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SCHUNK PGN-plus-E 80 Assembly And Operating Manual

Electrical 2-finger parallel gripper
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Assembly and Operating Manual
PGN-plus-E
Electrical 2-Finger Parallel Gripper

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Summary of Contents for SCHUNK PGN-plus-E 80

  • Page 1 Translation of the original manual Assembly and Operating Manual PGN-plus-E Electrical 2-Finger Parallel Gripper...
  • Page 2 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.

  • Page 3: Table Of Contents

    Table of contents Table of contents General........................ 6 About this manual .................... 6 1.1.1 Presentation of Warning Labels ............... 6 1.1.2 Definition of Terms................... 6 1.1.3 Applicable documents ................ 7 1.1.4 Sizes ...................... 7 1.1.5 Variants..................... 7 Warranty ...................... 7 Scope of delivery .................... 8 Accessories ......................
  • Page 4 Table of contents 4.1.2 "IO-Link" variant .................. 24 Description ...................... 24 Display ........................  25 4.3.1 "Digital I/O" variant ................ 25 4.3.2 "IO-Link" variant .................. 27 Assembly and settings .................... 28 Installing and connecting.................. 28 Connections...................... 30 5.2.1 Mechanical connection................ 30 5.2.2 Electrical connection - "Digital I/O" variant.......... 33 5.2.3 Electrical connection - "IO-Link"...
  • Page 5 Table of contents Translation of original declaration of incorporation .......... 55 Annex to Declaration of Incorporation .............. 56 10 EU-Declaration of Conformity ................. 59 04.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...

  • Page 6: General

    General 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.

  • Page 7: Applicable Documents

    • Catalog data sheet of the purchased product * • Assembly and operating manuals of the accessories * • Software guide "SCHUNK gripper with IO-Link" * The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com 1.1.4 Sizes...

  • Page 8: Scope Of Delivery

    • 2x centering sleeves for gripper fastening • 4x centering sleeves for finger fastening ID.-No. of the accessory pack Size ID number PGN-plus-E 80 5524224 PGN-plus-E 100 5524225 1.4 Accessories A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants, see catalog data sheet.

  • Page 9: Basic Safety Notes

    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. 04.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...

  • Page 10: Gripper Fingers

    Basic safety notes 2.5 Gripper fingers Requirements of the gripper finger Stored energy can make the product unsafe and risk the danger of serious injuries and considerable material damage. • Only replace gripper finger if no residual energy can be re- leased.

  • Page 11: Environmental Conditions

    Basic safety notes 2.6.1 Environmental conditions Transport and storage requirements If the product is transported and stored in its original packaging, the following data applies: • Loading and unloading with mechanical aids • Ambient temperature from -40°C to +70°C • Air humidity up to max. 85% Operational requirements If the product is operated, the following data applies: •...

  • Page 12: Personnel Qualification

    Basic safety notes The product must also not be used in potentially explosive zones. If the product is subjected to unacceptably large impacts or vibra- tions, suitable measures must be taken to reduce the amplitude or acceleration of such disturbances. Vibration-damping or vibration- absorbing systems are to be used in such cases.

  • Page 13: Personal Protective Equipment

    Basic safety notes 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.

  • Page 14: Transport

    Basic safety notes 2.10 Transport Handling during transport Incorrect handling during transport may impair the product's safety and cause serious injuries and considerable material dam- age. • When handling heavy weights, use lifting equipment to lift the product and transport it by appropriate means. •...

  • Page 15: Protection During Handling And Assembly

    Basic safety notes 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. •...

  • Page 16: Protection Against Dangerous Movements

    Basic safety notes 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. •...

  • Page 17: Protection Against Electric Shock

    Basic safety notes 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. •...

  • Page 18: Protection Against Magnetic And Electromagnetic Fields

    Basic safety notes 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.

  • Page 19: Notes On Particular Risks

    Basic safety notes 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.
  • Page 20 Basic safety notes  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 •...

  • Page 21: Technical Data

    Technical data 3 Technical data 3.1 "Digital I/O" variant Designation PGN-plus-E Mechanical operating data Weight [kg] 1.01 / 1.73 / SD: 1.08 SD: 1.85 Gripping force [N] min. max. Electrical operating data Nominal voltage [VDC] 24 ±10% Nominal power current [A] Max.

