Afag 50289595, Assembly And Operating Instructions Manual

Page 1: ...instructions EN SG 50 Edition 01 2021 Rev 2 0 1 40 Assembly and operating instructions Servo Gripper SG 50 Translation of the Original Assembly Instructions EN SG 50 Order no 50289595 SG 50 ABq Order no 50460223 ...

Page 2: ...g team Subject to modifications The 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 Copyright 2021 Afag Automation AG All contents of the present assembly and operating instructions in particular the texts photographs and graphics a...

Page 3: ...s 10 2 5 1 Personnel qualification 10 2 6 Personal protective equipment PPE 11 2 7 Changes and modifications 11 2 8 General hazards residual risks 12 2 8 1 General hazards at the workplace 12 2 8 2 Danger due to electricity 13 2 8 3 Danger due to strong magnetic fields 13 2 8 4 Danger due to high temperatures 13 2 8 5 Mechanical hazards 13 3 Technical data 14 3 1 Dimensional drawing SG 50 14 3 2 T...

Page 4: ... 5 Setup retrofitting Parametrization of the positions 28 7 5 1 Basics of gripping movements 28 7 5 2 Positioning mode 29 7 5 3 Current mode 29 7 5 4 Further notes on settings 30 8 Fault elimination 31 8 1 Safety instructions for troubleshooting 31 8 2 Fault causes and remedy 32 9 Maintenance and Repair 33 9 1 General notes 33 9 2 Safety instructions for Maintenance and repair 33 9 3 Maintenance a...

Page 5: ...he module and may vary from the actual design of your module 1 2 Explanation of symbols The safety notes are marked by a pictogram and a signal word The safety notes describe the extent of the hazard This note contains important additional information as well as useful tips for safe efficient and trouble free operation of the servo gripper DANGER Danger This safety note indicates an imminently haz...

Page 6: ...ith hot surfaces Warning Risk of hand and finger injury due to uncontrolled movements of components 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 1 3 Additional symbols In these assembly instructions the following symbols are used to highlight instructions results references etc Symbol Descripti...

Page 7: ...Further claims are excluded The warranty shall expire in the following cases Improper use of the module Non observance of the instructions regarding assembly commissioning operation and maintenance of the module Improper assembly commissioning operation and maintenance Repairs and design changes carried out without prior technical instructions of Afag Automation AG Removing the serial number from ...

Page 8: ...to follow the directions and safety instructions given in this instructions manual may result in serious hazards 2 2 Intended use The SG servo gripper is intended for the shock free gripping movement of loads in non hazardous and in the ambient and operating conditions defined for this module Chapter 3 Technical data The servo grippers are intended exclusively for gripping payloads up to 0 5 kg th...

Page 9: ... have the necessary professional qualifications and experience are familiar with the basic rules regarding occupational safety and accident prevention have been instructed in the correct handling of the servo gripper have read and understood these assembly instructions The operating company is also required to monitor on an ongoing basis that the personnel work safely considering any potential haz...

Page 10: ...ay be permitted to carry out the described activities on the servo gripper Persons whose ability to react is restricted due to the intake of medication or the like must not interact with the servo gripper These installation instructions are intended for skilled personnel installers system integrators maintenance personnel technicians electricians and operating personnel The following is a descript...

Page 11: ...ctive mandatory signs Protective clothing is a close fitting clothing specifically designed to protect personnel from hazards during work Protective gloves are specifically designed to protect the personnel against hand injuries such as cuts abrasion burns Safety shoes are specifically designed to protect the personnel against foot injuries from crushing falling objects or slipping on slippery sur...

Page 12: ... cause the following hazards to the personnel danger to life and limb of the operator or third parties on the servo grippers themselves property damage Always keep the assembly instructions ready at hand at the workplace Please also observe the general and local regulations on accident prevention and environmental protection the safety information sheet for the servo gripper WARNING Danger Do not ...

Page 13: ...trician in accordance with all relevant electrical regulations DANGER Danger due to strong magnetic fields Due to the strong magnetic fields electronic devices such as pacemakers can be disturbed or their function impaired Persons with a pacemaker must keep a safety distance of at least 50 cm CAUTION Danger of injury from hot surfaces During continuous operation of the servo gripper the surface of...

Page 14: ...Technical data 14 40 Assembly instructions EN SG 50 Edition 01 2021 Rev 2 0 3 Technical data 3 1 Dimensional drawing SG 50 Fig 1 Dimensional drawing SG 50 ...

