SCHUNK PG-plus 70 Gebrauchsanweisung
Translation of the original manual
Assembly- and Operating Manual
PG-plus 70
Servo-electric 2-finger parallel gripper
Imprint
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02.00 | PG-plus 70 | Assembly- and Operating Manual | en | 389738
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re-
served. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and re-
quires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389738
Version: 02.00|22/10/2018|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading techno-
logy 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
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
Fax +49-7133-103-2399
schunk.com
Table of contents
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Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Definition of Terms...................................................................................6
1.1.3 Applicable documents ..............................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.4 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Constructional changes ........................................................................................ 8
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 8
2.6 Environmental and operating conditions ............................................................. 8
2.7 Personnel qualification......................................................................................... 8
2.8 Personal protective equipment............................................................................ 9
2.9 Notes on safe operation .....................................................................................10
2.10 Transport ............................................................................................................ 10
2.11 Malfunctions....................................................................................................... 10
2.12 Disposal .............................................................................................................. 10
2.13 Fundamental dangers......................................................................................... 11
2.13.1 Protection during handling and assembly ..............................................11
2.13.2 Protection during commissioning and operation ...................................11
2.13.3 Protection against dangerous movements.............................................12
2.13.4 Protection against electric shock............................................................12
2.13.5 Protection against magnetic and electromagnetic fields .......................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
3.1 Outer dimensions ............................................................................................... 16
3.2 Basic data ........................................................................................................... 16
3.3 Electrical operating data..................................................................................... 17
3.4 Name plate ......................................................................................................... 17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18
Table of contents
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5 Assembly and settings ............................................................................................20
5.1 Electrical connection .......................................................................................... 20
5.2 Mounting on the external lightweight arm ........................................................21
6 Commissioning .......................................................................................................24
6.1 Configuration via the service interface............................................................... 25
6.2 Updating firmware ............................................................................................. 27
7 Functional description ............................................................................................28
8 Troubleshooting .....................................................................................................29
8.1 Communication interrupted............................................................................... 29
8.2 Product is not reacting, not moving or stops suddenly...................................... 29
8.3 Unusual noise during operation ......................................................................... 29
8.4 Product does not execute a complete stroke..................................................... 29
8.5 Product moves sluggishly or jerks ......................................................................29
9 Maintenance, cleaning and repair...........................................................................30
9.1 Maintenance ...................................................................................................... 30
9.2 Cleaning .............................................................................................................. 30
9.3 Repair ................................................................................................................. 30
10 Translation of original declaration of incorporation ................................................31
10.1 Annex to Declaration of Incorporation............................................................... 32
General
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1 General
1.1 About this manual
This manual contains important information for a safe and appro-
priate use of the product.
This manual is an integral part of the product and must be kept ac-
cessible for the personnel at all times.
Before starting work, the personnel must have read and under-
stood this operating manual. Prerequisite for safe working is the
observance of all safety instructions in this 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 Ap-
plicable documents [}6] are applicable.
1.1.1 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 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.
General
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1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
1.1.3 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Software manual "Motion Control SCHUNK" *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
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 con-
ditions:
• Observe the ambient conditions and operating conditions, Basic
data [}16]
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Servo-electric 2-finger parallel gripper
• Product-CD with documentation, Software
• Assembly and Operating Manual
1.4 Accessories
A wide range of accessories are available for this product
Designation Ident number
Flat change head FWK115 ISO 31000995
PCM13, USB/CAN-Bus adapter 307913
diagnostic adapter 1344896
PAM 150 top jaw blank (finger) ABR/PG+70 307850
PAE 200 CAN BUS termination 31001036
Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
The product is intended for installation in a machine. The condi-
tions of the Machinery Directive for an incomplete machine must
be observed.
The product has been specially designed for use on lightweight
arms from SCHUNK. If the defined application parameters are ad-
hered to, the use on standard industrial and lightweight robots is
permitted.
The manufacturer of the machine is responsible for carrying out a
risk analysis and for the protective equipment resulting from the
analysis. The safety-related information contained in the "Elec-
trical equipment of machines" standard (DIN EN 60204) must be
observed. Commissioning is only permitted in compliance with
EMC directives (89/336/EEC).
The safety-related information contained in the "Electrical equip-
ment of machines" standard (DIN EN 60204) must be ob-
served.Commissioning is only permitted in compliance with EMC
directives (2014/30/EU).
• When implementing and operating components in safety-re-
lated parts of the control systems, the basic safety principles in
accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• Appropriate use of the product includes compliance with all in-
structions in this manual.
2.2 Not intended use
It is not intended use 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.
It is forbidden to use the product outdoors, underground or in ex-
plosive atmospheres.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
Basic safety notes
8
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2.3 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 ap-
proval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and dam-
age the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious injur-
ies and significant property damage.
• Arrange the gripper fingers in a way that the product reaches
either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy re-
mains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.6 Environmental 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.
See also Basic data [}16].
2.7 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.
The following personal qualifications are necessary for the various
activities related to the product:
Basic safety notes
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Trained electrician 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 regu-
lations.
Qualified personnel 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 reg-
ulations.
Instructed person Instructed persons were instructed by the operator about the del-
egated tasks and possible dangers due to improper behaviour.
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 possible dangers.
2.8 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 occupa-
tional health and safety regulations and wear the required per-
sonal 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 haz-
ardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
Basic safety notes
10
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2.9 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 func-
tion 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 environ-
ments.
• 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.
2.10 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.
2.11 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 malfunc-
tion.
• 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.
2.12 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 en-
vironmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
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