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Summary of Contents for SCHUNK PRG Series
- Page 1 Translation of the original manual Assembly and Operating Manual Pneumatic Radial 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
Table of Contents Table of Contents General........................ 5 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 1.1.4 Sizes ...................... 6 1.1.5 Variants..................... 6 Warranty ...................... 6 Scope of delivery .................... 7 1.3.1 Accessories kit .................. 7 Accessories ...................... - Page 4 Table of Contents 4.2.3 Air connection .................. 22 Mounting the sensor .................. 24 4.3.1 Overview of sensors ................ 24 4.3.2 Setting dimensions for magnetic switches .......... 25 4.3.3 Inductive proximity switch IN 40 ............ 26 4.3.4 Inductive proximity switch IN 40 ............ 28 4.3.5 Magnetic switch MMS 22 / RMS 22 ............ 30 4.3.6 Mounting MMS 22-PI1 programmable magnetic switch...... 32 4.3.7 Mounting programmable MMS 22-PI2 magnetic switch...... 34 4.3.8 Programmable magnetic switch (MMS-P).......... 35...
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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 understood this operating manual. -
Page 6: Definition Of Terms
• 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 1.1.4 Sizes This operating manual applies to the following sizes: •... -
Page 7: Scope Of Delivery
General 1.3 Scope of delivery The scope of delivery includes • Pneumatic Radial gripper PRG in the version ordered • Assembly and Operating Manual • Accessory pack 1.3.1 Accessories kit Content of the accessory pack: • Centering sleeves (6x) • from size 80: Centering sleeves (8x) •... -
Page 8: Accessories
General 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. 1.4.1 Seal kit ID.-No. of the seal kit Seal kit for ID number PRG 26 5521254... -
Page 9: Basic Safety Notes
Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction. • Use only original spare parts or spares authorized by SCHUNK. 08.00 | PRG | Assembly and Operating Manual | en | 389325... -
Page 10: Gripper Fingers
Basic safety notes 2.5 Gripper fingers Requirements for the gripper fingers Stored energy within the product creates the risk of serious injuries 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. •... -
Page 11: 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 occupational health and safety regulations and wear the required personal protective 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 malfunction. • 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 swiveling 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 Electric Shock
Basic safety notes 2.13.4 Protection against electric shock 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. • The operator must ensure that all components and assembly groups are included in the local potential equalisation in accordance with the applicable regulations. - Page 15 Secure the end positions of the product with SCHUNK SDV-P • pressure maintenance valves. 08.00 | PRG | Assembly and Operating Manual | en | 389325...
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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. 08.00 | PRG | Assembly and Operating Manual | en | 389325... -
Page 17: Assembly
Assembly 4 Assembly 4.1 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 serious injuries. Before starting any work on the product: Switch off the power •... -
Page 18: Connections
Assembly Check the evenness of the mounting surface, Ø Mechanical connection 19]. Only open the required air connections (main connection or Ø direct connection), Air connection 22]. Connect the product via the hose-free direct connection. Ø Use O-rings from the accessory pack. ✓... - Page 19 Assembly 4.2 Connections 4.2.1 Mechanical connection The values apply to the whole mounting surface to which the Evenness of the product is mounted. mounting surface Requirements for evenness of the mounting surface (Dimensions in mm) Edge length Permissible unevenness < 100 <...
- Page 20 Assembly The product can be mounted from three sides. Connections at the housing Connections at the housing Item Mounting Side A Mounting screw Max. depth of engagement from locating surface [mm] 2 * Centering sleeve Ø5 / Ø5 / Ø6 / Ø8 / Ø8 / Ø10 /...
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Page 21: Gripper Finger
Assembly 4.2.2 Gripper finger The gripper fingers can only be mounted from the outside at the base jaws. CAUTION Damaging of the gripper, if the gripper fingers collide with the gripper! In order to avoid a collision between gripper finger and housing, during opening and closing the gripper fingers, the dimensions A to D must be strictly adhered to Design example of an gripper finger... -
Page 22: Air Connection
Assembly 4.2.3 Air connection CAUTION Observe the requirements for the air supply Technical data 16]. CAUTION Damage to the gripper is possible! If the maximum permissible finger weight or the permissible mass moment of inertia of the fingers is exceeded, the gripper can be damaged. - Page 23 Assembly Thread diameter of the air connections Item G 1/8" G 1/8" G 1/8" (2x) (2x) (2x) (2x) (2x) (2x) (2x) (2x) M2.5 (2x) (2x) (2x) (2x) (2x) (2x) (2x) (2x) M2.5 (2x) (2x) (2x) (2x) (2x) (2x) (2x) (2x) •...
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Page 24: Mounting The Sensor
– 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. 4.3.1 Overview of sensors... -
Page 25: Setting Dimensions For Magnetic Switches
The magnetic switch MMS 22-PI1 can be adjusted and taught in two ways. • "Standard mode" allows for quick installation on the T-nut preset by SCHUNK in the groove or the defined setting dimension "l1." • In "Optimal Mode", the sensor identifies the optimal position in the groove itself. - Page 26 The sensor can be used only for sizes 26–64 Mounting kit To use the inductive sensor, the gripper has to be retrofitted with a special mounting kit. This mounting kit is available from SCHUNK for the models below. Assembly IN 40...
- Page 27 Assembly Fasten brackets (3/4) with screws (5/6) to the housing. Assembly of the Ø mounting kit IN40 Fasten the switch cams (9/10) with the screws (7/8) to the Ø rotary bolt Mounting of the The switching points of the "open" and "closed" positions must be set by the customer himself.
