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Translation of the original manual

Long-stroke Electric Gripper LEG 400 / 760

Assembly and Operating Manual

Superior Clamping and Gripping

Imprint

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Imprint

Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely supplied to our customers and operators of our products and forms part of the product. This documentation may not be duplicated or made accessible to third parties, in particu-lar competitive companies, without our prior permission.

Technical changes: We reserve the right to make alterations for the purpose of technical improvement.

Document number: 0389184

Edition: 01.06 |20/02/2014|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 and operation manual will support you.

Do you have further questions? You may contact us at any time – even after purchase.

Kindest Regards

Yours SCHUNK GmbH & Co. KG Spann- und Greiftechnik

Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar

Tel. +49-7133-103-0 Fax +49-7133-103-2399

[email protected] www.schunk.com

Table of contents

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Table of contents

1 About this manual .................................................................................................... 4

1.1 Warnings ................................................................................................................... 4

1.1.1 Key words ...................................................................................................... 4

1.1.2 Symbols ......................................................................................................... 4

1.2 Variants ..................................................................................................................... 4

1.3 Applicable documents .............................................................................................. 5

2 Basic safety notes ..................................................................................................... 6

2.1 Intended use ............................................................................................................. 6

2.2 Environmental and operating conditions ................................................................. 6

2.3 Product safety........................................................................................................... 7

2.3.1 Protective equipment ................................................................................... 7

2.3.2 Constructional changes, attachments, or modifications .............................. 7

2.4 Personnel qualification ............................................................................................. 7

2.5 Using personal protective equipment ...................................................................... 8

2.6 Notes on particular risks ........................................................................................... 8

3 Warranty .................................................................................................................. 9

4 Scope of delivery ...................................................................................................... 9

5 Accessories ............................................................................................................... 9

6 Technical data ......................................................................................................... 10

7 Assembly ................................................................................................................. 11

7.1 Assembly of the servo motors ................................................................................ 11

7.2 Mechanical connection .......................................................................................... 15

7.3 Electrical connection .............................................................................................. 15

7.4 Interfaces for top jaws............................................................................................ 16

8 Commissioning ........................................................................................................ 17

8.1 Gripping process - speeds of the process .............................................................. 17

9 Troubleshooting ...................................................................................................... 18

9.1 Module does not move? ........................................................................................ 18

9.2 The gripping force drops? ...................................................................................... 18

9.3 The module does not travel through the entire stroke? ....................................... 18

10 Maintenance and care ............................................................................................. 19

10.1 Observation of the maintenance and lubrication intervals ................................... 19

10.2 Lubricants/Lubrication points (basic lubrication) ................................................ 19

10.3 Servicing the gripper .............................................................................................. 20

11 Translation of original declaration of incorporation ................................................. 23

About this manual

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About this manual This instruction is an integral part of the product and contains im-portant information for a safe and proper assembly, commission-ing, operation, maintenance and help for easier trouble shooting.

Before using the product, read and note the instructions, especial-ly the chapter "Basic safety notes".

Warnings

The following key words and symbols are used to highlight dan-gers.

Key words

DANGER Dangers for persons. Non-compliance will inevitably cause irreversible injury or death.

WARNING Dangers for persons. Non-compliance may cause irreversible injury or death.

CAUTION Dangers for persons. Non-observance may cause minor injuries.

NOTICE Information about avoiding material damage

Symbols

Warning about a danger point

Warning about hand injuries

General mandatory sign to prevent material damage

Variants

This operating manual applies for the following variations

• LEG 400

• LEG 760

1

1.1

1.1.1

1.1.2

1.2

About this manual

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Applicable documents

• General terms of business

• SCHUNK catalog Gripping modules

• Assembly and Operating manuals of the accessories

The documents listed here, can be downloaded on our homepage www.schunk.com

1.3

Basic safety notes

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Basic safety notes

Intended use

The product was designed to grip and to temporarily and securely hold workpieces and objects.

The product is intended for installation in a machine/system. The requirements of the applicable guidelines must be observed and complied with.

