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Summary of Contents for SCHUNK RP Series
- Page 1 Translation of the Original operating manual Assembly and Operating Manual RP / RW / RC Gripping rotary modules...
- 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.
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Page 3: Table Of Contents
Table of contents Table of contents General........................ 5 About this manual .................... 5 1.1.1 Presentation of Warning Labels ............... 5 1.1.2 Applicable documents ................ 6 1.1.3 Variants..................... 6 Warranty ...................... 7 Scope of delivery .................... 7 Accessories ...................... 7 1.4.1 Sensors ..................... 7 Basic safety notes .................... 8 Intended use...................... - Page 4 Table of contents 5.4.1 Setting the swiveling time .............. 24 5.4.2 Setting the speed.................. 24 5.4.3 Setting the shock absorber stroke............ 25 5.4.4 Adjusting the end positions .............. 26 5.4.5 End position monitoring ................. 27 5.4.6 Intermediate stop RZ12/15/21............... 29 Start-up ........................ 32 Troubleshooting ..................... 33 Gripper ....................... 33 7.1.1 Modul does not move?................ 33 7.1.2 The module does not travel through the entire stroke? ...... 33 7.1.3 Module opens or closes abruptly? ............ 33...
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Page 5: General
General 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 under- stood this operating manual. -
Page 6: Applicable Documents
(-> for selection of parts list for adaptation of RP/W/C modules to other modules of the modular system) The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com 1.1.3 Variants This operating manual applies to the following variations: •... -
Page 7: Warranty
Magnetic switch • Exact type designation of the compatible sensors see catalog. • Information on handling sensors is available at schunk.com or from SCHUNK contact persons. 03.00 | RP / RW / RC | Assembly and Operating Manual | en | 389392... -
Page 8: Basic Safety Notes
• Structural changes should only be made with the written approval of SCHUNK. 03.00 | RP / RW / RC | Assembly and Operating Manual | en | 389392... -
Page 9: Environmental And Operating Conditions
• Ensure that no strong magnetic fields impair the function of the product. Contact your SCHUNK partner if the product is to be used in strong magnetic fields. • Make sure that the module and the top jaws are a sufficient size for the application. -
Page 10: Personal Protective Equipment
Basic safety notes 2.6 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 11: Transport
Basic safety notes 2.8 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. •... -
Page 12: Protection During Handling And Assembly
Basic safety notes 2.11.1 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 13: Protection Against Electric Shock
Basic safety notes • 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. -
Page 14: Notes On Particular Risks
Basic safety notes 2.12 Notes on particular risks 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 15: Variant Gripping Force Maintenance
Products with a mechanical gripping force maintenance can, dur- ing energy supply failure, still move independently in the direc- tion specified by the mechanical gripping force maintenance. Secure the end positions of the product with SCHUNK SDV-P • pressure maintenance valves. -
Page 16: Technical Data
* For use in dirty ambient conditions (e.g. sprayed water, vapors, abrasion or processing dust) SCHUNK offers corresponding product options as standard. SCHUNK also offers customized solutions for special applications in dirty ambient conditions. 03.00 | RP / RW / RC | Assembly and Operating Manual | en | 389392... -
Page 17: Design And Description
Design and description 4 Design and description 4.1 Design The entire modular system for the production of parallel gripping rotary modules RP-... and angular gripping rotary modules RW-... as well as three-jaw gripping rotary modules RC-... is illustrated in the following. Modular design 3-jaw gripper kit (GCB) 5 Rotation adapter (GMD) -
Page 18: Assembly And Settings
Assembly and settings 5 Assembly and settings NOTICE Material damage due to improper assembly! When mounting loads, do not allow impermissible forces and • moments to be exerted (see catalog data sheet). Select a suitable tightening torque when assembling the •... - Page 19 Assembly and settings NOTICE Pressure medium: The unit must not under any circumstances be operated with oiled air before operation with unoiled air (washing out of factory lubrication). NOTICE One-way flow control valves must be installed at the air connec- tions for operation.
