SCHUNK PZN-plus Assembly And Operating Manual
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SCHUNK PZN-plus Assembly And Operating Manual

3-finger centric gripper
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Translation of the original manual
3-Finger Centric Gripper
PZN-plus
Assembly and Operating Manual
03.01/3-Finger Centric Gripper PZN-plus/en

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Summary of Contents for SCHUNK PZN-plus

  • Page 1 Translation of the original manual 3-Finger Centric Gripper PZN-plus Assembly and Operating Manual 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 2 Imprint: Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely supplied to our customers and operators of our products and forms part of the unit. This documentation may not be duplicated or made accessible to third parties, in particular competitive companies, without our prior permission.

  • Page 3: Table Of Contents

    7.3 Sensors ........................20 7.3.1 Inductive proximity switch IN 80 ..............20 7.3.2 Magnetic switch MMS 22 / RMS 22 ............23 7.3.3 Programmable magnetic switch (MMS-P) ..........26 7.3.4 FPS flexible position sensor ................ 31 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 4 10.3 Assembling the power booster cylinder ..............52 10.4 Assembly of the protective cover ................53 11 Sealing kit ........................ 54 12 Accessories kit ......................55 13 Translation of original EC declaration of incorporation ..........56 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 5: About This Manual

    Non-observance may cause minor injuries. CAUTION Information about avoiding material damage 1.1.2 Symbols Warning about a danger point Warning about hot surfaces Warning about dangerous electrical voltage Warning about hand injuries General mandatory sign to prevent material damage 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 6: Varianten

    Variants This operating manual applies for the following variations • PZN-plus without gripping force maintenance device • PZN-plus with gripping force maintenance device "O.D. gripping" • PZN-plus with gripping force maintenance device "I.D. gripping" • PZN-plus Force intensified version • PZN-plus dust protection version •...

  • Page 7: Basic Safety Notes

    The module may be used only in the context of its defined applica- tion parameters( 6, Page 13). SCHUNK assumes that application in question was tested with the calculation program for gripping modules (SSG). To use this unit as intended, it is also essential to observe the technical data and installation and operation notes in this manual and to comply with the maintenance intervals.

  • Page 8: Product Safety

    2.4.3 Constructional changes, attachments, or modifications Additional drill holes, threads, or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK. Personnel qualification The assembly, initial commissioning, maintenance, and repair of the module may be performed only by trained specialist person- nel.

  • Page 9: Using Personal Protective Equipment

    • Only specially trained staff should disassemble the module. WARNING Risk of injury from objects falling and being ejected Avoidance: The danger zone must be surrounded by a safety fence during operation. WARNING While disassembling uncontrollable moves of parts of the grip- per possible! 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 10: Variant Gripping Force Maintenance

    Modules 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. Avoidance: Secure the end positions of the module with SCHUNK SDV-P pressure maintenance valves. WARNING...

  • Page 11: Warranty

    Parts touching the workpiece and wearing parts are not part of the warranty. If necessary, check the application with the calculation program for gripping modules (SSG). Scope of delivery The scope of delivery includes: • 3-Finger-Centric gripper PZN-plus in the ordered model. • accessory pack 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 12: Accessories

    • Exact type designation of the compatible sensors see ☞ catalog • If you require further information on sensor operation, contact your SCHUNK contact person or download information from our homepage. • For mounting the sensors, mounting kits are partly necessary.

