SCHUNK GSM-P User instructions

Assembly and Operating Manual
GSM-P
Rotary gripping module with parallel gripper
Translation of Original Operating
Manual

Imprint
2 14.00 | GSM-P | Assembly and Operating Manual | en | 389104
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK SE & Co. KG.
All rights reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389104
Version: 14.00|23/05/2023|en
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
Customer Management
Tel. [phone]
Fax [phone]
[e-mail]
Please read the operating manual in full and keep it close to the product.

Table of contents
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Table of Contents
1 General ............................................................................................. 6
1.1 About this manual............................................................................... 6
1.1.1 Presentation of Warning Labels ..................................................... 6
1.1.2 Applicable documents ................................................................. 7
1.1.3 Sizes........................................................................................ 7
1.1.4 Variants ................................................................................... 7
1.2 Warranty ........................................................................................... 7
1.3 Scope of delivery................................................................................. 7
1.3.1 Accessory pack rotational speed rotor FAN........................................ 8
1.4 Accessories ........................................................................................ 8
1.4.1 Seal kit .................................................................................... 8
1.4.2 Spare parts packages .................................................................. 8
2 Basic safety notes ................................................................................ 10
2.1 Intended use...................................................................................... 10
2.2 Not intended use ................................................................................ 10
2.3 Constructional changes......................................................................... 10
2.4 Spare parts ........................................................................................ 11
2.5 Gripper fingers .................................................................................. 11
2.6 Ambient conditions and operating conditions ........................................... 11
2.7 Personnel qualification ........................................................................ 11
2.8 Personal protective equipment .............................................................. 12
2.9 Notes on safe operation........................................................................ 13
2.10 Transport........................................................................................... 13
2.11 Malfunctions ...................................................................................... 13
2.12 Disposal ............................................................................................ 14
2.13 Fundamental dangers .......................................................................... 14
2.13.1 Protection during handling and assembly ....................................... 14
2.13.2 Protection during commissioning and operation ............................... 15
2.13.3 Protection against dangerous movements ....................................... 15
2.13.4 Protection against electric shock.................................................... 15
2.14 Notes on particular risks ....................................................................... 16
3 Technical data ..................................................................................... 19
4 Design and description .......................................................................... 20
4.1 Design .............................................................................................. 20
4.2 Description ........................................................................................ 20
5 Assembly............................................................................................ 21
5.1 Installing and connecting ..................................................................... 21

Table of contents
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5.2 Connections ....................................................................................... 23
5.2.1 Mechanical connection................................................................ 23
5.2.2 Pneumatic connections ............................................................... 25
5.3 Mounting the sensor............................................................................ 27
5.3.1 Overview of sensors .................................................................... 27
5.3.2 Sensor monitoring range ............................................................. 27
5.3.3 Settings for magnetic switch......................................................... 28
5.3.4 Switch-off hysteresis for magnetic switch MMS-P 22 .......................... 29
5.3.5 Assembly and setup of the MMS-P 22.............................................. 30
5.3.6 Inductive monitoring via IN 40...................................................... 32
5.4 Mounting a customized construction ....................................................... 36
6 Commissioning .................................................................................... 37
6.1 Adjusting the end positions................................................................... 37
6.2 Setting the speed ................................................................................ 40
6.3 Restart after long standstill ................................................................... 40
7 Troubleshooting................................................................................... 41
7.1 Product does not achieve the opening and closing times ............................. 41
7.2 Swivel movement is not executed immediately.......................................... 42
8 Maintenance ....................................................................................... 43
8.1 Notes................................................................................................ 43
8.2 Maintenance and care intervals ............................................................. 43
8.3 Lubricant/greasing areas/adhesives ......................................................... 44
8.4 Screw tightening torques ...................................................................... 46
8.5 Disassembly/assembly of the unit in the basic modules ............................... 47
8.6 Disassembly/assembly of the gripping module........................................... 48
8.6.1 Changing the gripping module – GSM-P 32 ...................................... 48
8.6.2 Changing the gripping module – GSM-P 40-64................................. 50
8.6.3 Mounting orientation of the magnets, item 120 ................................ 51
8.7 Disassembly/assembly of the DKM feed-through compact module (item 40)..... 51
8.8 Replacing a shock absorber for S variants ................................................. 53
8.9 Replacing an elastomer for E variants ...................................................... 54
8.10 Disassembly/assembly of the FAN rotor drive (50) ....................................... 55
8.11 Servicing and assembling the product ..................................................... 56
8.12 Drawings........................................................................................... 57
8.12.1 Assembly drawing of the basic module ........................................... 57
8.12.2 Assembly drawing of the DKM and FAN modules ............................... 58
8.12.3 Assembly drawing of the gripping modules...................................... 59
9 Translation of the original declaration of incorporation ................................. 60
10 UKCA declaration of incorporation ............................................................ 61