The product may be used only in the context of its defined applica-tion parameters ( 6, Page 10).

The product is designed for industrial use.

To use this unit as intended, it is also essential to observe the technical data and installation and operation notes in this manual and to comply with the maintenance intervals.

Environmental and operating conditions

• Ensure that the module and the top jaws are adequately di-mensioned according to the application.

• Ensure that the environment is clean. Observe the mainten-ance and lubrication intervals ( 10.1, Page 19).

• Ensure that the environment is free of splashing water and va-pors, and also of abrasive dust and process dust.

2

2.1

2.2

Basic safety notes

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Product safety

Dangers arise from the product, if:

• the product is not used in accordance with its intended pur-pose.

• the product is not installed or maintained properly.

• the safety and installation notes are not observed.

Avoid any manner of working that may interfere with the function and operational safety of the product.

Wear protective equipment.

NOTE More information are contained in the relevant chapters.

Protective equipment

Provide protective equipment per EC Machinery Directive.

Constructional changes, attachments, or modifications

Additional drill holes, threads, or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK.

Personnel qualification

The assembly, initial commissioning, maintenance, and repair of the product may be performed only by trained specialist person-nel. Every person called upon by the operator to work on the product must have read and understood the complete assembly and operating manual, especially the chapter "Basic safety notes" ( 2, Page 6). This applies particularly to personnel only used oc-casionally, such as maintenance personnel.

2.3

2.3.1

2.3.2

2.4

Basic safety notes

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Using personal protective equipment

When using this product, observe the relevant industrial safety regulations and use the personal protective equipment (PPE) re-quired!

• Use protective gloves, safety shoes and safety goggles.

• Observe safe distances.

• Minimal safety requirements for the use of equipment.

Notes on particular risks

Generally valid:

• Remove the energy supplies before installation, modification, maintenance, or adjustment work.

• Make sure that no residual energy remains in the system.

• Do not move parts by hand when the energy supply is con-nected.

• Do not reach into the open mechanism or the movement area of the unit.

• Perform maintenance, modifications, and additions outside the danger zone.

• Secure the product during all operations against uncontrolled activation.

• Take a precautionary approach by maintenance and disassem-bly.

• Only specially trained staff should disassemble the product.

WARNING

Risk of injury from objects falling and being ejected

• The danger zone must be surrounded by a safety fence during operation.

WARNING

Risk of injury from falling objects in case of failure of the power supply Avoidance: Use of a servo motor with holding brake.

2.5

2.6

Accessories

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Warranty The warranty is valid for 24 months from the delivery date to the production facility 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:

• Long-stroke Electric Gripper LEG in the ordered model.

• Accessory pack

Accessories A wide range of accessories are available for this module.

For information about which accessories can be used with the ap-propriate product version ☞ catalog.

3

4

5

Technical data

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Technical data Further technical data can be found in the catalog data sheet. The most recent version applies.

Size 400 760

-1 -2 -1 -2

Basic operating data

Max. motor torque [Nm] 1.0 0.75 1.0 0.75

Max. rotation speed [min-1] 4000 4000 4000 4000

Transmission [mm/360°] 54/13 54/13 54/13 54/13

Transmission toothed gear 13/18 13/18 13/18 13/18

Number of teeth pulley motor 18 18 18 18

Number of teeth pulley spindle 13 13 13 13

Spindle pitch 3 3 3 3

Max. impact speed [mm/s] 10 10 10 10

Ambient temperature [°C] Min. Max.

+5 +55

+5 +55

+5 +55

+5 +55

IP rating 20 20 20 20

Noise emission [dB(A)] ≤70 ≤70 ≤70 ≤70

Mechanical operating data

Stroke per finger [mm] 101 101 281 281

NOTE You can find more electrical operating data in the relevant motor instructions.

