SCHUNK PZN-plus Assembly And Operating Manual Download Page 1

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Translation of the original manual

3-Finger Centric Gripper
PZN-plus

Assembly and Operating Manual

03.01/3-Finger Centric Gripper PZN-plus/en

Summary of Contents for PZN-plus

Page 1: ...Translation of the original manual 3 Finger Centric Gripper PZN plus Assembly and Operating Manual 03 01 3 Finger Centric Gripper PZN plus en ...

Page 2: ...uffen Neckar All rights reserved Dear customer congratulation 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 wil...

Page 3: ...anges attachments or modifications 8 2 5 Personnel qualification 8 2 6 Using personal protective equipment 9 2 7 Notes on particular risks 9 2 7 1 Variant gripping force maintenance 10 3 Warranty 11 4 Scope of delivery 11 5 Accessories 12 5 1 Sensors 12 6 Technical Data 13 7 Assembly 15 7 1 Mechanical connection 15 7 1 1 Fastening of the gripper 15 7 1 2 Fastening the gripper with spring loaded pr...

Page 4: ... maintenance 38 9 4 3 Version with gripping force maintenance O D 39 9 4 4 Version with gripping force maintenance I D 40 9 4 5 Variant with power booster cylinder KVZ 41 9 5 Servicing and assembling the module 42 9 5 1 Assembly mounting device 43 9 5 2 mounting device gripping force maintenance 45 9 5 3 Assembly option HUE protective cover 47 9 5 4 Increasing the IP protection class through use o...

Page 5: ...gs The following signal words and symbols are used to highlight dan gers Signal 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 CAUTION Information about avoiding material damage Symbols Warning abou...

Page 6: ...evice I D gripping PZN plus Force intensified version PZN plus dust protection version PZN plus ATEX Version EX PZN plus Anti corrosion version PZN plus Precision version Applicable documents General terms of business SCHUNK catalogue gripping modules Supplementary sheet Installation and operating instructions EX Assembly and Operating Manuals for sensors Calculation program for gripping modules S...

Page 7: ...echnical data and installation and operation notes in this manual and to comply with the maintenance intervals Not intended use It is not an intended use if the module is used for example as a pressing tool stamping tool lifting gear guide for tools cutting tool clamping device or a drilling tool Environmental and operating conditions Make sure that the module and the top jaws are a sufficient siz...

Page 8: ...he module is depressurized it can reach one of the end positions either open or closed and therefore no residual energy can be released when changing the top jaws 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 c...

Page 9: ...tment 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 module Perform maintenance modifications and additions outside the danger zone For all work secure the unit against accidental operation Take a precautionary approach by maintenance and disassem bly Only s...

Page 10: ...th a mechanical gripping force maintenance can dur ing energy supply failure still move independently in the direc tion specified by the mechanical gripping force maintenance Avoidance Secure the end positions of the module with SCHUNK SDV P pressure maintenance valves WARNING Risk of injury due to residual energy in the gripper because of gripping force maintenance by springs 2 7 1 ...

Page 11: ...peration Observation of the maintenance and lubrication intervals Observation of the ambient conditions and operating condi tions Parts touching the workpiece and wearing parts are not part of the warranty If necessary check the application with the calculation program for gripping modules SSG Scope of delivery The scope of delivery includes 3 Finger Centric gripper PZN plus in the ordered model a...

Page 12: ...signation Type Inductive proximity switches IN Magnetic switch MMS Magnetic switch RMS Position monitoring FPS Programmable magnetic switch MMS P Overview of the compativle sensors Exact type designation of the compatible sensors see catalog If you require further information on sensor operation contact your SCHUNK contact person or download information from our homepage For mounting the sensors m...

Page 13: ...g Dust protection version without gripping force maintenance with gripping force maintenance device 0 16 0 18 0 33 0 41 0 6 0 71 1 0 1 17 1 9 2 44 recommended workpiece weight kg Stroke 1 Stroke 2 1 3 1 3 1 65 3 4 2 9 4 85 5 0 11 5 9 0 20 0 Max permitted weight per finger kg 0 1 0 18 0 35 0 6 1 1 Fluid consumption per double stroke cm3 without gripping force maintenance with gripping force mainten...

