SCHUNK RC 1212-H Assembly And Operating Manual Download

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Translation of the Original operating manual

Assembly and Operating Manual
RP / RW / RC

Gripping rotary modules

Summary of Contents for RC 1212-H

Page 1: ...Translation of the Original operating manual Assembly and Operating Manual RP RW RC Gripping rotary modules ...

Page 2: ...terations for the purpose of technical improvement Document number 389392 Version 03 00 24 01 2019 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 chal...

Page 3: ...alfunctions 11 2 10 Disposal 11 2 11 Fundamental dangers 11 2 11 1 Protection during handling and assembly 12 2 11 2 Protection during commissioning and operation 12 2 11 3 Protection against dangerous movements 12 2 11 4 Protection against electric shock 13 2 12 Notes on particular risks 14 2 12 1 Variant gripping force maintenance 15 3 Technical data 16 4 Design and description 17 4 1 Design 17 ...

Page 4: ...n signal not present 35 7 2 2 Does the module not travel through the rotating angle 35 7 2 3 Torque is diminishing 35 7 2 4 Product rotates abruptly 35 7 2 5 Product does not move smoothly to the end positions 36 7 2 6 End position signal not present 36 8 Maintenance 37 8 1 Maintenance and lubrication gripping module GM 37 8 1 1 Maintenance interval 37 8 1 2 Lubricants Lubrication points basic lub...

Page 5: ...s 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 Link Mitgeltende Unterlagen 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 inevita...

Page 6: ...on program GEMOTEC KOMBIBOX program for selection of parts list for adaptation of RP W C modules to other modules of the modular system The documents marked with an asterisk can be downloaded on our homepage schunk com 1 1 3 Variants This operating manual applies to the following variations RP RW RC without gripping force maintenance RP RW RC with gripping force maintenance K RP RW RC with grippin...

Page 7: ...ry includes Gripping rotary modules RP RW RC in the version ordered Exhaust air throttles Accessory pack 1 4 Accessories A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants see catalog data sheet 1 4 1 Sensors Overview of the compatible sensors Designation Type Inductive proximity switches...

Page 8: ...ly to categories 1 2 3 and 4 The product is intended for installation in a machine system The applicable guidelines must be observed and complied with The product is intended for industrial and industry oriented use 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 to...

Page 9: ...ll 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 Trained electrician Due to their technical t...

Page 10: ...ggles when handling haz ardous substances Wear close fitting protective clothing and also wear long hair in a hairnet when dealing with moving components 2 7 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 fu...

Page 11: ... 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 10 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 com...

Page 12: ...nded loads unattended 2 11 2 Protection during commissioning and operation Falling or violently ejected components Falling and violently ejected components can cause serious injuries and even death Take appropriate protective measures to secure the danger zone Never step into the danger zone during operation 2 11 3 Protection against dangerous movements Unexpected movements Residual energy in the ...

Page 13: ...on of the machine if this protective equipment does not function correctly 2 11 4 Protection against electric shock Possible electrostatic energy Components or assembly groups may become electrostatically charged When the electrostatic charge is touched the discharge may trigger a shock reaction leading to injuries The operator must ensure that all components and assembly groups are included in th...

Page 14: ...ed Falling and ejected objects during operation can lead to serious injury or death Take appropriate protective measures to secure the danger zone WARNING Risk of injury from unexpected movements If the energy supply is switched on or residual energy remains in the system parts may move unexpectedly and cause serious in juries Switch off the energy supply Make sure no residual energy is in the sys...

Page 15: ...ve independently in the direc tion specified by the mechanical gripping force maintenance Secure the end positions of the product with SCHUNK SDV P pressure maintenance valves WARNING Risk of injury due to uncontrolled movements While disassembling uncontrolled movements of the gripper s in dividual parts of grippers with gripping force maintenance may cause serious injuries Switch off the energy ...

