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Summary of Contents for SCHUNK PGL-plus-P 10
- Page 1 Translation of the original manual Assembly- and Operating Manual PGL-plus-P ASC/ISC 2-Finger Parallel Gripper mit zertifizierter Grreifkafterhaltung...
- 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: 1511189 Version: 02.00 | 26/10/2022 | en...
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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................... 5 1.1.3 Symbol definition.................. 6 1.1.4 Applicable documents ................ 6 1.1.5 Sizes ...................... 6 1.1.6 Variants..................... 6 Warranty ...................... 7 Scope of delivery .................... 7 Accessories ...................... - Page 4 Table of Contents 5.3.2 Pneumatic connection................ 31 5.3.3 Electrical connection - IOL variant ............ 37 Attaching additional structure................ 38 Mounting the sensor .................. 40 5.5.1 Overview of sensors ................ 40 5.5.2 Setting dimensions for magnetic switches .......... 41 5.5.3 Switch-off hysteresis for magnetic switches .......... 43 5.5.4 Mounting inductive proximity switch IN .......... 44 5.5.5 Mounting MMS 22 magnetic switch............ 46 5.5.6 Mounting programmable MMS 22-PI2 magnetic switch...... 47...
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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: Symbol Definition
• DGUV certificate HM 220107 * The documents labeled with an asterisk (*) can be downloaded from schunk.com. 1.1.5 Sizes This operating manual applies to the following sizes: • PGL-plus-P 10 • PGL-plus-P 13 • PGL-plus-P 16 • PGL-plus-P 20 • PGL-plus-P 25 1.1.6 Variants... -
Page 7: Warranty
Content of the accessory pack: • 2x centering sleeves for gripper fastening • 2x locking screw • 3 x O-ring for hose-free direct connection ID.-No. of the accessory pack Size ID number PGL-plus-P 10 1505890 PGL-plus-P 13 1505891 PGL-plus-P 16 1505892 PGL-plus-P 20... -
Page 8: Accessories
Spare parts packages allow for the maintenance and repair of individual components. For information on the range of the spare parts packages, see www.schunk.com > Service. The following spare parts packages are available for this product: • Spare part package "IO-Link sensor"... -
Page 9: Basic Safety Notes
Basic safety notes 2 Basic safety notes 2.1 Intended use The product is designed exclusively for gripping and temporarily holding workpieces or objects. • The product may only be used within the scope of its technical } 3 [ / data, 20]. -
Page 10: Obligations Of The Operator/Integrator
The following SACs are divided into general SAC-Gs and product- specific SAC-Ps. • SAC-Gs refer to the interface of the product to or on the overall system. Since the configuration of the overall SCHUNK system is not known, these SAC-Gs are usually provided as a recommendation. - Page 11 Basic safety notes Content SAC-04-G Personnel should wear tight-fitting clothing. Wear long hair in a hairnet to protect it from getting caught in moving parts. ⇨ For additional information, see chapter: } 2.8 [ / 15] SAC-05-G The integrator must ensure that the safety of the robot system is verified in accordance with the standards/sections of standards applicable to the defined application.
