SCHUNK EGH User instructions

Translation of the original manual
Assembly and operating manual
EGH
Flexible gripper for cobot

Imprint
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01.00 | EGH | Assembly and operating manual | en | 1408785
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: 1408785
Version: 01.00|19/11/2019|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 Sizes ..........................................................................................................6
1.1.4 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
2 Basic safety notes ................................................................................................... 7
2.1 Appropriate use.................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 8
2.6 Ambient conditions and operating conditions .....................................................8
2.7 Personnel qualification......................................................................................... 9
2.8 Personal protective equipment.......................................................................... 10
2.9 Notes on safe operation .....................................................................................10
2.10 Transport ............................................................................................................ 10
2.11 Malfunctions....................................................................................................... 11
2.12 Disposal .............................................................................................................. 11
2.13 Fundamental dangers......................................................................................... 11
2.13.1 Protection during handling and assembly ..............................................11
2.13.2 Protection during commissioning and operation ...................................12
2.13.3 Protection against dangerous movements.............................................12
2.13.4 Protection against electric shock............................................................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
3.1 Connection data ................................................................................................. 16
3.2 Ambient conditions and operating conditions ...................................................17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18
4.3 Display ................................................................................................................ 19
5 Assembly and settings ............................................................................................20
5.1 Installing and connecting.................................................................................... 20
5.2 Connections........................................................................................................ 21
5.2.1 Mechanical connection...........................................................................21
5.2.2 Electrical connection ..............................................................................26

Table of Contents
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6 Troubleshooting .....................................................................................................29
6.1 Product does not move ...................................................................................... 29
6.2 Product does not execute a complete stroke..................................................... 29
6.3 Product opens or closes jerkily........................................................................... 29
6.4 Opening and closing times are not achieved...................................................... 29
6.5 Electrical signals are not transmitted ................................................................. 29
6.6 Faults that are displayed via the LED "STATUS" ................................................. 30
6.7 Acknowledge error ............................................................................................. 30
7 Maintenance ..........................................................................................................31
8 EU-Declaration of Conformity .................................................................................32
9 Translation of original declaration of incorporation ................................................33
10 Annex to Declaration of Incorporation....................................................................34

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.
CAUTION
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 *
• Software guide "SCHUNK gripper with IO-Link"*
• Software manual "SCHUNK software component for URCap EGH" *
• Assembly and operating manuals of the accessories *
• Assembly and Operating Manual of IO-Link-Master
"FEN20-4IOL"**
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
The documents labeled with two asterisks (*) can be downloaded
from turck.com.
1.1.3 Sizes
This operating manual applies to the following sizes:
• EGH 80
1.1.4 Variants
This operating manual applies to the following variations:
• EGH 80-IOL-N-UREK
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 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
• Flexible gripper for cobot EGH in the ordered model
• Assembly instructions
• USB stick
• Accessory kit with ISO flange and tool
The starter package also includes:
• Attachment finger in rigid and flexible design
• IO-Link master incl. accessories

Basic safety notes
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2 Basic safety notes
2.1 Appropriate use
The product is used solely for gripping and time-restricted, safe
holding of dimensionally stable workpieces or objects with low
elasticity.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• The product is intended for installation in a machine. 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
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.
• Operation without separating protective equipment. For
applications without separating protective equipment,
additional suitable measures must be taken to protect the
danger zone.
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 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.
2.5 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 [}16].

Basic safety notes
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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.
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.

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
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.
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.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during
commissioning 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
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.

Basic safety notes
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2.13.4 Protection against electric shock
Work on electrical equipment
Touching live parts may result in death.
• Work on the electrical equipment may only be carried out by
qualified electricians in accordance with the electrical
engineering regulations.
• Lay electrical cables properly, e. g. in a cable duct or a cable
bridge. Observe standards.
• Before connecting or disconnecting electrical cables, switch off
the power supply and check that the cables are free of voltage.
Secure the power supply against being switched on again.
• Before switching on the product, check that the protective
earth conductor is correctly attached to all electrical
components according to the wiring diagram.
• Check whether covers and protective devices are fitted to
prevent contact with live components.
• Do not touch the product's terminals 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
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
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
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.
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.