Page 16: ...0 05 0 075 0 1 0 13 RC 0 06 0 1 0 18 0 35 The pneumatic piston of the gripper has different piston surface designs for opening and closing the gripper This results in differ ent gripping forces during opening and closing This must be taken into account when implementing and operating the gripper More technical data is included in the catalog data sheet Whichever is the latest version Environmental...

Page 17: ...GMD 2 Parallel gripper kit GPB 6 Rotary module RM 3 Angle gripper kit GWB 7 Drive unit GMA 4 Intermediate stop RZ 8 Grippingforcemaintenanceunit GKS 4 2 Description Gripping rotary modules of this series have a module design GMW P C gripper consisting of Gripper kit G B GMD rotation adapter optional GMA drive unit Gripping force safety device GKS optional Flat Swivel Unit RM F All components are s...

Page 18: ...mounting surface Dimensions in mm Edge length Permissible unevenness 100 0 02 100 0 05 RP W C Gripper rotary modules are fastened at the side on the base body Furthermore connection geometries for the top jaws can be found on the base jaws Dimensions for the position and size of the connection geometries Catalog data sheet of the product Mounting Ø Mount the module using the fixing bores provided ...

Page 19: ...he energy line the components lose their dynamic effects and do not remain in a secure position However the use of a SDV P pressure mainten ance valve is recommended in this case in order to maintain the dynamic effect for some time Product variants are also offered with mechanical gripping force via springs which also ensure a minimum clamping force in the event of a pressure drop Use connecting ...

Page 20: ...ular design The GM modules have a modular design The main window consists of Gripper kit GWB GCB GPB Drive unit GMA The basis module can be expanded by ordering options and ac cessories Design of the GM modules GWB Angle gripper kit GMD Rotation adapter GPB Parallel gripper kit GMA Drive unit GCB 2 jaw gripper kit GKS Gripping force maintenance device ...

Page 21: ...e of the rod Ø Insert the rod frombelowinto the GKS Order numbers of the maintenance of gripping force unit GKE 12 for GMW GMP GMC 12 gripping module GKE 16 for GMW GMP GMC 16 gripping module GKE 20 for GMW GMP GMC 20 gripping module GKE 28 for GMW GMP GMC 28 gripping module When ordering a gripping module including a gripping force main tenance unit as described in the catalog the gripping force ...

Page 22: ... the position of the adapter can secured by drilling with ø4 and pinning For this purpose the plate of the adapter is pre drilled NOTICE Risk of damage to the piston rod if the rotary adapter is drilled and pinned Observe drilling depth see table Drilling depth Adapter drilling depth A GMD 12 12 3 mm GMD 16 15 3 mm GMD 20 16 0 mm GMD 28 20 0 mm ...

Page 23: ...elivery includes the following 1x retaining plate 1x proximity switch 1x connection cable Position of the proximity switches at the GMW is analogous to the GMC and GMP 1 Proximity switch GMNS Assembly of the end position monitoring Ø Disassemble the drive unit or if need be the maintenance of gripping force unit Ø Push the holding piece into the drive unit Ø Reassemble the drive unit or if need be...

Page 24: ...t the end position dampening too 5 4 2 Setting the speed NOTICE Risk of damage to the product If the end position is approached too hard the product may be damaged Adjust exhaust throttle valve and shock absorber so that the movement is braked smoothly Ø Close exhaust throttle valve completely Ø Open exhaust throttle valve until the product starts to move Ø Continue to open the exhaust throttle va...

Page 25: ...ceived from the factory the unit is set to utilize the max imum shock absorber stroke Movement Target position End position Target time Time T Damping The shock absorber stroke is too long and the end position is reached too slowly Movement Target position End position Target time Time T Damping The shock absorber stroke is too short and the unit arrives in the end position too abruptly Movement T...

