SCHUNK PZH-plus 20, Assembly And Operating Manual

Page 1: ...Original operating manual 3 finger centric gripper PZH plus 020 075 Assembly and Operating Manual Superior Clamping and Gripping ...

Page 2: ...2 00 26 10 2016 en SCHUNK GmbH Co KG All rights reserved 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...

Page 3: ...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 9 Notes on safe operation 11 2 10 Transport 11 2 11 Malfunctions 11 2 12 Disposal 12 2 13 Fundamental dangers 12 2 13 1 Protection during handling and assembly 12 2 13 2 Protection during commissioning and operation 13 ...

Page 4: ...ravel through the entire stroke 32 6 3 Product opens or closes abruptly 33 6 4 The gripping force is dropping 33 6 5 Product does not achieve the opening and closing times 34 7 Maintenance 35 7 1 Notes 35 7 2 Maintenance and lubrication intervals 35 7 3 Lubricants Lubrication points 35 7 4 Disassembly of the module 36 7 4 1 Assembly tool X 37 7 4 2 Assembly tool Y 38 7 5 Servicing and assembling t...

Page 5: ...ustrations 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 1 1 2 Page 6 are applicable Presentation of Warning Labels To make risks clear the following signal words and symbols are used for safety notes DANGER Danger for persons Non observance will inevitably cause irreversible injury or ...

Page 6: ... for 24 months from the ex works delivery date under the following conditions Intended use in 1 shift operation Observe the mandatory maintenance and lubrication intervals Observe the environmental and operating conditions Parts touching the work piece and wear parts are not part of the warranty Scope of delivery The scope of delivery includes 3 finger centric gripper PZH plus in the version order...

Page 7: ... the seal kit Seal kit for ID number PZH plus 20 5522219 PZH plus 30 5522220 PZH plus 50 5522221 PZH plus 75 5522222 Contents of the sealing kit 8 Page 40 Mounting kit for proximity switch IN ID no of the mounting kit ID number PZH plus 0305364 Pressure piece assembly kit ID no of the assembly kit Assembly kit for ID number PZH plus 20 0305363 PZH plus 30 0305373 PZH plus 50 0305383 PZH plus 75 03...

Page 8: ... if the product is used for example as a pressing tool stamping tool lifting gear guide for tools cutting tool clamping device or a drilling tool Any utilization that exceeds or differs from the appropriate use is regarded as misuse Constructional changes Making constructional changes Modifications constructional changes and subsequent work e g ad ditional threads drill holes and safety devices ma...

Page 9: ...n Observe maintenance and lubrication intervals 7 2 Page 35 Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust Exceptions are products that are designed especially for contaminated environ ments Personnel qualification Inadequate qualifications of the personnel If the personnel working with the product is not sufficiently qualified the r...

Page 10: ...raining knowledge and experience service per sonnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers Personal protective equipment Using personal protective equipment Not wearing personal protective equipment while working with the product may result in dangers that impact the personnel s safety and health While working with the product observe...

Page 11: ...onmen tal protection regulations regarding the product s application field 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 transportat...

Page 12: ...t move parts by hand while the energy supply is connected Do not reach into the open mechanism or movement area of the product during operation 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 personn...

Page 13: ...tive it must be assumed that the drive movement is faulty with its ac tion being dependent on the control unit and the current operat ing condition of the drive Perform maintenance work modifica tions and attachments outside the danger zone defined by the movement range To avoid accidents and or material damage human access to the movement range of the machine must be restricted Restrict un intent...

Page 14: ...ntial bonding must be imple mented by a specialist electrician according to the applicable reg ulations The effectiveness of the equipotential bonding must be verified by executing regular safety measurements 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 ...

Page 15: ...ers Sharp edges and corners can cause cuts Use suitable protective equipment WARNING Risk of injury due to spring forces Parts are under spring tension on modules which clamp using spring force or which have gripping force maintenance While disassem bling it is possible that the gripper s parts move uncontrollably and cause serious injuries Disassemble the product cautiously Make sure that no resi...

Page 16: ...ed air compressed air quality according to ISO 8573 1 7 4 4 Nominal working pressure bar 6 Min pressure bar 2 Max pressure bar 8 Pressure range for air purge bar 0 5 1 Noise emission dB A 70 More technical data are included in the catalog data sheet Whichev er is the latest version 3 ...

Page 17: ... Design and description Configuration 3 finger centric gripper 1 Housing 2 Air purge connection 3 Main air connections 4 Base jaws Description Universal centric gripper with high gripping force and maximum mo ments due to multi tooth guidance 4 4 1 4 2 ...

Page 18: ...g surface Dimensions in mm Diameter Permissible unevenness 100 0 02 100 0 05 WARNING Risk of injury if the unit falls during transport or assembly Handling with large weight for PZH plus 75 Secure the unit during transport and assembly by sufficiently large aids The gripper is to be hoisted by the three transport threads Eye bolts in the transport threads 5 5 1 5 1 1 Levelness of the mounting surf...