Basic safety notes
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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
responsibility to revert the drive into a safe state.
WARNING
Risk of burns through contact with hot surfaces!
Surfaces of components can heat up severely during operation.
Skin contact with hot surfaces causes severe burns to the skin.
•For all work in the vicinity of hot surfaces, wear safety gloves.
•Before carrying out any work, make sure that all surfaces have
cooled down to the ambient temperature.

Technical data
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3 Technical data
3.1 Connection data
Designation EGH 80-IOL-N-UREK
Supply voltage [VDC]
Min. [VDC]
Max. [VDC]
24
21.6
26.4
Min. Supply current power
supply unit [A] *
1.0
Max. Current input [A]** 0.5
Gripping force [%] 100
Current input in blocked
state [A] ***
0.2
Integrated electronic control unit
Communication interface IO-Link
Number of digital inputs/
outputs
2 / -
Specification: V1.1
Transmission rate COM2
Port Class B
* minimum supply current for reliable operation of product
** maximum current input in the acceleration phase (max. t =
50 ms)
*** Current input in blocked state (in gripper end position or
while gripping a workpiece) with active command "Open
Gripper" or "Close Gripper"
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Technical data
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3.2 Ambient conditions and operating conditions
Designation EGH 80-IOL-N-UREK
IP protection class
(mechanical) *
20
IP protection class
(electrical) *
20
Ambient temperature [°C]
Min.
Max.
5
55
Note on EMC conformity (in
accordance with EN
61000-6-4:2007 + A1:2011)
The product may only be used in DC
distribution networks with an
expansion of <30 m.
* The product is not suitable for use in dirty environments (e.g.
splash water, vapors, abrasion or process dusts). For special
applications in dirty environments, SCHUNK is also happy to
provide customized solutions.

Design and description
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4 Design and description
4.1 Design
Structure EGH
1 ISO flange for connection to the robot
2 Opening/closing the ISO flange
3 LED light strip
4 LED "POWER", "COM" and "STATUS"
5 Base jaw
6 Housing
4.2 Description
Electrical 2-finger parallel gripper with large stroke for direct use
with lightweight robots.

Design and description
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4.3 Display
LED
1 LED "STATUS" Status display of the product
2 LED "COM"
3 LED "POWER"
4 LED light strip freely-configurable, application-specific
display
Designation Color Function
POWER Green • Lights up if ready for operation
•Does not light up if logic or actuator voltage is reversed or not
in the valid range.
COM Green • Does not light up if IO-Link communication is not active
•Flashes if IO-Link communication is active
STATUS Green
/ Red
•Does not light up if electronics are not active or defective
•Lights up green if ready for operation
•Lights up red in case of a fault. Error message is
communicated via IO-Link

Assembly and settings
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5 Assembly and settings
5.1 Installing and connecting
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.
NOTE
Ensure sufficient heat dissipation using the customer's mounting
surface.
Mount the product so that sufficient cooling is guaranteed. The
size of the cooling surface depends on the application. Avoid
exposure to additional heat e.g. caused by attachments or by the
attached axle.
A temperature malfunction may occur if the product reaches
excessively high temperatures.
ØCheck the evenness of the mounting surface,
Mechanical connection [}21].
ØAttach the product to the robot, Mechanical connection [}21].
✓Observe the tightening torque for the mounting screws.
ØSecure the gripper fingers to the base jaws,
Install gripper fingers [}24].
ØGuide the cable along the robot and fasten it with the supplied
Velcro straps, Electrical connection [}26].
ØConnect cable for power supply and actuation,
Electrical connection [}26]
NOTE
The gripping force is set to 100% in the factory and cannot be
changed.