GRIPPER ACTUATOR
Contents
1. 5 5 OPERATING AND ENVIRONMENTAL CONDITIONS c cccceccececcsceccscecescecescecescseasesenseseneeseeeaseees 5 6 ASSEMBLY AND 5 6 1 Riede 5 6 2 COMPRESSED HE EIER tee age Ee ee e EE eege Eege 6 6 3 SPECIAL CONNECTING MEAGSURES unauna aranana nnana n ADALARA AREAL ACARA REAEA DECELAR AAE A Canana aant 6 6 4 EE MEASURES Ee 6 6 5 MEASURES FOR THE INITIAL EES AR ee 7 A Face BT Le Ee 7 7 1 GRIP FORCE SAFETY DEVICE GM 105 AND GM 205 ccc ccccccccccecececececececccccucucucececaueuauauauauauavanerenanas 7 7 2 DOUBLEPISTON AIR GONNEGC TOR E E 8 7 3 END POSITION INTERROGATION ENER 8 8 REPAIRS EE 9 9 RESPONSE TO MAL EUNCTIONSS een ENN KEN KEEN NEE KN NEEN KEEN KEEN KEN KN KEEN KEEN KEEN KEEN KN EE KN KEEN KN Ke 9 10 MAINTENANCE AND CARE Q u 2 ccccccececcececcececcecescecnccecnccscnceeeaeescucesenenscnenseseuseseneeseneeseuensenensenenseeens 10 11 REPLACEMENT ARIS gea 11 12 EC DECLARATION OF INCORPORAT ION aseene KN EN KEN KEEN NEEN KEEN KEE KEEN KEEN KEEN NEE E KEE Ke 12 13 EEN 13 2 Date printed 23 02 2010 Assembly and Operating Manual Gripper actuator GM SCHUNK 1 Safety 1 1 Symbol Key A You will find this2. KG distributor Spann und Greiftechnik Bahnhofstr 106 134 74348 Lauffen Neckar Germany We hereby declare that the following product Product designation 2 Finger Parallel Gripper long stroke Type designation GM 85 GM 205 ID number 0313066 0313086 meets the applicable basic requirements of the Directive Machinery 2006 42 EC The incomplete machine may not be put into operation until conformity of the machine into which the in complete machine is to be installed with the provisions of the Machinery Directive 2006 42 EC is con firmed Applied harmonized standards especially EN ISO 12100 1 Safety of machines Basic concepts general principles for design Part 1 Basic terminology methodology EN ISO 12100 2 Safety of machines Basic concepts general principles for design Part 2 Technical principles The manufacturer agrees to forward on demand the special technical documents for the incomplete ma chine to state offices The special technical documents according to Annex VII Part B belonging to the incomplete machine have been created Person responsible for documentation Mr Michael Eckert Tel 49 0 7133 103 2204 40 g lt Lauffen Germany Location date signature January 2010 p p Title of the signatory Director for Development 12 Date printed 23 02 2010 Assembly and Operating Manual Gripper actuator GM 13 Contact GERMANY HEAD OFFICE SCHUNK GmbH amp Co KG Spann
3. The relevant acci dent prevention regulations and the other generally recognised safety and occupational health regulations must be complied with 1 3 Safety Notes 1 Responsibility for the compatibility of pneumatic equipment lies with the person who designs the pneumatic system or takes the decision on its specifications Since the products specified herein can be used under various operating conditions their compatibility with the appropriate pneumatic system must be based on specifications and or tests in order to conform to their require ments 2 Machines and equipment operated by pneumatic means may only be used by 3 Date printed 23 02 2010 Assembly and Operating Manual ne Gripper actuator GM SCHUNK trained personnel Compressed air can be hazardous if an operator is not familiar with its use The assembly handling or repair of pneumatic systems is to be undertaken by trained and experienced personnel 3 Do not carry out maintenance work on machines and equipment and do not at tempt to remove components until it has been confirmed that it is safe to do so Inspection and maintenance of machines and equipment may only be carried out after it has been confirmed that the devices that must be switched off are in a securely deactivated condition machine parts must be removed carry out safety precautions as mentioned above Deactivate the compressed air supply to this machine and release any remaining compresse
