SCHUNK PLG 20, PLG 75 Translation Of Original Operating Manual

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SCHUNK PLG 20, PLG 75 Translation Of Original Operating Manual | Manualzz
Translation of Original Operating Manual
Assembly and Operating Manual
PLG
Configurable Pneumatic 2-Finger Long-Stroke Gripper
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: 1517334
Version: 02.00 | 08/11/2022 | en
Dear Customer,
Thank you for trusting our products and our family-owned company, the leading
technology supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
Customer Management
Tel. +49-7133-103-2503
Fax +49-7133-103-2189
[email protected]
Please read the operating manual in full and keep it close to the product.
2
02.00 | PLG | Assembly and Operating Manual | en | 1517334
Table of Contents
Table of Contents
1
General....................................................................................................................
1.1 About this manual ................................................................................................
1.1.1 Presentation of Warning Labels ...............................................................
1.1.2 Definition of Terms...................................................................................
1.1.3 Applicable documents ..............................................................................
1.1.4 Sizes and variants .....................................................................................
1.2 Warranty ..............................................................................................................
1.3 Scope of delivery ..................................................................................................
1.4 Accessories ...........................................................................................................
2
Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Constructional changes ........................................................................................ 8
2.3 Spare parts ........................................................................................................... 8
2.4 Gripper fingers ..................................................................................................... 9
2.5 Ambient conditions and operating conditions ..................................................... 9
2.6 Personnel qualification......................................................................................... 9
2.7 Personal protective equipment.......................................................................... 10
2.8 Notes on safe operation ..................................................................................... 10
2.9 Transport ............................................................................................................ 11
2.10 Malfunctions....................................................................................................... 11
2.11 Disposal .............................................................................................................. 11
2.12 Fundamental dangers......................................................................................... 11
2.12.1 Protection during handling and assembly .............................................. 12
2.12.2 Protection during commissioning and operation ................................... 12
2.12.3 Protection against dangerous movements............................................. 12
2.13 Notes on particular risks..................................................................................... 13
3
Technical data......................................................................................................... 15
4
Design and description............................................................................................ 17
4.1 Design ................................................................................................................. 17
4.2 Description ......................................................................................................... 18
5
Transport................................................................................................................ 19
6
Assembly ................................................................................................................ 20
6.1 Installing and connecting.................................................................................... 20
6.2 Connections........................................................................................................ 21
6.2.1 Mechanical connection........................................................................... 21
6.2.2 Pneumatic connection............................................................................ 27
6.2.3 Electrical connection - "IOL" variant....................................................... 29
6.3 Mounting the sensor .......................................................................................... 31
6.3.1 Overview of sensors ............................................................................... 31
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5
5
5
5
6
6
7
7
7
3
Table of Contents
6.4
6.3.2 Mounting the inductive proximity switch............................................... 32
Adjusting freely positionable end stops ............................................................. 33
7
Troubleshooting ..................................................................................................... 34
7.1 Product does not move ...................................................................................... 34
7.2 Product does not execute a complete stroke..................................................... 34
7.3 Product is opening or closing abruptly ............................................................... 34
7.4 Gripping force is dropping .................................................................................. 35
7.5 Product does not achieve the opening and closing times .................................. 35
7.6 Variant IOL.......................................................................................................... 35
7.6.1 No communication with the product ..................................................... 35
8
Maintenance .......................................................................................................... 36
8.1 Safety.................................................................................................................. 36
8.2 Observation of the maintenance and lubrication intervals................................ 36
8.3 Lubricants/Lubrication points (basic lubrication) .............................................. 37
8.4 Lubricate product ............................................................................................... 38
8.5 Replacing seals ................................................................................................... 38
9
Disassembly and disposal........................................................................................ 39
10 Translation of the original declaration of incorporation .......................................... 40
11 Annex to declaration of Incorporation .................................................................... 41
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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. Prerequisite for safe working is
the observance of all safety instructions in this manual.
