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Summary of Contents for SCHUNK PGN-plus-P
- Page 1 Translation of the original manual Assembly- and Operating Manual PGN-plus-P 2-Finger Parallel Gripper...
- Page 2 Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Any reproduction, processing, distribution (making available to third parties), translation or other usage - even excerpts - of the manual is especially prohibited and requires our written approval.
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Page 3: Table Of Contents
2.13.2 Protection during commissioning and operation ........ 14 2.13.3 Protection against dangerous movements.......... 14 2.13.4 Protection against electric shock............ 15 2.14 Notes on particular risks.................. 15 Technical data...................... 17 Design and description.................... 18 Design ......................... 18 Description ...................... 18 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 4 7.5.3 Replace seal (variant with gripping force maintenance "I.D. gripping") ... 53 7.5.4 Remove dust cover ................. 54 Tightening torques ..................... 55 Assembly drawing.................... 56 Translation of original declaration of incorporation .......... 61 Annex to Declaration of Incorporation .............. 62 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 5: General
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. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 6: Applicable Documents
• PGN-plus-P with gripping force maintenance "O.D. gripping" (AS) • PGN-plus-P with gripping force maintenance "I.D. gripping" (IS) • PGN-plus-P dust-tight (SD) • PGN-plus-P high-temperature (V/HT) • PGN-plus-P anti-corrosion (K) • PGN-plus-P precision (P) 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 7: Warranty
PGN-plus-P 100 5512046 395512046 PGN-plus-P 125 5512047 395512047 PGN-plus-P 160 5512048 395512048 PGN-plus-P 200 5512049 395512049 PGN-plus-P 240 5513858 395513858 PGN-plus-P 300 5512050 395512050 PGN-plus-P 380 5515137 395515137 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 8: Accessories
PGN-plus-P 100 1000121 1000122 PGN-plus-P 125 1000123 1000124 PGN-plus-P 160 1342256 1342270 PGN-plus-P 200 1339255 1339273 PGN-plus-P 240 1342278 1342287 PGN-plus-P 300 0370898 0370943 PGN-plus-P 380 0370989 0370990 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 9: Basic Safety Notes
• Structural changes should only be made with the written approval of SCHUNK. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 10: Spare Parts
• 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. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 11: Personal Protective Equipment
• Wear protective gloves and safety goggles when handling hazardous substances. • Wear close-fitting protective clothing and also wear long hair in a hairnet when dealing with moving components. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 12: Notes On Safe Operation
• 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. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 13: Disposal
Falling loads may cause serious injuries and even death. • Stand clear of suspended loads and do not step into their swiveling range. • Never move loads without supervision. • Do not leave suspended loads unattended. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 14: Protection During Commissioning And Operation
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. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 15: Protection Against Electric Shock
Before starting any work on the product: Switch off the power • supply and secure against restarting. Make sure, that no residual energy remains in the system. • 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 16 Do not reach into the open mechanism or the movement area • of the product. WARNING Risk of injury from sharp edges and corners! Sharp edges and corners can cause cuts. Use suitable protective equipment. • 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 17: Technical Data
SCHUNK also offers customized solutions for special applications in dirty ambient conditions. More technical data is included in the catalog data sheet. Whichever is the latest version. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 18: Design And Description
Base jaw Compressed air main connection Groove for magnetic switch Housing 4.2 Description Universal 2-finger parallel gripper with large gripping force and high maximum moments thanks to multi-tooth guidance. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 19: Assembly
Attach additional structure to the product if necessary, Ø Attaching additional structure 25] Connect the sensor, see assembly and operating manual of the Ø sensor. Mount the sensor, Mounting the sensor 27]. Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 20: Connections
Thread in base jaws M3 M4 M5 M6 M6 Mounting screw strength 12.9 class Max. depth of engagement 6.1 8.5 10.7 11.9 14.2 14.2 from locating surface [mm] 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 21 Side A Mounting screw M3 M4 M5 M5 M6 M8 Max. depth of engagement from locating surface [mm] Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 Side B 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