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Page 12: Permitted Hrc Applications
Basic safety notes 2.2.2 Permitted HRC applications Protective Protective Coexistenc Cooperatio Cooperatio Collaborati fence fence with opening (no danger (danger of crushing) * crushing) * Application life phase operation PGL-plus- P ASC/ISC Actuation of the gripper outside the danger zone, e.g. two-hand control Actuation of the gripper in the danger zone, additional sensor system/safety function required Application permitted... -
Page 13: Constructional Changes
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. 2.5 Gripper fingers Requirements of gripper fingers Accumulated energy can make the product unsafe and risk the danger of serious injuries and considerable material damage. -
Page 14: Personnel Qualification
Basic safety notes 2.7 Personnel qualification Inadequate qualifications of the personnel If the personnel working with the product is not sufficiently qualified, the result may be serious injuries and significant property damage. • All work may only be performed by qualified personnel. •... -
Page 15: 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 16: Transport
Basic safety notes 2.10 Transport Handling during transport Incorrect handling during transport may impair the product's safety and cause serious injuries and considerable material damage. • When handling heavy weights, use lifting equipment to lift the product and transport it by appropriate means. •... -
Page 17: Protection During Handling And Assembly
Basic safety notes 2.12.1 Protection during handling and assembly Incorrect handling and assembly Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage. • Have all work carried out by appropriately qualified personnel. •... -
Page 18: Protection Against Dangerous Movements
Basic safety notes 2.12.3 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 remains and secure against inadvertent reactivation. •... - Page 19 Basic safety notes WARNING Risk of injury due to magnetic fields in the immediate vicinity! In case of exposure to magnetic fields, the product may malfunction. Workpieces may fall down or be ejected and cause severe injuries. Adequately shield magnetic fields in the immediate vicinity of •...
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Page 20: Technical Data
Technical data 3 Technical data Connection data Designation PGL-plus-P ASC / ISC Variant 4 bar Variant 6 bar Pressure medium Compressed air, compressed air quality according to ISO 8573-1: 7:4:4 Nominal operating pressure [bar] Minimum pressure [bar] Maximum pressure [bar] Pressure range for air purge [bar] 0.5 –... - Page 21 ASC - closing the base jaws ISC - opening the base jaws Note: The functional safety of the product is confirmed despite the overrun, see DGUV certificate at www.schunk.com. Connection data of the integrated IO-Link sensor (variant IOL) Designation PGL-plus-P-IOL Nominal voltage [VDC] •...
- Page 22 Technical data Designation PGL-plus-P-IOL Resolution [mm] 0.025 * Detectable workpiece difference 0.1 * [mm] Max. Temperature error from 3 * the final value [%] Response time / typ. Switching time / cycle time [ms] * Values apply at nominal operating pressure (6 bar), room temperature (23°C), gripping height at point "P"...
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Page 23: Design And Description
Design and description 4 Design and description 4.1 Design 2-Finger Parallel Gripper-ASC, ISC Housing Base jaw Pressure compensating valve Compressed air main connection Air purge connection Housing ASC/ISC Groove for magnetic switch 02.00 | PGL-plus-P ASC/ISC | Assembly- and Operating Manual | en | 1511189... -
Page 24: Variant Iol Structure
Design and description 4.1.1 Variant IOL structure 2-Finger Parallel Gripper- IOL Housing Base jaw LED display Connecting plug Compressed air main connection Air purge connection LED display Display 2-Finger Parallel Gripper- IOL LED Designa- Color Status Mode tion SIO * IOL** COM | S1 Green/ Voltage supply... -
Page 25: Description
Design and description LED Designa- Color Status Mode tion SIO * IOL** STATUS | Green/ Sensor output S2=0 Sensor is ready for Orange operation On (Orange) Sensor output S2=1 Error. Error message sent via IO-Link. SIO mode for operation without IO-Link master IO-Link mode for operation without IO-Link master NOTE For more information, see Software Manual "PGL-plus-P with... -
Page 26: Assembly And Settings
Assembly and settings 5 Assembly and settings 5.1 Safety 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 27: Installing And Connecting
Assembly and settings 5.2 Installing and connecting NOTICE Risk of damage to the gripper! If the maximum permissible finger weight is exceeded, the gripper can get damaged. As a rule, a jaw movement must take place without impact • and bouncing. Do not throttle the compressed air supply! Otherwise, ✓... -
Page 28: Connections
Assembly and settings 5.3 Connections 5.3.1 Mechanical connection Evenness of the The values apply to the whole mounting surface to which the mounting surface product is mounted. Requirements for evenness of the mounting surface (Dimensions in mm) Edge length Permissible unevenness <... - Page 29 Assembly and settings Connections at the The product can be assembled from four sides. housing Connection possibilities Connections at the housing Item Mounting PGL-plus-P Side A Mounting screw Max. depth of engagement from locating surface [mm] Centering sleeve Ø 6 Ø...