  • Page 22: Io-Link" Variant

    Technical data 3.2 "IO-Link" variant Designation PGN-plus-E IO-Link IO-Link Mechanical operating data Weight [kg] 1.01 / 1.73 / SD: 1.08 SD: 1.85 Gripping force [N] min. max. Electrical operating data Nominal voltage [VDC] 24 ±10% Nominal power current [A] Max. current [A] Integrated control electronics Communications interface IO-Link...

  • Page 23: Design And Description

    Design and description 4 Design and description 4.1 Design 4.1.1 "Digital I/O" variant 2-Finger Parallel Gripper , variant "Digital I/O" Gripper finger interface Housing LEDs "POWER" and "ERROR/STATUS" "Gripping force" rotary switch "Voltage supply and actuation" connection plug "Sensors" connection plug LEDs sensors "S1"...

  • Page 24: Io-Link" Variant

    Design and description 4.1.2 "IO-Link" variant 2-Finger Parallel Gripper , variant "IO-Link" Gripper finger interface Housing LEDs "POWER", "COM" and "STATUS" "IO-Link" connection plug LEDs sensors "S1" and "S2" Gripper finger centering sleeve 4.2 Description The product is a servo-electric 2-finger parallel gripper featuring high power density and integrated electronics and two integrated inductive proximity switches.

  • Page 25: Display

    Design and description 4.3 Display 4.3.1 "Digital I/O" variant Function label "Gripping force" rotary LED "POWER" switch LED Sensor "S2" LED LED "ERROR/STATUS" LED Sensor "S1" LED Voltage supply and control Designation Color Function POWER Green Indicates whether the voltage is connected. •...
  • Page 26 Design and description Designation Color Function ERROR • Does not light up when there is no warning or error and the product is ready to operate. • Lights up if there is a low-voltage fault. – Is automatically acknowledged if the fault is no longer present. •...

  • Page 27: Io-Link" Variant

    Design and description 4.3.2 "IO-Link" variant Function label LED "POWER" LED Sensor "S1" LED "COM" LED Sensor "S2" LED "STATUS" LED "POWER", "COM" and "STATUS" 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.

  • Page 28: Assembly And Settings

    Assembly and settings 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 seri- ous injuries.
  • Page 29 Assembly and settings Screw the product to the machine/system, Mechanical connec- Ø tion  30]. If necessary, use appropriate connection elements (adapter ✓ plates). Observe the permissible depth of engagement. ✓ Observe the tightening torque for the mounting screws. ✓ Secure the gripper fingers to the base jaws, Mechanical connec- Ø...

  • Page 30: Connections

    Assembly and settings 5.2 Connections 5.2.1 Mechanical connection The values refer to the entire bolting surface on which the product Evenness of the is mounted. mounting surface Requirements for the evenness of the bolting surface (dimensions in mm) Edge lengths Permissible unevenness <...
  • Page 31 Assembly and settings The product can be mounted from three sides. Connections at the housing Assembly options Item Mounting PGN-plus-E Side A Mounting screws Maximum depth of engagement from locating surface [mm] Mounting screws as per standard DIN EN ISO 4762 Centering sleeves Ø8 Ø10...
  • Page 32 Assembly and settings Connections for additional structure Connections for additional structure Item Mounting PGN-plus-E Thread in the case M2.5 Max. depth of engagement from locating surface [mm] Centering sleeve Ø4 Ø5 04.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...

  • Page 33: Electrical Connection - "Digital I/O" Variant

    Assembly and settings 5.2.2 Electrical connection - "Digital I/O" variant NOTICE Risk of damage to the electronics! A faulty connection can cause damage to the internal electronics. The supply network must be a network of type "PELV" for • power and logic. Observe the PIN assignment of the connecting terminals.
  • Page 34 Assembly and settings 5.2.2.1 Actuation of the digital inputs. Truth table The truth table shows the actuation of the digital inputs during possible commands by the superordinated control unit. Power consumption per digital inputs amounts to max. I=10 mA. Open/close digital inlets Function Pin 2 Pin 4...

