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Module design and options

01.01|RP / RW / RC 1212-2128|en

15

Module design and options

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)

•

RM 12 to 21 rotary modules

All components are separated by function; all characteristics of the
individual modules are maintained.

•

Additional details

☞

Catalog data sheet.

•

The design is shown in the chapter "Complete design"

Page 40)

.

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Содержание RC 1212

Страница 1: ...Translation of the Original operating manual Gripping rotary modules RP RW RC 1212 2128 Assembly and Operating Manual Superior Clamping and Gripping www comoso com ...

Страница 2: ... 01 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 op...

Страница 3: ...tion 9 2 6 Using personal protective equipment 10 2 7 Notes on particular risks 10 2 7 1 Variant gripping force maintenance 11 3 Warranty 12 4 Scope of delivery 12 5 Accessories 13 5 1 Sensors 13 6 Technical data 14 7 Module design and options 15 8 Assembly and settings 16 8 1 Mechanical connection 16 8 2 Air connections 17 8 3 Settings and options of the GM gripping module 18 8 3 1 GMW GMP GMC mo...

Страница 4: ... 10 12 Does the module move hard against the end positions 33 10 13 End position signal not present 34 11 Maintenance and care 35 11 1 Maintenance and lubrication gripping module GM 35 11 1 1 Maintenance and lubrication intervals 35 11 1 2 Lubricants Lubrication points basic lubrication 35 11 2 Maintenance and lubrication rotary module RM 36 11 2 1 Shock absorber 36 11 2 2 Maintenance and lubricat...

Страница 5: ...es 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 ab...

Страница 6: ...llowing variations RP RW RC without gripping force maintenance RP RW RC with gripping force maintenance K RP RW RC with gripping force maintenance S Two versions are also available for the RW type Gripper stroke mainly inwards RWI Gripper stroke mainly outwards RWA Fig 1 Type key 1 2 www comoso com ...

Страница 7: ...s of the accessories Assembly and operating manual for RM rotary modules Assembly and operating manual for GM W P C gripping mod ules Toolbox Rotation program Kombibox program for selection of parts list for adaptation of RP W C modules to other modules of the modular system The documents listed here can be downloaded on our homepage www schunk com 1 3 www comoso com ...

Страница 8: ...o 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 Not intended use Use which is not specified as an intended use is for instance when the product is for example used as a pressing tool stamping tool lifting tool guide for tools cutting tool tensioning mean boring tool Envir...

Страница 9: ...ion are contained in the relevant chapters Protective equipment Provide protective equipment per EC Machinery Directive Demands on the top jaws Arrange the top jaws such that when the product 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 Add...

Страница 10: ...nimal 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 modific...

Страница 11: ...jury due to rotating components Avoidance The danger zone must be surrounded by a safety fence during operation Variant gripping force maintenance 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 tion specified by the mechanical gripping force mainte...

Страница 12: ...ons 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 Gripping rotary modules RP RW RC in the ordered model Exhaust air throttles Accessory pack 3 4 www comoso com ...

Страница 13: ...atalog Sensors Overview of the compatible sensors Designation Type Inductive proximity switches IN Gripping movement monitoring set GMNS Rotary movement monitoring set RMNS Magnetic switch MMS 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 5 5 1 www como...

Страница 14: ...dB A 70 Pressure medium Compressed air compressed air quality ac cording to ISO 8573 1 7 4 4 Min pressure bar 3 5 Max pressure bar 8 Nominal working pressure bar 6 Size 12 16 20 28 Max permissible finger length mm RP 40 50 75 100 RW 25 30 35 40 RC 40 50 75 100 Further technical data can be found in the catalog data sheet The most recent version applies 6 www comoso com ...

Страница 15: ...nsisting of Gripper kit G B GMD rotation adapter optional GMA drive unit Gripping force safety device GKS optional RM 12 to 21 rotary modules All components are separated by function all characteristics of the individual modules are maintained Additional details Catalog data sheet The design is shown in the chapter Complete design 12 1 Page 40 7 www comoso com ...

Страница 16: ...ction The values relate to the entire bolting surface Requirements for levelness of the bolting surface Dimensions in mm Diameter 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 da...

Страница 17: ... Observe the requirements for the air supply 6 Page 14 Technical Data Use connecting wires with the same or a larger cross section as the connection thread See the catalog for precise information about the position and size of the connection geometries Fig 2 Air connections RP air connection Connection Function A Clockwise rotation direction of arrow B Counterclockwise rotation C Open the gripper ...

