Related Manuals for SCHUNK PGN-plus-E Series
Summary of Contents for SCHUNK PGN-plus-E Series
- Page 1 Translation of the original manual PGN-plus-E Electrical 2-Finger Parallel Gripper...
- Page 2 Imprint Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely sup- plied to our customers and operators of our products and forms part of the product. This documentation may not be duplicated or made accessible to third parties, in particular competitive companies, without our prior permission.
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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 Sizes .................... 6 Warranty ...................... 6 Scope of delivery .................... 6 Accessories...................... 6 Basic safety notes .................... 7 Intended use ...................... - Page 4 Table of Contents Installing and connecting ................. 24 Connections...................... 25 5.2.1 Mechanical connection.............. 25 5.2.2 Electrical connection................. 27 Connecting ground cable ................. 28 Attaching additional structure ................. 29 Installing the sensors.................. 30 5.5.1 Overview of sensors................ 31 5.5.2 Switch-off hysteresis................. 31 5.5.3 Installation position of the magnetic switches .........
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Page 5: 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 6: Applicable Documents
• Catalog data sheet of the purchased product * • Assembly and Operating manuals of the accessories * The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com 1.1.3 Sizes This operating manual applies to the following sizes: •... -
Page 7: Basic Safety Notes
Using unauthorised spare parts can endanger personnel and dam- age the product or cause it to malfunction. • Use only original spare parts or spares authorised by SCHUNK. 02.00 | PGN-plus-E | Assembly and Operating Manual | en | 0389750... -
Page 8: 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 9: Environmental Conditions
Basic safety notes 2.6.2 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 10: 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 11: Personal Protective Equipment
Basic safety notes 2.8 Personal protective equipment Using personal protective equipment Not wearing personal protective equipment while working with the product, may result in dangers that impact the personnel's safety and health. • While working with the product, observe the health and safety regulations and wear the required personal safety equipment. -
Page 12: Malfunctions
Basic safety notes 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. -
Page 13: Protection During Commissioning And Operation
Basic safety notes 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... -
Page 14: 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 15: Protection Against Electric Shock
Basic safety notes 2.13.4 Protection against electric shock Work on electric equipment Touching live parts can result in death. • Work on electrical installations must be performed only by elec- tricians in accordance with the electrical regulations. • Observe the general installation and safety regulations concern- ing work on high-voltage systems. -
Page 16: 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 17: 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 should perform electrical installa- •... - Page 18 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 •...
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Page 19: Technical Data
• Permissible gripping force • Maximum permitted finger projection The catalog data sheet contains more technical data. SCHUNK reserves the right to modify technical data of the product without prior notice. 02.00 | PGN-plus-E | Assembly and Operating Manual | en | 0389750... -
Page 20: Design And Description
Design and description 4 Design and description 4.1 Design 2-Finger Parallel Gripper Finger interface Housing LEDs "Voltage supply" and "ERROR/STATUS" "Gripping force" rotary switch "Voltage supply and actuation" connection plug "Sensors" connection plug LEDs "sensors" Finger centering sleeves 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 21: Function Label
Design and description 4.3 Function label Function label "Gripping force" rotary LED "POWER" switch LED "S2" LED "ERROR/STATUS" LED "S1" 4.3.1 Gripping force rotary switch The gripping force is changed by altering the current limitation via the "Gripping force" rotary switch. The "Gripping force"... -
Page 22: Led
Design and description 4.3.2 LED LED "voltage supply and actuation" Designation Color Function POWER Green Indicates whether the voltage is connected. • Lights up as long as voltage is present in the product. • Does not light up if there is no voltage present in the product or the product has been connected with incorrect polarity. -
Page 23: Actuation Of The Digital Inputs
Design and description LED "sensors" Designation Color Function Yellow Shows when there is a sensor signal with the gripper closed. • Lights up if there is a sensor signal. • Does not light up if there is no sensor signal. Yellow Shows when there is a sensor signal with the gripper opened. -
Page 24: 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 is still in the system, components can move unexpectedly and cause serious injuries. -
Page 25: Connections
Assembly and settings Place the voltage supply and control cable on the M8 connector Ø and screw it tight. NOTE The IP 67 rating of the housing is ensured only when the seal plug is mounted. • After adjusting, reattach the seal plug above the "gripping force"... - Page 26 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...
