SCHUNK PGN-plus-E Series Repair manual

Translation of the original manual
PGN-plus-E
Electrical 2-Finger Parallel Gripper

Imprint
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02.00 | PGN-plus-E | Assembly and Operating Manual | en | 0389750
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely sup-
plied 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: 0389750
Edition: 02.00|11/04/2017|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
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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 Sizes .................................................................................................... 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 Environmental and operating conditions........................................................... 8
2.6.1 Electromagnetic compatibility............................................................ 8
2.6.2 Environmental conditions................................................................... 9
2.7 Personnel qualification..................................................................................... 10
2.8 Personal protective equipment........................................................................ 11
2.9 Notes on safe operation................................................................................... 11
2.10 Transport.......................................................................................................... 11
2.11 Malfunctions .................................................................................................... 12
2.12 Disposal ............................................................................................................ 12
2.13 Fundamental dangers ...................................................................................... 12
2.13.1 Protection during handling and assembly ........................................ 12
2.13.2 Protection during commissioning and operation ............................. 13
2.13.3 Protection against dangerous movements....................................... 14
2.13.4 Protection against electric shock...................................................... 15
2.13.5 Protection against magnetic and electromagnetic fields ................. 16
2.14 Notes on particular risks .................................................................................. 17
3 Technical Data ........................................................................................................19
4 Design and description............................................................................................20
4.1 Design............................................................................................................... 20
4.2 Description ....................................................................................................... 20
4.3 Function label................................................................................................... 21
4.3.1 Gripping force rotary switch ............................................................. 21
4.3.2 LED .................................................................................................... 22
4.4 Actuation of the digital inputs.......................................................................... 23
5 Assembly and settings ............................................................................................24

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5.1 Installing and connecting ................................................................................. 24
5.2 Connections...................................................................................................... 25
5.2.1 Mechanical connection..................................................................... 25
5.2.2 Electrical connection......................................................................... 27
5.3 Connecting ground cable ................................................................................. 28
5.4 Attaching additional structure ......................................................................... 29
5.5 Installing the sensors........................................................................................ 30
5.5.1 Overview of sensors.......................................................................... 31
5.5.2 Switch-off hysteresis......................................................................... 31
5.5.3 Installation position of the magnetic switches ................................. 32
5.5.4 Mounting magnetic switch (MMS 22) .............................................. 33
5.5.5 Mounting programmable magnetic switch (MMS 22-P 22) ............. 34
5.5.6 Mounting programmable magnetic switch (MMS 22-PI1) ............... 35
5.5.7 Mounting programmable magnetic switch (MMS 22-PI2) ............... 36
5.5.8 Mounting analog magnetic sensor (MMS 22-A) ............................... 37
5.5.9 Set the integrated inductive proximity switch (IN)........................... 38
5.5.10 Use electronic processor (FPS-F5/F5 T) ............................................ 40
6 Troubleshooting .....................................................................................................41
6.1 Product does not move.................................................................................... 41
6.2 Product does not execute a complete stroke .................................................. 41
6.3 Product opens or closes jerkily......................................................................... 41
6.4 Gripping force too low ..................................................................................... 41
6.5 Product does not achieve the opening and closing times?.............................. 42
6.6 Electric signals are not transmitted? ............................................................... 42
6.7 Product switches off......................................................................................... 42
6.8 Faults which are displayed via LED "Error" ...................................................... 42
7 Maintenance ..........................................................................................................43
7.1 Maintenance intervals...................................................................................... 43
7.2 Lubricants/Lubrications points......................................................................... 44
7.3 Disassembly and assembling............................................................................ 44
8 Translation of original declaration of incorporation ................................................45
9 Annex to Declaration of Incorporation....................................................................46
10 EU-Declaration of Conformity .................................................................................49
11 Appendix ................................................................................................................50
Data Sheet PGN-plus-E 80 ................................................................................ 51
Data Sheet PGN-plus-E 100 .............................................................................. 52