  • Page 13: Technical Data

    2 / 8 with gripping force maintenance device 4 / 6.5 nominal working pressure IP rating IP rating dust protection version ambient temperature min. [°C] ambient temperature max. [°C] Repeatability [mm] 0.01 noise emission [dB(A)] ≤ 70 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 14 4 / 6.5 nominal working pressure IP rating IP rating dust protection version ambient temperature min. [°C] ambient temperature max. [°C] noise emission [dB(A)] ≤ 70 Repeatability [mm] 0.01 0.02 0.05 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 15: Assembly

    Check the evenness The values relate to the entire bolting surface. of the bolting surface Edge length [mm] Permissible unevenness [mm] < 100 < 0,02 > 100 < 0,05 Demands on the evenness of the bolting surface 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 16 NOTE • For mounting from the rear or side fix the module on the pro- posed fixing bores • Mount the module using the mounting bores. • Mount the top jaws using the mounting bores provided. 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 17: Fastening The Gripper With Spring-Loaded Pressure Piece

    Before assembly, the spring-loaded pressure piece must be disas- sembled! NOTICE The pressure piece is spring-loaded! Fig. 2 Pressure piece (71) Mounting screws (73) Guide bolt (72) Sealing ring (from size PZN-plus 100) (76) Set screws (74) Compression spring (75) 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 18: Air Connection

    Risk of injury when the machine/system moves unexpectedly! Remove the energy supplies. Make sure, that no residual energy remains in the system. NOTICE Observe the requirements for the air supply. ( 6, Page 13) „Technical Data“ 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 19 • For hose-free direct connections use the two O-rings from the enclosed pack. • If the max. permitted finger weight is exceeded, it is imperative to throttle the air pressure so that the jaw movement occurs without any hitting or bouncing 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 20: Sensors

    • If you require further information on sensor operation, contact your SCHUNK contact person or download information from our homepage. • Technical data of the sensors can be found in the data sheets (included in the scope of delivery).
  • Page 21 1 Insert proximity switch 3 as far as the stop in the bracket (17) and fasten it by tightening the screw (17a). 2 Move the gripper to the „closed“ position and perform a func- tion test. 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 22 (42) again. 5 Perform a function test by opening and closing the gripper. 6 In case of version with dust cover, please close the thread at the lateral cover with the supplied set-screws. 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 23: Magnetic Switch Mms 22 / Rms 22

    • Then, the positions of the magnetic switch have to be set The RMS sensors have a larger hysteresis than the MMS sensors. This means that short gripper strokes may not be able to be moni- tored with the RMS sensors. 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 24 2 Insert solenoid switch 2 (2) in the groove (4) until it switches. 3 Clamp the solenoid switch 2 (2) in this position by tightening the set-screw (3). 4 Perform a function test by closing and opening the gripper. 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 25 3 Magnetschalter 1 (1) langsam wieder zurück ziehen, bis dieser schaltet. 4 Clamp the solenoid switch 1 (1) in this position by tightening the set-screw (3). 5 Perform a function test by closing and opening the gripper. 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 26: Programmable Magnetic Switch (Mms-P)

    The MMSK-P 22-S-PNP features a cable with open strands so that it can be connected by means of terminal contacts. The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin con- nector plug of the MMS-P 22-S-M8-PNP sensor to two standard M8 plugs with 3 pins each. 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 27 (bottom edge of gripper up to front side of sensor) or according to dimension l1 (bottom edge of gripper up to double arrow on sensor) and then clamp with the mounting screw. 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 28 105.9 18.0 26.9 160 IS-KVZ 97.0 105.9 80 AS 33.6 42.5 32.7 41.6 80 IS 33.0 41.9 200 AS 69.0 77.9 80-KVZ 43.0 51.9 200 IS 68.7 77.6 80 AS-KVZ 58.0 66.9 Assembly of the sensor 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 29 4 Move the gripper into position 2 (e.g. „-2mm“).  LED 1 (3) should turn out as soon as the switching point 1 is left. 5 Press the Teach-Button (4) briefly.  LED 2 (5) lights up.  The switching points are set. 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 30 (i.e. by shielding). Frequent types of disturbances are change in temperature and electro-magnetic influences. Within the closest fine-teach mode, SCHUNK cannot guarantee EMC-compatibility any more. The hysteresis adjustment is used for the manual adjustment of the switching points (if necessary).

