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Assembly & Operating Instructions
Compact Rotary Modules
Translation of the Original Assembly Instructions EN
CR 16-D
Order no.: 50433054
◼
CR 16-ZA-D
Order no.: 50433057
◼
CR 20-D
Order no.: 50433055
◼
CR 20-ZA-D
Order no.: 50433058
◼
Assembly instructions EN
CR 16-D
CR 20-D
◼
CR 16-D I CR 20-D
I
CR 16-ZA-D
I
CR 20-ZA-D
◼
◼
10.05.2023
V4.0
1–55
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Table of Contents
Related Manuals for Afag CR 16-D
Summary of Contents for Afag CR 16-D
- Page 1 CR 16-D Order no.: 50433054 ◼ CR 16-ZA-D Order no.: 50433057 ◼ CR 20-D Order no.: 50433055 ◼ CR 20-ZA-D Order no.: 50433058 ◼ ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 1–55...
- Page 2 Your Afag team © Subject to modifications The rotary 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
2.8.5 Danger caused by omitting maintenance work ........16 Technical data ...................... 17 Rotary module CR 16-D ................17 3.1.1 Dimensional drawing CR 16-D ............. 17 3.1.2 Technical data CR 16-D ............... 18 3.1.1 Preferred combinations CR 16-D ............19 3.1.2 Module loads CR 16-D ................. - Page 4 Product description ..................30 Accessories ....................31 5.3.1 Accessories CR 16-D, CR 20-D ............31 5.3.2 Other accessories CR 16-D, CR 20-D ..........32 Fields of application ..................32 Installation, assembly & setting ................. 34 Safety instructions for installation & assembly ........... 34 Installation and assembly ................
- Page 5 Safety instructions for decommissioning, disassembling and disposal ..52 10.2 Decommissioning ..................52 10.3 Disassembly ....................52 10.4 Disposal ...................... 53 Declaration of incorporation ................54 ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 5–55...
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Page 6: General
NOTICE This safety note points out a potentially dangerous situation which, if not avoided, can cause substantial damage to property and the environment. ◼ ◼ ◼ 6 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 7: 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 ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 7–55... -
Page 8: Applicable Documents
Regulations, the Standards of the German Electrotechnology Association (VDE) and these safety and assembly instructions 1.6 Liability No changes shall be made to the rotary modules CR 16-D, CR 16-ZA-D, CR 20- 20-ZA-D unless described in this instructions manual or approved in writing by Afag Automation AG. -
Page 9: Safety Instructions
2.2 Intended use The CR 16-D, CR 16-ZA-D, CR 20-D, CR 20-ZA-D rotary modules are used for shock-free gripping/rotating of loads in non-hazardous atmospheres under the ambient and operating conditions defined for these modules. -
Page 10: Foreseeable Misuse
▪ the operating company shall be solely responsible for such damage, and ▪ Afag does not accept any liability for damages caused by improper use. 2.4 Obligations of the operator and the personnel 2.4.1... -
Page 11: Obligations Of The Operating Company
▪ refrain from any activity that might compromise safety and health. In addition, the personnel must wear the personal protective equipment required for carrying out their work. ( Chapter ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 11–55... -
Page 12: Personnel Requirements
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. ◼ ◼ ◼ 12 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 13: Personal Protective Equipment (Ppe)
2.7 Changes and modifications No changes may be made to the rotary modules 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 14: General Hazards / Residual Risks
▪ When operating the rotary modules, ensure a good overview of the entire working area. ▪ Unauthorized persons must not stay within the working area during operation. ◼ ◼ ◼ 14 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 15: Danger Due To Electricity
▪ Work on the machine's electrical equipment may only be performed by skilled electrician or trained personnel under the supervision of a skilled electrician in accordance with all relevant electrical regulations. ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 15–55... -
Page 16: Mechanical Hazards
▪ The due diligence obligations of the operating company include ensuring that the personnel carrying out maintenance work is appropriately trained and qualified. ◼ ◼ ◼ 16 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 17: Technical Data
Technical data Technical data 3.1 Rotary module CR 16-D 3.1.1 Dimensional drawing CR 16-D Fig. 1 Dimensional drawing - Rotary module CR 16-D ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 17–55... -
Page 18: Technical Data Cr 16-D