General
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1 General
1.1 About this manual
This manual contains important information for a safe and appro-
priate use of the product.
This manual is an integral part of the product and must be kept ac-
cessible for the personnel at all times.
Before starting work, the personnel must have read and under-
stood 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 Ap-
plicable 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 Sizes
This operating manual applies to the following sizes:
• PGN-plus-E 80
• PGN-plus-E 100
1.2 Warranty
The warranty is valid for 24 months or a maximum of 10million
cycles * from the date of delivery from the production facility un-
der the following conditions:
• Observe the ambient conditions and operating conditions Envir-
onmental and operating conditions [} 8]
• Observe the specified maintenance and lubrication intervals
Maintenance [} 43]
Parts touching the workpiece and wear parts are not included in
the warranty.
* A cycle consists of a complete gripping process, gripper "open"
and gripper "close".
1.3 Scope of delivery
The scope of delivery includes
• 2-Finger Parallel Gripper PGN-plus-E in the version ordered
• Accessory pack
Content of the accessories pack:
• 2x centering sleeves for gripper fastening
• 4x centering sleeves for finger fastening
ID.-No. of the accessory pack
Size ID number
PGN-plus-E 80 5524224
PGN-plus-E 100 5524225
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.
If spring-like parts are to be gripped, this may only occur after first
consulting with and receiving written approval from SCHUNK.
• The product may only be used within the scope of its technical
data, Appendix [} 50].
• 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 use.
• Appropriate use of the product includes compliance with all in-
structions 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 ap-
proval of SCHUNK.
2.4 Spare parts
Use of unauthorised spare parts
Using unauthorised spare parts can endanger personnel and dam-
age the product or cause it to malfunction.
• Use only original spare parts or spares authorised by SCHUNK.

Basic safety notes
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2.5 Gripper fingers
Requirements of the gripper finger
Stored energy can make the product unsafe and risk the danger of
serious injuries and considerable material damage.
• Only replace gripper finger if no residual energy can be re-
leased.
2.6 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 and the top jaws are a sufficient
size for the application.
• Observe maintenance and lubrication intervals, Maintenance in-
tervals [} 43].
• Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated en-
vironments.
2.6.1 Electromagnetic compatibility
The product conforms to the requirements of the EMC directive
EU 2014/30 and satisfies the requirements of the following stand-
ards:
Standard Title
EN 61000-6-2
(2005)
Immunity for industrial environments
EN 61000-6-3
(2007)
Interference emission for living quarters, busi-
ness and commercial areas and small businesses

Basic safety notes
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2.6.2 Environmental conditions
Transport and storage requirements
If the product is transported and stored in its original packaging,
the following data applies:
• Loading and unloading with mechanical aids
• Ambient temperature from -40°C to +70°C
• Air humidity up to max. 85%
Operational requirements
If the product is operated, the following data applies:
• Ambient temperature from +5°C to +55°C
• Air humidity up to max. 85%
In order to avoid overheating, it is recommended to reduce the
gripping force to 75% for ambient temperatures above +50°C.
Derating diagram
According to DIN EN 60068-2-6 and DIN EN 60068-2-27, in accord-
ance with EN 60721-3-2 and EN 60721-3-3, the product was sub-
jected to a vibration and shock inspection during transport and in
operation with respect to the ambient influences and withstands
the required loads.
The product may only be used in the following locations if addi-
tional measures are taken:
• In locations with a high level of ionizing radiation
• In locations with difficult operating conditions, e.g. due to
caustic fumes, gases, oils or chemicals
• In facilities requiring special monitoring, e.g. in particularly at-
risk areas

Basic safety notes
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The product must also not be used in potentially explosive zones.
If the product is subjected to unacceptably large impacts or vibra-
tions, suitable measures must be taken to reduce the amplitude or
acceleration of such disturbances. Vibration-damping or vibration-
absorbing systems are to be used in such cases.
2.7 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently quali-
fied, 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 regu-
lations.
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 reg-
ulations.
Instructed person Instructed persons were instructed by the operator about the del-
egated 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
Using personal protective equipment
Not wearing personal protective equipment while working with
the product, may result in dangers that impact the personnel's
safety and health.
• While working with the product, observe the health and safety
regulations and wear the required personal safety equipment.
• Observe the valid safety and accident prevention regulations.
• In case of sharp edges and corners and rough surfaces, wear
protection gloves.
• In case of hot surfaces, wear heat-resistant protection gloves.
• When dealing with hazardous substances, wear protection
gloves and goggles.
• In case of moving parts, wear tight protection clothes.
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 func-
tion 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 environ-
ments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and environ-
mental protection regulations regarding the product's applica-
tion field.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material dam-
age.
• 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 malfunc-
tion.
• 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 en-
vironmental 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 re-
mains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
2.13.1 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 pre-
cautions to prevent jamming and crushing.

