SCHUNK PG-plus 70 User instructions

Translation of the original manual
Assembly- and Operating Manual
PG-plus 70
Servo-electric 2-finger parallel gripper

Imprint
2
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Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re-
served. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and re-
quires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389738
Version: 02.00|22/10/2018|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading techno-
logy 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 Definition of Terms...................................................................................6
1.1.3 Applicable documents ..............................................................................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 ........................................................................................ 8
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 8
2.6 Environmental and operating conditions ............................................................. 8
2.7 Personnel qualification......................................................................................... 8
2.8 Personal protective equipment............................................................................ 9
2.9 Notes on safe operation .....................................................................................10
2.10 Transport ............................................................................................................ 10
2.11 Malfunctions....................................................................................................... 10
2.12 Disposal .............................................................................................................. 10
2.13 Fundamental dangers......................................................................................... 11
2.13.1 Protection during handling and assembly ..............................................11
2.13.2 Protection during commissioning and operation ...................................11
2.13.3 Protection against dangerous movements.............................................12
2.13.4 Protection against electric shock............................................................12
2.13.5 Protection against magnetic and electromagnetic fields .......................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
3.1 Outer dimensions ............................................................................................... 16
3.2 Basic data ........................................................................................................... 16
3.3 Electrical operating data..................................................................................... 17
3.4 Name plate ......................................................................................................... 17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18

Table of contents
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5 Assembly and settings ............................................................................................20
5.1 Electrical connection .......................................................................................... 20
5.2 Mounting on the external lightweight arm ........................................................21
6 Commissioning .......................................................................................................24
6.1 Configuration via the service interface............................................................... 25
6.2 Updating firmware ............................................................................................. 27
7 Functional description ............................................................................................28
8 Troubleshooting .....................................................................................................29
8.1 Communication interrupted............................................................................... 29
8.2 Product is not reacting, not moving or stops suddenly...................................... 29
8.3 Unusual noise during operation ......................................................................... 29
8.4 Product does not execute a complete stroke..................................................... 29
8.5 Product moves sluggishly or jerks ......................................................................29
9 Maintenance, cleaning and repair...........................................................................30
9.1 Maintenance ...................................................................................................... 30
9.2 Cleaning .............................................................................................................. 30
9.3 Repair ................................................................................................................. 30
10 Translation of original declaration of incorporation ................................................31
10.1 Annex to Declaration of Incorporation............................................................... 32

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 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
1.1.3 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Software manual "Motion Control SCHUNK" *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
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 con-
ditions:
• Observe the ambient conditions and operating conditions, Basic
data [}16]
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Servo-electric 2-finger parallel gripper
• Product-CD with documentation, Software
• Assembly and Operating Manual
1.4 Accessories
A wide range of accessories are available for this product
Designation Ident number
Flat change head FWK115 ISO 31000995
PCM13, USB/CAN-Bus adapter 307913
diagnostic adapter 1344896
PAM 150 top jaw blank (finger) ABR/PG+70 307850
PAE 200 CAN BUS termination 31001036

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
The product is intended for installation in a machine. The condi-
tions of the Machinery Directive for an incomplete machine must
be observed.
The product has been specially designed for use on lightweight
arms from SCHUNK. If the defined application parameters are ad-
hered to, the use on standard industrial and lightweight robots is
permitted.
The manufacturer of the machine is responsible for carrying out a
risk analysis and for the protective equipment resulting from the
analysis. The safety-related information contained in the "Elec-
trical equipment of machines" standard (DIN EN 60204) must be
observed. Commissioning is only permitted in compliance with
EMC directives (89/336/EEC).
The safety-related information contained in the "Electrical equip-
ment of machines" standard (DIN EN 60204) must be ob-
served.Commissioning is only permitted in compliance with EMC
directives (2014/30/EU).
• When implementing and operating components in safety-re-
lated parts of the control systems, the basic safety principles in
accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• 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.
It is forbidden to use the product outdoors, underground or in ex-
plosive atmospheres.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.

Basic safety notes
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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 unauthorized spare parts
Using unauthorized spare parts can endanger personnel and dam-
age 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 injur-
ies 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 re-
mains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.
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.
See also Basic data [}16].
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:

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 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.
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 occupa-
tional health and safety regulations and wear the required per-
sonal 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 haz-
ardous substances.
• Wear 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.
• 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 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.
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.

Basic safety notes
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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.
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.
• 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 attach-
ments 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 ma-
chine if this protective equipment does not function correctly.
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 engineer-
ing 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 compon-
ents according to the wiring diagram.
• Check whether covers and protective devices are fitted to pre-
vent 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.

Basic safety notes
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• 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.
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 require the consent of a physician before entering
areas in which magnetic grippers or motor parts with perman-
ent magnets are stored, repaired, or assembled.
• Do not operate high-frequency or radio devices in the proximity
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 automated system for possible failures when
such systems are used at different intervals and in different
states of the control 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 may perform electrical installations.
•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 hot surfaces.
In high ambient temperatures, it is possible for the product to be
exposed to excessive heat, causing the surfaces to become hot.
•Wear protective gloves.
•Allow the product to cool to at least 40°C before touching it.