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Page 20: Settings And Options Of The Gm Gripping Module
Assembly and settings 5.3 Settings and options of the GM gripping module... 5.3.1 GMW / GMP/ GMC modular design The GM modules have a modular design. The main window consists of: • Gripper kit: GWB / GCB / GPB • Drive unit: GMA The basis module can be expanded by ordering options and ac- cessories. -
Page 21: Maintenance Of Gripping Force Unit
When ordering a gripping module including a gripping force main- tenance unit as described in the catalog, the gripping force main- tenance unit will have already been installed by SCHUNK. 5.3.3 Rotation adapter A GMD-...rotation adapter is available for step-less turning of the GWB / GWP / GWC gripper kit and drive out. - Page 22 Assembly and settings In addition to clamping with the clamping screw, the position of Bore out position the adapter can secured by drilling with ø4 and pinning. For this purpose the plate of the adapter is pre-drilled NOTICE Risk of damage to the piston rod if the rotary adapter is drilled and pinned.
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Page 23: End Position Monitoring
Assembly and settings 5.3.4 End position monitoring To monitor the end positions, standardized monitoring sets for dir- ect installation are available. The installation of up to four monitoring sets is possible for the GMW/P/C 16, GMW/P/C 20, and GMW/P/C 28 types, whereby four gripper jaws positions can be monitored. -
Page 24: Settings And Options Of The Rm
Assembly and settings 5.4 Settings and options of the RM... rotary module 5.4.1 Setting the swiveling time The catalog data sheet contains data for the swiveling time. The swiveling time is set with exhaust air throttles, these can be found in the accessory pack. NOTICE The required swiveling time cannot usually be achieved through merely adjusting the throttles! -
Page 25: Setting The Shock Absorber Stroke
Assembly and settings NOTE A smooth motion may also be too slow in many use-cases. Further settings can be made via the shock absorbers, Setting the shock absorber stroke 25]. 5.4.3 Setting the shock absorber stroke NOTE When received from the factory, the unit is set to utilize the max- imum shock absorber stroke. -
Page 26: Adjusting The End Positions
Assembly and settings 5.4.4 Adjusting the end positions The following parts are included within the scope of delivery for angle of rotation fine adjustment and adjustment of the end position dampening to the mass moment of inertia occurring in operation. •... -
Page 27: End Position Monitoring
Assembly and settings 5.4.5 End position monitoring Two options are available for the end positions monitoring: • By magnet sensors MMS • By inductive sensors via standardized monitoring sets With the MMS sensor, the magnet integrated in the piston is mon- Attachment / adjust- itored. - Page 28 Assembly and settings For the RMNS and RMNZ monitoring sets, the control cam integ- Attachment / adjust- rated in the rotary table is inductively monitored. ment of the RMNS and RMNZ monitor- ing sets RMNS-12 Proximity switch monitoring sets for: •...
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Page 29: Intermediate Stop Rz12/15/21
Assembly and settings 5.4.6 Intermediate stop RZ12/15/21 Intermediate stops are additional modules for rotation modules and are available for the sizes RM12, RM15 and RM21. The intermediate position can be adjusted over the entire range of rotation of the rotary module. The intermediate stop is installed in the delivery state as shown. - Page 30 Assembly and settings 5.4.6.1 Adjustment RZ... The stop pistons are mounted as shown in the respective ■ chapter "RZ12/15/21 intermediate stop" Intermediate stop RZ12/15/21 29] (Attention! Ranges 0°-90°; 90°-180°). Apply pressure to connections A and C. Ø Loosen the counter nuts of both stops (5). Ø...
- Page 31 Assembly and settings 5.4.6.3 Dampening adjustment RZ... The dampening adjustment is done by insertion of disk ("X") under the shock absorber (9) Intermediate stop RZ12/15/21 29]. Disassemble the piston (3), stop sleeve (2) and shock absorber (9). Ø Insert disks in accordance with the following table between the Ø...