Page 15: ...Technical data Assembly instructions EN SG 50 Edition 01 2021 Rev 2 0 15 40 3 2 Technical data SG 50 ...

Page 16: ...Technical data 16 40 Assembly instructions EN SG 50 Edition 01 2021 Rev 2 0 3 3 Preferred combinations SG 50 ...

Page 17: ...ven are static values related to one jaw starting from the centre of gravity of the jaw Fig 2 Maximum loads on gripper jaws For multiple loads the following also applies When parametrizing the force and dynamic values observe the chapter 7 5 Setup retrofitting Parametrization of the positions Type Maximum load Mx 22 Nm My 9 Nm Mz 17 Nm Fz 150 N Fy 100 N ...

Page 18: ...closed with each servo gripper This information sheet must be read by every person who carries out work with and on the servo gripper Fig 3 The servo gripper has a weight of 1 kg Unt SG 50 1 x Module SG 50 2 x Centering bushing ø 8x3 5 4 x Fastening screws M5x16 1 x Assembly operating instructions CAUTION Risk of injury when unpacking the servo gripper The servo grippers are packed in the original...

Page 19: ...ge If the servo gripper is stored for an extended period of time observe the following Store the servo gripper in the transport packaging Do not store the servo gripper outdoors or expose it to weather conditions The storage space must be dry and dust free Room temperature of the storage space 0 50 C Relative air humidity 90 non condensing Clean the servo gripper and protect the blank metal parts ...

Page 20: ...y they are made individually by the customer Chapter 6 3 5 2 Product description The servo gripper SG 50 is a highly compact parallel gripper with object recognition for gripping payloads weighing up to 0 5 kg The servo gripper is equipped with a 12 pin industrial connector M17 or M19 and is designed for operation with the AFAG servo controller SE 24 C11xx or C12 xx Operation with other controller...

Page 21: ...9403 5 Servo controller C1150 Profinet PN STO 50419404 6 Servo controller SE 24 I O 50315434 7 Servo controller SE 24 Profibus 50315435 8 Servo controller SE 24 EtherCAT 50315436 9 Servo controller SE 24 CANopen 50315437 10 Motor cable M14 3m 0 0 50311491 11 Motor cable M14 5m 0 0 50341510 12 Power cable SE 24 SE 48 5m 50118124 13 Power cable SE 24 SE 48 10m 50235739 14 Programming cable SE 24 3m ...

Page 22: ...sures such as enclosures light grids or disconnecting the drive from the power supply When the system is running in special operating modes it must be ensured that there is no danger to the operator Also observe the safety instructions in Chapter 2 Safety instructions in this manual CAUTION Risk of injury due to mounted components The jaws of the servo grippers are controlled electrically Attachme...

Page 23: ...ng 4 x Ø 5 3 mm Use the centring bushings Chapter 4 2 included in the scope of delivery for positioning Insert the centering bushings into two diagonally opposite holes of the attachment grid 6 2 2 Tightening torques For assembling use screws with the following minimum specifications Standard VDI 2230 Screw strength Category 8 8 Surface Galvanized blue oiled or greased Thread Tightening torque M2 ...

Page 24: ...cations the gripper fingers design can be symmetrical Example for the manufacturing of a gripper finger Fig 6 Example for manufacturing the gripper fingers AFAG does not manufacture standard gripper fingers Gripping fingers are therefore not included in the scope of delivery The gripper fingers must be designed and manufactured by the operator ...

Page 25: ...d This is only guaranteed if the jaw side with chamfer and the lateral fastening thread can move up to the housing edge of the gripper Fig 7 Reference position servo gripper 6 5 Pin assignment SG 50 Fig 8 Pin assignment servo gripper SG 50 Pin Value 1 GND 2 VDD 5 V 3 B 4 A 5 PE 6 Z 7 Sensor GND 8 Sensor V 24 V 9 Sensor NC 10 U 11 V 12 W Gripper open Adjust the manual control only in de energized s...

Page 26: ...ed by mounted attachments Take appropriate measures to ensure safe operation CAUTION Danger of injury in the working area of the servo gripper Due to the decentralised control system the operator of the servo gripper must not necessarily stand next to the module during operation so that he may not have a complete view of the working area Persons in the working area may be injured When operating th...