  • Page 31: Fps Flexible Position Sensor

    To use the flexible position sensor FPS-M8, the grippers have to be retrofitted with a special mounting kit. This mounting kit is availa- ble from SCHUNK for the models below (see catalog): • PZN-plus 64/1, PZN-plus 64/2 • PZN-plus 80/1, PZN-plus 80/2 •...
  • Page 32 FPS-M 8 through the bracket (17) into the special hole drilled in the housing (1) to the stop, and clamp the sensor in this po- sition by tightening the screw (18).  For setting sensor see separate user‘s manual of the sensor. 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 33: Troubleshooting

    Open the choke valve. Component is broken, e.g. through over- Replace component or send the module loading with a repair order to SCHUNK. Ensure that the module was only used within its defined application parameters.If necessary, check the application with the calculation program for gripping modules (SSG).

  • Page 34: Module Opens Or Closes Abruptly

    Too much grease in the mechanical motion Clean the module and relubricate it ( 9, Page 36) spaces of the module Pressure drops below minimum. Check the air supply. ( 7.2, Page 18) 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 35: Module Does Not Achieve The Opening And Closing Times

    If, desipte of optimal air connections, the opening and closing times are not achieved according to the catalog, we recommend the use of quick exhaust valves direct at the module Load too high Review permissible weight and length of the jaws 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 36: Maintenance And Care

    The base jaws and the guides in the housing are matched to each other. To have these parts replaced, send the complete module along with a repair order to SCHUNK. Maintenance of module with gripping force maintenance "A.D. gripping" (A.D.) The pistons have to be aligned using an assembly device.

  • Page 37: Lubricants/Lubrication Points (Basic Lubrication)

    2 Pull the intermediate jaws (84) upwards and out and remove the O-rings (87) and shims (83). 3 Slacken the countersunk screws (89) and remove the cover plate (82). 4 Unscrew the screws (90) and detach the covers (81). 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 38: Version Without Gripping Force Maintenance

    (1). Fully undo the screw (40) and remove the cylinder piston (6) from the housing (1). 7 Push the piston (3 / 8) upwards and out of the housing (1). 8 Pull the base jaw (2 / 7) out of the housing (1). 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 39: Version With Gripping Force Maintenance O.d

    ( 10, Page 50) position of the position numbers WARNING With regard to size PZN-plus 240, 300 and 380 with gripping force maintenance, we urgently recommend that you get SCHUNK to disassemble the gripper for the purpose of mainten- ance and seal replacement. Danger due to very high spring...

  • Page 40: Version With Gripping Force Maintenance I.d

    ( 10, Page 50) position of the position numbers WARNING With regard to size PZN-plus 240, 300 and 380 with gripping force maintenance, we urgently recommend that you get SCHUNK to disassemble the gripper for the purpose of mainten- ance and seal replacement. Danger due to very high spring...

  • Page 41: Variant With Power Booster Cylinder (Kvz)

    (1). Remove the second cylinder piston (6) from the housing (1). 8 Push the piston (3 / 8) upwards and out of the housing (1). 9 Pull the base jaw (2 / 7) out of the housing (1). 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 42: Servicing And Assembling The Module

    Assembly of the piston with gripping force maintenance for „O.D. gripping”, Siz- es 40-100, the sizes 160 - 380 have to be mounted with two as- sembly devices Mounting device for gripping force mainten- ance. 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 43: Assembly Mounting Device

    (CAUTION: do not tilt it) until the cylinder piston comes up against the spring. 4 Insert screw (45) and applying gentle pressure, screw it into the piston (3 / 8). 5 Remove the devices, fit the seals (32) and the cover (9) 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 44 Maintenance and care Assembly using 2 devices for PZN-plus 125 -380 Fig. 17 ( 9.5.2, Page 45) Dimensions of the mounting device 1 Fit device 1 (100 with the screws (101) and grease the centring bore with Renolit HTL 2.