Technical data 3.1.2 Technical data CR 16-D Fig. 2 Table technical data CR 16-D * In the end position, only half the torque is achieved, since in this position the pressure is exerted by one piston only (chapter ◼ ◼... -
Page 19: Preferred Combinations Cr 16-D
Technical data 3.1.1 Preferred combinations CR 16-D ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 19–55... -
Page 20: Module Loads Cr 16-D
Technical data 3.1.2 Module loads CR 16-D Fig. 3 Table module loads CR 16-D ◼ ◼ ◼ 20 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 21: Load Diagrams Cr 16-D
Technical data 3.1.3 Load diagrams CR 16-D Fig. 4 Load diagrams CR 16-D ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 21–55... -
Page 22: Rotary Module Cr 20-D
Technical data 3.2 Rotary module CR 20-D 3.2.1 Dimensional drawing CR 20-D Fig. 5 Dimensional drawing - Rotary module CR 20-D ◼ ◼ ◼ 22 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 23: Technical Data Cr 20-D
Table technical data CR 20-D * In the end position, only half the torque is achieved, since in this position the pressure is exerted by one piston only (chapter ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 23–55... -
Page 24: Preferred Combinations Cr 20-D
Technical data 3.2.3 Preferred combinations CR 20-D ◼ ◼ ◼ 24 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 25: Module Loads Cr 20-D
Technical data 3.2.4 Module loads CR 20-D Fig. 7 Table module stresses CR 20-D ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 25–55... -
Page 26: Load Diagrams Cr 20-D
Technical data 3.2.5 Load diagrams CR 20-D Fig. 8 Load diagrams CR 20-D ◼ ◼ ◼ 26 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 27: Transport, Packaging And Storage
4.2 Scope of supply The rotary modules are supplied with an operating and assembly manual and a safety data sheet (see scope of supply below). Fig. 9 Scope of delivery rotary modules CR 16-D / CR 20-D [Unt] CR 16-D [Unt] CR 20-D Centering bushing Ø7x3 mm... -
Page 28: Transport
Environmental damage can be caused by incorrect disposal of the packaging material. ▪ Dispose of the packaging material in an environmentally sensitive way in accordance with the local environmental regulations. ◼ ◼ ◼ 28 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 29: Storage
▪ Clean the rotary modules and protect the blank metal parts against corrosion using the appropriate means. ▪ Protect the rotary modules from dirt and dust. ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 29–55... -
Page 30: Structure And Description
11. Housing for intermediate stop 6. Shock absorber SD 5.2 Product description Rotary modules of the CR 16-D / CR 20-D series are precision devices. In order ensure safe and reliable operation it is important that the modules are handled with care. -
Page 31: Accessories
Structure and description 5.3 Accessories 5.3.1 Accessories CR 16-D, CR 20-D Initiator - INI c10x19.5-Em-PNP-NO-M8x1 Order Number 50033432 Net weight 0.02 kg 10 – 30 VDC Operating voltage Fig. 11 Initiator - INI c10x28.5 Sensor-actuator cable-6pol-male-0.6m-0-open Order Number 50512492 Net weight 0.04 kg... -
Page 32: Other Accessories Cr 16-D, Cr 20-D
Structure and description 5.3.2 Other accessories CR 16-D, CR 20-D Shock absorber SD M10x1-4 Seal for SD M10x1-4 Order Number 50279077 Order Number 50300442 Stroke H 8 mm Net weight 0.002 kg Net weight 0.038 kg Suitable for SD M10x1-4 Max. - Page 33 Pressure can only be exerted by piston (2) ½ torque Fig. 14 Exerted pressure of the pistons as a function of the piston position ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 33–55...
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Page 34: Installation, Assembly & Setting
No liability for damages can be assumed for damages caused by improper installation/assembling work on the part of the operator. chap. 2 „Safety instructions“ in this Also observe the safety instructions in manual. ◼ ◼ ◼ 34 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 35: Installation And Assembly
Assembly and attachment In order to ensure high and repetitive accuracy of fit during assembling, operation and exchanging of a module, the components of the Afag modules are provided with a precise module centering unit. The rotary modules can be mounted both in horizontal and vertical position. -
Page 36: Tightening Torques For Screws
When connecting the compressed air supply for the first time, make sure that all compressed air throttles are closed. Vent the system slowly! The minimum compressed air quality shall comply with the specifications of ISO 8573-1:2010. ◼ ◼ ◼ 36 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... - Page 37 Installation, assembly & setting Pneumatic connections rotary modules CR 16-D and CR-20-D The CR rotation module has 5 selectable pneumatic connection options for each direction of rotation. (1) Upper module half: 5 connections, clockwise direction of rotation (2) Lower module half: 5 Connections, counterclockwise direction of rotation Fig.