Page 27: ...rvo controller to a computer operating software must be installed on the computer Observe the operating instructions for the servo controller If the SG 50 servo gripper is supplied in combination with an AFAG servo controller the operating parameters are already stored in the servo controller The servo gripper can be operated immediately If the SG 50 servo gripper is operated with an alternative s...

Page 28: ...ervo gripper the controller enable must be deactivated and only switched on again after the work has been completed Observe safety instructions 7 5 1 Basics of gripping movements Basically two different modes can be selected for each individual movement on the gripper Positioning mode and current or force mode Each mode is optimized for one movement The current mode must always be used when grippi...

Page 29: ...mmended 7 5 3 Current mode Current mode is used when driving on block This is typically the case when a part is gripped The current mode is active when the check mark for current is set or the Mode signal is activated via the bus Fig 12 Fig 12 Current mode servo gripper The following should always be observed in the current mode The setting range for the current is between 20 and 100 After the gri...

Page 30: ... the force evaluation can be achieved by lower displacement speeds This applies in particular to small gripping forces For time critical applications fast pre positioning outside the maximum dimensions of the gripping part and subsequent gripping at low speed is recommended The gripping force corresponding to the percentage default value can change over time due to changing friction and wear influ...

Page 31: ...of the servo grippers are controlled electrically Attachments can restrict the free movement of the jaws of the servo gripper and cause injuries such as crushing Make sure that the movement of the servo gripper is not restricted by mounted attachments Take appropriate measures to ensure safe operation CAUTION Danger of injury in the working area of the servo gripper Due to the decentralised contro...

Page 32: ...end stop blocked by the spindles Controller not connected to power supply Communication error to the controller Check the connection of the servo gripper to the controller Releasing the jaws using the servo gripper manual adjustment chapter 7 5 3 Check the power supply of the controller Check bus connection I O connection of the controller Gripping force decreases servo gripper opens and closes ab...

Page 33: ...s The intervals refer to a normal operating environment WARNING Danger of injury due to improper maintenance Improperly carried out maintenance activities can cause considerable damage to property and serious injury Only use trained specialist personnel to carry out the activities Always wear personal protective equipment when carrying out maintenance and repair work WARNING Risk of injuries due t...

Page 34: ...w are complied with Clean working area No use of splash water No abrasion or process dusts Environmental conditions as specified in the technical data 9 4 Spare parts and repair work Afag Automation AG offers a reliable repair service Defective servo grippers can be sent to AFAG for warranty repair within the warranty period Damaged servo grippers may only be replaced or repaired by Afag Automatio...

Page 35: ...ding to type of material and dispose of them properly Scrap the metallic materials Hand over plastic parts for recycling Sort the rest of the components by their material properties and dispose of them accordingly WARNING Risk of injury due to improper decommissioning and disposal Improperly carried out activities can result in considerable material damage and serious injury Only use trained speci...

Page 36: ...tibility Directive EMC 2014 35 EU Low Voltage Directive LVD EN ISO 12100 2010 Safety of machinery General design principles Risk assessment and risk reduction DIN EN 60204 1 2018 Safety of machinery Electrical equipment of machines Part 1 General requirements Note The partly completed machinery must not be put into service until the machinery into which it is to be incorporated has been declared i...

Page 37: ...iations 7 I Instructions 6 O Obligations and liability 9 Obligations of the operating company 9 Obligations of the personnel 10 Operation 31 Operator 10 P Packaging 19 Personal protective equipment PPE 11 Personnel qualifications 10 Personnel requirements 10 Protective clothing 11 Protective gloves 11 Q Qualified electrician 10 Qualified personnel 10 R Residual risks 12 S Safety instructions 8 33 ...

Page 38: ...r 20 Fig 5 Mounting holes on the housing 4 x Ø 5 3 mm 23 Fig 6 Example for manufacturing the gripper fingers 24 Fig 7 Reference position servo gripper 25 Fig 8 Pin assignment servo gripper SG 50 25 Fig 9 Servo gripper SG 50 with cable and servo controller SE 24 27 Fig 10 Manual operation servo gripper 28 Fig 11 Positioning mode servo gripper 29 Fig 12 Current mode servo gripper 29 Fig 13 Servo gri...

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Page 40: ...40 40 Assembly instructions EN SG 50 Edition 01 2021 Rev 2 0 ...