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Page 32: Start-Up
• Operate the device in such a way that the permissible cycle number per minute is not exceeded. Use the "Gemotec Tool- box" program for calculation (schunk.com). NOTICE Risk of mechanical damage of the module! The module must always be adjusted so that no mechanical im- pacts are produced when reaching the end position. -
Page 33: Troubleshooting
Check the evenness of the mounting sur- face.. Mechanical connection 18] Component part defective. Send product with a SCHUNK repair order or dismantle product. 7.1.3 Module opens or closes abruptly? Possible cause Corrective action Too little grease in the mechanical guiding Clean and lubricate product. -
Page 34: Module Opens / Does It Grip The Workpiece Hard
Pressure drops below minimum. Check air supply. Link Pneumatischer Anschluss Component part defective. Replace component or send it to SCHUNK for repair. 7.1.6 Is the gripper not able to grip or hold on to the workpiece? Possible cause Corrective action... -
Page 35: Rotary Module
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface. Mechanical connection 18] Component part defective. Send product with a SCHUNK repair order or dismantle product. Shock absorber defective Check or, if need be, replace the shock ab- sorber 7.2.3 Torque is diminishing... -
Page 36: Product Does Not Move Smoothly To The End Positions
Troubleshooting 7.2.5 Product does not move smoothly to the end positions Possible cause Corrective action Fine adjustment of the absorber stroke is Adjust absorber stroke., Adjusting the end faulty. positions 26] Absorber defective. Replace and readjust absorbers., Adjusting the end positions 26] Exhaust throttle defective. -
Page 37: Maintenance
Reduce the lubricant intervals accordingly. • Interval [Mio. cycles] 8.1.2 Lubricants/Lubrication points (basic lubrication) SCHUNK recommends the lubricants listed. During maintenance, treat all greased areas with lubricant. Thinly apply lubricant with a lint-free cloth. Lubricant point Lubricant... -
Page 38: Maintenance And Lubrication Intervals
Maintenance 8.2.2 Maintenance and lubrication intervals NOTICE Material damage due to hardening lubricants! Lubricants harden more quickly at temperatures above 60°C, leading to possible product damage. Reduce the lubricant intervals accordingly. • Interval (million cycles) Maintenance work Check for leaks Re-lubricate the gear rack (recommendation) and pinion unit (RM-F 15,... -
Page 39: Dismantling The Module
The repair or elimination of defects by the customer on the mod- ule results in the termination of the warranty and liability for all resulting warranty and subsequent damage. It is recommended to have SCHUNK repair damaged and de- • fective modules. -
Page 40: Assembling The Module
It is recommended to have damaged and defective modules • repaired in the production facility. Please consult your SCHUNK contact person. To remove the GKS spring, secure the lock washer and circlip • (GKS items 6, 8 and 9) with a suitable device against jumping out. -
Page 41: Assembly / Spare Parts
• GWB part no. 2 GWB 20-02 Sectional drawings of the GMW series * Component dependent on modular design; consult SCHUNK contact partner about this. 03.00 | RP / RW / RC | Assembly and Operating Manual | en | 389392... - Page 42 Assembly / spare parts Sectional drawings of the GMP series * Component dependent on modular design; consult SCHUNK contact partner about this. Sectional drawing of the GMC series * Component dependent on modular design; consult SCHUNK contact partner about this.
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Page 43: Seal Kit
Assembly / spare parts 9.1.2 Seal kit Standardized sealing sets for replacement are available for the in- tegrated rotary module. All the seals are included in their scope of delivery. ID.-No. of the seal kit Seal kit for Designation ID number GMW/P/C 12 GMDI 12 0313444... -
Page 44: Sealing Kit
Assembly / spare parts 9.2.2 Sealing kit Standardized sealing sets for replacement are available for the in- tegrated rotary module. All the seals are included in their scope of delivery. ID.-No. of the seal kit Seal kit for ID number RM 06 0313465 RM 08... -
Page 45: Translation Of Original Declaration Of Incorporation
10 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 46: Annex To Declaration Of Incorporation
Annex to Declaration of Incorporation 11 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, Annex I that are applicable and that have been fulfilled with: Product designation Gripping rotary modules Type designation RP / RW / RC... -
Page 47: Rp / Rw / Rc | Assembly And Operating Manual | En
Annex to Declaration of Incorporation Protection against mechanical hazards 1.3.1 Risk of loss of stability 1.3.2 Risk of break-up during operation 1.3.3 Risks due to falling or ejected objects 1.3.4 Risks due to surfaces, edges or angles 1.3.5 Risks related to combined machinery 1.3.6 Risks related to variations in operating conditions 1.3.7... - Page 48 Annex to Declaration of Incorporation Maintenance 1.6.1 Machinery maintenance 1.6.2 Access to operating positions and servicing points 1.6.3 Isolation of energy sources 1.6.4 Operator intervention 1.6.5 Cleaning of internal parts 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...
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