Page 26: ...ith the shock absorber 18 integrated in it Ø Tighten the stop coupling again with the counter nut Dampening adjustment NOTICE Use the shock absorber Operation without the shock absorber included within the scope of delivery is not permitted Ocserve the maximum mass moment of inertia see catalog Adjust the dampening at the mass moment of inertia See chapterSetting the swiveling time 24 The desired ...

Page 27: ...ng torque If the threaded pin is tightened with an incorrect tightening torque the product may be damaged Observe a maximum tightening torque of 10 Ncm for the set screws MQL sensor attachment 3 0 Max 10 Ncm For monitoring of the two end positions one sensor each is in stalled Piston is in the respective end position Ø Turn the sensor into the groove Ø Push the sensor into the groove until the sig...

Page 28: ...RMNS 12 Intermediate stop RZ RMNZ 12 Scope of delivery of the monitoring sets 1x retaining plate 2x 1x control cam 2x 1x proximity switch 2x 1x connection cable Setting the monitoring Piston is at the respective end or intermediate position The proximity switch is set to the switching condition When the RMNZ is used the cam is offset to the RMNS cam Ø Undo the attachment screw Ø Push the control c...

Page 29: ...The intermediate position can be adjusted over the entire range of rotation of the rotary module The intermediate stop is installed in the delivery state as shown Intermediate stop The RZL and RZK stop pistons are used as stops and for play free clamping of the intermediate position For the intermediate position 0 90 RZK and RZL stop pis tons are as shown For the intermediate position 90 180 RZK a...

Page 30: ...at 1 Ø By turning the RZK at 1 stop adjust until the stop clamps the intermediate position without play Ø Secure both stops again with the counter nut 5 4 6 2 Control RZ The intermediate stop is set Ø The positions can be controlled in accordance with the follow ing table Ø Check the positions in accordance with the recess at the rotary table Fig intermediate stop black arrows Intermediate stop RZ...

Page 31: ...le between the piston and the stop sleeve until the desired dampening adjust ment has been reached NOTICE Observe the maximum dis tance Ø Reinstall the components Intermediate stop RZ12 15 21 29 Distances for dampening adjustment Module RZ12 RZ15 RZ21 Disk X DIN 433 3 2 St DIN 433 3 2 St DIN 126 5 5 St Max distance mm 2 2 5 5 4 6 4 Position monitoring RZ For monitoring of the intermediate position...

Page 32: ...neumatic connection 18 ed has been reached The movement speed is ideally regulated via throttle check valves Pneumatic connection 18 The speed is always set so that it starts at a low speed and increases to a higher speed un til the desired operating speed has been reached Operate the device in such a way that the permissible cycle number per minute is not exceeded Use the Gemotec Tool box program...

Page 33: ...1 2 The module does not travel through the entire stroke Possible cause Corrective action Dirt deposits in the mechanical elements Clean and lubricate product Maintenance 37 Pressure drops below minimum Check air supply Pneumatic connection 18 Mounting surface is not sufficiently flat Check the evenness of the mounting sur face Mechanical connection 18 Component part defective Send product with a ...

Page 34: ...fective Replace component or send it to SCHUNK for repair 7 1 6 Is the gripper not able to grip or hold on to the workpiece Possible cause Corrective action The workpiece weighs too much Use a larger gripping module The gripper jaws are too long Place the gripping point further inside Non optimal engineering design Adapt the engineering design form fit grip ping 7 1 7 Module does not achieve the o...

Page 35: ...t with a SCHUNK repair order or dismantle product Shock absorber defective Check or if need be replace the shock ab sorber 7 2 3 Torque is diminishing Possible cause Corrective action Seals of the drive piston defective Send product with a SCHUNK repair order or dismantle product Replace the seals Positioning of the swivel table defective Send product with a SCHUNK repair order or dismantle produc...