Table of contents
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11 Information on the RoHS Directive, REACH Regulation and Substances of Very High
Concern (SVHC) ..................................................................................... 62

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.
In addition to these instructions, the documents listed
under }1.1.2 [/7] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Dangers 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
lGeneral terms of business *
lCatalog data sheet of the purchased product *
lAssembly and operating manuals of the accessories *
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.3 Sizes
This operating manual applies to the following sizes:
lGSM-P 32
lGSM-P 40
lGSM-P 50
lGSM-P 64
1.1.4 Variants
This operating manual applies to the following variations:
lGSM-P without gripping force maintenance
lGSM-P with gripping force maintenance "O.D. gripping" (AS)
lGSM-P with gripping force maintenance "I.D. gripping" (IS)
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:
lObserve the specified maintenance and lubrication intervals
lObserve 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
lRotary gripping module with parallel gripper GSM-P in the
version ordered
lAssembly and Operating Manual
lAccessory pack

General
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1.3.1 Accessory pack rotational speed rotor FAN
Position of the item numbers, }8.12 [/57]
Content of the accessory pack:
lCentering sleeves (205 or 206)
lO-rings (207)
lSteel balls (108)
lLocking screws (230)
lScrews (231 / 232)
Rotor drive ID number
FAN 40 5514441
FAN 64 5514442
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.
1.4.1 Seal kit
Seal kits contain all seals necessary for maintaining a SCHUNK
component.
Seal kit for ID.-No. of the seal kit
GSM-P 32 5516260
GSM-P 40 5516261
GSM-P 50 5516262
GSM-P 64 5516263
FAN 40 5516256
FAN 64 5516257
contents of the sealing kit,Assembly drawing.
1.4.2 Spare parts packages
Spare parts packages allow for the maintenance and repair of
individual components. For information on the range of the
spare parts packages, see www.schunk.com > Service.
The following spare parts packages are available for this product:
l"Rotary gripping module" spare parts package
Contents of the spare parts package, }8.12.3 [/59].

General
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Rotary gripping
module Spare part kit
for
ID number ID number
"O.D. gripping"
(AS)
ID number
"I.D. gripping"
(IS)
GSM-P 32
E-090 / S-090
1339350 1339356 1339352
GSM-P 32
E-180 / S-180
1380461 1380462 1380463
GSM-P 40
E-090 / S-090
1339357 1339362 1339359
GSM-P 40
E-180 / S-180
1380464 1380467 1380470
GSM-P 50
E-090 / S-090
1339363 1339368 1339366
GSM-P 50
E-180 / S-180
1380473 1380476 1380479
GSM-P 64
E-090 / S-090
1339373 1339378 1339376
GSM-P 64
E-180 / S-180
1380483 1380487 1380490

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product was designed for swiveling, gripping and time-
limited holding of workpieces or other objects.
The functions "actuate gripper" and "swivel" must be executed
alternately.
lThe product may only be used within the scope of its technical
data, }3 [/19].
lWhen 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.
lThe product is intended for installation in a machine/
automated system. The applicable guidelines for the machine/
automated system must be observed and complied with.
lThe product is intended for industrial and industry-oriented
use.
lAppropriate 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.
lAny 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.
lStructural 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.
lUse only original spare parts or spares authorized by SCHUNK.
2.5 Gripper fingers
Requirements of gripper fingers
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.
lExecute the gripper fingers in such a way that the product
reaches either the "open" or "closed" position in a de-
energized state.
lOnly change gripper fingers if no residual energy can be
released.
lMake 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.
lMake sure that the product is used only in the context of its
defined application parameters, }3 [/19].
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.
lAll work may only be performed by qualified personnel.
lBefore working with the product, the personnel must have
read and understood the complete assembly and operating
manual.
lObserve the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the
various activities related to the product:

Basic safety notes
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Trained electrician Due to their technical training, knowledge and experience,
trained electricians are able to work on electrical systems,
recognize and avoid possible dangers and know the relevant
standards and regulations.
Qualified personnel Due to its technical training, knowledge and experience,
qualified personnel is able to perform the delegated tasks,
recognize and avoid possible dangers and knows the relevant
standards and regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
2.8 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.
lWhen working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
lObserve the valid safety and accident prevention regulations.
lWear protective gloves to guard against sharp edges and
corners or rough surfaces.
lWear heat-resistant protective gloves when handling hot
surfaces.
lWear protective gloves and safety goggles when handling
hazardous substances.
lWear close-fitting protective clothing and also wear long hair
in a hairnet when dealing with moving components.

