SCHUNK WSG 25 User instructions

Translation of the original manual
Assembly and Operating Manual
WSG 25
Servo-electric 2-finger parallel gripper

Imprint
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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: 389684
Version: 05.00|25/06/2019|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
1.4 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Special standards.................................................................................................. 8
2.5 Spare parts ........................................................................................................... 8
2.6 Gripper fingers ..................................................................................................... 8
2.7 Environmental and operating conditions ............................................................. 8
2.8 Personnel qualification......................................................................................... 9
2.9 Personal protective equipment............................................................................ 9
2.10 Notes on safe operation .....................................................................................10
2.11 Transport ............................................................................................................ 10
2.12 Malfunctions....................................................................................................... 10
2.13 Disposal .............................................................................................................. 11
2.14 Fundamental dangers......................................................................................... 11
2.15 Notes on particular risks..................................................................................... 12
3 Technical data.........................................................................................................13
3.1 Outer dimensions ............................................................................................... 13
3.2 Nominal mechanical data................................................................................... 14
3.2.1 Permitted finger load..............................................................................16
3.2.2 Gripping force.........................................................................................16
3.3 Nominal electrical data....................................................................................... 18
3.3.1 Fuse ........................................................................................................18
3.4 Interfaces and connections ................................................................................ 19
3.4.1 Power supply and Ethernet ....................................................................19
3.5 Name plate ......................................................................................................... 20
4 Design and description............................................................................................21
4.1 Design ................................................................................................................. 21
4.2 Description ......................................................................................................... 21

Table of contents
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5 Assembly ................................................................................................................22
5.1 Safety notes........................................................................................................ 22
5.2 Mechanical connection ...................................................................................... 23
5.3 Installation of the fingers ................................................................................... 25
6 Start-up ..................................................................................................................26
6.1 Initial commissioning.......................................................................................... 26
6.2 Changing the IP address and using DHCP ........................................................... 29
7 Operation ...............................................................................................................30
7.1 Operating software ............................................................................................ 30
7.2 Integrated memory ............................................................................................ 30
7.3 The boot process ................................................................................................ 30
7.4 Display of operating state................................................................................... 31
7.5 Status word and gripper state ............................................................................ 33
7.5.1 Status word.............................................................................................33
7.5.2 Gripper state...........................................................................................34
7.6 Homing the product ........................................................................................... 36
7.7 Gripping, detecting parts to be gripped and monitoring the gripping ...............37
7.8 Software limit switch.......................................................................................... 39
7.9 Fast stops requiring acknowledgment ............................................................... 41
7.10 Log memory........................................................................................................ 42
7.11 Thermal monitoring............................................................................................ 42
7.12 Monitoring the motor current............................................................................ 43
7.13 Monitoring the supply voltage ........................................................................... 44
7.14 Configuration and diagnosis via the web interface ............................................ 45
7.14.1 Access restrictions for the web user interface .......................................47
7.15 Command interface............................................................................................ 48
7.16 Resetting the configuration................................................................................ 48
7.17 Implementing the gripping process.................................................................... 48
8 Maintenance and cleaning ......................................................................................50
9 Troubleshooting .....................................................................................................51
9.1 The gripper jaws don't move.............................................................................. 51
9.2 Gripper stops abruptly........................................................................................ 51
9.3 No connection to the web interface................................................................... 52
10 Translation of original declaration of incorporation ................................................53
10.1 Annex to Declaration of Incorporation............................................................... 54

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 *
• WSG command set reference - description of the command
protocol (TCP/IP) *
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.
The product is considered defective if its basic function "gripping"
is no longer given.
1.3 Scope of delivery
The scope of delivery includes
• Servo-electric 2-finger parallel gripper WSG 25 in the version
ordered
• CD with documentation and firmware
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• 5 m data and supply cable, M8 socket, 6-pin, straight to RJ-45
and free cable end power supply, for WSG 25

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 [}13].
• 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.

Basic safety notes
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2.4 Special standards
The following standards are met:
• Fast transients on supply and I/O lines (burst) to IEC / EN
61000-4-4
• HF power supply to IEC/EN 61000-4-6
• HF radiation according to IEC/EN 61000-4-3
• Emissions according to EN 55011:2009 Class A (corresponds to
EN 61000-6-4:2007)
• Magnetic field with energy technical frequency according to EN
61000-4-8
2.5 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.
2.6 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.
2.7 Environmental 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 [}13].
• Observe Maintenance intervals, Maintenance and cleaning
[}50].
• Make sure that the environment is clean and the ambient
temperature corresponds to the specifications per the catalog.

Basic safety notes
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2.8 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:
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.
2.9 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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2.10 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.
2.11 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.
2.12 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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2.13 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.
2.14 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.

Basic safety notes
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2.15 Notes on particular risks
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.
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 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.