In addition to these instructions, the documents listed
under } 1.1.3 [/ 6] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Dangers for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
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5
General
1.1.3 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Data sheet of the IO-Link sensor **
• Assembly and Operating Manual for Position Clamping ***
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
Documents marked with two asterisks (**) can be downloaded
from www.contrinex.com.
Documents marked with three asterisks (***) can be downloaded
from www.mayr.com.
1.1.4 Sizes and variants
This manual applies to the following sizes and variants:
PLG 30 - 250 - 2 - SYN - AKO- ...
Size
20/30/50/75/120
Stroke per jaw
100 mm – 400 mm (freely selectable in increments of 1 mm)
Finger version
1 = short finger length 2 = long finger length
Synchronization
SYN = synchronous OSY = without synchronization ASY = asynchronous
Gripper mounting *
- = none APL= one-piece adapter plate (gripper side) AKO = complete adapter plate (gripper side
Options *
-KP / -SDV-P / -HBA / -SAB / -IN / -IOL -> All available options can be found in the catalog data sh
* no details on the name plate
Type key
The catalog data sheet contains more information. The latest
relevant version is valid.
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General
1.2 Warranty
If the product is used as intended, the warranty is valid for 12
months from the ex-works delivery date under the following
conditions:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Configurable Pneumatic 2-Finger Long-Stroke Gripper PLG in the
version ordered
• Assembly and operating manual for the product including
declaration of incorporation
• Accessory pack
Content of the accessory pack:
• 8 x centering sleeves for mounting the finger
Note: In the case of the adapter plate with ISO flange variant, the
mounting material is already pre-assembled and included in the
scope of delivery.
1.4 Accessories
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.
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7
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
data, } 3 [/ 15].
• The product is intended for installation in a machine/automated
system. The applicable guidelines for the machine/automated
system must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
Its use outside enclosed spaces is only permitted if suitable
protective measures are taken against outdoor exposure. The
product is not suitable for use in salty air.
• The product can be used within the permissible load limits and
technical data for holding workpieces during simple machining
operations, but is not a clamping device according to EN
1550:1997+A1:2008.
• Appropriate use of the product includes compliance with all
instructions in this manual.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.2 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
2.3 Spare parts
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.
8
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Basic safety notes
2.4 Gripper fingers
Requirements of gripper fingers
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.
• Execute the gripper fingers in such a way that the product
reaches either the "open" or "closed" position in a de-energized
state.
• Only change gripper fingers if no residual energy can be released.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.5 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, } 3 [/ 15].
2.6 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.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
Trained electrician
Qualified personnel
Instructed person
Service personnel of
the manufacturer
The following personal qualifications are necessary for the various
activities related to the product:
Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and
regulations.
Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and avoid
possible dangers and knows the relevant standards and regulations.
Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
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9
Basic safety notes
2.7 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.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
2.8 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• 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.
10
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Basic safety notes
2.9 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.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.
2.10 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.
2.11 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.12 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
• 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.
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11
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.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.12.2 Protection during commissioning and operation
Falling or violently ejected components
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.
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.
• Never rely solely on the response of the monitoring function to
avert danger. Until the installed monitors become effective, it
must be assumed that the drive movement is faulty, with its
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, and attachments outside the danger zone
defined by the movement range.
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Basic safety notes
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. 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.
2.13 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
• Stand clear of suspended loads and do not step within their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
• Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
• Take appropriate protective measures to secure the danger
zone.
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
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.
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13
Basic safety notes
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during movement of the base jaw, due
to breakage or loosening of the gripper fingers or if the
workpiece is lost.
• Wear suitable protective equipment.
• Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
• Use suitable protective equipment.
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can,
during energy supply failure, still move independently in the
direction specified by the mechanical gripping force
maintenance.
• Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
14
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Technical data
3 Technical data
Connection data
Designation
Pressure medium
Compressed air, compressed air
quality according to
ISO 8573-1: 7:4:4
Nominal operating pressure [bar]
6
Minimum pressure [bar]
2
Maximum pressure [bar]
6
Minimum pressure position
4
clamping [bar]
Ambient conditions and operating conditions
Designation
Ambient temperature [°C]
min.