Basic safety notes
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2.9 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.
lAvoid any manner of working that may interfere with the
function and operational safety of the product.
lUse the product as intended.
lObserve the safety notes and assembly instructions.
lDo not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
lEliminate any malfunction immediately.
lObserve the care and maintenance instructions.
lObserve 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.
lWhen handling heavy weights, use lifting equipment to lift
the product and transport it by appropriate means.
lSecure the product against falling during transportation and
handling.
lStand clear of suspended loads.
2.11 Malfunctions
Behavior in case of malfunctions
lImmediately remove the product from operation and report
the malfunction to the responsible departments/persons.
lOrder appropriately trained personnel to rectify the
malfunction.
lDo not recommission the product until the malfunction has
been rectified.
lTest the product after a malfunction to establish whether it
still functions properly and no increased risks have arisen.

Basic safety notes
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2.12 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.
l
Follow local regulations on dispatching product components for
recycling or proper disposal.
2.13 Fundamental dangers
General
lObserve safety distances.
lNever deactivate safety devices.
lBefore commissioning the product, take appropriate
protective measures to secure the danger zone.
lDisconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
lIf the energy supply is connected, do not move any parts by
hand.
lDo 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.
lHave all work carried out by appropriately qualified
personnel.
lFor all work, secure the product against accidental operation.
lObserve the relevant accident prevention rules.
lUse 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.
lStand clear of suspended loads and do not step into their
swiveling range.
lNever move loads without supervision.
lDo not leave suspended loads unattended.

Basic safety notes
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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.
lTake appropriate protective measures to secure the danger
zone.
lNever 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.
l
Switch off the energy supply, ensure that no residual energy re-
mains and secure against inadvertent reactivation.
lNever 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.
lTo 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.
lThe operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
l
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.
lThe 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.
lStand clear of suspended loads and do not step within their
swiveling range.
lNever move loads without supervision.
lDo not leave suspended loads unattended.
lWear 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.
lTake 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.
lBefore starting any work on the product: Switch off the power
supply and secure against restarting.
lMake sure, that no residual energy remains in the system.
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during movement of the base jaw, due
to breakage or loosening of the gripper fingers or if the
workpiece is lost.
lWear suitable protective equipment.
lDo not reach into the open mechanism or the movement area
of the product.

Basic safety notes
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WARNING
Risk of injury due to spring forces!
Parts are under spring tension on products which clamp using
spring force or which have gripping force maintenance. While
disassembling components can move unexpectedly and cause
serious injuries.
lDisassemble the product cautiously.
lMake 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 specified by the mechanical gripping force
maintenance.
lSecure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Risk of injury due to sudden movements!
During operation, due to incorrect actuation and in the event of
a power failure, falling and ejected objects can cause serious
injuries.
lCarry out safety measures in the user program.
lTake suitable protective measures to secure the danger zone/
product.
WARNING
Risk of injury from rotating components!
In the case of swivel units or rotary tables with a rotary drive,
serious injuries can be caused by rotating components.
lTake appropriate protective measures to secure the danger
zone.

Basic safety notes
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WARNING
Risk of injury from loosened parts!
Due to damaged shock absorbers, parts may be loosened which
destroy the swivel unit and in this way may cause serious
injuries.
lRegular inspection of the individual components on wear and
damage.
WARNING
Risk of injury due to contact with lubricants!
Lubricant may cause irritation and allergic reactions if it contacts
the skin or eyes.
lAvoid contact between lubricant and skin or eyes.
lWear safety goggles and protective gloves.
lObserve information on the safety data sheet of the lubricant.

Technical data
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3 Technical data
Designation GSM-P 32 GSM-P 40 GSM-P 50 GSM-P 64
IP rating 30
Noise emission [dB(A)] ≤ 70
Pressure medium Compressed air, compressed air quality according to
ISO 8573-1:2010 [7:4:4]
Nominal working pressure [bar] 6
Min. pressure [bar] for gripping
without gripping force maintenance
with gripping force maintenance
2
4
Min. pressure [bar] for swiveling 3.5 4 3
Max. pressure [bar] 6.5
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Design and description
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4 Design and description
4.1 Design
Rotary gripping module with parallel gripper
1 Compressed air main connection
2 DKM feed-through compact module
3 Base jaws
4 PGM gripping module
5 FAN rotor drive
4.2 Description
Rotary gripping module with parallel gripper