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Translation of the original manual

Assembly and Operating Manual
GSM-Z

Rotary gripping module with centric gripper

Summary of Contents for GSM-Z 38

Page 1: ...Translation of the original manual Assembly and Operating Manual GSM Z Rotary gripping module with centric gripper...

Page 2: ...on 06 00 12 01 2021 en Dear Customer thank you for trusting our products and our family owned company the leading technology supplier of robots and production machines Our team is always available to...

Page 3: ...ipper fingers 9 2 6 Ambient conditions 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...

Page 4: ...nce intervals 39 8 3 Grease greasing areas 40 8 4 Screw tightening torques 41 8 5 Disassembly assembly of the unit in the basic modules 42 8 6 Disassembly assembly of the gripping module 42 8 6 1 Vers...

Page 5: ...basic understanding and may differ from the actual product design In addition to these instructions the documents listed under Applicable documents 6 are applicable 1 1 1 Presentation of Warning Label...

Page 6: ...8 GSM Z 45 1 1 4 Variants This operating manual applies to the following variations GSM Z without gripping force maintenance GSM Z with gripping force maintenance O D gripping AS GSM Z with gripping f...

Page 7: ...s 231 232 Rotor drive FAN Rotor drive ID number FAN 40 5514441 FAN 64 5514442 1 4 Accessories A wide range of accessories are available for this product For information regarding which accessory artic...

Page 8: ...r 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 intended use if the product is used for ex...

Page 9: ...ng 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 Make sure that the product is u...

Page 10: ...iour 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 avoi...

Page 11: ...ing 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 da...

Page 12: ...e 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 handling and ass...

Page 13: ...tive it must be assumed that the drive movement is faulty with its action being dependent on the control unit and the current operating condition of the drive Perform maintenance work modifications an...

Page 14: ...verified by executing regular safety measurements 2 14 Notes on particular risks DANGER Risk of fatal injury from suspended loads Falling loads can cause serious injuries and even death Stand clear o...

Page 15: ...sly Make sure that no residual energy remains in the system WARNING Risk of injury from objects falling during energy supply failure Products with a mechanical gripping force maintenance can during en...

Page 16: ...of injury from loosened parts Due to damaged shock absorbers parts may be loosened which destroy the swivel unit and in this way may cause serious injuries Regular inspection of the individual compon...

Page 17: ...ording to ISO 8573 1 7 4 4 Nominal working pressure bar 6 Min pressure bar for gripping without gripping force maintenance with gripping force maintenance 2 4 Min pressure bar for swiveling 3 5 4 3 Ma...

Page 18: ...389110 4 Design and description 4 1 Design Rotary gripping module with centric gripper 1 Compressed air main connection 2 Feed through compact module DKM GSM 3 Base jaws 4 Gripping module ZGM 5 Rotor...

Page 19: ...ion in the catalog data sheet NOTE Observe the requirements for the compressed air supply Technical data 17 In case of compressed air loss cutting off the energy line the components lose their dynamic...

Page 20: ...If necessary use appropriate connection elements adapter plates Observe the maximal tightening torque admissible screw in depth and if necessary strength class When mounting from the rear or at the s...

Page 21: ...aterial 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 deep Item 206 10 3 deep Item 205 2 Centering sleeve for m...

Page 22: ...f delivery Use the centering sleeves 2 for the secure transmission of lateral forces and the positioning of the unit Mounting the unit at the side with adapter plate similar to A B or C The assembly o...

Page 23: ...unit that is located as near as possible to the consumer CAUTION If the end positions of the stroke and swivel movements are not impact free and bounce free the respective movements must be adjusted w...

Page 24: ...throttle reductions for the main connections which are designed for a medium load can be attached to the adapter plate for example Open only the air connections that are needed Close unused main air...

Page 25: ...d magnetic switch can yield reliable results only in the ranges of 0 3 and 180 3 or 0 3 and 90 3 Swivel range Adjustment range of start angle Adjustment range of end angle Switching range of sensor e...

Page 26: ...apply if the clamping position of the sensor is not specified by a T nut Installation dimensions for MMS P GSM Type Dimension l1 Dimension l2 Dimension l3 GSM Z 30 8 9 0 GSM Z 30 AS 21 7 12 8 7 8 GSM...

Page 27: ...troke per jaw 7 mm 20 1 4 mm NOTE The table of values applies only to sensors whose hysteresis has been taught For further information see assembly and operating manual of the sensor 5 3 5 Assembly an...

Page 28: ...tion is always reached when a swichting point 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 proces...

Page 29: ...r 1 Rotating angle end position in counterclockwise direction with opened gripper 2 Rotating angle end position in counterclockwise direction with closed gripper 3 Rotating angle end position in clock...

Page 30: ...ng angle end position in clockwise direction with opened gripper 4 Rotating angle end position in clockwise direction with closed gripper NOTE One of the two inductive proximity switches for the gripp...

Page 31: ...ocked stop which prevents a collision during a swiveling movement 4 Move the unit with the energy supply switched off in the respective rotating angle end position and set two of the proximity switche...

Page 32: ...onitoring with INW 40 Assembly of GSM 090 variants with inductive monitoring Not included in the Z 30 mounting kit With Z 30 item 303 is identical to item 301 Assembly of GSM 180 variants with inducti...

