SCHUNK PZH-plus 30 User instructions

Original operating manual
3-finger centric gripper
PZH-plus 020-075
Assembly and Operating Manual
Superior Clamping and Gripping

Imprint
2 02.00|PZH-plus 020-075|en
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 com-
petitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389504
Edition: 02.00 |26/10/2016|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]k.com
www.schunk.com

Table of contents
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3
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
1.3.1
Accessory pack....................................................................................................... 6
1.4
Accessories ......................................................................................................................... 7
1.4.1
Seal kit .................................................................................................................... 7
1.4.2
Mounting kit for proximity switch IN................................................................... 7
1.4.3
Pressure piece assembly kit.................................................................................. 7
2
Basic safety notes ............................................................................................................. 8
2.1
Intended use ...................................................................................................................... 8
2.2
Not intended use ............................................................................................................... 8
2.3
Constructional changes ..................................................................................................... 8
2.4
Spare parts ......................................................................................................................... 8
2.5
Gripper fingers .................................................................................................................. 9
2.6
Environmental and operating conditions ........................................................................ 9
2.7
Personnel qualification...................................................................................................... 9
2.8
Personal protective equipment ...................................................................................... 10
2.9
Notes on safe operation.................................................................................................. 11
2.10
Transport .......................................................................................................................... 11
2.11
Malfunctions .................................................................................................................... 11
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 ....................................................... 13
2.13.4
Protection against electric shock ....................................................................... 14
2.14
Notes on particular risks ................................................................................................. 14
3
Technical data.................................................................................................................. 16
4
Design and description .................................................................................................... 17
4.1
Configuration ................................................................................................................... 17
4.2
Description ....................................................................................................................... 17
5
Assembly ......................................................................................................................... 18

Table of contents
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5.1
Connections ..................................................................................................................... 18
5.1.1
Mechanical connection....................................................................................... 18
5.1.2
Air connection ..................................................................................................... 20
5.2
Mounting the sensor ....................................................................................................... 22
5.2.1
Overview of sensors ............................................................................................ 22
5.2.2
IN 80 inductive proximity switch........................................................................ 23
5.2.3
MMS 22 magnetic switch ................................................................................... 25
5.2.4
MMS-P programmable magnetic switch........................................................... 27
6
Troubleshooting .............................................................................................................. 32
6.1
Product is not moving ..................................................................................................... 32
6.2
The module does not travel through the entire stroke? .............................................. 32
6.3
Product opens or closes abruptly................................................................................... 33
6.4
The gripping force is dropping ........................................................................................ 33
6.5
Product does not achieve the opening and closing times............................................ 34
7
Maintenance.................................................................................................................... 35
7.1
Notes................................................................................................................................. 35
7.2
Maintenance and lubrication intervals .......................................................................... 35
7.3
Lubricants/Lubrication points......................................................................................... 35
7.4
Disassembly of the module ............................................................................................ 36
7.4.1
Assembly tool X ................................................................................................... 37
7.4.2
Assembly tool Y ................................................................................................... 38
7.5
Servicing and assembling the module............................................................................ 39
7.5.1
Screw tightening torques.................................................................................... 39
8
Assembly drawing ........................................................................................................... 40
9
Translation of original declaration of incorporation........................................................ 41
10
Annex to Declaration of Incorporation............................................................................ 42

General
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5
General
About this manual
This manual contains important information for a safe and appropri-
ate 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 understood
this operating manual. Prerequisite for safe working is the ob-
servance 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
(1.1.2, Page 6) are applicable.
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.
1
1.1
1.1.1