6

Assembly

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Assembly

Assembly of the servo motors

Fig. 1

1 Loosen screws and remove all cover plates.

05 07

47

05 0747

Fig. 2

2 Loosen fitting screws and disassemble motor adapter plates.

7

7.1

Assembly

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34

4417

X

Fig. 3 Adjust distance "X" from flanged wheel to centering rebate

Recommended motor type Distance "X" [mm]

Distance "X" LEG 400

BOSCH MSM030 20,7

FANUC ß0.5 22.2

Distance "X" LEG 760

ELAU SH055 21,2

FANUC ß0.5 22,2

BOSCH MSK030B 20,7

KUKA MG8 20,7

tightening torque pulley motor

Item 17 tightening torque [Nm]

LEG 760 20.0

LEG 400 with BOSCH MSM030 1,2 (4 screws)

LEG 400 mit FANUC ß0.5 20.0

3 Insert clamping element (44) into the belt pulley drive (34).

4 Twist threaded ring (17) slightly in.

5 Push the belt pulley onto the motor shaft.

6 Adjust distance "X" with a depth gauge.

7 Tighten threaded ring (17) with an Allen key (size 10).

Assembly

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05 07

/56 58

Fig. 4

05 motor adapter for ELAU/ KUKA Ø40, Ø63, M5

06 motor adapter for FANUC Ø50, Ø70, M5

07 motor adapter for Bosch Ø40, Ø63, M4

56 cheese-head screws for BOSCH 4x M4 x 16 - 12.9

58 cheese-head screws for FANUC/ KUKA/ ELAU

4x M5 x 16 - 12.9

75 cheese-head screws for ABB 4x M5 x 20 - 12.9

8 Screw motor adapter (05 - 07) with cheese-head screws (56 or 58) to the servo motor.

Assembly

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Fig. 5

9 Insert the motor in the gripper and mount it gently with the fitting screws (47).

10 Twist clamping element (46) out of the motor adapter (05 - 07).

Druckstück eind rehen

Fig. 6 Screw in the pressure piece

11 Screw the pressure piece (46) into the lug of the motor adap-ter until the ball is sunk.

12 Pretension the belt (37) until the ball of the pressure piece (46) is sunk to the half. This ensures the correct belt preload force.

13 Tighten all fitting screws (47).

14 Remove the pressure piece (46) and screw it into the motor adapter (05 - 07).

15 Mount all cover plates.

Assembly

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Mechanical connection

WARNING

Risk of injury when the machine/system moves unexpectedly! Switch off power supply.

The module is mounted to the machine or robot via an adapter plate.

The customer must provide the mounting materials.

SCHUNK recommends the use of the ISO flange for mounting of the gripper. All necessary screws and centering elements are atached to the respective ISO flange (sold separately) and the en-closed pack of the gripper.

ID number Designation ISO Flange

0308090 ADF-ISO-9409-1-A-050

0308091 ADF-ISO-9409-1-A-063

0308092 ADF-ISO-9409-1-A-100

0308093 ADF-ISO-9409-1-A-125

0308094 ADF-ISO-9409-1-A-160

The connection dimensions of ISO flange are contained in the catalog.

Electrical connection

WARNING


NOTE Observe the maximum electrical energy values (see motor instruc-tions). Connect the motor to the machine. Follow the instructions from the operating manual for the motor.

7.2

7.3

Assembly

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Interfaces for top jaws

WARNING


Fig. 7 Dimensions of a carriage for the assembly of the top jaws

• Design the top jaws correctly depending on application.

• Mount the top jaws with 6 screws (M6) on the carriage.

7.4

Commissioning

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Commissioning

WARNING

Risk of injury in case of breakage of gripping parts due to over-load! Do not exceed the allowed engine power. Reduce engine power accordingly.

There is more information in the chapter "Technical Data" ( 6, Page 10).

Gripping process - speeds of the process

NOTICE

To avoid overloading the gripper components when the jaws im-pact the workpiece, the maximum impact speed( 6, Page 10)must not be exceeded. This speed must also not be ex-ceeded when approaching the end positions of the jaws.

Accordingly the following operating data arise as a result:

If the location and dimension of the workpiece are known exactly the jaws can be driven to a sufficient safety distance to the work-piece with the max. permitted speed (= pre- positioning of the jaws). From this point it will be moved with the reduced impact speed. In solving it will be opened up to the pre- positioning point with the reduced speed and from then on the jaws can be moved with the permitted movement speed again.