+5
max.
+90
Protection class IP
30
Noise emission [dB(A)]
≤70
More technical data is included in the catalog data sheet.
Whichever is the latest version.
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15
Technical data
Connection data of the integrated IO-Link sensor (variant IOL)
To operate the sensor with IO-Link, an IO-Link master and the
corresponding software are required. The IODD required for
operation can be downloaded from ioddfinder.io-link.com.
Designation
IDWE-MxxMP-NMS-A0
Contrinex material number
330-020-494
Operating voltage [VDC]
min.
10
max.
30
Max. ripple (% Ue)
20
Max. current on contact [mA]
200
Voltage drop [V]
2
Short circuit protection
yes
Protected against polarity
yes
reversal
Transmission rate
COM2
Response time / typ. Switching
4
time [ms]
IO-Link specification
V1.1
Repeat accuracy R from final
±1
value max. [%]
Linearity [%]
15
For more information on the sensor, visit www.contrinex.com.
16
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Design and description
4 Design and description
4.1 Design
Configurable Pneumatic 2-Finger Long-Stroke Gripper PLG shown with all possible
options
1
2
3.1
3.2
4
5
6
7.1
7.2
8
9.1
9.2
10
11
One-piece adapter plate (gripper side)
Complete adapter plate consisting of:
• One-piece adapter plate (item 1) + blank (blank without
drilling pattern)
or
• One-piece adapter plate (item 1) + ISO flange EN ISO
9409, } 6.2.1.1 [/ 25]
Inductive proximity switch
Attachment kit for inductive proximity switch incl. guide rail
Stop for stroke limitation and cam switch for inductive
monitoring
Base jaw
Main compressed air connection
Compressed air connection for position clamping / quick air
relief valve
Cable fitting (cable outlet) monitoring position clamping
IO-Link multi-position monitoring
Freely positionable end stops in the direction of closing
Freely positionable end stops in the direction of opening
Pressure maintenance valve SDV-P
Lateral mounting option for attachments
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17
Design and description
Positions for the
individually
configurable options
Page 1: Name plate with product designation
Page 2: SCHUNK name plate
4.2 Description
Pneumatic 2-finger parallel gripper with long jaw stroke, high
gripping force and profiled rail guide for the use of long gripper
fingers
By pressure actuation of the opposite piston, the base jaws are
guided by a carrier on the piston, and are set in motion. The
synchronization of the jaw stroke is done with a rack and pinion
principle.
Synchronous variant: Both base jaws are controlled together and
synchronized via rack-and-pinion kinematics.
Asynchronous variant: Both base jaws can be controlled
independently and separately from each other.
Without synchronization: Enables the two base jaws to be
controlled together, whereby the movement of these is not
synchronized.
18
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Transport
5 Transport
WARNING
Risk of injury from falling of the product!
During transport and assembly the product may fall down and
cause serious injuries.
• Secure unit with adequately sized straps.
• Use transport threads.
• Wear appropriate safety equipment.
Left: without adapter plate /
Right: one-piece adapter plate
1. Fasten eye bolts to the threads/through-holes (1) provided for
this purpose.
Note: Eyebolts are not included.
2. When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
✓ Remove the eyebolts after transport.
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19
Assembly
6 Assembly
6.1 Installing and connecting
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
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.
WARNING
Risk of injury from falling of the product!
During transport and assembly the product may fall down and
cause serious injuries.
• Secure unit with adequately sized straps.
• Use transport threads.
• Wear appropriate safety equipment.
WARNING
Risk of injury due to improperly carried out assembly!
Improperly carried out assembly work can lead to severe injuries
and property damage.
• Before beginning work, ensure sufficient assembly clearance.
• Secure components from falling down or over.
• Ensure that all work has been carried out in accordance with
the specifications in these instructions.
