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Summary of Contents for SCHUNK PGN-plus-E
- Page 1 Translation of Original Operating Manual Assembly and Operating Manual PGN-plus-E 2-Finger Parallel Gripper...
- Page 2 Imprint Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: 389750 Version: 09.00 | 26/07/2022 | en...
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Page 3: Table Of Contents
2.12.5 Protection against magnetic and electromagnetic fields ....... 18 2.13 Notes on particular risks.................. 19 Technical data...................... 21 "Digital I/O" variant .................... 21 "IO-Link" variant .................... 22 Ambient conditions and operating conditions ........... 22 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 4 Product switches off ................... 51 Faults indicated by LED Error (only with "Digital I/O" variant)...... 51 Faults indicated by LED STATUS (only with "I/O-Link" variant) ...... 51 6.10 Acknowledge error ..................... 52 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
- Page 5 Changing seals - dust-tight version (SD) ............. 55 Tightening torques ..................... 55 Disassembly and assembling ................ 55 EU-Declaration of Conformity ................. 56 Translation of original declaration of incorporation .......... 57 10 Annex to Declaration of Incorporation .............. 58 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
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Page 6: 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. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 7: Definition Of Terms
} 7 [/ 53] Parts touching the workpiece and wear parts are not included in the warranty. * A cycle consists of a complete gripping process: "Open gripper" and "Close gripper". 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 8: Scope Of Delivery
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. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
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. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 10: Gripper Fingers
• Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust. Exceptions are products that are designed especially for contaminated environments. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 11: Environmental Conditions
• In locations with difficult operating conditions, e.g. due to caustic fumes, gases, oils or chemicals • In facilities requiring special monitoring, e.g. in particularly at- risk areas 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 12: Personnel Qualification
Due to its technical training, knowledge and experience, service the manufacturer personnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 13: Personal Protective Equipment
• Eliminate any malfunction immediately. • Observe the care and maintenance instructions. • Observe the current safety, accident prevention and environmental protection regulations regarding the product's application field. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 14: Transport
• If the energy supply is connected, do not move any parts by hand. • Do not reach into the open mechanism or movement area of the product during operation. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 15: Protection During Handling And Assembly
Falling and violently ejected components can cause serious injuries and even death. • Take appropriate protective measures to secure the danger zone. • Never step into the danger zone during operation. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 16: Protection Against Dangerous Movements
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. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 17: Protection Against Electric Shock
• The effectiveness of the potential equalisation must be verified by executing regular safety measurements. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 18: Protection Against Magnetic And Electromagnetic Fields
A special additional EMC test may be necessary if the system has a high risk potential. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 19: Notes On Particular Risks
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. • 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 20 In case of an energy supply failure, the gripping force decreases and a secure hold on the gripped workpiece cannot be guaranteed. Take suitable protective measures to secure the danger zone. • 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
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Page 21: Technical Data
Max. current [A] Integrated electronic control unit Communication interface Digital I/O Number of digital inputs/outputs More technical data is included in the catalog data sheet. Whichever is the latest version. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 22: Io-Link" Variant
Noise emission [dB(A)] ≤ 70 * When using the product in a cleanroom, please note that grease may leak from moving parts, especially the base jaws and their guides. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 23: Design And Description
Gripper finger interface Housing LEDs "POWER" and "ERROR/STATUS" "Gripping force" rotary switch "Voltage supply and actuation" connection plug "Sensors" connection plug LEDs sensors "S1" and "S2" Gripper finger centering sleeve 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 24: Io-Link" Variant
LEDs sensors "S1" and "S2" Gripper finger centering sleeve 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. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 25: Display
• 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. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 26 Yellow Shows when there is a sensor signal with the gripper opened. • Lights up if there is a sensor signal. • Does not light up if there is no sensor signal. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
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Page 27: Io-Link" Variant
Yellow Shows when there is a sensor signal with the gripper opened. • Lights up if there is a sensor signal. • Does not light up if there is no sensor signal. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 28: Assembly And Settings
7. Mount the sensor, } 5.6 [/ 39]. 8. Place the voltage supply and control cable on the M8 connector and screw the threaded ring tightly by hand, } 4.1.1 [/ 23]. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 29 4. Connect the ground cable between the product and the machine/system, } 5.2.2 [/ 32]. 5. Place cable for IO-Link on the M12 connector and tighten the } 4.1.2 threaded ring by hand, [/ 24]. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
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Page 30: Connections
The intermediate jaws can become off while removing the screws. Observe during assembly, that the intermediate jaws are between the base jaws und the gripper finger. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 31 Centering sleeves Ø8 Ø10 Side C Bore hole for mounting screws Mounting screws as per standard DIN EN ISO 4762 Max. strength class 8.8 Centering sleeves Ø8 Ø10 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
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Page 32: Electrical Connection - "Digital I/O" Variant
The supply network must be a network of type "PELV" for • power and logic. Observe the PIN assignment of the connecting terminals. • Make sure that all components are grounded correctly. • 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 33 Connection cable 4-pin, 4-pin, M8 M8 socket Voltage supply and Connection plug Connection cable 4-pin, control 4-pin, M8 M8 socket Tightening torque of M8 plug connection: 50 cNm 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
