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- Page 1 Assembly and operating instructions Servo Gripper SG-50 Translation of the Original Assembly Instructions EN SG-50 Order no.: 50289595 SG-50-ABq Order no.: 50460223 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 1–40 ...
- Page 2 Your Afag team © Subject to modifications The modules have been designed by Afag Automation AG according to the state of the art. Due to the constant technical development and improvement of our products, we reserve the right to make technical changes at any time.
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Page 3: Table Of Contents
Dimensional drawing SG-50 ............... 14 Technical data SG -50 ................15 Preferred combinationsSG-50 ..............16 Gripping force diagram ................17 Gripper jaws maximum loads SG-50 ............17 Transport, Packaging and Storage ..............18 Safety instructions for transport ..............18 Scope of supply ..................18 Transport .................... - Page 4 6.2.1 Mounting holes ..................23 6.2.2 Tightening torques................23 Manufacture of the gripper fingers ............. 24 Reference position ..................25 Pin assignment SG-50................25 Commissioning ....................26 Safety instructions for commissioning ............26 Preparatory activities for commissioning ............ 27 First commissioning ..................27 Manual operation ..................
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Page 5: General
This note contains important additional information as well as useful tips for safe, efficient and trouble-free operation of the servo gripper. Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 5–40 ... -
Page 6: Additional Symbols
In these assembly instructions the following symbols are used to highlight instructions, results, references, etc.. Symbol Description Instructions (steps ...) Results of actions References to sections Enumerations not ordered 6 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 7: Applicable Documents
This does also apply to defective accessories and wear parts. Normal wear and tear are excluded from the warranty. The warranty covers the replacement or repair of defective Afag parts. Further claims are excluded. The warranty shall expire in the following cases: ... -
Page 8: Safety Instructions
Any use other than or beyond the intended use described above is considered a misuse of the servo gripper. Especially the following use is considered a misuse: Use in potentially explosive atmospheres 8 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 9: Obligations Of The Operator And The Personnel
the operating company shall be solely responsible for such damage, and Afag does not accept any liability for damage caused by improper use. 2.4 Obligations of the operator and the personnel 2.4.1... -
Page 10: Obligations Of The Personnel
Authorized persons who due to their specialized professional training, expertise and experience are capable of identifying risks and preventing possible hazards arising from the use of the machine. 10 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 11: Personal Protective Equipment (Ppe)
2.7 Changes and modifications No changes may be made to the servo gripper which have not been described in these assembly instructions or approved in writing by Afag Automation AG. Afag Automation AG accepts no liability for unauthorised changes or improper assembly, installation, commissioning, maintenance or repair work. -
Page 12: General Hazards / Residual Risks
Only qualified personnel may work with or on the servo gripper. Read the assembly instructions carefully before carrying out any work on or with the servo gripper. 12 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 13: Danger Due To Electricity
Limbs can be crushed by moving components! Work on and with the servo gripper may only be carried out by qualified personnel. Never reach into the system during normal operation! Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 13–40 ... -
Page 14: Technical Data
Technical data Technical data 3.1 Dimensional drawing SG-50 Fig. 1 Dimensional drawing SG-50 14 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 15: Technical Data Sg -50
Technical data 3.2 Technical data SG-50 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 15–40 ... -
Page 16: Preferred Combinationssg-50
Technical data 3.3 Preferred combinations SG-50 16 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 17: Gripping Force Diagram
Technical data 3.4 Gripping force diagram 3.5 Gripper jaws maximum loads SG-50 The values given are static values related to one jaw - starting from the centre of gravity of the jaw. Type Maximum load 22 Nm 9 Nm 17 Nm... -
Page 18: Transport, Packaging And Storage
This information sheet must be read by every person who carries out work with and on the servo gripper! Fig. 3 The servo gripper has a weight of < 1 kg Unt. SG-50 Module SG -50 Centering bushing ø 8x3.5 Fastening screws M5x16 Assembly & operating instructions 18 –... -
Page 19: Transport
Relative air humidity: < 90%, non condensing 4.4 Packaging The servo gripper is transported in the Afag Automation AG transport packaging. If no Afag packaging is used, the servo gripper must be packed in such a way that it is protected against shocks and dust. NOTICE... -
Page 20: Design And Description