4. ZIN GREAT BRITAIN IRELAND SCHUNK Intec Ltd Cromwell Business Centre 10 Howard Way Interchange Park Newport Pagnell MK16 9QS Tel 44 1908 611127 Fax 44 1908 615525 info gb schunk com www gb schunk com 13 _ HUNGARY SCHUNK Intec Kft Sz chenyi ut 70 3530 Miskolc Tel 36 46 50900 7 Fax 36 46 50900 6 info hu schunk com www hu schunk com INDIA SCHUNK India Branch Office 80 B Yeswanthpur Industrial Suburbs Bangalore 560 022 Tel 91 80 41277361 Fax 91 80 41277363 info in schunk com www in schunk com ITALY SCHUNK Intec S r l Via Barozzo 22075 Lurate Caccivio CO Tel 39 031 4951311 Fax 39 031 4951301 info it schunk com www it schunk com Date printed 23 02 2010 Assembly and Operating Manual Gripper actuator GM JAPAN SCHUNK Intec K K 45 28 3 Chome Sanno Ohta Ku Tokyo 143 0023 Tel 81 33 7743731 Fax 81 33 7766500 s takano tbk hand co jp www tbk hand co jp POLAND SCHUNK Intec Sp z 0 0 Stara Iwiczna ul Stoneczna 116 05 500 Piaseczno Tel 48 22 7262500 Fax 48 22 7262525 info pl schunk com www pl schunk com MEXICO VENEZUELA SCHUNK Intec S A de C V Av Luis Vega y Monroy 332 Fracc Plazas de Sol Santiago de Quer taro Qro 76099 Tel 52 442 223 6525 Fax 52 442 223 7665 info mx schunk com www mx schunk com NETHERLANDS SCHUNK Intec B V Speldenmakerstraat 3d 5232 BH s Hertogenbosch Tel 31 73 6441779
5. und Greiftechnik Bahnhofstrasse 106 134 D Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com www schunk com AUSTRIA SCHUNK Intec GmbH Holzbauernstr 20 4050 Traun Tel 43 7229 65770 0 Fax 43 7229 65770 14 info at schunk com www at schunk com BELGIUM LUXEMBOURG SCHUNK Intec N V S A Bedrijvencentrum Regio Aalst Industrielaan 4 Zuid III 9320 Aalst Erembodegem Tel 32 53 853504 Fax 32 53 836022 info be schunk com www be schunk com EN CANADA SCHUNK Intec Corp 190 Britannia Road East Units 23 24 Mississauga ON L4Z 1W6 Tel 1 905 712 2200 Fax 1 905 712 2210 info ca schunk com www ca schunk com CHINA SCHUNK GmbH amp Co KG Shanghai Representative Office 777 Zhao Jia Bang Road Pine City Hotel Room 923 Xuhui District Shanghai 200032 Tel 86 21 644331 77 Fax 86 21 64431922 info cn schunk com www cn schunk com CZECH REPUBLIC SCHUNK Intec s r o Ernsta Macha 1 643 00 Brno Tel 420 545 229 095 Fax 420 545 220 508 info cz schunk com www cz schunk com SCHUNK DENMARK SCHUNK Intec A S Storhaven 7 7100 Vejle Tel 45 43601339 Fax 45 43601492 info dk schunk com www dk schunk com FRANCE SCHUNK Intec SARL Parc d Activit s des Trois Noyers 15 Avenue James de Rothschild Ferri res en Brie 77614 Marne la Vall e Cedex 3 Tel 33 1 64 66 38 24 Fax 33 1 64 66 38 23 info fr schunk com www fr schunk com SILZ
6. symbol wherever hazards for persons or damage to the product are possible This symbol indicates important information on the product or its handling 1 2 Appropriate Use The unit must only be used within the scope of its technical data Appropriate use also includes compliance with the conditions the manufacturer has specified for commissioning as sembly operation environment and maintenance Using the unit with disregard to even a minor specification will be deemed inappropriate use The manufacturer assumes no liability for any injury or damage resulting from inappropriate use The gripper actuators are manufactured in accordance with the current level of technology and with recognised safety regulations During their use however there may occur risks to life and limb of the user or impairment of the portal actuator and other material assets The gripper actuators are intended exclusively for the parallel gripping of service loads in any position that do not react in their manipulation with any risk to persons property or the environment The maximum permissible service loads and forces are given in our standard catalogue Any usage beyond these definitions is inappropriate The manufacturer cannot be held liable for loss or damage arising therefrom The risk is borne exclusively by the user The gripper actuator must only be operated by persons that are familiar therewith and that have been instructed in the associated hazards
7. to lubri cate this again before operation Lubrication or relubrication of the mechanism with rolling bearing grease is recom mended after approx 4 million cycles All gripper actuators of series GM are maintenance free In order to achieve the max imum operating life this chapter and chapter 6 2 at page 6 of this user manual should be observed Apart from normal cleaning of machines no further maintenance measures are necessary 10 Date printed 23 02 2010 Assembly and Operating Manual ot Gripper actuator GM SCHUNK 11 Replacement parts As standardised wear part sets seal sets are available The scope of delivery includes all seals Ordering numbers of the seal sets GMDI 085 for gripper actuator GM 85 GMDI 105 for gripper actuator GM 105 GMDI 205 for gripper actuator GM 205 In accordance with the section drawing below all other wear parts and individual parts are available as single items Ordering numbers are as indicated in the following example Part No 1 GM 105 01 WN SX GE EE Sie El N Qy A RE E TLS SJEN EE 222 ae 3 2 3 20 6 16 14 15 2 Figure 3 section drawing GM 85 105 205 11 Date printed 23 02 2010 Assembly and Operating Manual Gripper actuator GM SCHUNK 12 EC declaration of incorporation In terms of the EC Machinery Directive 2006 42 EC annex II Manufacturer SCHUNK GmbH amp Co
