SCHUNK GSM-W 16, Assembly And Operating Manual

Page 1: ...Original operating manual Assembly and operating manual GSM W Rotary gripping module with angular gripper...

Page 2: ...ations for the purpose of technical improvement Document number 389108 Version 03 00 12 04 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our famil...

Page 3: ...t intended use 8 2 3 Constructional changes 8 2 4 Spare parts 8 2 5 Gripper fingers 9 2 6 Environmental and operating conditions 9 2 7 Personnel qualification 9 2 8 Personal protective equipment 10 2...

Page 4: ...is not executed immediately 36 8 Maintenance 37 8 1 Notes 37 8 2 Maintenance and care intervals 37 8 3 Grease greasing areas 38 8 4 Screw tightening torques 39 8 5 Disassembly assembly of the unit in...

Page 5: ...s manual Illustrations in this manual are provided for basic understanding and may differ from the actual product design In addition to these instructions the documents listed under Applicable documen...

Page 6: ...ntenance O D gripping AS 1 2 Warranty If the product is used as intended the warranty is valid for 24 months from the ex works delivery date under the following conditions Observe the specified mainte...

Page 7: ...5 5514446 GSM W 32 5514447 GSM W 40 5514448 1 4 Accessories A wide range of accessories are available for this product For information regarding which accessory articles can be used with the correspon...

Page 8: ...complied with The product is intended for industrial and industry oriented use Appropriate use of the product includes compliance with all instructions in this manual 2 2 Not intended use It is not i...

Page 9: ...serious injuries considerable material damage and or a significant reduction to the product s life span Make sure that the product is a sufficient size for the application Ensure that maintenance and...

Page 10: ...our Service personnel of the manufacturer 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...

Page 11: ...vention and environ mental protection regulations regarding the product s applica tion field 2 10 Transport Handling during transport Incorrect handling during transport may impair the product s safet...

Page 12: ...emains 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 2 13 1 Protection during hand...

Page 13: ...ue 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...

Page 14: ...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 ene...

Page 15: ...force maintenance Secure the end positions of the product with SCHUNK SDV P pressure maintenance valves WARNING Danger of injury due to uncontrolled movements Due to incorrect control and incorrect o...

Page 16: ...sion dB A 70 IP rating 30 Pressure medium Compressed air compressed air quality according to ISO 8573 1 7 4 4 Nominal working pressure bar 6 Min pressure bar for gripping with gripping force maintenan...

Page 17: ...89108 17 4 Design and description 4 1 Design Rotary gripping module with angular gripper 1 Compressed air main connection 2 DKM feed through compact module 3 Base jaws 4 WGM gripping module 5 Rotor dr...

Page 18: ...t 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...

Page 19: ...ns OR Screw on throttle valve in order to be able to perform sufficient throttling and or dampening Screw the product to the machine system Mechanical connection 20 If necessary use appropriate connec...

Page 20: ...ng adapter plates should be made of non ferromagnetic material Item GSM SFL basic size 40 64 1A 1B 1C Centering sleeve for lateral mounting of the unit and fitting depth in the mounting plate 8 2 5 de...

Page 21: ...be used for the secure transmission of shearing forces and positioning of the unit Mounting the unit at the side with adapter plate similar to A B or C The assembly of the unit can be carried out fro...

Page 22: ...e central air unit must be equipped with a maintenance unit that is located as near as possible to the consumer NOTICE If the end positions of the stroke and swivel movements are not impact free and b...

Page 23: ...N position Hose free direct connection d If direct connections a d are used use the locking screws included in the accessory pack for the corresponding main connections A D If air connections a d are...

Page 24: ...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 per...

Page 25: ...int of the sensor of the right groove SGR1 or SGR2 is active The sequence of the swivel and closing movements process sequence defined during the teach process must also be followed during operation O...

Page 26: ...justment range of end angle Switching range of sensor Rotating angle setting and monitoring range GSM 5 3 4 Settings for magnetic switch NOTE The installation dimensions shown only apply if the clampi...

Page 27: ...stroke For grippers with X mm nominal stroke per jaw Min query range per jaw min queried stroke difference per jaw X 5 mm 30 of the nominal stroke per jaw X 5 mm to X 10 mm 20 of the nominal stroke p...

Page 28: ...MMS P Determining the clamping position of the MMS P sensor Monitoring GSM locations positions end positions SGL1 left rotating angle end position gripper position 1 SGL2 left rotating angle end posi...

Page 29: ...load information from our homepage Technical data for the sensors can be found in the data sheets included in the scope of delivery 5 4 Mounting a customized construction NOTICE Damage to the unit dur...

Page 30: ...top but only up to the maximum projection dimension B For projection dimensions A and B see the following table Total rotation angle range When the rotating angle is set tighten the counter nut 124 Ac...

Page 31: ...ion is described in the following chapters for S variants Replacing a shock absorber for S variants for E variants Replacing an elastomer for E variants NOTICE The permissible minimum and maximum proj...