- Page 30 Assembly and settings Item Mounting PGL-plus-P Side C Mounting screw Mounting screw according DIN EN ISO 4762 to standard Max. strength class 8.8 Centering sleeve Ø 6 Ø 6 Ø 8 Ø 10 Ø 12 Side D Mounting screw Max. depth of engagement from locating surface [mm] Centering sleeve Ø...
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Page 31: Pneumatic Connection
Assembly and settings 5.3.2 Pneumatic connection NOTE • Observe the requirements for the compressed air } 3 [ / supply, 20]. • Never operate the product with a pressure maintenance valve, e.g. SDV-P, as otherwise the gripping force maintenance function cannot be ensured. Air connections Main connections (Hose connection) (A = open, B = close) - Page 32 Assembly and settings Item Mounting PGL-plus-P Thread in the main air M5 G1/8 G1/8 connections Max. depth of engagement from locating surface [mm] Thread in the air purge connection Max. depth of engagement from locating surface [mm] Air purge connection The air purge makes it difficult for dirt to penetrate the product.
- Page 33 Assembly and settings 5.3.2.1 Circuit diagram, operating principle and control Circuit diagram variant ISC/ASC Clamping element Drive piston Spring pre-loaded locking element Integrated shuttle valve A, B Main connections Air purge connection, optional a, b Hose-free direct connections Hose-free air purge connection, optional Operating principle of safe, certified gripping force maintenance GripGuard The safe, certified gripping force maintenance ensures a...
- Page 34 21]. The following valves can be used to control the ASC/ISC module: • 2 x 3/2 directional control valve • Other valve variants are available on request, contact SCHUNK for details. Actuation with a 2 x 3/2 directional control valve Normal operation When controlling with a 2 x 3/2 directional control valve, no hose...
- Page 35 Assembly and settings Control of PGL-plus-P ISC, normal operation close open Pressure gripped open Finger position gripper closed unlocked condition locked 1: Nominal operating pressure; 0: ventilated Control diagram ISC in normal mode Pressure loss If the compressed air supply fails, the gripper fingers are in the "closed"...
- Page 36 Assembly and settings Control of PGL-plus-P ISC after emergency stop (pressure drop) Condition 1: Condition 2: Workpiece gripped/ gripper open Gripper closed Pressure gripped open Finger position gripper closed unlocked condition locked 1: Nominal operating pressure; 0: ventilated Control diagram ISC in case of pressure drop 02.00 | PGL-plus-P ASC/ISC | Assembly- and Operating Manual | en | 1511189...
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Page 37: Electrical Connection - Iol Variant
Assembly and settings 5.3.3 Electrical connection - IOL variant NOTICE Risk of damage to the electronics! A faulty connection can cause damage to the internal electronics. The supply network must be a "PELV" network type for power • and logic. Observe the PIN assignment of the connecting terminals. -
Page 38: Attaching Additional Structure
Assembly and settings 5.4 Attaching additional structure An additional structure can be used as an option, e.g. for supporting workpieces. Product with additional structure Product Centering sleeve Additional structure Gripper finger Workpiece NOTE • The external dimensions of the additional structure can exceed the external dimensions of the product but must not interfere with the motion sequence of the gripper fingers. - Page 39 • Mount the additional structure on the product using four screws and centering sleeves. Note: The centering sleeves are not included in the scope of ✓ delivery and can be ordered from SCHUNK. 02.00 | PGL-plus-P ASC/ISC | Assembly- and Operating Manual | en | 1511189...