Page 19: ...ting from the front 3 Centering sleeves The centering sleeves 2 3 are included in the accessory pack Mounting material Size 20 30 50 75 Thread diameter and max depth of engagement for rear mounting M6 15 deep M8 22 deep M10 24 deep M12 34 deep Thread diameter and max depth of engagement for finger mounting M4 10 deep M5 10 deep M5 10 deep M10 17 deep Mounting ...

Page 20: ...he mounting of the gripper Mounting the pressure piece is described in the insert Installation instructions pressure piece which is included in the pressure piece s scope of delivery Air connection 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 ha...

Page 21: ...Direct connection for air purge Only open the air connections required For hose free direct connections use the O rings from the acces sory pack If the maximum permitted finger weight is exceeded a reduction is imperative so that the jaw movement occurs without any hit ting or bouncing Further information on the hose free direct connection contains the catalog data sheet ...

Page 22: ...e assembly and operating manual and the catalogue data sheet are included in the scope of delivery and can be down loaded from www schunk com If you require further information on sensor operation contact your SCHUNK contact person or download information from our homepage Overview of sensors Designation PZH plus 20 30 50 75 Inductive Proximity Switch IN 80 x x x x Magnetic Switch MMS 22 x x x x P...

Page 23: ...cata log Avoid contact of the proximity switches with hard objects and with chemicals in particular nitric acid chromic acid and sulphuric acid The inductive proximity switches are electronic components which can react sensitively to high frequency interference or electromag netic fields Check to make sure that the cable is fastened and installed cor rectly Provide for sufficient clearance to sour...

Page 24: ...cket 2 can still be moved in the gripper slot 7 3 Screw in and tighten the screw 5 in the base jaw 6 4 Put the gripper in the position to be monitored opened closed part grasped 5 Position the bracket 2 in such a way that the gripper slot 7 is aligned with the position of the screw 5 6 Insert the proximity switch 1 in the bracket 2 and push it as close as possible to the screw 5 7 Fasten the proxi...

Page 25: ... torque of 10 Ncm for the set screws NOTE Ferromagnetic material changes the switching positions of the sen sor For example Adapter plate made of ordinary steel At ferromagnetic adapter plates The module must firstly be mounted on the adapter plate Then the positions of the magnetic switch have to be set 5 2 3 Positioning the magnetic switch ...

Page 26: ... 3 to clamp the magnetic switch 2 2 in this position in the groove 4 Open and close the gripper to test its function Part gripped O D gripping 1 Clamp the part to be gripped 2 Push the magnetic switch 2 2 into the groove towards the mid dle of the gripper until it switches 3 Tighten the set screw 3 to clamp the magnetic switch 2 2 in this position in the groove 4 Open and close the gripper to test...

Page 27: ...lements 5 LED display 3 LED display 6 Ribs for cable tires Connection diagram PNP 4 conductor MMS P 22 Types available for order see catalog MMS P 22 S M8 PNP MMSK P 22 S PNP V2 M8 4 2XM8 3 The MMSK P 22 S PNP features a cable with open strands so that it can be connected via terminal contacts The V2 M8 4 2XM8 3 distributor is used to convert the 4 pin con nector plug of the MMS P 22 S M8 PNP sens...

Page 28: ...ary steel For ferromagnetic adapter plates The module must be first mounted on the adapter plate Then the position of the magnetic switchs has to be set 1 To relieve the cable the electronics have to be fixed in place us ing cable ties 7 There are ribs 6 in place on the electronics for mounting pur poses 2 Turn in the sensor 1 4 OR Push the sensor axially into the slot until it contacts the stop 5...

Page 29: ...ns I1 I2 Size l1 mm l2 mm PZH plus 20 49 1 58 0 PZH plus 30 62 8 71 7 1 Press the Teach button 4 for 2 seconds After 2 seconds LED 1 3 is flashing 2 Move the gripper into position 1 e g open 3 Press the Teach Button 4 briefly LED 1 3 lights up and LED 2 5 is flashing 4 Move the gripper into position 2 e g 2mm LED 1 3 should turn out as soon as the switching point 1 is left 5 Press the Teach Button...

Page 30: ...K cannot guarantee EMC compatibility any more The hysteresis adjustment is used for the manual adjustment of the switching points if necessary In case that the hysteresis automatically determined by the sensor should be too high or too low after the adjustment of the switching points you may correct the value as follows The sensor avoids a too small hysteresis during hysteresis adjust ment Sensors...

Page 31: ...5 sec 2 Release the Teach button 3 Move the gripper to the switch off point for switching point 1 position 4 Briefly press the Teach button 4 LED 1 3 flashes twice 5 Move the gripper to the switch off point for switching point 2 position 6 Briefly press the Teach button 4 LED 2 5 flashes twice The assembly of the MMS P sensor is completed ...

Page 32: ...y switch defective or set incorrect Readjust or change sensor Unused air connections open Close unused air connections Flow control valve closed Open the flow control valve Component part defective Replace component or send it to SCHUNK for repair Product does not travel through the entire stroke Possible cause Corrective action Dirt deposits between basic jaws and guid ance Disassemble and clean ...