• Observe tightening torques.
20
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Assembly
Evenness of the
mounting surface
The values apply to the whole mounting surface to which the
product is mounted.
Requirements for evenness of the mounting surface (Dimensions in mm)
Edge length
< 100
> 100
Overview
Permissible unevenness
< 0.02
< 0.05
1. Screw the product to the machine/system, } 6.2.1 [/ 21].
✓ Observe the maximal tightening torque, admissible screw-in
depth and, if necessary, strength class.
✓ Use suitable connecting elements (adapter plates) if
necessary.
2. Secure the gripper fingers to the base jaws, } 6.2.1 [/ 21].
3. Connect the sensor if necessary, } 6.2.3 [/ 29].
6.2 Connections
6.2.1 Mechanical connection
6.2.1.1 Connections on the housing
Mounting the gripper
The product offers different options for mounting on robots or
gantries, which can be configured:
• without adapter plate, } 6.2.1.1 [/ 22].
• with one-piece adapter plate, } 6.2.1.1 [/ 23].
• with one-piece adapter plate and blank (without drilling
pattern), customer-side assembly.
• with one-piece adapter plate and ISO flange, } 6.2.1.1 [/ 24].
Further information and technical data are available in the catalog
data sheet. The latest relevant version is valid.
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21
Assembly
Mounting without
adapter plate
NOTE
Customer-side adapter plate to be designed according to the
application!
All existing threads must be used!
Item Mounting
1
2
Thread
Required number of screws
[piece]
Mounting screws according
to standard
Mounting screw strength
class
Max. tightening torque [Nm]
Max. depth of engagement
from locating surface [mm]
Cylindrical pin [mm]
Number of cylindrical pins
required [piece]
PLG
20 30 50 75 120
M8
M10 M12 M16
8 – 16
DIN EN ISO 4762
12.9
43
16
Ø6
•
82
150 230
20
28
Ø 8 Ø 10
2
Secure the product using screws and cylindrical pins.
✔ Note tightening torques for the mounting screws.
22
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Ø 12
Assembly
Mounting with onepiece adapter plate
NOTE
Customer-side adapter plate to be designed according to the
application!
All existing threads must be used!
Item Mounting
20
1
2
Through-hole for mounting
screws
Required number of screws
[piece]
Mounting screws according
to standard
Mounting screw strength
class
Max. tightening torque [Nm]
Cylindrical pin [mm]
Number of cylindrical pins
required [piece]
30
M8
PLG
50 75 120
M10 M12 M16
8
DIN EN ISO 4762
12.9
43
Ø6
82 150 230
Ø 8 Ø 10
Ø 12
2
•
Secure the product using screws and cylindrical pins.
✔ Note tightening torques for the mounting screws.
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23
Assembly
Mounting with complete adapter plate
NOTE
All existing threads must be used!
Item Mounting
20
2
3
Mounting screw
Required number of screws
[piece]
Mounting screws according
to standard
Mounting screw strength
class
Max. tightening torque [Nm]
Cylindrical pin [mm]
Number of cylindrical pins
required [piece]
30
M8
PLG
50 75 120
M10 M12 M16
8
DIN EN ISO 4762
12.9
43
Ø6
82 150 230
Ø 8 Ø 10
Ø 12
2
1. Remove screws (2) and cylindrical pin (3) and mount the
adapter plate (1) on the robot/gantry using mounting material.
Note: The mounting material for the adapter plate is included
in the scope of delivery.
2. Secure the product to the adapter plate (1) using screws (2)
and cylindrical pins (3).
✔ Note tightening torques for the mounting screws.
