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Summary of Contents for Afag DG 16-W
- Page 1 Assembly & Operating Instructions Angled Rotary Gripper DG 16-W Translation of the Original Assembly Instructions EN DG 16-W Order no.: 50453081 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 1–48 ...
- Page 2 Your Afag team © Subject to modifications The rotary grippers 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
Technical data DG 16-W ................18 Preferred combinations DG 16-W .............. 19 Rotation time diagram DG 16-W ..............19 Centric gripping force diagram DG 16-W ........... 20 Load of gripper fingers DG 16-W ............... 20 Transport, packaging and storage ..............21 Safety instructions for transport .............. - Page 4 Structure of the rotary grippers ..............24 Product description ..................24 Accessories ....................25 5.3.1 End stop and attachment kit - DG 16-W ..........25 5.3.2 Sensor system - DG 16-W ..............26 5.3.3 Connections - DG 16-W ............... 26 Field of application and assembly options..........
- Page 5 Table of contents 10.3 Disassembly ....................43 10.4 Disposal ...................... 44 Declaration of incorporation ................45 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 5–48 ...
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Page 6: General
1.1 Contents and purpose of these assembly instructions These assembly instructions contain important information on assembly, commissioning, functioning and maintenance of the rotary grippers DG 16-W to ensure safe and efficient handling and operation. Consistent compliance with these assembly instructions will ensure: ... - Page 7 Warning - Magnetic field Warning - back injury due to heavy lifting. Warning - Risk of injury as a result of parts being flung out! Warning -high noise levels Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 7–48 ...
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Page 8: Additional Symbols
Wear parts (e.g. shock absorbers) are excluded from the warranty.* The warranty covers the replacement or repair of defective Afag parts. Further claims are excluded. However, a customer has a right to a defect-free product. This does also apply to defective accessories and wear parts. -
Page 9: Liability
(VDE) and these safety and assembly instructions. 1.6 Liability No changes shall be made to the rotary grippers DG 16-W unless described in this manual or approved in writing by Afag Automation AG. Afag Automation AG accepts no liability for unauthorized changes or improper assembly, installation, commissioning, operation, maintenance or repair work. -
Page 10: Safety Instructions
Failure to follow the directions and safety instructions given in this instructions manual may result in serious hazards. 2.2 Intended use The DG 16-W rotary grippers are used for shock-free gripping/rotating of loads in non-hazardous atmospheres under the ambient and operating conditions defined for these modules. -
Page 11: 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 damages caused by improper use. 2.4 Obligations of the operator and the personnel 2.4.1... -
Page 12: 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. 12 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ... -
Page 13: Personal Protective Equipment (Ppe)
Hearing protectors are required to protect the personnel against excessive noise levels to prevent noise-induced hearing loss. Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 13–48 ... -
Page 14: Changes And Modifications
2.7 Changes and modifications No changes may be made to the rotary grippers 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 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 DG 16-W Edition 09/2020 Rev. 1.0 15–48 ... -
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 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ... -
Page 17: Technical Data
Technical data Technical data 3.1 Dimensional drawing DG 16-W Fig. 1 Dimensional Drawing - Rotary Gripper DG 16-W The rotary gripper DG-16 W is also available with a zero position at 90°. Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 17–48... -
Page 18: Technical Data Dg 16-W
+/- 0.05° Torque 0.4 Nm Assembly position The technical data refer to a nominal pressure of 6 bar and the Afag standard test conditions. Upon request, the rotary gripper DG 16-W is also available with zero position at 90°. -
Page 19: Preferred Combinations Dg 16-W
Technical data 3.3 Preferred combinations DG 16-W 3.4 Rotation time diagram DG 16-W Rotation time diagram Rotation time Rotation time [s] Fig. 2 Rotation time diagram DG 16-W Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 19–48 ... -
Page 20: Centric Gripping Force Diagram Dg 16-W
Technical data 3.5 Centric gripping force diagram DG 16-W Centric gripping force diagram (closing/opening) Centric gripping force, closing Fig. 3 Centric gripping force diagram DG 16-W 3.6 Load of gripper fingers DG 16-W Fig. 4 Load of gripper fingers DG 16-W... -
Page 21: Transport, Packaging And Storage
4.2 Scope of supply The rotary grippers are supplied with an operating and assembly manual and a safety data sheet (see scope of supply below). Fig. 5 Scope of supply rotary gripper DG 16-W [Unt] DG 16-W Module rotary gripper DG 16-W Centering bushing ø... -
Page 22: 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. 22 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ... -
Page 23: Storage
Relative air humidity: < 90% non condensing Clean the rotary grippers and protect the blank metal parts against corrosion using the appropriate means. Protect the rotary grippers from dirt and dust. Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 23–48 ... -
Page 24: Structure And Description
2. Turning knob with parallel angular gripper 3. Fixing holes (ø 4.3 mm) 5.2 Product description Rotary grippers of the DG 16-W series are precision devices. In order ensure safe and reliable operation it is important that the rotary gripper modules are handled with care. -
Page 25: Accessories
Structure and description 5.3 Accessories 5.3.1 End stop and attachment kit - DG 16-W End stop 90° - DG 16-W Order Number 50462904 Net weight 0.028 kg Fig. 7 End stop 90° DG 16-W Attachment kit sensor holder 90° - DG 16-W... -
Page 26: Sensor System - Dg 16-W