8. Assembly and Operating Manual z Gripper actuator GM SCHUNK GRIPPER ACTUATOR YPES GM 85 TO GM 205 Dear Customer Congratulations on choosing a SCHUNK product By choosing SCHUNK you have opted for the highest precision top quality and best service You are going to increase the process reliability of your production and achieve best machining results to the customer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and operation manual will support you Do you have further questions You may contact us at any time even after purchase You can reach us directly at the mentioned addresses in the last chapter of these instructions Kindest Regards Your SCHUNK GmbH amp Co KG Precision Workholding Systems Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 2503 Fax 49 7133 103 2189 ssi de schunk com DIN EN ISO 9001 Fe www schunk com Net 8 zeen 7 Document last updated 17 12 2009 Seen Reg No DE 3496 01 1 Date printed 23 02 2010 Assembly and Operating Manual ne Gripper actuator GM SCHUNK Contents 1 E cil Gee meme a men CSE EE EEE IS OO MO ER ROR OE 3 1 1 EE Eed 3 1 2 Ya Lee LEE 3 1 3 Sy EE 3 1 4 INDICATIONS TO THE OPERATING MANUALE 4 DIN EE 4 SCOPE OF DELIVER Y eege ee E 5 A 2
9. Fax 31 73 6448025 info nl schunk com www nl schunk com PORTUGAL Sales Representative Victor Marques Tel 34 937 556 020 Fax 34 937 908 692 Mobil 351 963 786 445 info pt schunk com www pt schunk com SLOVAKIA SCHUNK Intec s r o Mostn 62 919 01 Nitra Tel 421 37 3260610 Fax 421 37 6421906 info sk schunk com www sk schunk com SCHUNK SOUTH KOREA SCHUNK Intec Korea Ltd 907 Joongang Induspia 2 Bldg 144 5 Sangdaewon dong Jungwon gu Seongnam si Kyunggi do 462 722 Tel 82 31 7376141 Fax 82 31 7376142 info kr schunk com www kr schunk com SPAIN SCHUNK Intec S L Foneria 27 08304 Matar Barcelona Tel 34 937 556 020 Fax 34 937 908 692 info es schunk com www es schunk com SWEDEN SCHUNK Intec AB Morabergsv gen 28 152 42 S dert lje Tel 46 8 554 421 00 Fax 46 8 554 421 01 info se schunk com www se schunk com 14 SWITZERLAND LIECHTENSTEIN SCHUNK Intec AG Soodring 19 8134 Adliswil 2 Tel 41 44 7102171 Fax 41 44 7102279 info ch schunk com www ch schunk com TURKEY SCHUNK Intec Baglama Sistemleri ve Otomasyon San ve Tic Ltd Sti 15 Merkezi Girne Mahallesi Irmak Sodak A Blok No 9 34852 Maltepe Istanbul Tel 90 216 366 2111 Fax 90 216 366 2277 info tr schunk com www tr schunk com USA SCHUNK Intec Inc 211 Kitty Hawk Drive Morrisville NC 27560 Tel 1 919 572 2705 Fax 1 919 572 2818 in
10. d air from the system Before machines and equipment are switched on again take measures to ensure that cylinder rods etc are not pushed outwards Allow compressed air to enter the system slowly so that counterpressure builds up gradually 4 Contact SCHUNK see chapter 13 page 13 if the product is to be used under one of the following conditions Conditions and environments that lie outside the stated specifications or where the product is to be used outdoors Installation in equipment in conjunction with nuclear power railways aero space vehicles medical equipment food and drink leisure equipment emergency shutdown circuits applications in presses or safety equipment Any application that may possibly have negative influences on persons ani mals or property and that requires a special safety analysis 5 This user manual should always be easily accessible 1 4 Indications to the operating manual This user manual describes gripper actuators of series GM 85 GM 105 and GM 205 All statements in this user manual refer to the types stated above 2 Warranty The warranty period is 24 months or 40 million load cycles after delivery date from the factory assuming use in single shift operation and that the recommended maintenance and lubrication 4 Date printed 23 02 2010 Assembly and Operating Manual ne Gripper actuator GM SCHUNK intervals are respected Components that come into contact with workpieces wearin