Page 14: ...g force maintenance device 2 9 3 7 6 5 8 9 12 16 7 21 5 25 5 35 5 46 0 recommended workpiece weight kg Stroke 1 Stroke 2 15 5 29 0 30 0 55 0 35 5 63 5 50 0 100 5 72 5 127 5 Max permitted weight per finger kg 2 1 3 5 6 5 8 5 11 5 Fluid consumption per double stroke cm3 without gripping force maintenance with gripping force maintenance device 230 383 520 875 1040 1725 1780 3090 2850 5050 Min pressur...

Page 15: ...ary sheet Installation and operating instructions EX for modules in explosion resistant versions EX WARNING Risk of injury when the machine system moves unexpectedly Remove the energy supplies The values relate to the entire bolting surface Edge length mm Permissible unevenness mm 100 0 02 100 0 05 Demands on the evenness of the bolting surface 7 7 1 7 1 1 Check the evenness of the bolting surface...

Page 16: ...10 3 x M12 3 x M16 3 x M20 40 50 64 80 100 125 160 200 240 300 380 Thread diameter max depth of engagement for finger fastening M2 5 6 M3 8 M4 10 M5 10 M6 13 M10 17 M12 17 M12 20 M16 26 M20 30 mounting material provided by customer NOTE For mounting from the rear or side fix the module on the pro posed fixing bores Mount the module using the mounting bores Mount the top jaws using the mounting bor...

Page 17: ...ded pressure piece Before assembly the spring loaded pressure piece must be disas sembled NOTICE The pressure piece is spring loaded 1 2 3 4 5 6 Fig 2 1 Pressure piece 71 2 Mounting screws 73 3 Guide bolt 72 4 Sealing ring from size PZN plus 100 76 5 Set screws 74 6 Compression spring 75 7 1 2 ...

Page 18: ...e set screw a little 74 and secure it with Loctite No 243 Air connection DANGER Danger of explosion in explosion risk areas Follow the instructions in supplementary sheet Installation and operating instructions EX for modules in explosion resistant versions EX WARNING Risk of injury when the machine system moves unexpectedly Remove the energy supplies Make sure that no residual energy remains in t...

Page 19: ...2 x M3 2 x M4 2 x M4 2 x M5 2 x M4 2 x M5 2 x M5 2 x M8 3 air purge connection M3 M5 thread diamteter of the air connections Only open the air connections required Seal air connections not required using the locking screws from the enclosed pack For hose free direct connections use the two O rings from the enclosed pack If the max permitted finger weight is exceeded it is imperative to throttle th...

Page 20: ...ximity switch IN 80 Fig 4 Connection example for IN 80 1 brown 2 black 3 blue The inductive proximity switches used are equipped with reverse polarity protection and are short circuit proof Make sure that you handle the proximity switches properly Do not pull on the cable Do not allow the sensor to dangle from the cable Do not overtighten the mounting screw or mounting clip Please adhere to a perm...

Page 21: ...2 2 2 1 1 3 3 15 17 17 15 Fig 5 NOTE The open switching point position for proximity switches 1 and 2 and the closed position for proximity switch 3 were pre set by SCHUNK In the version with dust cover 10 2 Page 51 remove the seal ing bolts 85 first in order that the proximity switch can be mounted The set screws 49 must be un screwed completely before the operating cams can be adjusted Gripper o...

Page 22: ...osing the gripper 6 In case of version with dust cover please close the thread at the lateral cover with the supplied set screws Part gripped I D gripping 1 Insert proximity switch 1 as far as the stop in the bracket 17 and fasten it by tightening the screw 17a 2 Clamp the component to be gripped 3 Untighten the screw 42 In case of versions with dust cover the set screws from the lateral cover hav...

Page 23: ...ning torque of 10 Ncm for the set screws NOTE Ferromagnetic material changes the switching positions of the sensor 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 The RMS sensors have a larger hysteresis than the MMS sensors This means that short gripper...

Page 24: ...altet 4 Clamp the solenoid switch 1 1 in this position by tightening the set screw 3 5 Perform a function test by closing and opening the gripper Gripper closed 1 Move the gripper to the closed position 2 Insert solenoid switch 2 2 in the groove 4 until it switches 3 Clamp the solenoid switch 2 2 in this position by tightening the set screw 3 4 Perform a function test by closing and opening the gr...