- Page 22 Bore for mounting screws M10 M12 M16 M20 Mounting screw according DIN EN ISO 4762 to standard Max. strength class 8.8 Centering sleeve Ø12 Ø14 Ø16 Ø22 Ø28 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 23: Pneumatic Connection
Product variants are also offered with mechanical gripping force via springs, which also ensure a minimum clamping force in the event of a pressure drop. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 24 Max. depth of engagement from locating surface [mm] Thread in the air purge M3 M3 M5 M5 M5 M5 connection Max. depth of engagement from locating surface [mm] 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 25: Attaching Additional Structure
With the dust-tight variant (SD), no additional structure can be attached. 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. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 26 With sizes 50 – 100 the threaded holes (5) of the cover (2) ✓ are used for securing the additional structure. From size 125, the additionally attached threaded holes (6) ✓ are used for securing the additional structure. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 27: Mounting The Sensor
– MMS 22-A Analog position sensor – – APS-Z80 Flexible position sensor FPS – – Analog position sensor – – APS-M1 * Only for the "stroke 2" variant. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 28: Setting Dimensions For Magnetic Switches
• In "Optimal Mode", the sensor identifies the optimal position in the groove itself. SCHUNK recommends "Optimal Mode" for setting the sensors. Further information on the installation of the sensor, Mounting MMS 22-PI1 programmable magnetic switch 36] 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 29: Switch-Off Hysteresis For Magnetic Switches
20% of the nominal stroke per jaw X > 10 mm 10% of the nominal stroke per jaw Example: Product with 7 mm nominal stroke per jaw 7 mm * 20% = 1.4 mm 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 30: Setting Dimensions For Position Sensors
-2.7 100-2 -3.8 125-1 -3.8 +1.7 160-1 160-2 -4.2 -7.1 200-1 +2.2 200-2 -7.5 -3.6 240-1 +2.5 240-2 -8.2 -4.6 300-1 300-2 -12.3 -8.8 380-1 380-2 -18.9 -16.5 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 31: Mounting Inductive Proximity Switch In
Tighten the screw (3) on the bracket (2). Ø Tightening torque: 0.2 Nm Clamp the part to be gripped. Ø Loosen expander bolt (4) by unscrewing it from the control Ø cam (6). 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 32 64 80 100 125 160 200 240 300 380 Max. tightening 0.2 0.2 0.3 0.3 0.4 0.4 0.4 0.4 0.4 torque [Nm] Max. adjusting 0.2 0.2 0.3 0.3 0.4 0.4 0.4 0.4 0.4 torque [Nm] 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 33: Mounting Mms 22 Magnetic Switch
Secure the sensor 2 (1) using the set-screw (4). Ø Tightening torque: 10 Ncm Bring product into the "Gripper closed" or "Part gripped" Ø position and test the function. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 34: Mounting Programmable Mms 22-Pi2 Magnetic Switch
OR: Slide the sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3). Secure the sensor (1) using the set-screw (4). Ø Tightening torque: 10 Ncm Adjust sensor (1), see sensor assembly and operating manual. Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 35: Mounting Programmable Mms 22-P 22 Magnetic Switch
OR: Slide the sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3). Secure the sensor (1) using the set-screw (4). Ø Tightening torque: 10 Ncm Adjust sensor (1), see sensor assembly and operating manual. Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 36: Mounting Mms 22-Pi1 Programmable Magnetic Switch
SCHUNK in the groove or the defined setting dimension "l1." • In "Optimal Mode", the sensor identifies the optimal position in the groove itself. SCHUNK recommends "Optimal Mode" for setting the sensors. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 37 Repeat steps for sensor 2. Ø NOTE If there is no T-nut available, slide the sensor according to dimension I1 into the groove (2), Setting dimensions for magnetic switches 28]. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 38: Mounting The Magnetic Switch Mms 22-Iol
OR: Slide the sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3). Secure the sensor (1) using the set-screw (4). Ø Tightening torque: 10 Ncm Adjust sensor (1), see sensor assembly and operating manual. Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 39: Mounting Analog Mms 22-A Magnetic Switch
SCHUNK. Size Stroke 1 Stroke 2 100% 100% PGN-plus-P 50 4 mm 0.6 mm 2 mm 0.3 mm PGN-plus-P 200 25 mm 3.75 mm 14 mm 2.1 mm 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 40 Ø connections "A" and "B". Adjust sensor (1), see Translation of Sensor Assembly and Ø Operating Manual. Remove throttle reduction (5) after finishing the sensor Ø teaching process. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 41: Mounting Analog Position Sensor Aps-Z80
Analog signal on I.D. gripping Variant Dust-tight: Before attaching the sensor, remove the sealing bolts from the bracket. Before adjusting the control cam, unscrew the set-screw from the side cover. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 42: Mount The Flexible Position Sensor Fps