24
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Assembly
Possible ISO flange dimensions
Designation
ISO80*/**
ISO100**
ISO125
ISO160/M10
ISO160/M12
ISO200/M12
ISO200/M16
*
**
Description
Complete adapter plate EN ISO 9409-1-80-6-M8
Complete adapter plate EN ISO 9409-1-100-6-M8
Complete adapter plate EN ISO 9409-1-125-6-M10
Complete adapter plate EN ISO 9409-1-160-6-M10
Complete adapter plate EN ISO 9409-1-160-11-M12
Complete adapter plate EN ISO 9409-1-200-12-M12
Complete adapter plate EN ISO 9409-1-200-12-M16
not for size 75
not for size 120
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25
Assembly
6.2.1.2 Connections to the base jaws
NOTE
The data sheet contains all dimensions for mounting the gripper
fingers.
Connections at the base jaws
Item Mounting
20
1
Thread in base jaws
M6
Required number of screws
per base jaw [piece]
Mounting screw strength
class
Max. depth of engagement
16
from locating surface [mm]
Max. tightening torque [Nm] 18
2 * Centering sleeve [mm]
Ø 10
Required number of
centering sleeves per base
jaw [piece]
*
26
contained in accessory kit
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30 50
M8 M10
9
75 120
M12
12.9
16
25
43 85
Ø 12 Ø 14
4
25
150
Ø 16
Assembly
6.2.2 Pneumatic connection
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
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.
NOTICE
Damage to the gripper is possible!
If the maximum permissible finger weight or the permissible
mass moment of inertia of the fingers is exceeded, the gripper
can be damaged.
• A jaw movement always has to be without jerks and bounce.
• You must therefore implement sufficient reduction and/or
damping.
• Observe the information in the catalog data sheet.
NOTE
• Observe the requirements for the compressed air
supply, } 3 [/ 15].
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27
Assembly
Pneumatic connection
1 Main connections
(A = open, B = close)
*
2 Compressed air connection for position clamping / quick air
relief valve
Note: In the de-energized state, the position clamping is
activated, } 3 [/ 15].
3 Main connections when using a pressure maintenance valve
*
28
only for option with position clamping / quick air relief
valve
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Assembly
6.2.3 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.
• Maximum cable length: 20 m.
• Make sure that all components are properly grounded.
Components of the electrical connection
Plug connector
Plug connector
product
provided by the customer
Connector 4-pin, M12, A-coded Connection cable 4-pin, M12
socket, A-coded
Voltage supply and
control
IO-Link connector, 4-pin, M12
Pin
1
2
3
4
Signal
L+
Q2
LC/Q1
Description
+24 V
Switching signal DI (SIO)
GND
Switching signal DI (SIO) or IO-Link (SDCI)
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Assembly
6.2.3.1 Connecting/changing the sensor (for IOL variant)
Dismantle and connect the sensor
■ There is no compressed air or energy supply.
■
No workpiece is gripped.
1. Loosen sleeve (2) (SW24) and unscrew.
2. Loosen the set-screw (3) and pull the sensor (1) out of the
sleeve (2).
3. Connect IO-Link cable to sensor (3).
Installing the sensor
1. Push the sensor including cable into the sleeve (2) as far as the
stop.
2. Clamp the set-screw (3).
✓ Tightening torque: 0.2 Nm
3. Screw sleeve (3) into the gripper and tighten.
30
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Assembly
6.3 Mounting the sensor
NOTE
Observe the assembly and operating manual of the sensor for
mounting and connecting.
The product is prepared for the use of sensors.
• For the exact type designations of suitable sensors, please see
catalog datasheet and } 6.3.1 [/ 31].
• For technical data for the suitable sensors, see assembly and
operating manual and catalog datasheet.
– 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.
6.3.1 Overview of sensors
Designation
Inductive proximity switch IN 80
Variant IOL
20
X
30
X
PLG
50
X
75
X
120
X
NOTE
• The variant with integrated sensor system (IOL) has a sensor
integrated in the gripper. The positions can be monitored over
the entire stroke via the IO-Link interface, } 6.2.3.1 [/ 30].
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31
Assembly
6.3.2 Mounting the inductive proximity switch
NOTICE
Risk of damage to the sensor during assembly!
• Observe the maximal tightening torque.