Page 25: ... by tightening the set screw 3 4 Perform a function test by closing and opening the gripper Part gripped I D gripping 1 Clamp the component to be gripped 2 Insert the solenoid switch 1 4 in the groove 4 until it switches 3 Magnetschalter 1 1 langsam wieder zurück ziehen bis dieser schaltet 4 Clamp the solenoid switch 1 1 in this position by tightening the set screw 3 5 Perform a function test by c...

Page 26: ...isplay 3 LED display 6 Ribs for cable ties Fig 10 Connection diagram for PNP 4 conductor MMS P 22 Types that can be ordered 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 by means of 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 senso...

Page 27: ...ates The module must firstly be mounted on the adapter plate Then the positions of the magnetic switch have to be set A A l 1 l 2 1 2 Fig 11 1 Slide or turn in the magnetic switch 1 into the groove until it bears against the stop 2 if available 2 If there is no terminal stop then slide the magnetic switch ac cording to dimension l2 bottom edge of gripper up to front side of sensor or according to ...

Page 28: ...32 2 125 23 6 32 5 50 IS 23 2 32 1 125 AS 47 9 56 8 50 KVZ 30 8 39 7 125 IS 48 1 57 0 50 AS KVZ 41 2 50 1 125 KVZ 58 6 67 5 50 IS KVZ 41 2 50 1 125 AS KVZ 83 1 92 0 64 15 6 24 5 125 IS KVZ 83 1 92 0 64 AS 29 1 38 0 160 27 0 35 9 64 IS 29 1 38 0 160 AS 57 3 66 2 64 KVZ 36 6 45 5 160 IS 57 0 65 9 64 AS KVZ 50 1 59 0 160 KVZ 67 0 75 9 64 IS KVZ 50 1 59 0 160 AS KVZ 97 0 105 9 80 18 0 26 9 160 IS KVZ ...

Page 29: ...lly into the slot until it contacts the stop 5 3 Fix the sensor with an Allen wrench 6 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...

Page 30: ...uarantee 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 switch ing points you may correct the value as follows The sensor avoids a too small hysteresis during hysteresis adjust ment The lowest secur...

Page 31: ...ensor FPS M8 the grippers have to be retrofitted with a special mounting kit This mounting kit is availa ble from SCHUNK for the models below see catalog PZN plus 64 1 PZN plus 64 2 PZN plus 80 1 PZN plus 80 2 PZN plus 100 1 PZN plus 100 2 PZN plus 125 1 PZN plus 125 2 PZN plus 160 1 PZN plus 160 2 PZN plus 200 1 PZN plus 200 2 PZN plus 240 1 PZN plus 240 2 PZN plus 300 2 7 3 4 ...

Page 32: ...itoring along with the in ductive proximity switch 5 and the two screws 42 and 43 from the base jaw 2 7 2 With the chamfered side to the front insert the operating cam 21 23 into the base jaw 2 7 and screw it with the screw provided 38 3 First insert the spacer 26 and then flexible position sensor FPS M 8 through the bracket 17 into the special hole drilled in the housing 1 to the stop and clamp t...

Page 33: ...ve 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 If necessary check the application with the calculation program for gripping modules SSG The module does not travel through the entire stroke Possible cause Corrective action Dirt deposits between the cover...

Page 34: ...ly level Check the levelness of the bolting surface One way flow control valves missing or set incorrect Mount one way flow control valves and set Load to great Check the permissible mass and length of the top jaws 7 1 1 Page 15 The gripping force drops Possible cause Corrective action Compressed air can escape Check seals if necessayy disassemble mod ule an replace seals Too much grease in the me...

Page 35: ...e sufficiently large relative to the com pressed air consumption Compressed air lines between module and control valve shoud be kept as short as poss ible Flow rate of valve is sufficiently large rela tive to the compressed air consumption NOTICE The one way flow control valves must not be removed even when the grip per has not reached the opening and clos ing times If desipte of optimal air conne...