2. Jaw guide 4. Gripper finger (not included in delivery!) The servo gripper SG-50 consists of the base body (Fig. 4, 1) in which the electric motor is integrated. The precise gripper guide system is integrated in the transition piece (Fig. 4, 2). The gripper drive is designed with a connection cable (length 0.35 m) with 12-pin industrial plug. -
Page 21: Accessories
Power cable SE-24/SE-48, 5m 50118124 Power cable SE-24/SE-48, 10m 50235739 Programming cable SE-24, 3m 50315431 I/O Cable SE-24, 5m 50312913 I/O Cable SE-24, 10m 50342940 SE-24 Stick 50315432 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 21–40 ... -
Page 22: Installation, Assembly & Setting
When working on the servo gripper, switch off the controller and secure it against unintentional restart. Also observe the safety instructions in Chapter 2 „Safety instructions“ in this manual. 22 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 23: Assembly & Attachment
0.3 … 0.35 Nm M2.5 0.5 … 0.73 Nm 1.1 … 1.4 Nm 2.6 … 3.3 Nm 5.2 … 6.5 Nm 9.0 … 11.3 Nm 21.6 … 27.3 Nm Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 23–40 ... -
Page 24: Manufacture Of The Gripper Fingers
Example for the manufacturing of a gripper finger: Fig. 6 Example for manufacturing the gripper fingers AFAG does not manufacture standard gripper fingers. Gripping fingers are therefore not included in the scope of delivery. The gripper fingers must be designed and manufactured by the operator! 24 –... -
Page 25: Reference Position
Fig. 7 Reference position servo gripper 6.5 Pin assignment SG-50 Value VDD 5 V Sensor GND Sensor V+ 24 V Sensor NC Fig. 8 Pin assignment servo gripper SG-50 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 25–40 ... -
Page 26: Commissioning
When working on the servo gripper, switch off the controller and secure it against unintentional restart. Observe the safety instructions in Chapter 2 „Safety instructions“ of these assembly instructions! 26 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 27: Preparatory Activities For Commissioning
Observe the operating instructions for the servo controller. If the SG-50 servo gripper is supplied in combination with an AFAG servo controller, the operating parameters are already stored in the servo controller. The servo gripper can be operated immediately. -
Page 28: Manual Operation
Due to the self-locking spindle, which prevents displacement of the gripper jaws in the de-energized state, the dynamics of the gripping/opening movement must be coordinated. 28 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 29: Positioning Mode
"move_ok". If no part is present, the gripper reaches the parametrized target position, but not the parametrized current value. The controller does not set the signal "move_ok". Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 29–40 ... -
Page 30: Further Notes On Settings
Excessive and long holding of the force (in force mode) overheats the servo gripper! The maximum forces can only be applied for a short time! 30 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 31: Fault Elimination
Unauthorized persons must not stay within the working area during operation. Also observe the safety instructions in chap. 2 „Safety instructions“ in this manual. Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 31–40 ... -
Page 32: Fault Causes And Remedy
Gripping force decreases / Dirt deposits/ dry running of the Clean servo gripper / lubricate servo gripper opens and guides sliding guides with suitable grease closes abruptly 32 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ... -
Page 33: Maintenance And Repair
2 „Safety instructions“ in this manual. 9.3 Maintenance activities and maintenance intervals Observe the specified maintenance and care intervals. The intervals refer to a normal operating environment. Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 33–40 ... -
Page 34: Overview Of The Maintenance Points
9.4 Spare parts and repair work Afag Automation AG offers a reliable repair service. Defective servo grippers can be sent to AFAG for warranty repair within the warranty period. Damaged servo grippers may only be replaced or repaired by Afag Automation AFAG! No spare parts are available for the servo grippers. -
Page 35: Decommissioning, Disassembly, Disposal
Electronic parts, electrical scrap, auxiliary and operating materials must be disposed of by approved specialist companies. Information on proper disposal can be obtained from the responsible local authorities. Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 35–40 ... -
Page 36: Declaration Of Incorporation
The relevant technical documentation has been created according to Annex VII, Part B of the above- mentioned Directive. Authorised representative for compiling the technical documentation: Niklaus Röthlisberger, Product Manager, Afag Automation AG, CH-4950 Huttwil, Germany Place/Date: Huttwil, 07.01.2020 Siegfried Egli Niklaus Röthlisberger... - Page 37 Obligations and liability ........9 Storage ............. 19 Obligations of the operating company ....9 System error ............. 32 Obligations of the personnel ......10 Operation ............31 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 37–40 ...
- Page 38 Reference position servo gripper ....................25 Fig. 8 Pin assignment servo gripper SG-50 ....................25 Fig. 9 Servo gripper SG-50 with cable and servo controller SE-24 ............27 Fig. 10 Manual operation servo gripper ...................... 28 Fig. 11 Positioning mode servo gripper....................... 29 Fig.
- Page 39 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 39–40 ...
- Page 40 40 – 40 Assembly instructions EN SG-50 Edition 01/2021 Rev. 2.0 ...
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