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Page 38: Assembling, Monitoring, Replacement Of The Sensors
Here, the intermediate positions are scanned with one magnetic field sensor. Fig. 19 Illustration of magnetic field sensors 1. Sensor (accessories) 2. Clamping screws (sensor and slot nut) 3. Fixing screw for sensor in the C-slot ◼ ◼ ◼ 38 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... - Page 39 2. Remove the built-in sensor (Fig. 20, 1). 3. Assembly the new sensor as described in this chapter. The sensor is replaced. Fig. 20 Magnetic field sensor (example illustration) ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 39–55...
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Page 40: Settings
▪ Adjustment and conversion work may only be carried out by qualified personnel! chap. 2 „Safety instructions“ in this Also observe the safety instructions in manual. ◼ ◼ ◼ 40 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 41: Adjusting The Angle Of Rotation
If the angle of rotation is reduced by more than 95°, a compressed air leakage occurs due to the design. Turn the stop screw back to eliminate the leakage that has occurred. ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 41–55... -
Page 42: Setting Of The End Positions
The end position damping is set. If the damping function is not yet optimal, it can also be adjusted with a compressed air throttle. ◼ ◼ ◼ 42 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 43: Adjusting The Shock Absorber
Carefully screw the threaded sealing ring onto the shock absorber! When removing or mounting a shock absorber, make sure that the sealing ring fits exactly against the stop sleeve before tightening the lock nut! ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 43–55... -
Page 44: Setting Of Intermediate Positions
For the CR rotary modules with intermediate position, an exhaust air throttle must be installed on the ZP (intermediate position) side. The exhaust air throttle also regulates the damping behaviour of the intermediate position. ◼ ◼ ◼ 44 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 45: Approaching The Intermediate Positions
Installation, assembly & setting 6.3.7 Approaching the intermediate positions Position -90° -15° +20° +90° *P1, P2, P3=Air connections 0=unpressurised 1=pressurised Fig. 22 Positions (example illustration) ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 45–55... -
Page 46: Commissioning
3. Make sure that there are no persons or tools within the working area of the rotary module. 4. Perform test run: Start with slow traversing movements, then continue under normal operating conditions. Commissioning is completed. ◼ ◼ ◼ 46 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 47: Fault Elimination
▪ No shock absorber available ▪ Retrofitting of shock absorber ▪ Exhaust flow control defective ▪ Replace exhaust flow control ▪ Lifting speed too high ▪ Adjust exhaust flow control ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 47–55... -
Page 48: Maintenance And Repair
▪ Before starting any activities, switch off the media supply (pneumatics) and secure it from being switched on again! chap. 2 „Safety instructions“ in this Also observe the safety instructions in manual. ◼ ◼ ◼ 48 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 49: Maintenance Activities And Maintenance Intervals
5 million load cycles. Incorrectly adjusted, missing or defective shock absorbers impair the function of the module and can lead to its destruction! ◼ ◼ ◼ Assembly instructions EN CR 16-D I CR 20-D 10.05.2023 V4.0 49–55... -
Page 50: Compressed Air Specifications
If the rotary modules are used in an ionised air environment, there is a risk that exposed parts could corrode. ▪ Always grease exposed parts e.g. flanges, shafts, guides and jaws regularly. ▪ Afag standard lubrication: Staburax NBU8EP (flat guides), Blasolube 301 (piston rods) 9.3.2 Compressed air specifications The rotary modules are lifetime lubricated and can be operated with lubricated or non-lubricated compressed air. -
Page 51: Further Maintenance
Afag for warranty repair within the warranty period. After the warranty period has expired, the customer can replace or repair defective modules or wear parts himself or send them to the Afag repair service. Please note that Afag does not assume any warranty for modules that have... -
Page 52: Decommissioning, Disassembly, Disposal
▪ Disassembling should only be carried out by qualified personnel! ▪ Only remove the rotary module when the control unit is switched off and secured! ◼ ◼ ◼ 52 – 55 CR 16-D I CR 20-D 10.05.2023 Assembly instructions... -
Page 53: 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 CR 16-D I CR 20-D 10.05.2023 V4.0 53–55... -
Page 54: 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-6144 Zell, Germany Place/Date: Zell, 15.06.2021 Siegfried Egli Niklaus Röthlisberger... - Page 55 Afag Automation Americas Afag Automation APAC Schaeff Machinery & Services LLC. Afag Automation Technology (Shanghai) Co., Ltd. 883 Seven Oaks Blvd, Suite 800 Room 102, 1/F, Bldg. 56, City Of Elite Smyrna, TN 37167 No.1000, Jinhai Road, Pudong New District...
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