Page 32: ...e Adjustment range of end angle Switching range of sensor e n d a n g l e s t a r t a n g l e s t a r t a n g l e end angle Swivel range Adjustment range of start angle Adjustment range of end angle S...

Page 33: ...ow control valves and shock absorbers must be used Setting the speed 33 and Adjustment of the shock absorber stroke 34 Please observe the information in the catalog pages 6 1 Setting the speed NOTICE...

Page 34: ...smooth motion may also be too slow in many use cases Further settings can be made via the shock absorbers Adjustment of the shock absorber stroke 34 6 2 Adjustment of the shock absorber stroke NOTE Wh...

Page 35: ...et position End position Target time Time T Damping Optimal shock absorber stroke 6 3 Restart after long standstill During a longer shutdown no compressed air may be applied to the gripper If issues o...

Page 36: ...nes between the product and directional control valve as short as possible Flow rate of valve is sufficiently large relative to the compressed air consumption NOTICE The throttle check valve must not...

Page 37: ...ith base jaws as a set NOTICE The needle rollers are suitable only for this product and cannot be replaced with needle rollers belonging to another product of the same type and size 8 2 Maintenance an...

Page 38: ...15 Item 35 Item 85 Item 122 Mixture of Interflon Fin assembly grease for Interflon Fin Lupe EP mass ratio 1 1 Item 103 Item 11 Item 82 Item 42 Item 43 Item 44 Item 46 Item 51 Item 52 Item 53 Item 58...

Page 39: ...Nm FAN 64 3 1 Nm 8 5 Disassembly assembly of the unit in the basic modules Position of the item numbers Drawings 49 Disassembly Remove the compressed air lines Turn the gripping module GSM into the mi...

Page 40: ...gs 102 from the piston Loosen the screws 112 and remove the holders 8 Take the needle rollers 15 out of the cover housing and remove the needle rollers 13 and 14 Use the piston rod 4 to pull the finge...

Page 41: ...of the magnets item 120 43 Carefully fit the cover housing 35 with the mounted parts into the bushing 44 Screw the cover housing 35 into the bushing 44 using the screws 111 8 6 2 Version with maintena...

Page 42: ...f the gripping force make sure the spring 121 is inserted in the bushing 46 between steps 12 and 13 of assembly without maintenance of the grip ping force I D gripping version GSM IS Disassembly Repea...

Page 43: ...ariants Top view in rotating angle position for 0 90 variants 8 7 Disassembly assembly of the DKM feed through compact module item 40 Position of the item numbers Drawings 49 NOTICE If the housing 11...

Page 44: ...ows Remove the shock absorber 120 after loosening the nuts 121 Also remove the sleeves 122 Assembly For assembly observe the permissible tightening torques as well as the greases and adhesives to be u...

Page 45: ...shock absorbers have a limited lifespan depending on the load For this reason their function should be checked regularly The shock absorber is working correctly if the unit moves gently to the end pos...

Page 46: ...ered Proceed as follows with the replacement Remove the compressed air lines Loosen the counter nut 124 Remove the shock absorber 121 from the unit and remove the sleeve 122 If the latter cannot be lo...

Page 47: ...position on the stop rotor 58 and grease the two parts completely again Put the stop rotor in the correct position in the intended fit in the upper rotor housing 51 Grease the entire rotor 53 except...

Page 48: ...ricant Grease greasing areas 38 Oil or grease bare external steel parts Replace all wear parts seals Position of the wearing parts Drawings 49 Seal kit Sealing kit 7 Assembly Assembly takes place in t...

Page 49: ...wing figures are example images They serve for illustration and assignment of the spare parts Variations are possible depending on size and variant 8 12 1 Assembly drawing of the basic module Basic mo...

Page 50: ...W Assembly and operating manual en 389108 8 12 2 Assembly drawing for the DKM and FAN modules DKM and FAN overview Included in the seal kit Seal kit can only be ordered completely Only for the basic s...

Page 51: ...e 03 00 GSM W Assembly and operating manual en 389108 51 8 12 3 Assembly drawing of the gripping modules Assembly drawing of the basic modules Included in the parts list for the DKM feed through compa...

Page 52: ...957 0303876 0303976 0303877 0303977 0303886 0303986 0303887 0303987 0304616 0304617 0304636 0304736 0304637 0304737 0304646 0304746 0304647 0304747 0304656 0304756 0304657 0304757 0304676 0304776 0304...

Page 53: ...37 0304646 0304746 0304647 0304747 0304656 0304756 0304657 0304757 0304676 0304776 0304677 0304777 0304686 0304786 0304687 0304787 To be provided by the System Integrator for the overall machine Fulfi...

Page 54: ...ks of uncontrolled movements X 1 4 Required characteristics of guards and protective devices 1 4 1 General requirements X 1 4 2 Special requirements for guards X 1 4 2 1 Fixed guards X 1 4 2 2 Interlo...

Page 55: ...on from Annex 1 is to be supplemented from here forward 2 Supplementary essential health and safety requirements for certain categories of machinery X 2 1 Foodstuffs machinery and machinery for cosmet...

Page 56: ...56 03 00 GSM W Assembly and operating manual en 389108...