Mounting and adjusting the sensor
Note: If the product has been configured with sensors, steps 1-3
are omitted.
1. Loosen the screw (4) on the bracket (2).
2. Slide the sensor (1) to the stop in the bracket (2).
3. Tighten the screw (4) on the bracket (2).
✓ Tightening torque: 0.2 Nm
4. Put product in the position in which it is to be set.
5. Push the bracket (2) together with the sensor (1) to the left
end of the sensor rail (5). Slowly move the bracket (2) to the
right so that the sensor switches.
Secure the bracket (2) in this position with screw (3).
✓ Tightening torque: 0.2 Nm
32
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Assembly
6.4 Adjusting freely positionable end stops
When delivered, end stops are pre-assembled to the innermost or
outermost position possible. These can be adjusted to the desired
stroke-limiting positions.
In each mounting position, the stop (2) can be moved by
±12.5 mm.
Note: End stops have to be positioned so that the movable stop of
the base jaw (4) strikes simultaneously on both sides.
Moving the freely positionable stop:
1. Loosen screws (1) and move stop (2) up to ±12.5 mm.
2. Tighten screws (1).
Offsetting the freely positionable stop:
1. Remove the screws (1).
2. Mount the stop (2) with screws (1) and shim (5) on the desired
hole (2).
3. Move stop (2) up to ±12.5 mm.
4. Tighten screws (1).
Screw tightening torques
Item Mounting
1
Thread
Mounting screws according
to standard
Mounting screw strength
class
Max. tightening torque [Nm]
PLG
20 30 50 75 120
M6
M8
M10
DIN EN ISO 4762
12.9
18
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43
85
33
Troubleshooting
7 Troubleshooting
7.1 Product does not move
Possible cause
Corrective action
Base jaws jammed on the rail, e.g. mounting Check the evenness of the mounting surface.
surface is not sufficiently even.
} 6.2.1 [/ 21].
Loosen the mounting screws of the product
and actuate the product again.
Pressure drops below minimum.
Check air supply.
} 6.2.2 [/ 27]
Compressed air lines switched.
Check compressed air lines.
Proximity switch defective or set incorrect. Readjust or change sensor.
Unused air connections open.
Close unused air connections.
Position clamping not released.
Check air supply.
} 3 [/ 15]
Component part defective.
Replace component or send it to SCHUNK
for repair.
7.2 Product does not execute a complete stroke
Possible cause
Pressure drops below minimum.
Mounting surface is not sufficiently flat.
Component part defective.
Corrective action
Check air supply.
} 6.2.2 [/ 27]
Check the evenness of the mounting surface.
} 6.2.1 [/ 21]
Send product with a SCHUNK repair order or
dismantle product.
7.3 Product is opening or closing abruptly
Possible cause
Too little grease in the mechanical guiding
areas.
Compressed air lines blocked.
Mounting surface is not sufficiently flat.
34
Corrective action
Clean and lubricate product.
Check compressed air lines of damage.
Check the evenness of the mounting surface.
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Troubleshooting
7.4 Gripping force is dropping
Possible cause
Compressed air can escape.
Too much grease in the mechanical
movement space.
Pressure drops below minimum.
Component part defective.
Corrective action
Check seals, if necessary, disassemble the
product and replace seals.
Clean and lubricate product.
Check air supply.
} 3 [/ 15]
Replace component or send it to SCHUNK
for repair.
7.5 Product does not achieve the opening and closing times
Possible cause
Compressed air lines are not installed
optimally.
Corrective action
If present: Open the flow control couplings
on the product to the maximum that the
movement of the jaws occurs without
bouncing and hitting.
Check compressed air lines.
Inner diameters of compressed air lines are
of sufficient size in relation to compressed
air consumption.
Keep compressed air lines between the
product and directional control valve as
short as possible.
If, despite optimum air connections, the
opening and closing times specified in the
catalogue are not achieved, SCHUNK
recommends the use of quick-air-ventvalves directly at the product.
7.6 Variant IOL
7.6.1 No communication with the product
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.