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Page 27: Electrical Connection
Assembly and settings 5.2.2 Electrical connection NOTICE Risk of damage to the electronics! A faulty connection can cause damage to the internal electronics. Observe the pin assignment of the connecting terminals. • Make sure that all components are grounded correctly. •... -
Page 28: Connecting Ground Cable
Assembly and settings 5.3 Connecting ground cable Ground connection Screw Toothed lock washer Washer Product Cable lug Ground marking A ground connection with a sufficient cross-section must be estab- lished between the product and the machine on the customer's premises. The ground cable must be mounted on the threaded hole identi- fied by the ground marking. -
Page 29: Attaching Additional Structure
Assembly and settings 5.4 Attaching additional structure 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. -
Page 30: Installing The Sensors
Mechanical connection 25]. 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 Installing the sensors NOTE Observe the assembly and operating manual of the sensor for mounting and connecting. -
Page 31: Overview Of Sensors
Assembly and settings 5.5.1 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 5.5.2 Switch-off hysteresis 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 32: Installation Position Of The Magnetic Switches
Assembly and settings 5.5.3 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 33: Mounting Magnetic Switch (Mms 22)
Assembly and settings 5.5.4 Mounting magnetic switch (MMS 22) NOTICE Risk of damage to the sensor during assembly! Observe a maximum tightening torque of 10 Ncm for the set- • screws. Position Gripper closed Put product in the position in which it is to be set. Ø... -
Page 34: Mounting Programmable Magnetic Switch (Mms 22-P 22)
Assembly and settings 5.5.5 Mounting programmable magnetic switch (MMS 22-P 22) NOTICE Risk of damage to the sensor during assembly! Observe a maximum tightening torque of 10 Ncm for the set- • screws. NOTE If there is no clamping stop available, slide the sensor according to dimension I2 or dimension I1 into the groove (2). -
Page 35: Mounting Programmable Magnetic Switch (Mms 22-Pi1)
Assembly and settings 5.5.6 Mounting programmable magnetic switch (MMS 22-PI1) NOTICE Risk of damage to the sensor during assembly! Observe a maximum tightening torque of 10 Ncm for the set- • screws. With the sensor 1 the position gripper closed is set and with the sensor 2 the position gripper open is set. -
Page 36: Mounting Programmable Magnetic Switch (Mms 22-Pi2)
Assembly and settings 5.5.7 Mounting programmable magnetic switch (MMS 22-PI2) NOTICE Risk of damage to the sensor during assembly! Observe a maximum tightening torque of 10 Ncm for the set- • screws. NOTE If there is no clamping stop available, slide the sensor according to dimension I2 or dimension I1 into the groove (2). -
Page 37: Mounting Analog Magnetic Sensor (Mms 22-A)
Assembly and settings 5.5.8 Mounting analog magnetic sensor (MMS 22-A) NOTICE Risk of damage to the sensor during assembly! Observe a maximum tightening torque of 10 Ncm for the set- • screws. NOTE If there is no T-nut available, slide the sensor according to dimen- sion I1 or the dimension I2, Link Einstellmaße. -
Page 38: Set The Integrated Inductive Proximity Switch (In)
Assembly and settings 5.5.9 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 39 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...
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Page 40: Use Electronic Processor (Fps-F5/F5 T)
Assembly and settings 5.5.10 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 41: Troubleshooting
Maintenance Mounting surface is not sufficiently flat. Check the flatness of the mounting surface. Mechanical connection 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 42: Product Does Not Achieve The Opening And Closing Times
Troubleshooting 6.5 Product does not achieve the opening and closing times? Possible cause Corrective action Loading too large. Check the permissible weight and length of the top jaws. 6.6 Electric signals are not transmitted? Possible cause Corrective action Cable connected incorrectly. Check that pin terminal is seated properly Electrical connection Strands swapped. -
Page 43: 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, Environmental and operating conditions Products for special ambient conditions are excluded, e.g. higher temperatures, dirty environment. Interval at Maintenance work PGN-plus-E 80 - 100... -
Page 44: Lubricants/Lubrications Points
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. • 02.00 | PGN-plus-E | Assembly and Operating Manual | en | 0389750... -
Page 45: Translation Of Original Declaration Of Incorporation
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 46: 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 47 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 48 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...
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Page 49: Eu-Declaration Of Conformity
- Interference emissions in residential, commercial, in- dustrial and light industrial environments IEC 61000-6-3: 2006 Signed for and on behalf of: SCHUNK GmbH & Co. KG Dr. Markus Klaiber, Technical Managing Director Lauffen/Neckar, November 2016 02.00 | PGN-plus-E | Assembly and Operating Manual | en | 0389750... -
Page 50: Appendix
Appendix 11 Appendix Further information Data Sheet PGN-plus-E 80 [} 51] Data Sheet PGN-plus-E 100 [} 52] 02.00 | PGN-plus-E | Assembly and Operating Manual | en | 0389750... - Page 51 Data Sheet PGN-plus-E 80 Technical operating data Designation PGN-plus-E 80 ID-no. 0318832 General operating data Stroke per jaw [mm] min. / max. gripping force 110/570 recommended workpiece weight [kg] 2.85 max. admissible finger length [mm] max. admissible weight per finger [kg] Repeat accuracy [mm]...
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Page 52: Data Sheet Pgn-Plus-E 100
Data Sheet PGN-plus-E 100 Technical operating data Designation PGN-plus-E 100 0318856 ID-no. General operating data Stroke per jaw [mm] min. / max. gripping force 200/810 recommended workpiece weight [kg] 4.05 max. admissible finger length [mm] max. admissible weight per finger [kg] Repeat accuracy [mm]...
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