Page 36: ...other To have these parts replaced send the complete module along with a repair order to SCHUNK Maintenance of module with gripping force maintenance A D gripping A D The pistons have to be aligned using an assembly device There fore we recommend to have the module serviced and the seals re placed by SCHUNK If this is not possible you can carry out the maintenance and re place the seals yourself M...

Page 37: ... lubricating nip ples The lubricating nipples can be used instead of the air purge connection Remove the two set screws for the air purge connection and re place them with two conical grease nipples Disassembly of the module Variant with dust cover In variant with dust cover the dust cover must be removed first 1 Completely unscrew the screws 92 and remove the plain washers 93 and centering sleeve...

Page 38: ... the pressure piece the pressure piece is spring loaded 2 Carefully undo the set screw 74 and pull out the pressure piece 3 Undo the screws 47 and then remove the cover plate 5 4 Mark the installation position for the piston 3 8 and the base jaw in the housing 5 Undo the screws 41 and then remove the cover 4 6 Mark the installation position between the cylinder piston 6 and the housing 1 Fully und...

Page 39: ...sk of injury due to spring forces The lid is under spring tension Carefully disassemble the module WARNING Risk of injury due to spring forces The cylinder piston is under spring tension Carefully disassemble the module 1 Remove air pressure lines 2 Undo the screws 47 and then remove the cover plate 5 3 Mark the installation position for the piston 3 8 and the base jaw in the housing 4 Carefully c...

Page 40: ...et SCHUNK to disassemble the gripper for the purpose of mainten ance and seal replacement Danger due to very high spring forces WARNING Risk of injury when the machine system moves unexpectedly Remove the energy supplies Make sure that no residual energy remains in the system WARNING Risk of injury due to spring forces The lid is under spring tension Carefully disassemble the module 1 Remove air p...

Page 41: ...air pressure lines WARNING In the version with spring loaded pressure piece bear in mind that this component is under spring tension 2 Unscrew the screws 47 and then detach the cover plate 5 3 Mark the installation position of the piston 3 and the base jaws 2 in the housing 1 4 Unscrew the screws 54 57 and then detach the cover 4 5 Unscrew the screw 51 and remove the cylinder piston 6 and spacer p...

Page 42: ...Oil or grease bare outside steel parts Assembly takes place in the opposite order to disassembly Ob serve the following Unless otherwise specified secure all screws and nuts with Loc tite no 243 and tighten with the appropriate tightening torque 9 5 5 Page 49 In the case of the version with gripping force maintenance for O D gripping the sizes 40 100 have to be mounted with the aid of an assembly ...

Page 43: ...ase the centring bore with Renolit HTL 2 2 Insert the springs 25 into the housing through the centring bore 3 Place the cylinder piston 10 on the centring bore and press it evenly into the bore by hand CAUTION do not tilt it until the cylinder piston comes up against the spring 4 Insert screw 45 and applying gentle pressure screw it into the piston 3 8 5 Remove the devices fit the seals 32 and the...

Page 44: ...ng through the centring bore 3 Place the cylinder piston 10 on the centring bore and press it evenly into the bore by hand CAUTION do not tilt it until the cylinder piston comes up against the spring 4 Insert the screw 45 in the piston 5 Position device 2 103 in place and screw it evenly with the screws 104 to device 1 100 6 Insert screw 45 and screw it into the piston 3 8 7 Remove the devices fit...

Page 45: ... 5 2 M3 PZN plus 50 50 20 34 3 M3 PZN plus 64 64 20 45 4 M5 PZN plus 80 80 20 58 5 M6 PZN plus 100 100 30 78 5 M6 PZN plus 125 125 60 125 40 94 5 94 5 6 M8 M8 9 18 PZN plus 160 160 75 160 40 127 5 127 5 6 M8 M8 9 20 PZN plus 200 200 90 200 50 165 165 8 M10 M10 11 22 PZN plus 240 240 105 240 60 200 200 8 M12 M12 13 24 PZN plus 300 300 120 300 70 230 230 10 M16 M16 17 26 PZN plus 380 380 135 380 80 ...