Basic safety notes
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Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their swiv-
eling 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 re-
mains and secure against inadvertent reactivation.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during commission-
ing or software errors may trigger dangerous movements.
• 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 ac-
tion being dependent on the control unit and the current oper-
ating condition of the drive. Perform maintenance work, modi-
fications, 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. Re-
strict unintentional access by persons to this range e.g. via a
protective cover, protective fence or photoelectric barrier. The
protective cover and protective fence must be rigid enough to
withstand the maximum possible movement energy. EMER-
GENCY STOP switches must be easily and quickly accessible.
Check the function of the EMREGENCY STOP before starting up
the machine or system. If this protective equipment is not work-
ing properly, prevent the operation of the machine.

Basic safety notes
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2.13.4 Protection against electric shock
Work on electric equipment
Touching live parts can result in death.
• Work on electrical installations must be performed only by elec-
tricians in accordance with the electrical regulations.
• Observe the general installation and safety regulations concern-
ing work on high-voltage systems.
• Lay electrical cables correctly,e.g. in a cable duct or cable pro-
tector. Observe standards.
• Before connecting or disconnecting electric cables, switch off
the power supply and check that lines are dead. Secure power
supply against reactivation.
• Before switching on the product, check whether the protective
conductor on all electrical components has been installed cor-
rectly according to the connection diagram.
• Check whether covers and safety equipment to prevent contact
with live components have been installed.
• Do not touch the connecting elements of the product when the
power supply is switched on.
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 accord-
ance 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 regula-
tions.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.

Basic safety notes
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2.13.5 Protection against magnetic and electromagnetic fields
Work in areas with magnetic and electromagnetic fields
Magnetic and electromagnetic fields can lead to serious injuries.
• Persons with pace-makers, metal implants, metal shards or
hearing aids require the consent of a physician before entering
areas in which components of the electric drive and control sys-
tems are mounted, started up and operated.
• Persons with pace-makers, metal implants, metal shards or
hearing aids required the consent of a physician before entering
areas in which motor parts with permanent magnets are stored,
repaired or assembled.
• Do not operate high-frequency or radio products in the proxim-
ity of electric components of the drive system and their feed
lines.
If the use of such devices is necessary:
When starting up the electric drive and control system, check
the machine or system for possible failures when such systems
are used at different intervals and in different states of the con-
trol system. A special additional EMC test may be necessary if
the system has a high risk potential.

Basic safety notes
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2.14 Notes on particular risks
DANGER
Danger from electric voltage!
Touching live parts may result in death.
•Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched on
again.
•Only qualified electricians should perform electrical installa-
tions.
•Check if de-energized, ground it and hot-wire.
•Cover live parts.
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
•Stand clear of suspended loads and do not step within their
swiveling range.
•Never move loads without supervision.
•Do not leave suspended loads unattended.
•Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
•Take appropriate protective measures to secure the danger
zone.
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 seri-
ous injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Ensure that no residual energy remains in the system.

Basic safety notes
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WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during the base jaw procedure and
when breaking or loosening the gripper fingers.
•Wear suitable protective equipment.
•Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.
WARNING
Risk of injury from objects falling during energy supply failure!
Electronic devices are not fail-safe. In case of an energy supply
failure, the gripping force decreases. As a consequence, it cannot
be guaranteed that the workpiece is held safely.
•In case of an energy supply failure, it is the user's responsibil-
ity to revert the drive into a safe state.

Technical Data
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3 Technical Data
The following technical data can be found on the data sheet in the
Appendix [} 50].
• Mechanical and electrical operating data
• Permissible finger load
• Permissible gripping force
• Maximum permitted finger projection
The catalog data sheet contains more technical data.
SCHUNK reserves the right to modify technical data of the product
without prior notice.

Design and description
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4 Design and description
4.1 Design
2-Finger Parallel Gripper
1 Finger interface
2 Housing
3 LEDs "Voltage supply" and "ERROR/STATUS"
4 "Gripping force" rotary switch
5 "Voltage supply and actuation" connection plug
6 "Sensors" connection plug
7 LEDs "sensors"
8 Finger centering sleeves
4.2 Description
The product is a servo-electric 2-finger parallel gripper featuring
high power density and integrated electronics and two integrated
inductive proximity switches.