11. defective components only be remedied by replacement of these components Defective components may only be replaced by SCHUNK genuine replacement parts Malfunction Remedy 9 Date printed 23 02 2010 Assembly and Operating Manual ne Gripper actuator GM SCHUNK 1 No compressed air 1 Check compressed air 2 Incorrect pneumatic 2 Check pneumatic elements connections Gripper actuator does not open close 1 Initiator incorrectly set in 1 Readjust initiator relation to stop 2 Initiator defective 2 Replace initiator 3 Broken cable 3 Replace initiator cable End position sig nal not present 1 Ventilation valve defective 1 Change ventilation valve Hard gripping of Luz Stroke speed too high 2 Set ventilation valve workpiece 1 Workpiece mass too high 1 Use larger gripper actuator 2 Gripper jaws too long 2 Move gripping point further inwards 3 Design not optimum 3 Adapt design use physical lock gripping Gripper cannot grip part or loses grip on part 10 Maintenance and Care A Under no circumstances may gripper actuators be operated with oiled air if they are subsequently to be operated with oil free air The integral cylinders are lubricated for life and do not require relubrication Operation with oiled or oil free compressed air is permissible without restrictions The complete mechanism is already lubricated It is not therefore necessary
12. emove any dust contaminant or particles Avoid the ingress of sealing material into the pipe network Do not remove pneumatic components from their packaging until shortly before fitting 6 4 Assembly measures During the mounting of the gripper actuator or gripper jaws on the gripper actuator do not allow the system to be subjected to impermissible forces or moments The flatness of the mounting surfaces must be less than 0 02mm Select the correct means of connection with a load that has its own guidance mechanism and ensure that this is adequately aligned Avoid contact with the gripper actuator during operation Select a suitable screw tightening torque for mounting of the gripper actuator or loads on the gripper actuator in accordance with the generally valid guidelines for screw connections 6 Date printed 23 02 2010 Assembly and Operating Manual Gripper actuator GM SCHUNK 6 5 Measures for the initial operation Please read this user manual carefully Knowledge of this user manual is essential in order to prevent errors and ensure problem free operation A Under no circumstances may gripper actuators be operated with oiled air if they are subsequently to be operated with oil free air Check the technical specifications Do not use the device until you have checked that it functions correctly taking account of all permissible operating parameters Regulate the operating speed of the cylinder by means of thro
13. fo us schunk com www us schunk com Date printed 23 02 2010
14. g parts shock absorbers stop screws and proximity switches are never included in the warranty The warranty covers the replacement or repair of defective parts in the manufacturing plant Further claims are hereby excluded In this context please also see our General Terms and Conditions 3 Scope of Delivery The scope of delivery comprises Gripper actuator GM depending on the version ordered 4 Technical Data Please consult our catalogue for further technical details The last version is valid in each case in accordance with Chapter 2 3 General Terms and Conditions The airborne sound emitted from the unit is lt 709 5 Operating and environmental conditions Do not use the product in environments comprising corrosive gases salt water water Or vapours For use in an atmosphere where water drops oil sorays etc occur take appropriate countermeasures in order to ensure protection If electronic end switches are to be used these should not be used in the presence of strong magnetic fields Please contact SCHUNK see chapter 13 page 13 if the product is to be used in the presence of strong magnetic fields Do not use the gripper actuator in an atmosphere in which it could come into contact with fluids such as oil or water Do not use the gripper actuator in an atmosphere in which it could come into direct contact with substances such as powder dust dust sprays etc Do not use the gripper actuator in an atmosphere in