  • Page 35: Electrical Connection - "Io-Link" Variant

    Brown + 24 V White + 24 V (actuator) Blue Black C/Q IO-Link Grey GND (actuator) NOTE For information on actuation, see Software guide "SCHUNK grip- per with IO-Link". 04.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...

  • Page 36: Connecting Ground Cable

    Assembly and settings 5.3 Connecting ground cable Ground connection Screw * Toothed lock washer Washer Product Cable lug Ground marking *) Tightening torque: 5 Nm A ground connection with a sufficient cross-section must be estab- lished between the product and the machine on the customer's premises.
  • Page 37 Assembly and settings Gripper with additional structure Gripper Centering sleeve Additional structure Gripper fingers Workpiece For supporting things like workpieces, an additional structure can be attached to the gripper. The locating surface of the additional structure may not exceed the recess of the cover. The external dimensions of the additional structure can exceed the external dimensions of the gripper but not interfere with the operating cycle of the gripper fingers.

  • Page 38: Adjust Gripping Force

    Mechanical connection  30]. Use centering sleeves (3) between gripper and additional ✓ structure. Centering sleeves can be ordered from SCHUNK. The threaded holes (5) of the cover are used for securing the ✓ additional structure. 5.5 Adjust gripping force NOTE The gripping force can be adjusted using the rotary switch only for the "Digital I/O"...

  • Page 39: Installing The Sensors

    – The assembly and operating manual and catalog datasheet are included in the scope of delivery for the sensors and are available at schunk.com. • Information on handling sensors is available at schunk.com or from SCHUNK contact persons. Sensors MMS-P 22, MMS 22-PI1 and MMS 22-PI2 During operation, the sensor may not exceed or drop below a tem- perature range of ±...

  • Page 40: Overview Of Sensors

    Assembly and settings 5.6.1 Overview of sensors Designation PGN-plus-E Magnetic switch MMS 22 Programmable magnetic switch MMS 22-PI1 Programmable magnetic switch MMS 22-PI2 Analog magnetic switch MMS 22-A Programmable magnetic switch MMS-P 22 5.6.2 Switch-off hysteresis for magnetic switches Sensors MMS 22, MMS-P 22, MMS 22-PI1 and MMS 22-PI2 The smallest detectable difference in stroke is defined in the fol- lowing table: The smallest detectable difference in stroke based on the nominal stroke...

  • Page 41: Installation Position Of The Magnetic Switches

    Assembly and settings 5.6.3 Installation position of the magnetic switches Installation position MMS 22-PI2, MMS-P 22, MMS 22-A For the magnetic switches MMS 22-PI2, MMS-P 22 and MMS 22-A, the sensor can be mounted with a cable outlet above or below in one of the two grooves.

  • Page 42: Mounting Magnetic Switch Mms 22

    Assembly and settings 5.6.4 Mounting magnetic switch MMS 22 NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the set- •...

  • Page 43: Mounting Programmable Mms-P 22 Magnetic Switch

    Assembly and settings Open the product and close it again in order to test its function. Ø 5.6.5 Mounting programmable MMS-P 22 magnetic switch NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged.

  • Page 44: Mounting Programmable Magnetic Switch Mms 22-Pi1

    Assembly and settings 5.6.6 Mounting programmable magnetic switch MMS 22-PI1 NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the set- •...

  • Page 45: Mounting Programmable Mms 22-Pi2 Magnetic Switch

    Assembly and settings 5.6.7 Mounting programmable MMS 22-PI2 magnetic switch NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the set- •...

  • Page 46: Mounting Analog (Mms 22-A) Magnetic Sensor

    Assembly and settings 5.6.8 Mounting analog (MMS 22-A) magnetic sensor, . NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the set- •...

  • Page 47: Set The Integrated Inductive Proximity Switch (In)

    Assembly and settings 5.6.9 Set the integrated inductive proximity switch (IN) In the delivery state, the control cam S1 is set to "gripper closed" and the control cam S2 to "gripper open". Clamp the part to be gripped. Ø Loosen expander bolt (1) by unscrewing it from the control cam (3). Ø...
  • Page 48 Assembly and settings Turn control cam Installation position of the control cam Position "part gripped (O.D. gripping)/gripper closed" Installation position of the control cam Position "part gripped (I.D. gripping)/gripper open" Completely unscrew expander bolt (1) from the control cam (3). Ø...

