SCHUNK GSP-P 08 User instructions

Translation of the original manual
Assembly and Operating Manual
GSP-P
2-Finger-parallel gripper

Imprint
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02.00 | GSP-P | Assembly and Operating Manual | en | 389033
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: 389033
Version: 02.00|06/06/2019|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
1.1.3 Variants.....................................................................................................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 Spare parts ........................................................................................................... 7
2.5 Gripper fingers ..................................................................................................... 8
2.6 Ambient conditions and operating conditions .....................................................8
2.7 Personnel qualification......................................................................................... 8
2.8 Personal protective equipment............................................................................ 9
2.9 Notes on safe operation ....................................................................................... 9
2.10 Transport .............................................................................................................. 9
2.11 Malfunctions....................................................................................................... 10
2.12 Disposal .............................................................................................................. 10
2.13 Fundamental dangers......................................................................................... 10
2.13.1 Protection during handling and assembly ..............................................11
2.13.2 Protection during commissioning and operation ...................................11
2.13.3 Protection against dangerous movements.............................................12
2.13.4 Protection against electric shock............................................................12
2.14 Notes on particular risks..................................................................................... 13
3 Technical data.........................................................................................................14
4 Assembly ................................................................................................................15
4.1 Mechanical connection ...................................................................................... 15
4.2 Air connection .................................................................................................... 17
4.3 Sensors ............................................................................................................... 19
4.3.1 Programmable magnetic switch (MMS-P)..............................................19
4.3.2 Proximity switch ST4 and ST4-2P............................................................25

Table of contents
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5 Troubleshooting .....................................................................................................26
5.1 Product does not move ...................................................................................... 26
5.2 Product does not travel through the entire stroke ............................................26
5.3 Product opens or closes abruptly ....................................................................... 26
5.4 Magnetic switch does not work ......................................................................... 26
5.5 Gripping force drops........................................................................................... 27
5.6 Product does not achieve the opening and closing times..................................27
6 Maintenance and Care............................................................................................28
7 Translation of original declaration of incorporation ................................................29
7.1 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
1.1.3 Variants
This operating manual applies to the following variations:
• GSP-P without gripping force maintenance
• GSP-P with gripping force maintenance "O.D. gripping" (AS or NC)
• GSP-P with gripping force maintenance "I.D. gripping" (IS or NO)
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 GSP-P in the version ordered
• Assembly and Operating Manual
• Accessory pack
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.

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].
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:
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.

Basic safety notes
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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.
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.

Basic safety notes
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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.
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.

Basic safety notes
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2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.

Basic safety notes
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2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
• Never rely solely on the response of the monitoring function to
avert danger. Until the installed monitors become effective, it
must be assumed that the drive movement is faulty, with its
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, and attachments outside the danger zone
defined by the movement range.
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. Before starting up the machine or
automated system, check that the EMERGENCY STOP system is
working. Prevent operation of the machine if this protective
equipment does not function correctly.
2.13.4 Protection against electric shock
Possible electrostatic energy
Components or assembly groups may become electrostatically
charged. When the electrostatic charge is touched, the discharge
may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
• While paying attention to the actual conditions of the working
environment, the potential equalisation must be implemented
by a specialist electrician according to the applicable
regulations.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.

Basic safety notes
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2.14 Notes on particular risks
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 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 objects falling during energy supply failure
Products with a mechanical gripping force maintenance can,
during energy supply failure, still move independently in the
direction specified by the mechanical gripping force
maintenance.
•Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Risk of injury due to 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
Size 08 10 16 20 25 40
Stroke per jaw [mm] 2 3 5 6 8 13
Weight [kg] 0.04 0.07 0.15 0.25 0.46 1.48
Recommended workpiece weight [kg] 0.13 0.29 0.6 1.2 1.9 4.2
Max. permissible finger length [mm] 20 25 32 40 50 64
Max. permitted weight per finger [kg] 0.025 0.04 0.06 0.09 0.12 0.3
Ambient temperature [°C]
Min.
Max.
+5
+60
Spring force gripping force
maintenance [N]
Min.
Max.
3
6
8
13
10
25
20
50
40
80
125
125
Closing force [N]
without gripping force maintenance
with gripping force maintenance AS
with gripping force maintenance IS
26
32
-
58
74
-
120
140
-
240
280
-
380
460
-
840
1090
-
Opening force [N]
without gripping force maintenance
with gripping force maintenance AS
with gripping force maintenance IS
36
-
42
70
-
86
138
-
158
280
-
320
438
-
518
928
-
1178
IP rating 40
Pressure medium Compressed air, compressed air quality according to
ISO 8573-1:7 4 4
Min. pressure [bar]
without gripping force maintenance
with gripping force maintenance
2
4.5
Max. pressure [bar]
without gripping force maintenance
with gripping force maintenance
8
6.5
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
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.
Evenness of the
mounting surface
The values apply to the whole mounting surface to which the
product is mounted.
Requirements for evenness of the mounting surface (Dimensions in mm)
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05

Assembly
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Mounting The module can be mounted from the rear or on the side.
Assembly options
Maximal screw-in depth of the fastening screws provided by the
customer.
Mounting material
Item Mounting 08 10 16 20 25 40
1 Module rear
mounting
M3 /
6.5 deep
M4 /
8.5 deep
M5 /
11.5
deep
M8 /
15 deep
2 Module side
mounting
M3 M3 /
6.5 deep
M4 /
8.5 deep
M5 /
11.5
deep
M8 /
16 deep
3 Top jaws M3 /
6.5 deep
M4 /
8.5 deep
M5 /
11.5
deep
M8 /
16 deep
99 Centering sleeve Ø2M6 Ø5K6 Ø7K6 Ø7K6 Ø12K6
NOTE
• Mount the module using the provided centering sleeves (99).
• Mount the module using the mounting bores.
• Mount the top jaws using the provided mounting bores .

Assembly
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4.2 Air connection
NOTICE
Damage to the gripper is possible!
If the maximum permissible finger weight or the permissible
mass moment of inertia of the fingers is exceeded, the gripper
can be damaged.
•A jaw movement always has to be without jerks and bounce.
•You must therefore implement sufficient reduction and/or
damping.
•Observe the diagrams and information in the catalog data
sheet.
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.

Assembly
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Air connections
Thread diameter of the air connections
Item Connection 08 10 16 20 25 40
1 Thread diameter of the air
connections
(A = open, B = close)
2 x M3 2 x M5 2 x
G1/8"
• 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.

Assembly
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4.3 Sensors
The gripper is prepared for use of the following sensors:
• Sensor MMS-P:
– Information on handling sensors is available at schunk.com
or from SCHUNK contact persons
– Technical data for the sensors can be found in the data
sheets (included in the scope of delivery or at schunk.com).
• Sensor ST4/ST4-2P
– You can find information about the handling of sensors via
the Aventics company
– Technical data of the sensors are contained in the data
sheets.
4.3.1 Programmable magnetic switch (MMS-P)
NOTE
The MMS-P can be used only for sizes GSP-P 08 – GSP-P 40.
Magnetic switch MMS-P 22
1 Mounting screw 4 Teach-button
2 Center sensor elements 5 LED display
3 LED display 6 Ribs for cable tires
brown
white
black
blue
Connection diagram PNP-4 conductor (MMS-P 22)

Assembly
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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 via 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.
Mounting of the
sensor
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 (e.g. Adapter plate made of ordinary steel).
For ferromagnetic adapter plates:
• The module must be first mounted on the adapter plate.
• Then, the position of the magnetic switchs has to be set.
ØTo 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.