- Page 34 The following graph shows the minimum rest period that must be kept between two commands. Open gripper Close gripper 15 ms Min. rest period Example Open Gripper/Close Gripper 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
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Page 35: Electrical Connection - "Io-Link" Variant
Voltage supply and control IO-Link cable assignment, 5-pin M12 port class B Wire strand Signal Brown + 24 V White + 24 V (actuator) Blue Black C/Q IO-Link Grey GND (actuator) 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 36: Connecting Ground Cable
Class B Class A Y distributor 5.3 Connecting ground cable Ground connection Screw * Toothed lock washer Washer Product Cable lug Ground marking *) Tightening torque: 5 Nm 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 37: Attaching Additional Structure
The external dimensions of the additional structure can exceed the external dimensions of the gripper but not interfere with the operating cycle of the gripper fingers. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 38: Adjust Gripping Force
The gripping force is changed by altering the current limitation via the "Gripping force" rotary switch. Digital inputs "Opens gripper" and "Closes gripper" are not ■ powered (low), } 5.2.2.1 [/ 34]. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 39: Installing The Sensors
If the temperature changes, switching points may have to be readjusted. Example: Temperature when setting the switching points = 30 °C 30 °C ± 15 °C Temperature range: 15 °C to 45 °C 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 40: Overview Of Sensors
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 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 41: Installation Position Of The Magnetic Switches
With the magnetic switch MMS 22, the sensor 1 (1) must be mounted with cable outlet pointing upwards. The sensor 2 (2) can be mounted with cable outlet above or below. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 42: Mounting Magnetic Switch Mms 22
3. Secure the sensor 2 (3) using the set-screw (4). Tightening torque: 10 Ncm ✓ 4. Open the product and close it again in order to test its function. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 43: Mounting Programmable Mms-P 22 Magnetic Switch
✓ 3. Adjust sensor (1), see sensor assembly and operating manual. Size 20.7 50.5 30.5 * Dimension I1/I2 Outer edge of product up to front side sensor [mm] 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 44: Mounting Programmable Magnetic Switch Mms 22-Pi1
3. Adjust sensor 1 (1), see sensor assembly and operating manual. 4. Repeat steps for sensor 2 (5). Size 20.7 50.5 26.5 * Dimension I1/I2 Outer edge of product up to front side sensor [mm] 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 45: Mounting Programmable Mms 22-Pi2 Magnetic Switch
✓ 3. Adjust sensor (1), see sensor assembly and operating manual. Size 20.7 50.5 26.5 * Dimension I1/I2 Outer edge of product up to front side sensor [mm] 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 46: Mounting Analog Magnetic Sensor Mms 22-A
✓ 3. Adjust sensor (1), see sensor assembly and operating manual. Size 20.7 50.5 28.5 * Dimension I1/I2 Outer edge of product up to front side sensor [mm] 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 47: Adjusting Integrated Inductive Proximity Switch In
4. Re-tighten the expander bolt (1) to fix the switching point. For tightening torque see table 5. Open the product and close it again in order to test its function. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 48 6. Screw expander bolt (1) into the control cam (3). For tightening torque see table Tightening torques Item Mounting PGN-plus-E Wrench size Max. tightening torque [Nm] Wrench size Max. adjusting torque [Nm] 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
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Page 49: Use Electronic Processor Fps-F5/F5 T
1. Mounting analog (MMS 22-A) magnetic sensor, [/ 46]. 2. Connect electronic processor to the sensor. 3. Commission electronic processor, see assembly and operating manual FPS-F5 / FPS-F5 T. 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 50: Troubleshooting
Wrong gripping pre-selection. Check adjustment of the gripping force. } 5.5 [/ 38] Check layout of the product. Meanwhile observe the maximum workpiece weight, see Catalog Data Sheet. } 3 [/ 21] 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 51: Opening And Closing Times Are Not Achieved
LED lights up red • Check device status via IO-Link. acknowledgment • Take measures according to error message. • Acknowledge error. See Software guide "SCHUNK gripper with IO-Link" 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 52: Acknowledge Error
1. Wait until the product has cooled down. 2. Actuate both digital inlets, "Opens gripper" and "Closes gripper", with high. Disconnect voltage supply and reconnect. The "ERROR" LED goes out. The error is acknowledged. ✔ 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 53: Maintenance
Continuously traveling short strokes when the product is inadequately lubricated risks damaging it by causing it to run dry. Travel the full stroke every 1000 cycles or at least once daily. • 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 54: Lubricants/Lubrications Points
Lubricant point Lubricant Metallic sliding surfaces Klübersynth UH1 14-151 For dust-tight version (SD): Renolit HLT 2 All seals Lubricant point: Metallic sliding surfaces 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 55: Changing Seals - Dust-Tight Version (Sd)
Incorrect works can cause damage to the mechanics and internal electronics. Disassembly or opening of the product is not permitted. • Only allow SCHUNK to repair the product. • 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 56: Eu-Declaration Of Conformity
- Emission standard for industrial environments (IEC 61000-6-4:2006 + A1:2010); Signed for and on behalf of: SCHUNK GmbH & Co. KG Dr.-Ing. Manuel Baumeister, Technology & Innovation, Mechatronics & Sensors Lauffen/Neckar, July 2022 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 57: Translation Of Original Declaration Of Incorporation
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, July 2022 Dr.-Ing. Manuel Baumeister, Technology & Innovation 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... -
Page 58: Annex To Declaration Of Incorporation
1.3.1 Risk of loss of stability 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 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750... - Page 59 Risk of slipping, tripping or falling 1.5.16 Lightning Maintenance 1.6.1 Machinery maintenance 1.6.2 Access to operating positions and servicing points 1.6.3 Isolation of energy sources 1.6.4 Operator intervention 1.6.5 Cleaning of internal parts 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
- Page 60 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 09.00 | PGN-plus-E | Assembly and Operating Manual | en | 389750...
- Page 64 Translation of Original Operating Manual SCHUNK GmbH & Co. KG Clamping and gripping technology Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar Tel. +49-7133-103-0 Fax +49-7133-103-2399 info@de.schunk.com schunk.com Folgen Sie uns I Follow us...
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