Страница 18: ...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 acces sories Fig 3 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 8 3 8 3 1 www comoso com ...

Страница 19: ...is completely separated GKS 1 9 from the gripper 1 Remove the rod 2 upwards 2 Mount the safety disc 8 in the lower groove of the rod 3 Insert the rod from below into 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 Wh...

Страница 20: ...described in the catalog the rotation adapter will have already been installed by SCHUNK End position monitoring To monitor the end positions standardized monitoring sets for di rect installation are available The installation of up to four monitoring sets is possible for the GMW P C 16 GMW P C 20 and GMW P C 28 types whereby four gripper jaws positions can be monitored For the GMW P C 12 type onl...

Страница 21: ... Reassemble the drive unit or if need be the maintenance of gripping force unit 4 Push the sensor into the holding piece and clamp with the fix ing screw in the holding piece This is also accessible when the cover is mounted or when the maintenance of gripping force unit is installed 1 Undo the attachment screw in the drive unit 2 Set the sensor via the holding piece 3 Fix the sensor via the attac...

Страница 22: ...ion dampening to the mass moment of inertia occurring in opera tion Stop coupling 10 Counter nut 11 Counter nut 12 Shock absorber 18 Fig 5 Adjustment of end position RM12 15 21 1 Release counter nut 11 2 Each end position can be adjusted to any angle between 5 and 90 by twisting the stop coupling 10 with the shock ab sorber 18 integrated in it 3 Tighten the stop coupling again with the counter nut...

Страница 23: ...t the mass moment of inertia The desired angle of rotation has been set 1 Release counter nut 12 2 By turning the shock absorber 18 in and out the stroke of the shock absorber and therefore the shock absorber charac teristic curve can be adjusted to the mass moment of inertia occurring in operation The previously adjusted angle of rotation is not influenced by this 3 Tighten the absorber again wit...

Страница 24: ...during assembly Do not exceed the maximum tightening torque of 10 Ncm for the set screws Fig 6 MQL sensor attachment 3 0 Max 10 Ncm Fig 7 For monitoring of the two end positions one sensor each is in stalled Piston is in the respective end position 1 Turn the sensor into the groove 2 Push the sensor into the groove until the signal is present at the output 3 Fix the magnetic switch into this posit...

Страница 25: ... 12 Scope of delivery of the monitoring sets 1x retaining plate 2x 1x control cam 2x 1x proximity switch 2x 1x connection cable 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 1 Undo the attachment screw 2 Push the control cam in the prism slot of the rotary table until the signa...

Страница 26: ...be adjusted over the entire range of rotation of the rotary module The intermediate stop is installed in the delivery state as shown Fig 9 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 and RZL stop pistons are ...

Страница 27: ...just until the stop clamps the intermediate position without play 5 Secure both stops again with the counter nut Control RZ The intermediate stop is set The positions can now be controlled in accordance with the fol lowing chart Check the positions in accordance with the recess at the rotary table shown in the chapter RZ12 15 21 intermediate stop 8 4 3 Page 26 with the black arrow Possible control...

Страница 28: ...p sleeve until the desired dampening ad justment has been reached Attention Observe the maxi mum 3 Reinstall the components 8 4 3 Page 26 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 Position monitoring RZ For monitoring of the intermediate position the RMNZ monitor ing set is available This monitoring set is ide...

Страница 29: ...nt is ideally regulated via throttle check valves 8 2 Page 17 The speed is always set so that it starts at a low speed and increases to a higher speed until the desired operating speed has been reached Set the speed of the swivel movement in such a way that the permitted swiveling time is not exceeded For calculations use our Toolbox program www schunk com Operate the device in such a way that the...

Страница 30: ...epair the proximity switch 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 The module does not travel through the entire stroke Possible cause Corrective action Deposits of dirt in the mechanical elements Clean the module and relubricate it 11 Page 35 Press...

Страница 31: ...le is defective Replacing the exhaust air throttle Operating pressure too high Setting the exhaust air throttle The gripping force drops Possible cause Corrective action Compressed air can escape Check seals if necessary disassemble mod ule and replace seals Too much grease in the mechanical motion spaces of the module Clean the module and relubricate it 11 Page 35 Pressure drops below minimum Che...