No IO-Link connection
Check cables and connections for function
and ensure compatibility of the IO-Link
master.
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Maintenance
8 Maintenance
8.1 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
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.
CAUTION
Risk of injury from lifting heavy loads!
Lifting, holding and carrying products with a heavy weight – especially in awkward postures – can lead to back disorders and injuries.
• Use appropriate aids to lift and handle the product.
• Take safety measures that prevent the product from falling.
• Wear suitable protective equipment.
Original spare parts
Use only original spare parts of SCHUNK when replacing spare and
wear parts.
8.2 Observation of the maintenance and lubrication intervals
NOTICE
Material damage due to hardening lubricants!
Lubricants harden more quickly at temperatures above 60°C,
leading to possible product damage.
• Reduce the lubricant intervals accordingly.
Maintenance
interval
0.5 million cycles
or every 6 months
daily
regularly
36
Maintenance work
Treat all grease areas with
lubricant, } 8.3 [/ 37].
For short gripping strokes (< 30 mm): Travel
an entire stroke.
Dry clean all parts thoroughly, check for
damage and wear.
Remove coarse contamination such as chips
and debris.
Oil or grease external steel parts.
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Maintenance
8.3 Lubricants/Lubrication points (basic lubrication)
CAUTION
Risk of injury due to contact with lubricants!
Lubricant may cause irritation and allergic reactions if it contacts
the skin or eyes.
• Avoid contact between lubricant and skin or eyes.
• Wear safety goggles and protective gloves.
• Observe information on the safety data sheet of the lubricant.
SCHUNK recommends the lubricants listed.
Provably equivalent lubricants can also be used. If different
lubricants are used than the recommended ones, a compatibility
test must be carried out.
Greasing areas per slide
Item Lubricant point
Lubricant
A
Linear ball guide
AFC grease
(1x for each guide (THK)
carriage)
B
Pinion/gear rack
Lubrication nipple
THK PB107
(PLG 20 & 30),
THK A-M6F
(PLG 50, 75 & 120)
Microgleit
FSV 765
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Maintenance
8.4 Lubricate product
WARNING
Risk of injury due to moving parts!
When moving the gripper fingers, body parts may get squashed/
hit causing severe injuries.
• Do not interfere with moving parts during operation.
• Observe position and direction of movement of the gripper
fingers.
1. Supply the pinion/gear rack and linear ball guides with grease
(via the grease nipples), } 8.3 [/ 37].
2. Alternately open and close the gripper completely.
8.5 Replacing seals
It is recommended to have SCHUNK change the seals.
38
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Disassembly and disposal
9 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
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.
• Disconnect the entire energy supply from the product,
discharge any accumulated residual energy.
• Remove any lubricant and dispose of in an environmentally
friendly manner.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
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Translation of the original declaration of incorporation
10 Translation of the 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/
Distributor
SCHUNK GmbH & Co. KG Clamping and gripping technology
Bahnhofstr. 106 - 134
D-74348 Lauffen/Neckar
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 directive
2006/42/EC of the European Parliament and of the Council on machinery. The declaration
is rendered invalid if modifications are made to the product.
Product designation:
Configurable Pneumatic 2-Finger Long-Stroke Gripper / PLG
The partly completed machine may not be put into operation until conformity of the
machine into which the partly completed machine is to be installed with the provisions of
the Machinery Directive (2006/42/EC) is confirmed.
Applied harmonized standards, especially:
EN ISO 12100:2010
Safety of machinery - General principles for design Risk assessment and risk reduction
The manufacturer agrees to forward on demand the relevant technical documentation for
the partly completed machinery in electronic form to national authorities.
The relevant technical documentation according to Annex VII, Part B, belonging to the
partly completed machinery, has been created.
