Original Operating Manual
Assembly and Operating ManualGSM-P
Rotary gripping module with parallel gripper
Страница 1: ...Original Operating Manual Assembly and Operating Manual GSM P Rotary gripping module with parallel gripper...
Страница 2: ...rations for the purpose of technical improvement Document number 389104 Version 07 00 26 04 2018 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our fami...
Страница 3: ...2 8 Notes on safe operation 9 2 9 Transport 9 2 10 Malfunctions 9 2 11 Disposal 10 2 12 Fundamental dangers 10 2 12 1 Protection during handling and assembly 10 2 12 2 Protection during commissioning...
Страница 4: ...41 7 6 2 Version with maintenance of gripping force unit 42 7 6 3 Mounting orientation of the magnets item 120 44 7 7 Disassembly assembly of the DKM feed through compact module item 40 44 7 8 Replaci...
Страница 5: ...is 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 docum...
Страница 6: ...P with gripping force maintenance I D gripping IS 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 Ob...
Страница 7: ...differs from the appropriate use is regarded as misuse 2 3 Constructional changes Implementation of structural changes By conversions changes and reworking e g additional threads holes or safety devi...
Страница 8: ...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 possib...
Страница 9: ...ention and environ mental protection regulations regarding the product s applica tion field 2 9 Transport Handling during transport Incorrect handling during transport may impair the product s safety...
Страница 10: ...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 12 1 Protection during handling and ass...
Страница 11: ...avert danger Until the installed monitors become effective it must be assumed that the drive movement is faulty with its ac tion being dependent on the control unit and the current oper ating conditio...
Страница 12: ...be verified by executing regular safety measurements 2 13 Notes on particular risks DANGER Risk of fatal injury from suspended loads Falling loads can cause serious injuries and even death Stand clear...
Страница 13: ...WARNING Risk of injury from objects falling during energy supply failure Products with a mechanical gripping force maintenance can dur ing energy supply failure still move independently in the direc...
Страница 14: ...d Operating Manual en 389104 WARNING Risk of injury by parts becoming detached and destruction of the rotary actuator if the shock absorbers are defective Avoidance measures Regular visual inspections...
Страница 15: ...70 Pressure medium Compressed air compressed air quality according to ISO 8573 1 7 4 4 Nominal working pressure bar 6 Min pressure bar for gripping without gripping force maintenance with gripping for...
Страница 16: ...p Item 205 3A 3B 3C Thread diameter for screwing through for mounting the unit at the side M4 Item 232 M5 Item 232 4A 4B 4C Thread diameter and max depth of engagement for screw connection for lateral...
Страница 17: ...carried out from the side of the unit using the A2 screws included in the accessory pack 3A 3B or 3C For mounting from the customer specific opposite side there are threads in the housings the A2 scre...
Страница 18: ...e central air unit must be equipped with a maintenance unit that is located as near as possible to the consumer NOTICE If the end positions of the stroke and swivel movements are not impact free and b...
Страница 19: ...the modules with a base cross section of 25x25 are slightly offset from center If direct connections a d are used use the locking screws in cluded in the accessory pack for the corresponding main con...
Страница 20: ...on on handling sensors is available at schunk com or from SCHUNK contact persons 4 3 1 Overview of sensors Designation GSM P 22 32 42 52 Magnetic switch MMS 30 X X X X Inductive proximity switch IN 80...
Страница 21: ...osition 2 in the right rotating angle end position signals SGR1 and SGR2 3 Stop for MMS P Determining the clamping position of the MMS P sensor Monitoring GSM locations positions end positions SGL1 le...
Страница 22: ...tion is always reached when a swichting point of the sensor of the left groove SGL1 or SGL2 is active The right rotating angle end position is always reached when a swichting point of the sensor of th...
Страница 23: ...products are prepared for this Fix the sensor with the Allen key Should there be no mark on the housing insert the magnetic switch according to dimension l2 or according to dimension l1 and then fix i...
Страница 24: ...ch position a little bit closer than for the automatic mode The trigging point is closer to the switching point At the same time the susceptibility to trouble and damage increases In the mode of the l...
Страница 25: ...unting kit for INW 40 0304937 NOTE The monitoring of swiveling and grasping movements with an in ductive proximity switch can yield reliable results only in the ranges of 0 3 and 180 3 or 0 3 and 90 3...
Страница 26: ...inductive monitoring with INW 40 of GSM Dampened sensor 1 Rotating angle end position in counterclockwise direction with opened gripper 2 Rotating angle end position in counterclockwise direction wit...
Страница 27: ...inductive monitoring with INW 40 of GSM Dampened sensor 1 Rotating angle end position in counterclockwise direction with opened gripper 2 Rotating angle end position in counterclockwise direction wit...
Страница 28: ...tion exactly above the 0 swivel position Mount the inductive proximity switch INW 40 into the plastic holders 300 It is advised to set the switching distance of all four proximity switches under the s...
Страница 29: ...d Should a signal be received too early this can be corrected by increasing the switching distance which however also affects the sensitivity of the switching function Assembly of GSM with inductive m...
Страница 30: ...on NOTICE Damage to the unit during assembly When inserting the cylindrical pins or centering sleeves the unit must not be subjected to any impact Mounting of a customized construction to the gripper...
Страница 31: ...y to the max projection dimension B For the projection dimensions A and B see following table Total rotating angle range Once you have set the angle of traverse tighten the lock nut 124 Load connectio...
Страница 32: ...e following chapters for S Versions Replacing a shock absorber for S variants 46 for E Versions Replacing an elastomer for E variants 47 NOTICE The permissible minimum and maximum projections are to b...
Страница 33: ...e 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 angle S...
Страница 34: ...talog pages 5 1 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 th...