  • Page 49: Use Electronic Processor Fps-F5/F5 T

    Assembly and settings 5.6.10 Use electronic processor FPS-F5/F5 T NOTE The electronic processor (FPS-F5/F5 T) can only be used with the analog magnetic sensor (MMS 22-A, 5 V). The assembly of a flex- ible position sensor (FPS-S M8 or FPS-S 13) on the gripper is not possible.

  • Page 50: Troubleshooting

    Mounting surface is not sufficiently flat. Check the evenness of the mounting surface. Mechanical connection  30] Breakage of components, e.g. by overloading. Send the product to SCHUNK with a repair order. 6.3 Product opens or closes jerkily Possible cause Corrective action Too little grease in the mechanical guiding Clean and lubricate product.

  • Page 51: Opening And Closing Times Are Not Achieved

    Acknowledgment- LED lights up red To check device status via IO link, see Soft- binding fault ware guide "SCHUNK gripper with IO-Link". 6.9 Acknowledge error Wait until the product has cooled down. Ø Actuate both digital inlets, "Opens gripper" and "Closes grip- Ø...

  • Page 52: Maintenance

    Maintenance 7 Maintenance 7.1 Maintenance intervals If products are used at room temperature and the ambient and operating conditions are adhered to, these variants are mainten- ance-free, Ambient conditions and operating conditions  22]. Products for special ambient conditions are excluded, e.g. higher temperatures, dirty environment.

  • Page 53: Lubricants/Lubrications Points

    Maintenance 7.2 Lubricants/Lubrications points SCHUNK recommends the lubricants listed. During maintenance, treat all greased areas with lubricant. Thinly apply lubricant with a lint-free cloth. Lubricant point Lubricant Metallic sliding surfaces Isoflex-Topas NCA 52 For dust-tight version (SD): Renolit HLT 2...

  • Page 54: Changing Seals - Dust-Tight Version (Sd)

    Material damage due to incorrect assembly and disassembly! Faulty assembly and disassembly of the product can cause dam- age to the mechanics and internal electronics. Only allow SCHUNK to repair the product. • 04.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...

  • Page 55: Pgn-Plus-E | Assembly And Operating Manual | En

    8 Translation of original declaration of incorporation in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of the Council on machinery. Manufacturer/ SCHUNK GmbH & Co. KG Spann- und Greiftechnik Distributor Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar...

  • Page 56: Annex To Declaration Of Incorporation

    Annex to Declaration of Incorporation 9 Annex to Declaration of Incorporation according 2006/42/EG, Annex II, No. 1 B 1.Description of the essential health and safety requirements pursuant to 2006/42/EC, An- nex I that are applicable and that have been fulfilled with: Product designation 2-Finger Parallel Gripper Type designation PGN-plus-E...
  • Page 57 Annex to Declaration of Incorporation Protection against mechanical hazards 1.3.5 Risks related to combined machinery 1.3.6 Risks related to variations in operating conditions 1.3.7 Risks related to moving parts 1.3.8 Choice of protection against risks arising from moving parts 1.3.8.1 Moving transmission parts 1.3.8.2 Moving parts involved in the process...
  • Page 58 Annex to Declaration of Incorporation Information 1.7.1 Information and warnings on the machinery 1.7.1.1 Information and information devices 1.7.1.2 Warning devices 1.7.2 Warning of residual risks 1.7.3 Marking of machinery 1.7.4 Instructions 1.7.4.1 General principles for the drafting of instructions 1.7.4.2 Contents of the instructions 1.7.4.3...

  • Page 59: Eu-Declaration Of Conformity

    A1:2011 - Emission standard for industrial environments (IEC 61000-6-4:2006 + A1:2010); Signed for and on behalf of: SCHUNK GmbH & Co. KG Prof. Dr.-Ing. Markus Glück, Managing Director Research & Development Lauffen/Neckar, November 2018 04.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
  • Page 60 04.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...

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