
plastics.
Air connection
WARNING
Risk of injury when the machine/system moves unexpectedly!
Switch off power supply.
NOTICE
The maximum permissible mass per jaw is exceeded:
•Attach flow control couplings to the module.
NOTICE
Observe the requirements for the air supply.
(6, Page 10)"Technical Data"
7.2

Assembly
01.02|SWG 10 - 50|en
13
1
2
Fig. 2 Air connection
Thread diamteter of the air connections
Item connection SWG 10 / 12 SWG 16 - 25 SWG 32 - 50
1 Gripper "Closed" M2.5 M3 M5
2 Gripper "Open" M2.5 M3 M5
•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 O-rings from the en-
closed pack.
•If the maximum permissible finger weight is exceeded a throt-
tle has to be carried out imperatively. The movement has to be
without jerks and bounce.

Assembly
14 01.02|SWG 10 - 50|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 for the sensors can be found in the data sheets
(included in the scope of delivery).
Programmable magnetic switch (MMS-P)
36 – 40
19.5
8. 9
M2.5
30
L= 1 00
L= 500
2.95
4.4
0.5
1
3
4
56
2
Fig. 3 Magnetic switch (MMS-P 22)
1 Mounting screw 4 Teach-button
2 Center sensor elements 5 LED display
3 LED display 6 Rips for cable tires
7.3
7.3.1

Assembly
01.02|SWG 10 - 50|en
15
Fig. 4 Connection diagram PNP-4 conductor (MMS-P 22)
Types available for order (see catalog):
•MMS-P 22-S-M8-PNP
•MMSK-P 22-S-PNP
•V2-M8-4-2XM8-3
The MMSK-P 22-S-PNP features a cable with open strands so that
it can be connected by means of terminal contacts.
The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin
connector plug of the MMS-P 22-S-M8-PNP sensor to two
standard M8 plugs with 3 pins each.
NOTICE
Sensor can be damaged during assembly.
•Do not exceed the maximum tightening torque of 10 Ncm for
the set screws.
NOTE
Ferromagnetic material changes the switching positions of the
sensor. For example: Adapter plate made of ordinary steel.
At ferromagnetic adapter plates:
•The module must firstly be mounted on the adapter plate
•Then, the positions of the magnetic switch have to be set
1 Slide or turn in the magnetic switch (1) into the groove until it
bears against the stop (2) (if available).
2 If there is no terminal stop, then slide the magnetic switch ac-
cording to dimension l2 (bottom edge of gripper up to front
side of sensor) or according to dimension l1 (bottom edge of
gripper up to double arrow on sensor) and then clamp with
the mounting screw.
Mounting of
the sensor

Assembly
16 01.02|SWG 10 - 50|en
A
A
l1
l2
2
1
Fig. 5
Type dimension l
1
dimension l
2
Type dimension l
1
dimension l
2
SWG 16 6.7 15.6 SWG 32 11.3 20.2
SWG 20 8.0 16.9 SWG 40 11.8 20.7
SWG 25 9.1 18.0 SWG 50 12.2 21.1
7
6
Fig. 6
1 To relieve the cable, the electronics have to be fixed in place
using cable ties (7).
There are ribs (6) in place on the electronics for mounting
purposes.

Assembly
01.02|SWG 10 - 50|en
17
Fig. 7
2 Turn in the sensor (1 - 4).
OR
Push the sensor axially into the slot until it contacts the stop
(5).
3 Fix the sensor with an Allen wrench (6).
4 Keep the teach-button (4) pressed for 2 seconds.
After 2 seconds LED 1 (3) is flashing.
5 Move the gripper into position 1 (e.g. „open“).
6 Press the teach-button (4) briefly.
LED 1 (3) lights up and LED 2 (5) is flashing.
7 Move the gripper into position 2 bringen (e.g. „-2mm“).
LED 1 (3) should turn out as soon as the switching point 1 is
left.
8 Press the teach-button (4) briefly.
LED 2 (5) lights up.
The switching points are set.
NOTE
The hysteresis to both switching points will be adjusted automati-
cally corresponding to the characteristics of the
magnetic field.

Assembly
18 01.02|SWG 10 - 50|en
The hysteresis to both switching points will be adjusted automati-
cally corresponding to the characteristics of the
magnetic field.
The user can set the switching and trigging points of each position
a little bit closer than for the automatic mode. The trigging point is
closer to the switching point. At the same time the susceptibility to
trouble and damage increases. In the mode of the lowest
hysteresis, an error signal (such as jitter or untimely switch off)
can be avoided, if the sensor is protected against all types of
disturbances (i.e. by shielding). Frequent types of disturbances are
change in temperature and electro-magnetic influences.
Within the closest fine-teach mode, SCHUNK cannot guarantee
EMC-compatibility any more.
The hysteresis adjustment is used for the manual adjustment of
the switching points (if necessary).
In case that the hysteresis automatically determined by the sensor
should be too high or too low after “the adjustment of the switch-
ing points”, you may correct the value as follows.
The sensor avoids a too small hysteresis during hysteresis adjust-
ment.
The lowest securely detectable difference in stroke is ≤10 % of the
nominal stroke.
1 Press the teach-button (4) about 5 seconds.
LED 1 (3) will flash up after 2 seconds
and will stop after 5 seconds
2 Release the teach-button.
3 Put the gripper to position „switchoff point of switching
point 1”.
4 Press the teach-button(4) briefly. LED 1 (3) will light up twice.
5 Put the gripper to “switch-off position 2”.
6 Press the teach-button(4) briefly.
LED 2 (5) will light up twice.
The mounting of the sensor MMS-P is completed.
Adjusting the
hysteresis

Assembly
01.02|SWG 10 - 50|en
19
Optical proximity switch ONS for SWG 10 and 12
1
2
3
4
Fig. 8
1 Bracket
2 Glue in the fibre cable in the guiding area of bracket
3 Fibre optic cable
4 Fibre optic cable glued in
X
Fig. 9 Measure of clearance X
Measure of clearance X
Type X
SWG 10 1.2 mm
SWG 12 1.0 mm
To mount the fibre optical cable, use a suitable glue for joining
metal and plastic (e.g. Weicon Contact Gel).
7.3.2
Mounting and a
d
justment of the
fibre optical cable

Assembly
20 01.02|SWG 10 - 50|en
1 Apply glue carefully to plastic bracket.
2 Clip in the fibre optical cable and align to dimension X
(see table and illustration).
NOTICE
Do not use glue at the ende face of the fibre optical cable. Con-
tamination at the end face will cause incorrect signals.
NOTICE
The minimum bending radius of the fibre optical cableis
Rmin. = 50 mm. Reducing the bending radius by moving back
and forth causes changes in the signal, incorrect switchingor
rupture of the cable..