If the exactly location of the gripping position is unknown, e.g. be-cause of a large component tolerance or an inaccurate deposition of the successor process, the entire stroke has to be moved in gripping direction with the reduced impact speed. In solving with the necessary reliability it has to be opened with the reduced speed, until the workpiece is solved safe. Then the rest of the stroke can be moved with the max. speed.

8

8.1

If the location and dimension of the

workpiece are known- pre-positioning

If the location and dimension of the

workpiece are un-known

Troubleshooting

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Troubleshooting

Module does not move?

Possible cause Corrective action

No jaw movement, motor turns Check the belts. Check the spindle.

Engine doesn´t turn Check electrical connection. Check the ease of movement of the spindle. Check belt tension.

Component is broken, e.g. through over-loading

Replace component or send the module with a repair order to SCHUNK. Ensure that the module was only used within its defined application parameters. ( 6, Page 10).

The gripping force drops?


Spindle defective Send the module to SCHUNK with a repair order.. Ensure that the module was only used within its defined application parameters.

The module does not travel through the entire stroke?


Dirt deposits between the cover and the piston

Remove the cover, clean the module and relubricate it. ( 10, Page 19).

Dirt deposits between the base jaws and the guide

Disassemble and clean module..

Mounting surface is not even enough Check the levelness of the bolting surface. ( 7.2, Page 15)

Component is broken, e.g. through over-loading

Send the module to SCHUNK with a repair order or disassemble module..

If a repair at the gripper is necessary, please contact SCHUNK Service Department (Tel. +49-7133-103-2696).

9

9.1

9.2

9.3

Maintenance and care

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Observation of the maintenance and lubrication intervals

NOTICE

At ambient temperature above 60°C the lubricants can harden faster.

• Interval decrease accordingly.

Visual inspection daily

Lubrication intervalls (cycles) 1 Mio.

At short gripping strokes (<30 mm) there should be driven one complete stroke per 24 hours.

Lubricants/Lubrication points (basic lubrication)

We recommend the lubricants listed.

Lubricants which are proven to be equivalent can be used.

Treat all lubrication points with grease during maintenance.

Lubricant point Lubricant

Grease nipple (8x) PB 107 (THK) AFC-grease (THK)

Fig. 8 Grease nipple per slide

10

10.1

10.2


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Servicing the gripper

• Clean the module at regular intervals with a dry cloth. Remove coarse contamination like chips and debris.

• Clean all parts thoroughly and check for damage and wear.

• Replace all wear parts / seals.

• Treat all greased areas with lubricant. ( 10.2, Page 19)

• Oil or grease bare external steel parts.

10.3

Notes

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Notes

Notes

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Notes

Translation of original declaration of incorporation

01.06|LEG 400 / 760|en 23

Translation of original declaration of incorporation

in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of the Council on machinery.

Manufacturer/ Distributor

SCHUNK GmbH & Co. KG Spann- und Greiftechnik

Bahnhofstr. 106 – 134

D-74348 Lauffen/Neckar

We hereby declare that on the date of the declaration the following incomplete machine complied with all basic safety and health regulations found in the directive 2006/42/EC of the European Parliament and of the Council on machinery. The declaration is rendered invalid if modifications are made to the product.

Product designation: Long-stroke Electric Gripper / LEG 400 / 760 /

ID number 0308002, 0308003, 0308004, 0308005, 0308012, 0308013, 0308014, 0308015, 0308022, 0308023, 0308032, 0308033

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 Directive (2006/42/EC) is confirmed.

Applied harmonized standards, especially:

EN ISO 12100:2011-03

Safety of machinery - General principles for design - Risk assessment and risk reduction

The manufacturer agrees to forward on demand the relevant technical documentation for the partly completed machinery to state offices.

The special technical documents according to Appendix VII, Part B belonging to the in-complete machine have been compiled.

Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address

Lauffen/Neckar, January 2014 p.p. Ralf Winkler,

Head of Gripping Systems Development

11

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