- Page 28 4.3.4 Inductive proximity switch IN 40 Mounting kit To use the inductive sensor, the gripper has to be retrofitted with a special mounting kit. This mounting kit is available from SCHUNK for the models below. Assembly IN 80 Attach the screw and the nut (5/6) on the bracket (3/4).
- Page 29 Assembly The switching points of the "open" and "closed" positions must be Mounting of the set by the customer himself. proximity switch IN 80 Gripper open: Set the gripper to the „Open“ position. Ø Push the proximity switch (1) to the stop of the bracket (3). Ø...
- Page 30 Assembly 4.3.5 Magnetic switch MMS 22 / RMS 22 NOTE The sensor can be used only for sizes 26–64 CAUTION 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 31 Assembly Gripper open: Set the gripper to the „Open“ position. Ø Slide the magnetic switch 1 (1) into the groove (4) until it comes Ø into contact with the housing. Slide the magnetic switch 1 (1) slowly back until it switches. Ø...
- Page 32 The magnetic switch MMS 22-PI1 can be adjusted and taught in two ways. • "Standard mode" allows for quick installation on the T-nut preset by SCHUNK in the groove or the defined setting dimension "l1." • In "Optimal Mode", the sensor identifies the optimal position in the groove itself.
- Page 33 Assembly Alternatively for size 26 – 64, Setting the sensor in "Standard mode" Turn the sensor 1 (1) into the groove (2). Ø OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1 (1) stops at the T-nut (3). Secure the sensor 1 (1) using the set-screw (4).
- Page 34 Assembly 4.3.7 Mounting programmable MMS 22-PI2 magnetic switch NOTE The sensor can be used only for sizes 26–64 CAUTION Risk of damage to the sensor during assembly! Observe the maximal tightening torque. • NOTE If there is no T-nut available, slide the sensor according to dimension I1 into the groove (2), Setting dimensions for magnetic switches...
- Page 35 Assembly 4.3.8 Programmable magnetic switch (MMS-P) CAUTION Risk of damage to the sensor during assembly! Observe the maximal tightening torque. • NOTE The sensor can be used only for sizes 26–64 Turn the sensor (1) into the groove (2). Ø OR: Slide the sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3).
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Page 36: Troubleshooting
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface. Mechanical connection 19] Component part defective. Send product with a SCHUNK repair order or dismantle product. 5.3 Product opens or closes abruptly Possible cause Corrective action Too little grease in the mechanical guiding Clean and lubricate product. -
Page 37: Gripping Force Is Dropping
Pressure drops below minimum. Check air supply. Air connection 22] Component part defective. Replace component or send it to SCHUNK for repair. 5.6 Product does not achieve the opening and closing times Possible cause Corrective action Compressed air lines are not installed If present: Open the flow control couplings optimally. -
Page 38: Maintenance
Exchange of housing and base jaws The base jaws and the guidance in the housing are matched. To exchange these parts, send the product with a repair order to SCHUNK or order the housing with the base jaws as a set. 6.2 Maintenance interval CAUTION Material damage due to hardening lubricants! Lubricants harden more quickly at temperatures above 60°C,... -
Page 39: Disassembly Of Prg 26 - 64
Maintenance 6.4 Disassembly of PRG 26 - 64 6.4.1 Version without gripping force maintenance Position of the item numbersDrawings 43] 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 serious injuries. -
Page 40: Disassembly Of Prg 80-125
Maintenance Remove the compressed air hoses. Ø WARNING Risk of injury due to spring forces! In case of defect, the screws (18) and the cover (4) can be under spring tension. Carefully disassemble the module. • Secure the cover by suitable means. Ø... -
Page 41: Variant With Gripping Force Maintenance "O.d. Gripping
Maintenance Remove base jaws (2) (2x). Ø Pull piston rod (3) out of the housing. Ø 6.5.2 Variant with gripping force maintenance “O.D. gripping” Position of the item numbersDrawings 43] 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 serious injuries. -
Page 42: Servicing And Assembling The Product
Maintenance 6.6 Servicing and assembling the product • Clean all parts thoroughly and check for damage and wear. Maintenance • Treat all greased areas with lubricant. Lubricants/Lubrication points 38] • Oil or grease bare external steel parts. • Replace all wear parts / seals. –... -
Page 43: Drawings
Maintenance 6.7 Drawings The following figures are example images. They serve for illustration and assignment of the spare parts. Variations are possible depending on size and variant. 6.7.1 Assembly drawing PRG 26-64 Assembly of the Types O.D.gripping / I.D. gripping / without gripping force maintenance Wearing part, replace during maintenance. -
Page 44: Assembly Drawing Prg 80-125
Maintenance 6.7.2 Assembly drawing PRG 80-125 Assembly of the Types O.D.gripping / I.D. gripping / without gripping force maintenance Wearing part, replace during maintenance. Included in the seal kit. Seal kit can only be ordered completely. Only for units with 30° or 60° opening angle 08.00 | PRG | Assembly and Operating Manual | en | 389325... -
Page 45: Translation Of Original Declaration Of Incorporation
7 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 Clamping and gripping technology Distributor Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar... -
Page 46: Annex To Declaration Of Incorporation
Translation of original declaration of incorporation 7.1 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 Pneumatic Radial gripper Type designation ID number... - Page 47 Translation of original declaration of incorporation Protection against mechanical hazards 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 Risks related to moving parts 1.3.8...
- Page 48 Translation of original declaration of incorporation Maintenance 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 Warning of residual risks 1.7.3 Marking of machinery 1.7.4...
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