Page 33: ...tomized construction to the gripper fingers GSM Z It is recommended to use the width of the gripper finger which is designed as the fit size for the centering of the customized top jaws It is also rec...

Page 34: ...ow the unit to swivel 3 Actuate connection B the swivel unit will reach the end position in counterclockwise direction 4 Place the unit sideways on a measuring table with the air connections facing up...

Page 35: ...can be determined using the table Total rotating angle range The ball insertion is described in the following chapters for S variants Replacing a shock absorber for S variants for E variants Replacing...

Page 36: ...ngle 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 angl...

Page 37: ...open the exhaust throttle valve incrementally until the movement decelerates smoothly If the speed is too low the product will brake too soon and the end position will be reached too slowly If the spe...

Page 38: ...ust not be removed even if the product has not reached the opening and closing times If despite optimum air connections the opening and closing times specified in the catalogue are not achieved SCHUNK...

Page 39: ...te module together with a repair order to SCHUNK or order the housing with base jaws as a set 8 2 Maintenance intervals CAUTION Material damage due to hardening lubricants Lubricants harden more quick...

Page 40: ...131 IIsoflex Topas NCA 52 MPG grease Item 3 Item 4 Item 85 Item 122 Sealgood 2 Item 103 Item 11 Item 82 Item 42 Item 43 Item 44 Item 46 Item 51 Item 52 Item 53 Item 58 Item 59 Item 109 Item 110 Espec...

Page 41: ...0 3 Nm 3 Nm 5 8 Nm 45 12 Nm 0 3 Nm 3 Nm 12 Nm Screw tightening torques DKM Rotary gripper module Item 121 124 Item 133 Item 140 Item 231 Item 232 GSM Z 30 Z 38 Basic size 40x40 1 2 Nm 2 Nm 6 Nm 3 Nm G...

Page 42: ...erve the permissible tightening torques Screw tightening torques 41 8 6 Disassembly assembly of the gripping module For disassembly assembly of the gripping modules observe the assembly drawing Drawin...

Page 43: ...ton rod 4 in the cover housing 11 from above Insert the diagonal pull of the piston rod in the grooves of the base jaws 6 Fasten the cover 8 to the cover housing using the screws 20 7 Grease the seals...

Page 44: ...With the variant with maintenance of the gripping force make sure the spring 121 is put on the piston 36 between steps 7 and 8 of assembly without maintenance of the gripping force I D gripping versio...

Page 45: ...90 variants 8 7 Disassembly assembly of the DKM feed through compact module item 40 Position of the item numbers Drawings 51 CAUTION If the housing 11 bearing ring 82 or bushing 42 are replaced a new...

Page 46: ...htening torques 41 and Grease greasing areas 40 1 Grease the housing DKM GSM 11 and the bushing 42 on the running surfaces and bearings 2 Grease the bearing ring 82 3 Insert the bearing ring with the...

Page 47: ...ber 446 at the end of the shock absorber designation These specially tested shock absorbers are only to be ordered from SCHUNK When replacing a damper the complete additional parts list for hydraulic...

Page 48: ...te additional parts list for elastomer dampening should be ordered Proceed as follows with the replacement 1 Remove the compressed air lines 2 Loosen the counter nut 124 3 Disassemble stop 2 83 4 Remo...

Page 49: ...rts completely again 4 Put the stop rotor in the correct position in the intended fit in the upper rotor housing 51 5 Grease the entire rotor 53 except for the rectangular section 6 Pull both O rings...

Page 50: ...bricant Grease greasing areas 40 Oil or grease bare external steel parts Replace all wear parts seals Position of the wearing parts Drawings 51 Seal kit Sealing kit 7 Assembly Assembly takes place in...

Page 51: ...assignment of the spare parts Variations are possible depending on size and variant 8 12 1 Assembly drawing of basic modules Assembly drawing of the basic modules 31 ZGM gripping module 40 DKM GSM fee...

Page 52: ...and Operating Manual en 389110 8 12 2 Assembly drawing for the DKM and FAN modules Assembly drawing of the DKM and FAN modules Included in the seal kit Seal kit can only be ordered completely Only for...

Page 53: ...the GSM gripping modules Assembly drawing of the gripping modules Included in the parts list for the DKM feed through compact module Item 113 is only available for sizes Z 38 and Z 45 53 06 00 GSM Z A...

Page 54: ...5 0303945 0303863 0303963 0303864 0303964 0303865 0303965 0304633 0304733 0304634 0304734 0304635 0304735 0304643 0304743 0304644 0304744 0304645 0304745 0304663 0304763 0304664 0304764 0304665 030476...

Page 55: ...0304664 0304764 0304665 0304765 0304944 0304945 0304946 To be provided by the System Integrator for the overall machine Fulfilled for the scope of the partly completed machine Not relevant 1 1 Essenti...

Page 56: ...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 57: ...2 Supplementary essential health and safety requirements for certain categories of machinery X 2 1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical products X 2 2 Portable hand held...

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Page 60: ...Clamping and gripping technology Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com schunk com Folgen Sie uns I Follow us 01 2021 2021 SCHUNK GmbH Co K...

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