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Page 40: 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. 5.5.1 Overview of sensors... -
Page 41: Setting Dimensions For Magnetic Switches
Depending on the side of the cable outlet, there are different setting dimensions. Left cable outlet PGL-plus-P 10–13 PGL-plus-P 10–13: Setting dimension I1, cable outlet left PGL-plus-P 16–25 PGL-plus-P 16–25: Setting dimension l1, cable outlet left Setting dimension l1 - cable outlet left Size Setting dimensions l1 [mm]... - Page 42 Assembly and settings Right cable outlet PGL-plus-P 10–13 PGL-plus-P 10–13: Setting dimension I1, cable outlet right PGL-plus-P 16–25 PGL-plus-P 16–25: Setting dimension I1, cable outlet right Setting dimension I1 - cable outlet right Size Setting dimensions l1 [mm] MMS 22-PI1 MMS 22-A MMS 22-IOL MMS 22-PI2 46.7...
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Page 43: Switch-Off Hysteresis For Magnetic Switches
Assembly and settings 5.5.3 Switch-off hysteresis for magnetic switches Sensors MMS 22-PI1, MMS 22-PI2: The smallest detectable stroke difference is shown in the following table: Minimum detectable stroke difference from nominal stroke For products with X mm Min. monitoring area per jaw/ nominal stroke per jaw min. -
Page 44: Mounting Inductive Proximity Switch In
To mount the IN proximity switches, the product must be retrofitted with a special attachment kit. This attachment kit is available from SCHUNK. See catalog for types that can be ordered. Alternatively, the product can be ordered with pre-assembled attachment kit. - Page 45 Assembly and settings 3. Tighten the screw (7) on the bracket (6). Tightening torque: 0.2 Nm ✓ 4. Put product in the position in which it is to be set. 5. Position the bracket (6) together with the sensor (1) at one end of the sensor rail (2). Slowly slide the bracket (6) from the outside inwards until the sensor switches.
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Page 46: Mounting Mms 22 Magnetic Switch
Assembly and settings 5.5.5 Mounting MMS 22 magnetic switch NOTICE Risk of damage to the sensor during assembly! Observe the maximal tightening torque. • Position "Gripper open" or "Part gripped (I.D. gripping)" 1. Put the product in the desired position. 2. -
Page 47: Mounting Programmable Mms 22-Pi2 Magnetic Switch
Assembly and settings 5.5.6 Mounting programmable MMS 22-PI2 magnetic switch NOTICE 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), } 5.5.2 [ / 41]. -
Page 48: Mounting Mms 22-Pi1 Programmable Magnetic Switch
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 49 Assembly and settings 6. Slide sensor 1 (1) into the groove (2) slowly in the direction of the housing middle (3), until the sensor 1 (1) flashes rapidly. The optimum position is displayed. ✓ 7. Secure the sensor 1 (1) using the set-screw (4). Tightening torque: 10 Ncm 8. Hold teaching tool to the sensor 2 (1) to confirm the position. Sensor 1 (1) has been taught in.
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Page 50: Mounting The Magnetic Switch Mms 22-Iol
Assembly and settings 5.5.8 Mounting the magnetic switch MMS 22-IOL NOTICE Risk of damage to the sensor during assembly! Observe the maximal tightening torque. • } 5.5.2 [ / 1. Adjust the T-nut (3) to dimension l1, 41]. 2. Slide sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3). -
Page 51: Mounting Analog Mms 22-A Magnetic Switch
Assembly and settings 5.5.9 Mounting analog MMS 22-A magnetic switch NOTICE Risk of damage to the sensor during assembly! Observe the maximal tightening torque. • } 5.5.2 [ / 1. Adjust the T-nut (3) to dimension l1, 41]. 2. Slide the sensor (1) over the insertion pocket into the groove (2) according to the shown orientation of the cable outlet until the sensor (1) rests against the T-nut (3). -
Page 52: Troubleshooting
Troubleshooting 6 Troubleshooting 6.1 Product does not move Possible cause Corrective action Base jaws jam in housing, e.g. mounting Check the evenness of the mounting surface. } 5.3.1 [ / 28] surface is not sufficiently even. Pressure drops below minimum. Check air supply. } 3 [ / 20] Compressed air lines switched. -
Page 53: Product Does Not Achieve The Opening And Closing Times