Person authorized to compile the technical documentation:
Robert Leuthner, Address: see manufacturer's address
Lauffen/Neckar, November 2022
40
p.p. Markus Jesser; Head of Engineering Design
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Annex to declaration of Incorporation
11 Annex to 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 Configurable Pneumatic 2-Finger Long-Stroke Gripper
Type designation
PLG
To be provided by the System Integrator for the overall machine ⇓
Fulfilled for the scope of the partly completed machine ⇓
Not relevant ⇓
1.1
1.1.1
1.1.2
1.1.3
1.1.4
1.1.5
1.1.6
1.1.7
1.1.8
Essential Requirements
Definitions
Principles of safety integration
Materials and products
Lighting
Design of machinery to facilitate its handling
Ergonomics
Operating positions
Seating
1.2
1.2.1
1.2.2
1.2.3
1.2.4
1.2.4.1
1.2.4.2
1.2.4.3
1.2.4.4
1.2.5
1.2.6
Control Systems
Safety and reliability of control systems
Control devices
Starting
Stopping
Normal stop
Operational stop
Emergency stop
Assembly of machinery
Selection of control or operating modes
Failure of the power supply
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X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
41
Annex to declaration of Incorporation
1.3
1.3.1
1.3.2
1.3.3
1.3.4
1.3.5
1.3.6
1.3.7
1.3.8
1.3.8.1
1.3.8.2
1.3.9
Protection against mechanical hazards
Risk of loss of stability
Risk of break-up during operation
Risks due to falling or ejected objects
Risks due to surfaces, edges or angles
Risks related to combined machinery
Risks related to variations in operating conditions
Risks related to moving parts
Choice of protection against risks arising from moving parts
Moving transmission parts
Moving parts involved in the process
Risks of uncontrolled movements
1.4
1.4.1
1.4.2
1.4.2.1
1.4.2.2
1.4.2.3
1.4.3
Required characteristics of guards and protective devices
General requirements
Special requirements for guards
Fixed guards
Interlocking movable guards
Adjustable guards restricting access
Special requirements for protective devices
1.5
1.5.1
1.5.2
1.5.3
1.5.4
1.5.5
1.5.6
1.5.7
1.5.8
1.5.9
1.5.10
1.5.11
1.5.12
1.5.13
1.5.14
1.5.15
1.5.16
Risks due to other hazards
Electricity supply
Static electricity
Energy supply other than electricity
Errors of fitting
Extreme temperatures
Fire
Explosion
Noise
Vibrations
Radiation
External radiation
Laser radiation
Emissions of hazardous materials and substances
Risk of being trapped in a machine
Risk of slipping, tripping or falling
Lightning
42
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X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Annex to declaration of Incorporation
1.6
1.6.1
1.6.2
1.6.3
1.6.4
1.6.5
Maintenance
Machinery maintenance
Access to operating positions and servicing points
Isolation of energy sources
Operator intervention
Cleaning of internal parts
1.7
1.7.1
1.7.1.1
1.7.1.2
1.7.2
1.7.3
1.7.4
1.7.4.1
1.7.4.2
1.7.4.3
Information
Information and warnings on the machinery
Information and information devices
Warning devices
Warning of residual risks
Marking of machinery
Instructions
General principles for the drafting of instructions
Contents of the instructions
Sales literature
2
2.1
2.2
2.2.1
2.3
3
4
5
6
The classification from Annex 1 is to be supplemented from here
forward.
Supplementary essential health and safety requirements for certain
categories of machinery
Foodstuffs machinery and machinery for cosmetics or pharmaceutical
products
Portable hand-held and/or guided machinery
Portable fixing and other impact machinery
Machinery for working wood and material with similar physical
characteristics
Supplementary essential health and safety requirements to offset
hazards due to the mobility of machinery
Supplementary essential health and safety requirements to offset
hazards due to lifting operations
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
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X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
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X
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X
X
X
X
43
© 2022 SCHUNK GmbH & Co. KG
Folgen Sie uns I Follow us
11-2022
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
[email protected]
schunk.com
02.00 | PLG | Assembly and Operating Manual | en | 1517334
Translation of Original Operating Manual

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