15. subjected to pressure of 6 bar If only the one piston is connected the grip force can be halved If both pistons are connected it must be ensured that the pistons are connected in a crosswise manner so that the pistons move in an opposing direction 7 3 End position interrogation Standardised interrogation sets for direct mounting are available for interrogation of end positions Proximity switch complete GMNS The scope of delivery includes 1x retaining plate 1x proximity switch 1x connection cable 8 Date printed 23 02 2010 Assembly and Operating Manual SCHUNK e Gripper actuator GM Proximity switch GMNS Figure 2 position from the proximity switch After the clamping screw has been loosened the proximity switch can be set by means of the retaining plate Interrogation is carried out directly on the switching pin integrated in the gripper jaw The interrogation set can be installed on both sides of the actuator so that both end posi tions can be interrogated 8 Repairs The repair or elimination of defects on our products by the customer may only be car 7 5 ried out with our explicit written agreement Any failure to adhere to this principle ren ders invalid our warranty and liability for any resulting warranty or secondary losses Following receipt and examination all gripper actuators of series GM can be repaired by SCHUNK 9 Response to malfunctions Malfunctions that are caused by
16. ttle type non return valves Increase from the low speed to higher speeds until the required operating speed 15 reached Selection and dimensioning Do subject the units to loads that exceed the limits of their operating range If excessive loads are applied the gripper jaw guidance system and closing mechanism could suffer damage or inaccuracies The maximum permissible loads are given in our standard catalogue Do not allow the system to experience impermissible forces or shocks and do not use excessively long gripper jaws The maximum permissible gripper jaw length is given in our standard catalogue 7 Handling 7 1 Grip force safety device GM 105 and GM 205 In order to secure the grip force in the event of pressure loss a spring Pos 16 at Figure 1 can be integrated with the need for further accessories Depending on which side the spring is in Stalled the grip force safety device operates in a clamping or expanding direction lf a gripper actuator including a grip force safety device as described in our standard catalogue is ordered it is supplied with the spring already installed by SCHUNK 7 Date printed 23 02 2010 Assembly and Operating Manual SCHUNK e Gripper actuator GM BE IO XEK CH N FOE Gs ON 16 Figure 1 grip force safety device 7 2 Double piston air connector The grip forces given in our standard catalogue are valid when both pistons are
17. which sources of heat are present Do not subject the gripper actuator to excessive vibrations and or shocks 6 Assembly and Installation 6 1 Design precautions A protective guard is recommended in order to minimise the risk of injury Ensure that loose fixed and or connected parts or tightened securely Take account of the possibility that the operating pressure may decrease as a result of power failures etc Pay attention to the possibility of the failure of power supplies 5 Date printed 23 02 2010 Assembly and Operating Manual SCHUNK e Gripper actuator GM Mount the compressed air supply in such a way as to prevent a gripping action Pay attention to emergency shutdown facilities Pay attention to what will happen after an emergency stop or abnormal stoppage En sure that nobody can be placed at risk or be injured when equipment is restarted 6 2 Compressed air supply Use clean compressed air and insert a filter between the supply and the pneumatic system Install a water separator in the pneumatic system Use the product only within the range specified for the medium temperature and am bient temperature Air specification dry free from condensation filtered to 10 microns oiled or oil free 6 3 Special connecting measures Use connecting pipes of a cross section that is larger than or identical to that of the connector thread Blow air through the connecting pipes before fitting the devices in order to r
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