Page 33: ...ol valve is missing or ad justet incorrectly Install and adjust one way flow control valve Loading too large Check permissible weight and length of the gripper fingers The gripping force is dropping Possible cause Corrective action Compressed air can escape Check seals if necessary disassemble the product and replace seals To much grease in the mechanical movement space Clean and lubricate product...

Page 34: ... sufficient size in relation to compressed air consumption Keep compressed air lines between the prod uct 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 be removed even if the product has not reached the opening and closing times If you still cannot achieve the open and ...

Page 35: ...tion intervals NOTICE Damage caused by insufficient lubricant Lubricants harden more quickly at temperatures above 60 C lead ing to possible product damage Reduce the lubricant intervals accordingly Maintenance and lubrication interval Size 20 30 50 75 Interval Mio cycles 5 2 Lubricants Lubrication points SCHUNK recommends the lubricants listed During maintenance treat all greased areas with lubri...

Page 36: ...ke sure there is no residual energy in the system 1 Close the gripper and remove the compressed air lines 2 Remove the cover 15 and unclamp the eccentric 9 To do this rotate the eccentric 9 by 90 to the left Marking has to show in the direction of the outside wall 3 Remove the nuts 61 4 Remove the set screw 45 and undo the screws 46 though the base plate 13 5 Remove the base plate 13 6 Remove the ...

Page 37: ...ng nut 7 with the assembly tool X and take out the piston rod 5 14 Remove the sleeve 12 15 Remove the air diffuser piece 6 from the housing 1 Assembly tool X Dimensions in mm PZH plus L1 L2 L3 L4 L5 D1 D2 R1 R2 R3 20 113 95 112 0 10 5 10 0 16 0 1 6 8 2 8 0 5 0 1 95 30 111 5 109 0 17 0 10 0 22 0 2 6 12 0 11 0 5 0 2 5 50 107 75 104 0 25 5 13 0 32 0 3 1 17 0 16 0 8 0 3 75 75 123 5 117 5 34 0 15 0 45 ...

Page 38: ... 13 0 17 0 1 0 12 0 12 0 1 6 12 0 M5 30 100 11 5 5 75 5 0 13 0 17 0 1 0 15 0 15 0 2 6 15 0 M5 50 130 15 0 17 0 8 5 8 0 13 0 17 0 1 0 15 0 25 0 2 6 15 0 M5 R8 75 200 15 0 26 0 13 0 8 0 21 0 27 0 1 0 20 0 36 0 5 1 20 0 M8 R8 Assembly tool Y part 2 Dimensions in mm PZH plus L1 L2 D1 D2 D3 20 100 7 12 5 5 10 30 100 7 15 5 5 10 50 100 7 15 5 5 10 75 150 11 20 9 15 7 4 2 ...

Page 39: ...wearing parts 8 Page 40 Seal kit 1 4 1 Page 7 Assembly takes place in the opposite order to disassembly Observe the following Unless otherwise specified secure all screws and nuts with Loctite no 243 and tighten with the appropriate tightening torque 7 5 1 Page 39 Screw tightening torques Position of the position numbers 8 Page 40 Values in Nm Item 42 46 47 48 54 56 20 0 8 1 3 0 8 0 8 1 3 1 3 30 1...

Page 40: ...It serves for illustration and assignment of the spare parts Variations are possible depending on size and variant Assembly Wearing part replace during maintenance Included in the seal kit Seal kit can only be ordered completely Positions are adapted to each other and can not be replaced by the customer 8 ...

Page 41: ...er PZH plus 020 075 pneumatic ID number 0305360 0305370 0305380 0305390 The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machine is to be installed with the provisions of the Machinery Di rective 2006 42 EC is confirmed Applied harmonized standards especially DIN EN ISO 12100 2011 03 Safety of machinery General principles for design Ris...

Page 42: ...verall machine Fulfilled for the scope of the incomplete machine Not relevant 1 1 Essential Requirements 1 1 1 Definitions X 1 1 2 Principles of safety integration X 1 1 3 Materials and products X 1 1 4 Lighting X 1 1 5 Design of machinery to facilitate its handling X 1 1 6 Ergonomics X 1 1 7 Operating positions X 1 1 8 Seating X 1 2 Control Systems 1 2 1 Safety and reliability of control systems ...

Page 43: ... 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 Interlocking movable guards X 1 4 2 3 Adjustable guards restricting access X 1 4 3 Special requirements for protective devices X 1 5 Risks due to other hazards 1 5 1 Electricity supply X 1 5 2 Static electricity X 1 5 3 Energy supply other...

Page 44: ...1 is to be supplemented from here forward 2 Supplementary essential health and safety requirements for certain cate gories of machinery X 2 1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical products X 2 2 Portable hand held and or guided machinery X 2 2 1 Portable fixing and other impact machinery X 2 3 Machinery for working wood and material with similar physical character isti...