Basic safety notes
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WARNING
Risk of injury due to sudden movements in case of EMC mal-
functions!
If the EMC directive is not observed when connecting the
product, malfunctions in the control units and drives can cause
unexpected machine movements.
•Observe the EMC directive when connecting the product.
WARNING
In case of overload, risk of injury due to sudden movements!
If the product is overloaded, the integrated brake will no longer
function properly. This may result in sudden machine move-
ments.
•Operate the product within the specifications defined at all
times.
WARNING
In case of product malfunction, risk of injury due to sudden
movements!
Electrical devices are not generally protected against failure.
•Therefore, the user is responsible for ensuring that the machine
is brought into a safe state in case of product malfunction.
WARNING
Risk of injury due to sudden movements in case of electrical
malfunctions!
Electrical malfunctions can lead to sudden movements in the machine.
•During transport and handling, do not bend any of the com-
ponents or change the insulation clearance.
•To avoid damage due to electrostatic charges, do not touch
the electrical components.
•Properly execute all grounding, fastening and cabling work in
accordance with applicable regulations.

Technical data
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3 Technical data
3.1 Outer dimensions
*
* The difference to the recommended maximum stroke results from the setting range for the software end position
3.2 Basic data
Ident number 31001294
Recommended maximum stroke per finger
[mm]
30
Gripping force [N]
min.
max.
30
200
Nominal gripping force [N] 160
Recommended workpiece weight [kg] 1.0
Max. permissible finger length (at nominal
force) [mm]
140
Repeatability [mm] ±0.05
Max. permissible speed [mm/s] 82
Max. acceleration [mm/s²] 328
Weight [kg] 1.2
Environmental and operating conditions
Ambient temperature [°C]
min.
max.
+5
+55
IP protection class 20
Noise emission [dB(A)] ≤ 70

Technical data
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3.3 Electrical operating data
Operating data Motor internal
Motor current at nominal gripping force [A] 1.4
Maximum motor current [A] 6.5
Power supply
Voltage supply logic [VDC] 24 ± 10%
Voltage supply power [VDC]
(stabilized and smoothed, internal reverse
polarity protection)
Maximum current consumption (logic) [A]
Maximum current consumption (power)
from power supply unit [A]
24 ± 10%
0.5
1.8
Control electronics
Power supply [VDC] 24.0
Nominal power current [A] 0.5
Sensor system Encoder
Interfaces • CAN bus (Protocoll:
CANopen DS 402)
• USB (service inter-
face)
3.4 Name plate
The name plate is located on the front wall next to the service in-
terface.

Design and description
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4 Design and description
4.1 Design
1 Gripper base jaws with
base jaw guide
3 Flat change adapter
FWA115
2 Case 4 Service interface
4.2 Description
The 2-finger parallel gripper is a servo-electric gripping module
with integrated control and regulating electronics.
The 2-finger parallel gripper is designed to be attached to a LWA
4P or LAW 4D lightweight arm.
The defined mechanical and electrical interface also makes it pos-
sible to attach it to other commercially available industrial and
lightweight arms.
Attaching it to a lightweight arm or to another application is carried
out via the SCHUNK flat change system FWS115 Accessories [}6] .
The 2-finger parallel gripper is suitable for mobile applications due
to its design and low energy consumption.
A brushless DC servomotor drives both of the gripper base jaws.
An integrated permanent magnet brake for holding the position of
the drive blocks the motor shaft when actuated by the motor con-
trol accordingly and when the supply voltage is switched off (the
brake is not approved for holding workpieces). The position of the
gripper base jaws is constantly monitored using a sensor system.
In this way the distance between the gripper base jaws in relation
to one another is determined using internal referencing.
The complete control electronics is integrated in the 2-finger par-
allel gripper.

Design and description
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Power supply and control cables for the 2-finger parallel gripper
are connected with gold-plated spring contacts via adapter boards
of the flat change system.
A service interface with USB port and three micro switches is
found under a screwed-on cover.
The 2-finger parallel gripper is controlled via a CAN bus interface
with CANopen protocol.
During installation or servicing, the configuration of the 2-finger
parallel gripper can be adjusted using the MTS software (Motion
Tool SCHUNK). Defined settings are secured by multiple levels of
password protection.

Assembly and settings
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5 Assembly and settings
5.1 Electrical connection
1 Circuit board of the FWK115 flat change system with spring
contacts
The 2-finger parallel gripper has two separate inputs of 24 VDC
each for motor and logic voltage.
Electrical connection is made at the circuit board of the FWK115
flat change system.
For the supply of power, a sufficiently dimensioned power supply
unit must be used.
Make sure the dimensions of the cable cross-section are adequate
when cabling.