General
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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 www.schunk.com.
Sizes
This operating manual applies to the following sizes:
• PZH-plus 20
• PZH-plus 30
• PZH-plus 50
• PZH-plus 75
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:
• Intended use in 1-shift operation
• Observe the mandatory maintenance and lubrication intervals
• Observe the environmental and operating conditions
Parts touching the work piece and wear parts are not part of the warranty.
Scope of delivery
The scope of delivery includes
• 3-finger centric gripper PZH-plus in the version ordered
• Accessory pack
Accessory pack
ID.-No. of the accessory pack
Accessory pack for
ID number
PZH-plus 20
5522173
PZH-plus 30
5522174
PZH-plus 50
5522175
PZH-plus 75
5522176
Content of the accessories pack: (8, Page 40).
1.1.2
1.1.3
1.2
1.3
1.3.1

General
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7
Accessories
A wide range of accessories are available for this product
For information about which accessories can be used with the ap-
propriate product version see catalog.
Seal kit
ID.-No. of the seal kit
Seal kit for
ID number
PZH-plus 20
5522219
PZH-plus 30
5522220
PZH-plus 50
5522221
PZH-plus 75
5522222
Contents of the sealing kit, (8, Page 40).
Mounting kit for proximity switch IN
ID no. of the mounting kit
ID number
PZH-plus
0305364
Pressure piece assembly kit
ID no. of the assembly kit
Assembly kit for
ID number
PZH-plus 20
0305363
PZH-plus 30
0305373
PZH-plus 50
0305383
PZH-plus 75
0305393
1.4
1.4.1
1.4.2
1.4.3

Basic safety notes
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Basic safety notes
Intended use
The product is designed exclusively for gripping and temporarily hold-
ing workpieces or objects.
• The product may only be used within the scope of its technical da-
ta, (3, Page 16).
• 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.
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.
Constructional changes
Making constructional changes
Modifications, constructional changes and subsequent work, e.g. ad-
ditional threads, drill holes and safety devices may impair the opera-
tion and safety or damage the product.
• Constructional changes may only be done with SCHUNK's permis-
sion.
Spare parts
Use of unauthorised spare parts
Using unauthorised spare parts can endanger personnel and damage
the product or cause it to malfunction.
• Use only original spare parts or spares authorised by SCHUNK.
2
2.1
2.2
2.3
2.4

Basic safety notes
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9
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 ei-
ther the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy re-
mains in the product.
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, (7.2, Page 35).
• 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 environ-
ments.
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 ac-
tivities related to the product:
Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
2.5
2.6
2.7
Trained electrician

Basic safety notes
10 02.00|PZH-plus 020-075|en
avoid possible dangers and know the relevant standards and regula-
tions.
Pneumatics specialists have been trained for this particular area of
responsibility and know the relevant standards and regulations.
Hydraulic specialists have been trained for this particular area of re-
sponsibility and knows the relevant standards and regulations.
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 persons were instructed by the operator about the dele-
gated tasks and possible dangers due to improper behaviour.
Due to its technical training, knowledge and experience, service per-
sonnel of the manufacturer is able to perform the delegated tasks
and to recognize and avoid possible dangers.
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 pro-
tection 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.
Pneumatics specialist
Hydraulic specialist
Qualified personnel
Instructed person
Service personnel of
the manufacturer
2.8

Basic safety notes
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11
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 environmen-
tal protection regulations regarding the product's application
field.
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 han-
dling.
• Stand clear of suspended loads.
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.
2.9
2.10
2.11

Basic safety notes
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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 envi-
ronmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety installations.
• Install the provided protective product in the danger zone before
switching on the product.
• Remove energy supplies before the installation, modification,
maintenance or adjustment work. Make sure that no residual en-
ergy is remaining in the system.
• Do not move parts by hand while the energy supply is connected.
• Do not reach into the open mechanism or movement area of the
product during operation.
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 precau-
tions 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 swivel-
ing range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.12
2.13
2.13.1

Basic safety notes
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13
Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• The danger zone must be cordoned off by a protective barrier.
• Never step into the danger zone during operation.
Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while work-
ing with the product.
• Switch off the energy supply and ensure that no residual energy
remains.
• 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 operat-
ing condition of the drive. Perform maintenance work, modifica-
tions, 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. Restrict un-
intentional 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. EMERGENCY STOP switch-
es 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 working properly, prevent the
operation of the machine.
2.13.2
2.13.3