Страница 32: ...ent Possible cause Corrective action Precisely adjust the sensor for the stop Readjust the sensor Proximity switch defective or set incorrect Replace sensor Cable breakage Replacing the sensor cable Does the module not travel through the rotating angle Possible cause Corrective action The end positions are incorrectly adjusted Readjust the end positions Pressure drops below minimum Check the air s...

Страница 33: ...ause Corrective action Seals of the drive piston defective Send the module to SCHUNK with a repair order recommended Replace the seals of the drive piston Positioning of the swivel table defective Send the module to SCHUNK with a repair order Compressed air lines are blocked Check the compressed air lines for pinching or damage Does the module move hard against the end positions Possible cause Cor...

Страница 34: ...sition signal not present Possible cause Corrective action Precisely adjust the sensor for the stop Readjust the sensor Proximity switch defective or set incorrect Repair the proximity switch Cable breakage Replacing the sensor cable 10 13 www comoso com ...

Страница 35: ...cordingly Interval Mio cycles 2 Lubricants Lubrication points basic lubrication We recommend the lubricants listed During maintenance treat all greased areas with lubricant Thinly apply lubricant with a lint free cloth Lubricant point Lubricant Lever mechanism connecting member other mechanical slid ing points Isoflex Topas NCA 52 Klüber All seals Bores on the piston Only after disassembling the m...

Страница 36: ...ny mechanical impact Overloading of the unit or exceeding the permitted swivel speed can lead to drastic reduction of the service life Determine the swiveling times and the permitted stroke fre quency with Gemotec Toolbox Regularly check the shock absorber Observe the recommended maintenance intervals Maintenance and lubrication intervals NOTICE At ambient temperature above 60 C the lubricants can...

Страница 37: ...RM15 RM21 Lubricate the rotary module at the designated areas We recommend the lubricants listed During maintenance treat all greased areas with lubricant Thinly apply lubricant with a lint free cloth Greasing areas grease Lubricant point Lubricant Gear rack and pinion unit Isoflex Topas NCA 52 from Klüber All seals Rolling element and sliding sur faces of the bearings For RM06 08 10 12 only after...

Страница 38: ... 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 Fig 11 Design of the GM modules 11 3 www comoso com ...

Страница 39: ... 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 Clean all parts thoroughly and check for damage and wear Treat all greased areas with lubricant 11 2 3 Page 37 Oil or grease bare external steel parts Assembly takes place in the opposite o...

Страница 40: ...ules RP and angular gripping rotary modules RW as well as three jaw gripping rotary modules RC is illustrated in the following Fig 12 Modular design 1 3 jaw gripper kit GCB 5 Rotation adapter GMD 2 Parallel gripper kit GPB 6 Rotary module RM 3 Angle gripper kit GWB 7 Drive unit GMA 4 Intermediate stop RZ 8 Gripping force maintenance unit GKS 12 12 1 www comoso com ...

Страница 41: ...k 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 9953558 RP RW RC 1216 W RP RW RC 1520 H 9953562 RP RW RC 1520 W 9957673 RP RW RC 2120 W 9953560 RP RW RC 2128 W 12 1 1 www comoso com ...

Страница 42: ...onents are available individually 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 Fig 13 Sectional drawings of the GMW series Component dependent on modular design consult your SCHUNK contact partner about this 12 2 12 2 1 www comoso com ...

Страница 43: ...ctional drawings of the GMP series Component dependent on modular design consult your SCHUNK contact partner about this Fig 15 Sectional drawing of the GMC series Component dependent on modular design consult your SCHUNK contact partner about this www comoso com ...

Страница 44: ...e for the in tegrated rotary module All the seals are included in their scope of delivery ID No of the seal kit Seal kit for Designation 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 seal kit 12 2 1 Page 42 12 2 2 www comoso com ...

Страница 45: ...her wearing parts and individual components are available individually according to the following sectional drawings Order numbers are composed as in the following example Part no 1 RM 06 01 for RM06 rotary module Fig 16 Assembly of RM 12 15 21 RM 15 RM21 RM 12 RM15 12 3 12 3 1 www comoso com ...

Страница 46: ...ealing sets for replacement are available for the in tegrated rotary module All the seals are included 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 12 3 2 www comoso com ...

Страница 47: ...ing rotary modules RP RW RC 1212 2128 ID number 0313220 0313325 0314650 0314999 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 ...

Страница 48: ...48 01 01 RP RW RC 1212 2128 en www comoso com ...

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