  • Page 45: Mounting Device - Gripping Force Maintenance

    PZN-plus 125 125 94.5 94.5 PZN-plus 160 160 127.5 127.5 PZN-plus 200 200 M10 M10 PZN-plus 240 240 M12 M12 PZN-plus 300 300 M16 M16 PZN-plus 380 380 M20 M20 mounting device cylinder piston - Dimensions in mm 03.01/3-Finger Centric Gripper PZN-plus/en...
  • Page 46 M10 x 70 M10 x 50 PZN-plus 240 M12 x 100 M12 x 70 PZN-plus 300 M16 x 130 M16 x 90 PZN-plus 380 M20 x 160 M20 x 110 Screws for mounting device cylinder piston 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 47: Assembly Option Hue "Protective Cover

    3 Fix the protective cover (74) with the screw clamps (77) to the intermediate jaws (72) and the screw clamp (78) around the housing (1). 4 The top jaws are fastened by means of guide sleeves (75) on the intermediate jaws (72). 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 48: Increasing The Ip Protection Class Through Use Of The Hue "Protective Sleeve

    Item Designation Screw-on plate HUE protective sleeve for the respective unit size • Peripheral, closed fillet weld between screw-on plate and protective sleeve • To be provided by customer • Special sealing agent from SCHUNK recommended 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 49: Screw Tightening Torques

    Gripper horizontal without fillet weld Gripper in any position with peripheral fillet weld Sealing agent recommended by SCHUNK and source: • Flexible MS polymer, universal adhesive and sealant: Terostat- 2000 MF (black) Item no.: 92-401790, 310 ml cartridge for manual or com- pressed air gun Manufacturer: Henkel KGaA, www.henkel.com...

  • Page 50: Assembly Drawing

    They serve for illustration and assignment of the spare parts. Variations are possible depending on size and variant. 10.1 Variant without dust cover Fig. 20 Assembly of the variants "O.D. gripping" / "I.D. gripping" / without gripping force maintenance 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 51: Assembly Of The Dust Cover

    Assembly drawing Wearing part, replace during maintenance. Included in the seal kit. Seal kit can only be ordered compeltely. not for PZN-plus 40 - 125 from size PZN-plus 125 **** from size PZN-plus 160 10.2 Assembly of the dust cover Fig.

  • Page 52: Assembling The Power Booster Cylinder

    Assembling the power booster cylinder Fig. 22 Wearing part, replace during maintenance. Included in the seal kit. Seal kit can only be ordered compeltely. not for PZN-plus 64 - 125 from size PZN-plus 125 **** from sizee PZN-plus 160 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 53: Assembly Of The Protective Cover

    Assembly drawing 10.4 Assembly of the protective cover Finger fixing Fig. 23 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 54: Sealing Kit

    39303454 5518726 5515873 PZN-plus 200 0303455 39303455 5518727 PZN-plus 240 0303456 39303456 5518728 PZN-plus 300 0303457 39303457 5518729 PZN-plus 380 0303458 39303458 ID.-No. of the seal kit ( 10, Page Contents of the seal kit 50). 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 55: Accessories Kit

    PZN-plus 125 5512731 395512731 PZN-plus 160 5512732 395512732 PZN-plus 200 5512733 395512733 PZN-plus 240 5514005 395514005 PZN-plus 300 5514240 395514240 PZN-plus 380 5520730 ID.-No. of the accessory pack ( 10, Page Contents of the enclosed pack 50). 03.01/3-Finger Centric Gripper PZN-plus/en...

  • Page 56: Translation Of Original Ec Declaration Of Incorporation

    Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar We hereby declare that the following product: Product designation 3-Finger-Centric gripper / PZN-plus / pneumatisch ID number 0303308 ... 0303647 meets the applicable basic requirements of the Directive Machinery (2006/42/EC). The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machine is to be installed with the provisions of the Machinery Directive (2006/42/EC) is confirmed.

This manual is also suitable for:

Pzn-plus 40Pzn-plus 50Pzn-plus 64Pzn-plus 80Pzn-plus 100Pzn-plus 125 ... Show all

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