Page 46: ... 184 40 60 PZN plus 240 220 190 5 75 2 110 206 7 55 30 220 40 65 PZN plus 300 270 225 2 94 130 249 65 30 265 50 70 PZN plus 380 340 294 5 170 170 294 5 85 50 340 60 80 mounting device cylinder piston Dimensions in mm Type screw 1 DIN EN ISO 4762 screw 2 DIN EN ISO 4762 PZN plus 40 M3 x 20 PZN plus 50 M3 x 25 PZN plus 64 M5 x 30 PZN plus 80 M6 x 35 PZN plus 100 M6 x 40 PZN plus 125 M8 x 50 M8 x 40 ...

Page 47: ...he front 7 Page 15 before assembling the HUE protective cover option WARNING Risk of injury when the machine system moves unexpectedly Remove the energy supplies 1 Pull the protective cover 74 over the housing 1 2 Insert the intermediate jaws 72 into the protective cover 74 3 Fix the protective cover 74 with the screw clamps 77 to the intermediate jaws 72 and the screw clamp 78 around the housing ...

Page 48: ... class through use of the HUE protective sleeve Fig 19 Item Designation 1 Screw on plate 2 HUE protective sleeve for the respective unit size 3 Peripheral closed fillet weld between screw on plate and protective sleeve To be provided by customer Special sealing agent from SCHUNK recommended 9 5 4 ...

Page 49: ...dge for manual or com pressed air gun Manufacturer Henkel KGaA www henkel com Screw tightening torques position of the position numbers 10 Page 50 Type Item 40 Item 41 Item 45 Item 46 Item 51 PZN plus 40 2 2 Nm 0 45 Nm 4 9 Nm 0 45 Nm PZN plus 50 5 9 Nm 1 2 Nm 10 Nm 1 2 Nm PZN plus 64 12 Nm 1 2 Nm 14 Nm 1 2 Nm 12 Nm PZN plus 80 12 Nm 1 3 Nm 14 Nm 1 3 Nm 12 Nm PZN plus 100 20 Nm 1 3 Nm 29 Nm 2 9 Nm ...

Page 50: ...he following figures are example images They serve for illustration and assignment of the spare parts Variations are possible depending on size and variant Variant without dust cover Fig 20 Assembly of the variants O D gripping I D gripping without gripping force maintenance 10 10 1 ...

Page 51: ...s en 51 Wearing part replace during maintenance Included in the seal kit Seal kit can only be ordered compeltely not for PZN plus 40 125 from size PZN plus 125 from size PZN plus 160 Assembly of the dust cover 92 89 81 82 85 90 49 83 87 84 86 91 Fig 21 10 2 ...

Page 52: ...Gripper PZN plus en Assembling the power booster cylinder Fig 22 Wearing part replace during maintenance Included in the seal kit Seal kit can only be ordered compeltely not for PZN plus 64 125 from size PZN plus 125 from sizee PZN plus 160 10 3 ...

Page 53: ...Assembly drawing 03 01 3 Finger Centric Gripper PZN plus en 53 Assembly of the protective cover Fig 23 10 4 Finger fixing ...

Page 54: ...6 395516816 5518721 PZN plus 64 0303450 39303450 5518722 5515869 PZN plus 80 0303451 39303451 5518723 5515870 PZN plus 100 0303452 39303452 5518724 5515871 PZN plus 125 0303453 39303453 5518725 5515872 PZN plus 160 0303454 39303454 5518726 5515873 PZN plus 200 0303455 39303455 5518727 PZN plus 240 0303456 39303456 5518728 PZN plus 300 0303457 39303457 5518729 PZN plus 380 0303458 39303458 ID No of...

Page 55: ...5 PZN plus 50 5520796 5520797 PZN plus 64 5512728 395512728 PZN plus 80 5512729 395512729 PZN plus 100 5512730 395512730 PZN plus 125 5512731 395512731 PZN plus 160 5512732 395512732 PZN plus 200 5512733 395512733 PZN plus 240 5514005 395514005 PZN plus 300 5514240 395514240 PZN plus 380 5520730 ID No of the accessory pack Contents of the enclosed pack 10 Page 50 12 ...

Page 56: ...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 1 Safety of machines Basic concepts general principles for design Part 1 Basic terminology methodology EN ISO 12100 2 Safety of machines Basic concepts general principles for design Part 2 Technica...

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