Basic safety notes
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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 equipotential bonding in accord-
ance with the applicable regulations.
• While paying particulary attention to the actual conditions of the
working environment, the equipotential bonding must be imple-
mented by a specialist electrician according to the applicable reg-
ulations.
• The effectiveness of the equipotential bonding must be verified
by executing regular safety measurements.
Notes on particular risks
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 inju-
ry or death.
• The danger zone must be cordoned off by a protective barrier.
2.13.4
2.14

Basic safety notes
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15
WARNING
Risk of injury from uncontrolled movements!
If the energy supply is switched on or residual energy remains in the
system, parts may move unexpectedly and cause serious injuries.
• Switch off energy supply.
• Make sure there is no residual energy in the system
WARNING
Risk of injury due to squeezing and bumping!
Moving the base jaws and breaking or loosening the gripper fingers
may cause serious injuries.
• Do not reach into the product's open mechanical system or
movement range.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
• Use suitable protective equipment.
WARNING
Risk of injury due to spring forces!
Parts are under spring tension on modules which clamp using spring
force or which have gripping force maintenance. While disassem-
bling it is possible that the gripper’s parts move uncontrollably and
cause serious injuries.
• Disassemble the product cautiously.
• Make sure that no residual energy remains in the system.
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 spec-
ified by the mechanical gripping force maintenance.
• Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.

Technical data
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Technical data
Pressure medium
Compressed air, compressed air
quality according to ISO 8573-
1:7 4 4
Nominal working pressure [bar]
6
Min. pressure [bar]
2
Max. pressure [bar]
8
Pressure range for
air purge [bar]
0,5 – 1
Noise emission [dB(A)]
≤ 70
More technical data are included in the catalog data sheet. Whichev-
er is the latest version.
3

Design and description
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17
Design and description
Configuration
3-finger centric gripper
1
Housing
2
Air purge connection
3
Main air connections
4
Base jaws
Description
Universal centric gripper with high gripping force and maximum mo-
ments due to multi-tooth guidance
4
4.1
4.2

Assembly
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Assembly
Connections
Mechanical connection
The values apply to the whole mounting surface to which the product
is mounted.
Requirements for levelness of the mounting surface (Dimensions in mm)
Diameter
Permissible unevenness
< 100
< 0.02
> 100
< 0.05
WARNING
Risk of injury if the unit falls during transport or assembly!
Handling with large weight for PZH-plus 75
• Secure the unit during transport and assembly by sufficiently
large aids.
• The gripper is to be hoisted by the three transport threads.
Eye bolts in the transport threads
5
5.1
5.1.1
Levelness of the
mounting surface

Assembly
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19
The module can be mounted from the front or the rear.
1
Mounting from the rear
4
Finger mounting
2
Centering sleeves
5
Mounting from the front
3
Centering sleeves
The centering sleeves (2 / 3) are included in the accessory pack.
Mounting material
Size
20
30
50
75
Thread diameter and max. depth of
engagement for rear mounting
M6
15 deep
M8
22 deep
M10
24 deep
M12
34 deep
Thread diameter and max. depth of
engagement for finger mounting
M4
10 deep
M5
10 deep
M5
10 deep
M10
17 deep
Mounting

Assembly
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Mounting of the gripper by using a spring loaded pressure-piece
CAUTION
The spring-loaded pressure piece is under spring tension.
The pressure piece can fly out in an uncontrolled fashion and cause
contusions.
• During assembly or disassembly, be especially careful with the
springs.
When mounting the gripper from the side of the gripper fingers, the
assembly of the pressure piece must be done after the mounting of
the gripper.
Mounting the pressure piece is described in the insert "Installation
instructions - pressure piece", which is included in the pressure
piece's scope of delivery.
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.
NOTICE
Observe the requirements for the air supply
(3, Page 16).
5.1.1.1
5.1.2