Страница 35: ...d from the factory the unit is set to utilize the max imum shock absorber stroke Movement Target position End position Target time Time T Dampening The shock absorber stroke is too long and the end po...
Страница 36: ...nd Operating Manual en 389104 5 3 Restart after long standstill During a longer standstill no compressed air must be allowed to be present at the gripper If problems occur during restart see Swivel mo...
Страница 37: ...pressed air lines between the product and directional control valve as short as possible Flow rate of valve is sufficiently large relat ive to the compressed air consumption NOTICE The throttle check...
Страница 38: ...ith base jaws as a set NOTICE The needle rollers are suitable only for this gripper and cannot be replaced with needle rollers belonging to another gripper of the same type and size 7 2 Maintenance an...
Страница 39: ...15 Item 35 Item 85 Item 122 Mixture of Interflon Fin assembly grease for In terflon Fin Lupe EP mass ratio 1 1 Item 103 Item 11 Item 82 Item 42 Item 43 Item 44 Item 46 Item 51 Item 52 Item 53 Item 58...
Страница 40: ...FAN 64 3 1 Nm 7 5 Disassembly assembly of the unit in the basic modules Position of the item numbers Drawings 50 Disassembly Remove the compressed air lines Turn the gripping module GSM into the middl...
Страница 41: ...ngs 102 from the piston Loosen the screws 112 and remove the holders 8 Take the needle rollers 15 out of the cover housing and re move the needle rollers 13 and 14 Use the piston rod 4 to pull the fin...
Страница 42: ...unit WARNING Risk of injury due to spring forces With the O D gripping version the bushing 46 or cover hous ing 35 is under spring tension WARNING Risk of injury due to spring forces With the I D gri...
Страница 43: ...e gripper disassembly without main tenance of the gripping force Version without maintenance of gripping force unit GSM P 41 However the bushing has item 46 and a spring 121 is installed to maintain t...
Страница 44: ...or 46 is re placed a new set of fitting disks 111 and 112 must be ordered NOTICE The balls 142 lie loosely in the DKM GSM ball guide 85 Disassembly In order to start disassembling the DKM the steps of...
Страница 45: ...axial bearing seat of the bushing with the fitting disks 111 or 112 Set DKM stop 1 81 onto the bushing and fasten it to the bush ing using the screws 140 Grease the DKM ball guide 85 Turn the bushing...
Страница 46: ...ing a damper the complete additional parts list for hydraulic dampening should be ordered Proceed as follows with the replacement Remove the compressed air lines Loosen the counter nut 124 Remove the...
Страница 47: ...dered Proceed as follows with the replacement Remove the compressed air lines Loosen the counter nut 124 Remove the shock absorber 121 from the unit and remove the sleeve 122 If the latter cannot be l...
Страница 48: ...position on the stop rotor 58 and grease the two parts completely again Put the stop rotor in the correct position in the intended fit in the upper rotor housing 51 Grease the entire rotor 53 except...
Страница 49: ...bricant Grease greasing areas 39 Oil or grease bare external steel parts Replace all wear parts seals Position of the wearing parts Drawings 50 Seal kit Seal kit 53 Assembly Assembly takes place in th...
Страница 50: ...ng figures are example images They serve for illustration and assignment of the spare parts Variations are possible depending on size and variant 8 1 Assembly drawing of the basic module Basic module...
Страница 51: ...Assembly and Operating Manual en 389104 51 8 2 Assembly drawing of the DKM and FAN modules DKM and FAN overview Included in the seal kit Seal kit can only be ordered completely Only for the basic size...
Страница 52: ...d Operating Manual en 389104 8 3 Assembly drawing of the gripping modules Assembly drawing of the basic modules Included in the parts list for the DKM feed through compact module Item 113 only availab...
Страница 53: ...ation 53 5514529 1 Rotor FLU 40 59 9939734 1 Stop seal SFL 40 109 9611155 2 O ring DIN3771 NBR70 2 5x1 131 9611155 4 O ring DIN3771 NBR70 2 5x1 132 9611086 2 O ring DIN3771 NBR70 6x2 FAN 64 ID No of t...
Страница 54: ...36332 1 O ring DIN3771 NBR70 16x2 101 9610005 1 Quad ring AS568A NBR70 6 07x1 78 4010 102 9612610 2 Cylinder seal 16x10x2 55 Z8 1610 N3580 103 9939719 3 O ring DF coated 18x1 NBR70 P 40 ID No of the s...
Страница 55: ...ring AS568A NBR70 8 20x1 78 4012A 102 9937411 2 Cylinder seal 25x19x3 25 Z8 2519 N3580 103 9937577 3 O ring DF coated 26 70x1 76 NBR70 P 64 ID No of the seal kit 5516263 Item ID number Quantity Design...
Страница 56: ...10 Accessory pack rotational speed rotor FAN Position of the item numbers Drawings 50 Content of the accessory pack Centering sleeves 205 or 206 O rings 207 Steel balls 108 Locking screws 230 Screws 2...
Страница 57: ...304751 304652 304752 304660 304760 304661 304761 304662 304762 303830 303930 303831 303931 303832 303932 303840 303940 303841 303941 303842 303942 303850 303950 303851 303951 303852 303952 303860 303...
Страница 58: ...3840 303940 303841 303941 303842 303942 303850 303950 303851 303951 303852 303952 303860 303960 303861 303961 303862 303962 To be provided by the System Integrator for the overall machine Fulfilled fo...
Страница 59: ...ments 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...
Страница 60: ...s to be supplemented from here for ward 2 Supplementary essential health and safety requirements for certain categories of machinery X 2 1 Foodstuffs machinery and machinery for cosmetics or pharmaceu...