Page 36: ... Absorber defective Replace and readjust absorbers Adjusting the end positions 26 Exhaust throttle defective Replacing the exhaust air throttle Speed of rotation too high Setting the exhaust air throttle 7 2 6 End position signal not present Possible cause Corrective action Precisely adjust the sensor for the stop Readjust the sensor Link Endlagen Abfrage Proximity switch defective or set incorrec...

Page 37: ...sliding points Isoflex Topas NCA 52 Klüber All seals Bore hole at the piston Only after disassembling the module for repairs 8 2 Maintenance and lubrication rotary module RM 8 2 1 Shock absorber NOTICE Serious mechanical damage due to failure of the shock absorbers The shock absorbers have a limited service life span A shock ab sorber failure can lead to serious mechanical damage for this reason t...

Page 38: ...ace shock absorber Recommendation for safe operation 8 2 3 Lubricants Lubrication points All product bearings are life time lubricated and do not need to be re lubricated When disassembling the product for repairs all bearings have to be cleaned and re lubricated Lubrication point Lubricant Lubricant point Lubricant Gear rack and pinion unit Isoflex Topas NCA 52 from Klüber All seals Rolling eleme...

Page 39: ...le Personnel qualification 9 The repair or elimination of defects by the customer on the mod ule results in the termination of the warranty and liability for all resulting warranty and subsequent damage It is recommended to have SCHUNK repair damaged and de fective modules WARNING Risk of injury when the machine system moves unexpectedly Switch off power supply Design of the GM modules ...

Page 40: ...epair purposes 8 4 Assembling the module WARNING Risk of injury due to spring forces during the assembly of a com pletely disassembled GKS Install the spring lock washer and circlip GKS items 6 8 and 9 with an appropriate device Maintenance Clean all parts thoroughly and check for damage and wear Treat all greased areas with lubricant Lubricants Lubrication points 38 Oil or grease bare external st...

Page 41: ...awing All other wearing parts and individual components are available in dividually according to the following sectional drawings Order numbers are composed as in the following example GMA part no 1 GMA 20 01 GWB part no 2 GWB 20 02 Sectional drawings of the GMW series Component dependent on modular design consult SCHUNK contact partner about this ...

Page 42: ...rating Manual en 389392 Sectional drawings of the GMP series Component dependent on modular design consult SCHUNK contact partner about this Sectional drawing of the GMC series Component dependent on modular design consult SCHUNK contact partner about this ...

Page 43: ...n ID number GMW P C 12 GMDI 12 0313444 GMW P C 16 GMDI 16 0313445 GMW P C 20 GMDI 20 0313446 GMW P C 28 GMDI 28 0313447 Contents of the sealing kit GMWPC assembly drawing 41 9 2 RM rotary module 9 2 1 Assembly drawing All other wearing parts and individual components are available in dividually according to the following sectional drawings Order numbers are composed as in the following example Par...

Page 44: ...cluded in their scope of delivery ID No of the seal kit Seal kit for ID number RM 06 0313465 RM 08 0313420 RM 10 0313421 RM 12 0313434 RM 15 0313435 RM 21 0313436 9 2 3 Shock absorber ID no of the shock absorber Shock absorber for ID number RP RW RC 1212 H 9953561 RP RW RC 1216 H RP RW RC 1212 W 1347865 RP RW RC 1216 W RP RW RC 1520 H 9953562 RP RW RC 1520 W 1008669 RP RW RC 2120 W 9953560 RP RW R...

Page 45: ... rotary modules RP RW RC pneumatic ID number 0313220 0313325 0314650 0314999 The partly completed machine may not be put into operation until conformity of the ma chine into which the partly completed machine is to be installed with the provisions of the Machinery Directive 2006 42 EC is confirmed Applied harmonized standards especially EN ISO 12100 2010 Safety of machinery General principles for ...

Page 46: ...ator for the overall machine Fulfilled for the scope of the partly completed 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...

Page 47: ...isks 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 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 elect...

Page 48: ...tion from Annex 1 is to be supplemented from here forward 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 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...

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