The flexible position sensor FPS consists of an evaluation unit and one of the following sensors: • MMS 22-A-5V • FPS-S M8 CAUTION Risk of damage to the sensor during assembly! Observe the maximal tightening torque. • 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 43 Assembling the sensor, Mounting analog MMS 22-A magnetic Ø switch 39] . Connect the control unit output and adjust the sensor (see Ø assembly and operating manual of the sensor). 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
- Page 44 Slide the sensor (1) to the stop into the bracket (2). Ø Tighten the screw (3) on the bracket (2). Ø Tightening torque: 0.2 Nm Adjust sensor (1), see assembly and operating manual of the Ø sensor. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 45: Mounting Analog Position Sensor Aps-M1
Tighten the screw (3) on the bracket (2). Ø Tightening torque: 0.2 Nm Connect the sensor, see assembly and operating manual of the Ø sensor. Variant Dust-tight: Screw in set-screw into the side cover. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 46: Troubleshooting
One-way flow control valve is missing or Install and adjust one-way flow control adjustet incorrectly. valve. Loading too large. Check permissible weight and length of the gripper fingers. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 47: Product Does Not Achieve The Opening And Closing Times
Clean and lubricate product. movement space. Pressure drops below minimum. Check air supply. Pneumatic connection 23] Component part defective. Replace component or send it to SCHUNK for repair. 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 48: Maintenance
CAUTION 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. • 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 49: Lubricants/Lubrication Points (Basic Lubrication)
Lubricants/Lubrication points (basic lubrication) 49]. While lubricating, completely open and close the gripper ✓ alternately. Unscrew the lubrication nipple. Ø Screw set-screws into both air purge connections (1). Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 50: Replace Seals
(6). Secure the screw with medium-strength threadlocker. Tightening torque: Tightening torques 55] Insert flat gasket (5). Ø Fasten the cover (4) with the screws. Ø Tightening torque: Tightening torques 55] 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 51: Replace Seal (Variant With Gripping Force Maintenance "O.d. Gripping")
Ø Remove old seals (2, 7 and 9). Ø Clean guiding areas. Ø Attach new seals (2 and 9) from the seal kit. Ø Re-lubricating guiding areas Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 52 Variant Dust-tight (SD): Reassemble dust cover in reverse Ø order, Remove dust cover 54] . Fasten the cover (12) with the screws. Ø Mount product onto the system/machine. Ø Connect all compressed air lines. Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 53: Replace Seal (Variant With Gripping Force Maintenance "I.d. Gripping")
Insert spring (7) into the housing (10). In doing so, observe the Ø alignment of the spring in relation to the cylinder piston. Insert flat gasket (6). Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 54: Remove Dust Cover
(5) and shims (6). Slacken the countersunk screws (7) and remove cover (8) and Ø seals (9). Unscrew the screws (11) and detach the covers (10). Ø 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 55: Tightening Torques
PGN-plus-P 80 PGN-plus-P 100 PGN-plus-P 125 PGN-plus-P 160 PGN-plus-P 200 65.5 PGN-plus-P 240 PGN-plus-P 300-380 (without GKS): Tightening torque for screws - details in Nm Size Item 40 Item45 Item 41 Item 46 PGN-plus-P 300 -1/-2 – – PGN-plus-P 300 AS –... -
Page 56: Assembly Drawing
Maintenance 7.7 Assembly drawing PGN-plus-P 40 – 240 standard 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 57 Maintenance PGN-plus-P 300 – 380 standard 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
- Page 58 Maintenance PGN-plus-P 40 – 240 with maintenance of gripping force O.D. gripping (A) and I.D. gripping (B) 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
- Page 59 Maintenance PGN-plus-P 300 – 380 with maintenance of gripping force O.D. gripping (A) and I.D. gripping (B) 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
- Page 60 Maintenance Variant dust-tight (SD) 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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Page 61: Translation Of Original Declaration Of Incorporation
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, August 2019 p.p. Ralf Winkler, Manager for development of gripping system components 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... -
Page 62: Annex To Declaration Of Incorporation
1.2.4 Stopping 1.2.4.1 Normal stop 1.2.4.2 Operational stop 1.2.4.3 Emergency stop 1.2.4.4 Assembly of machinery 1.2.5 Selection of control or operating modes 1.2.6 Failure of the power supply 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753... - Page 63 External radiation 1.5.12 Laser radiation 1.5.13 Emissions of hazardous materials and substances 1.5.14 Risk of being trapped in a machine 1.5.15 Risk of slipping, tripping or falling 1.5.16 Lightning 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
- Page 64 Supplementary essential health and safety requirements for machinery intended for underground work Supplementary essential health and safety requirements for machinery presenting particular hazards due to the lifting of persons 10.00 | PGN-plus-P | Assembly- and Operating Manual | en | 389753...
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