SCHUNK recommends the use of quick-air-vent- valves directly at the product. Compressed air can escape. Send the product to SCHUNK with a repair order. Too much grease in the mechanical Clean and lubricate product. movement space. -
Page 54: Variant Iol
Troubleshooting 6.6 Variant IOL 6.6.1 No communication with the product (LED is flashing or does not light up) Possible cause Corrective action No voltage supply Check the voltage supply and apply voltage if necessary. Check that the plug connection is connected properly and check the pin allocation. -
Page 55: Maintenance
A sharp burr can form on the gripper fingers due to wear, which can lead to cuts. Wear suitable protective equipment. • Original spare parts Use only original spare parts of SCHUNK when replacing spare and wear parts. 02.00 | PGL-plus-P ASC/ISC | Assembly- and Operating Manual | en | 1511189... -
Page 56: Maintenance Intervals
Maintenance 7.2 Maintenance intervals The product is maintenance-free provided that the ambient and } 2.6 [ / operating conditions are met, 13]. Although the product is maintenance-free, it should be regularly inspected visually to ensure that it functions properly. In the case of extreme ambient and operating conditions, such as •... -
Page 57: Lubricants/Lubrication Points (Basic Lubrication)
The product can get damaged and loss of function of the safe, certified gripping force maintenance is possible. Never disassemble the product. • Have seals changed by SCHUNK only. • 02.00 | PGL-plus-P ASC/ISC | Assembly- and Operating Manual | en | 1511189... -
Page 58: Changing The Sensor (For Iol Variant)
2. Loosen screws (4) and pull sensor (3) out of the housing. Installing the sensor 1. Prepare the new sensor system. This is available from } 1.4.1 [ / SCHUNK, 8]. 2. Mount the new O-ring seal (2) on the sensor head. 3. Insert sensor (3) into the sensor hole until the stop. -
Page 59: Disassembly And Disposal
Disassembly and disposal 8 Disassembly and disposal 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 60: Translation Of Original Declaration Of Incorporation
9 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 61: Ukca Declaration Of Incorporation
UKCA declaration of incorporation 10 UKCA declaration of incorporation in accordance with the Supply of Machinery (Safety) Regulations 2008. Manufacturer/ SCHUNK Intec Limited Distributor Clamping and gripping technology 3 Drakes Mews, Crownhill MK8 0ER Milton Keynes We hereby declare that on the date of the declaration the following partly completed machine complied with all basic safety and health regulations found in the "Supply of Machinery (Safety) Regulations 2008". -
Page 62: Annex On Declaration Of Incorporation
Annex on declaration of incorporation 11 Annex on declaration of incorporation in accordance with 2006/42/EC, Appendix II, no. 1 B as well as in accordance with the Supply of Machinery (Safety) Regulations 2008. 1. Description of the basic safety and health protection requirements, as per 2006/42/EC, Annex I and per the Supply of Machinery (Safety) Regulations 2008, that apply to and are fulfilled for the scope of the incomplete machine: Product designation 2-Finger Parallel Gripper... - Page 63 Annex on 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 64 Annex on 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 65: Eu-Declaration Of Conformity
The declaration is rendered invalid if modifications are made to the product. • RoHS Directive 2011/65/EU • REACH Regulation EC No. 1907/2006 Signed for and on behalf of: SCHUNK GmbH & Co. KG p.p. Ralf Winkler; Head of Technology & Engineering,... -
Page 66: Ukca Declaration Of Conformity
UKCA Declaration of Conformity 13 UKCA Declaration of Conformity Manufacturer/ SCHUNK Intec Limited Distributor Clamping and gripping technology 3 Drakes Mews, Crownhill MK8 0ER Milton Keynes Product designation: 2-Finger Parallel Gripper PGL-plus-P ASC/ISC We hereby declare on our sole authority that the product meets the requirements of the following directives at the time of the declaration. - Page 68 Translation of the original 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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