Technical data
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3 Technical data
3.1 Outer dimensions
Base jaws opened
Finger side
Flange side
Outer dimensions

Technical data
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3.2 Nominal mechanical data
NOTICE
Exceeding the specified nominal data can damage the product.
•If in doubt, please discuss your application with SCHUNK.
Mechanical operating data Value Note
Stroke per finger [mm] 32
Nominal gripping force [N] 20
Min. Gripping force [N] 5 gripping speed 5 mm/s, finger length
40 mm, steel on steel
Max. Gripping force [N] 20 gripping speed 50 mm/s, finger
length 40 mm, steel on steel
Weight [kg] 0.32
Recommended workpiece weight [kg] 0.2
Max. permissible finger length [mm] 50 At nominal force, definition finger
length see following figure
"Determining the clamping height"
Max. permitted weight per finger [kg] 0.022
IP rating 40 DIN EN 60529
Ambient temperature [°C]
Min.
Max.
5
50
Air humidity [%]
Min.
Max.
0
90
non condensing
Repeatability [mm] ±0.03 3σ-deviation
Gripping speed [mm/s]
Min.
Max.
5
300
Finger acceleration [mm/s2]
Min.
Max.
100
5000

Technical data
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finger length
Determining the clamping height
Acceleration
5,000 mm/s²
Finger position [mm]
Gripping speed [mm/s]
Acceleration performance at gripping force 20 N and finger mass 2x22g

Technical data
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3.2.1 Permitted finger load
The following table shows the permitted load of the finger. The
specified load may be applied simultaneously and in addition to
the gripping force.
Mechanical Load Value
Fz [N], max. 30
Mx [Nm], max. 0.55
My [N], max. 0.55
Mz [N], max. 0.3
Finger load
3.2.2 Gripping force
The gripping force of the product is factory calibrated. The actual
gripping force depends on the gripping speed and the finger length.
NOTE
Depending on stroke and speed of the gripping procedure, the
maximum permitted gripping force may exceed the force which is
actually achievable.
Gripping force [N]
Gripping speed [mm/s]
Recommended gripping speed (steel on steel, finger length: 40 mm)

Technical data
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Gripping force [N]
Finger length [mm]
20 N gripping force and V= 50 mm/s
5 N gripping force and V = 10 mm/s
Gripping force in dependency of the finger length (exemple)
Definition of the nominal gripping force
Arrangement for ascertaining the nominal gripping force
To determine the nominal gripping force, the product is non-
positively mounted to an aluminum plate, see following figure. The
plate itself is thermally insulated from the underlying surface. With
an ambient temperature of 22° C the product can hold with the
nominal gripping force for at least 5 hours.
NOTICE
Damage to the product is possible!
For high gripping forces or long holding cycles, make sure that
heat is well dissipated via the screw contact surface.

Technical data
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3.3 Nominal electrical data
NOTICE
Exceeding the specified nominal data can damage the product.
•If in doubt, please discuss your application with SCHUNK.
Electrical operating data Value Note
Clamping voltage [V DC]
Min.
Typ.
Max.
22
24
28
Current drawn when idled [A] 0.1
Current drawn when holding [A] 0.4 Gripping force=20N
Positioning resolution [µm] 1.09
Controller integrated
Field bus interface Ethernet TCP/IP
Ethernet UDP/IP
Configuration interface web based
3.3.1 Fuse
The product has an integrated fuse to protect against short circuits
and incorrect polarity.
To have the fuse changed, please contact SCHUNK (Tel. +49
7133-103-2333).

Technical data
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3.4 Interfaces and connections
The product has an Ethernet-interface for controll. The selection of
the communication protocol as well as the configuration of the IP-
addresses an ports is effected by the web interface, Configuration
and diagnosis via the web interface [}45].
3.4.1 Power supply and Ethernet
The power supply is effected via a 6-way M8 connector on the
housing of the product, which carries also the Ethernet interface.
This is used both for commanding the product as well as the web-
based configuration and diagnosics. The Ehternet interface is
galvanically isolated.
5 ENET TD-
View of device connection plug
Shielding plate Shield
6
5
4
3
2
1
ENET-RD-
ENET-TD-
+24 V
GND
ENET-TD+
ENET-RD+
Black
Blue
Brown
White
Gray
Pink
Plug position Wire strand Signal
6 ENET RD+
1 +24 V 2 GND
3 ENET TD+
4 ENET RD-
Terminal assignment of the connector
Requirement for the power supply:
• Power supply: 24 V DC ±10%
• Ripple < 150 mVSS
• Available output current: at least 1.5 A
The following cables from SCHUNK are suitable to connect the
Ethernet interface:
• Type: KA GLN-0806-PG-0500-R (M8 straight on RJ-45, cable
length: 5m)
NOTICE
Malfunction of the gripper if the cable is manipulated!
Changes to the cable may cause malfunction or failure of the
gripper.
•No changes may be made to the cable!

Technical data
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Commands are sent to the product via TCP/IP connections, using
the TCP or UDP protocol. For further information, please see the
"WSG Command Set Reference Manual" (on the accompanying CD
or can be called up via the web interface).
The product currently also supports the following network
services:
– DHCP (dynamic IP addresses),
– SNTP (network time),
– HTTP (web user interface) and
– DNS (resolution of host names).
Interface specification:
Parameter Value Note
Transmission standard IEEE 802.3
Communication standard TCP/IP (IPv4)
Transmission speed [MBit/s] 10; 100 Auto-Negotiated
Transmission type Half duplex
Auto-MDIX yes
3.5 Name plate
The name plate is on the narrow side of the product above the
connector. It shows the type and the serial number of the product.