Structure and description 5.3.2 Sensor system - DG 16-W Proximity switch: INI c10x19.5-Em-PNP-NO-M8x1 Order Number 50536020 Net weight 0.021 kg Operating voltage 10 – 30 VDC Proximity switch: INI c10x9-Em-PNP-NO-M8x1 Order Number 50313986 Net weight 0.02 kg Operating voltage 10 – 30 VDC 5.3.3... -
Page 27: Field Of Application And Assembly Options
In combination with other modules the rotary grippers can be used as a pick & place Station. The following are some examples of possible assembly options. Fig. 9 Example rotary gripper DG 16-W Units Mounting kit Order no. Sensor holder DG 16-W... -
Page 28: Installation, Assembly And Setting
Maintenance and care work may only be carried out by qualified personnel. The operating company shall make sure that the machine is operated in a safe manner. 28 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ... -
Page 29: Preparation - Manufacture Of The Gripper Fingers
Fig. 11 Example rotary gripper DG 16-W For the 90° end stop (fixed stop) of the DG 16-W the customer can mount his own components such as hold-down devices. These components are fixed to the centering holes/ fixing holes on both sides of the rotary head. -
Page 30: Assembly And Attachment
Assembly and attachment In order to ensure high and repetitive accuracy of fit during assembly, operation and exchanging of a module, the components of the Afag modules are provided with a precise module centering unit. On the broad side (Fig. 12, 2) and on the rear side of the module (Fig. 12, 1) there are 2 centering sleeves Ø... -
Page 31: Connection To The Pneumatic System
To ensure a reliable “gripping” monitoring we recommend setting the signal “Part gripped” at half the jaw stroke length. The full jaw stroke length should not be limited. Example: DG 16-W Jaw stroke 2x3 mm Part gripped at 2x1 mm ... -
Page 32: Mounting Of The 90° Fixed Stop (Option)
3. Insert the fixed stop on the exposed side of the drive. 4. Tighten the fixed stop with two hexagon socket screws (M2.5 mm). The fixed stop is mounted. 32 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ... -
Page 33: Assembly Of The Sensors
Positioning "Teachable sensors” When setting teachable sensors, pay attention to the markings on the rotary gripper module! Rotation signal Gripping signal Fig. 17 Display of teachable sensors (Sick) Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 33–48 ... -
Page 34: Settings
Adjustment and conversion work may only be carried out by qualified personnel! Also observe the safety instructions in Chapter 2 „Safety instructions“ in this manual. 34 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ... -
Page 35: Adjustment Of The Rotary Gripper Modules Dg 16-W
Installation, assembly and setting 6.4.2 Adjustment of the rotary gripper modules DG 16-W The rotary grippers are equipped with several compressed-air connections air to meet the various requirements. The various settings and connections are listed below. Black part of the rotary gripper module (Fig. 18, 1): Connections for the gripping movement. -
Page 36: Commissioning
This chapter contains information on how to commission the rotary grippers. After connection to the pneumatic system and assembly of the sensors, the grippers DG 16-W are commissioned for the first time via the system control. 7.1 Safety instructions for commissioning... -
Page 37: Fault Elimination
Increase pressure to max. 8 bar Module incorrectly connected Check pneumatic hoses Module defect Send module to Afag for overhaul Payload too high Reduce payload Gripper jaws do not move to end position ... -
Page 38: Sensor Fault
Sensor fault In case of sensor faults, you can also use plastic screws M3x5 (Pos.1) at the rear area of the DG 16-W. The screws are included in the accessories kit. Fig. 19 Sensor fault in the rear area of the rotary gripper 38 –... -
Page 39: Maintenance And Repair
Before starting any activities, switch off the media supply (pneumatics) and secure it from being switched on again! Also observe the safety instructions in Chapter 2 „Safety instructions“ in this manual. Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 39–48 ... -
Page 40: Maintenance Activities And Maintenance Intervals
If the rotary grippers are used in an ionised air environment, there is a risk that exposed parts could corrode. Always grease exposed flanges, shafts, guides and jaws regularly. Afag standard lubrication: Staburax NBU8EP (flat guides), Blasolube 301 (piston rods) 40 – 48... -
Page 41: Compressed Air Specifications
Maintenance and Repair 9.3.2 Compressed air specifications The rotary grippers DG 16-W are lifetime lubricated and can be operated with oil-lubricated or non oil-lubricated compressed air. Compressed air specification Dry (condensation-free) Filtered (40 μm filter for oil-lubricated air) Filtered (5 μm filter for oil-lubricated air) -
Page 42: Spare Parts And Repair Work
Damaged rotary grippers may only be replaced or repaired by Afag Automation AG! Afag Automation AG does not supply spare parts for the rotary grippers. Please note that Afag does not assume any warranty for rotary grippers that have not been replaced or repaired by Afag! CAUTION... -
Page 43: Decommissioning, Disassembly, Disposal
Disconnect the media supply (electrics, pneumatics) before removing the rotary grippers! Disassembling should only be carried out by qualified personnel! Only remove the rotary gripper when the control unit is switched off and secured! Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 43–48 ... - Page 44 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. 44 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ...
- Page 45 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 46 Sensor fault ............38 Obligations of the operating company ....11 Storage ............. 23 Obligations of the personnel ......12 System error ............. 37 Operation ............37 46 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ...
- Page 47 List of figures List of figures Fig. 1 Dimensional Drawing - Rotary Gripper DG 16-W ................17 Fig. 2 Rotation time diagram DG 16-W ..................... 19 Fig. 3 Centric gripping force diagram DG 16-W ..................20 Fig. 4 Load of gripper fingers DG 16-W ....................20 Fig.
- Page 48 48 – 48 Assembly instructions EN DG 16-W Edition 09/2020 Rev. 1.0 ...
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