Translation of the original manual

Long-stroke Electric Gripper LEG 400 / 760

Assembly and Operating Manual

Superior Clamping and Gripping

Imprint

Imprint
Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely supplied to our customers and operators of our products and forms part of the product. This documentation may not be duplicated or made accessible to third parties, in particular competitive companies, without our prior permission. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: 0389184 Edition: 01.06 |20/02/2014|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 operation manual will support you. Do you have further questions? You may contact us at any time even after purchase. Kindest Regards Yours SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr. 106 134 D-74348 Lauffen/Neckar Tel. +49-7133-103-0 Fax +49-7133-103-2399 info@de.schunk.com www.schunk.com

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Table of contents

Table of contents
1 About this manual .................................................................................................... 4 1.1 Warnings ................................................................................................................... 4 1.1.1 Key words ...................................................................................................... 4 1.1.2 Symbols ......................................................................................................... 4 1.2 Variants ..................................................................................................................... 4 1.3 Applicable documents .............................................................................................. 5 Basic safety notes ..................................................................................................... 6 2.1 Intended use ............................................................................................................. 6 2.2 Environmental and operating conditions................................................................. 6 2.3 Product safety........................................................................................................... 7 2.3.1 Protective equipment ................................................................................... 7 2.3.2 Constructional changes, attachments, or modifications .............................. 7 2.4 Personnel qualification ............................................................................................. 7 2.5 Using personal protective equipment...................................................................... 8 2.6 Notes on particular risks........................................................................................... 8 Warranty .................................................................................................................. 9 Scope of delivery ...................................................................................................... 9 Accessories ............................................................................................................... 9 Technical data ......................................................................................................... 10 Assembly ................................................................................................................. 11 7.1 Assembly of the servo motors................................................................................ 11 7.2 Mechanical connection .......................................................................................... 15 7.3 Electrical connection .............................................................................................. 15 7.4 Interfaces for top jaws............................................................................................ 16 Commissioning ........................................................................................................ 17 8.1 Gripping process - speeds of the process .............................................................. 17 Troubleshooting ...................................................................................................... 18 9.1 Module does not move? ........................................................................................ 18 9.2 The gripping force drops? ...................................................................................... 18 9.3 The module does not travel through the entire stroke? ....................................... 18

3 4 5 6 7

8 9

10 Maintenance and care ............................................................................................. 19 10.1 Observation of the maintenance and lubrication intervals ................................... 19 10.2 Lubricants/Lubrication points (basic lubrication) ................................................ 19 10.3 Servicing the gripper .............................................................................................. 20 11 Translation of original declaration of incorporation ................................................. 23

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About this manual

1 About this manual

This instruction is an integral part of the product and contains important information for a safe and proper assembly, commissioning, operation, maintenance and help for easier trouble shooting. Before using the product, read and note the instructions, especially the chapter "Basic safety notes".

1.1 Warnings
The following key words and symbols are used to highlight dangers. 1.1.1 Key words DANGER WARNING CAUTION NOTICE Dangers for persons. Non-compliance will inevitably cause irreversible injury or death. Dangers for persons. Non-compliance may cause irreversible injury or death. Dangers for persons. Non-observance may cause minor injuries. Information about avoiding material damage 1.1.2 Symbols Warning about a danger point Warning about hand injuries General mandatory sign to prevent material damage

1.2 Variants
This operating manual applies for the following variations LEG 400 LEG 760

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About this manual

1.3 Applicable documents

General terms of business SCHUNK catalog Gripping modules Assembly and Operating manuals of the accessories The documents listed here, can be downloaded on our homepage www.schunk.com

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Basic safety notes

2 Basic safety notes

2.1 Intended use
The product was designed to grip and to temporarily and securely hold workpieces and objects. The product is intended for installation in a machine/system. The requirements of the applicable guidelines must be observed and complied with. The product may be used only in the context of its defined application parameters ( 6, Page 10). The product is designed for industrial use. To 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.

2.2 Environmental and operating conditions

Ensure that the module and the top jaws are adequately dimensioned according to the application. Ensure that the environment is clean. Observe the maintenance and lubrication intervals ( 10.1, Page 19). Ensure that the environment is free of splashing water and vapors, and also of abrasive dust and process dust.

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Basic safety notes

2.3 Product safety

Dangers arise from the product, if: the product is not used in accordance with its intended purpose. the product is not installed or maintained properly. the safety and installation notes are not observed. Avoid any manner of working that may interfere with the function and operational safety of the product. Wear protective equipment.
NOTE

More information are contained in the relevant chapters. 2.3.1 Protective equipment Provide protective equipment per EC Machinery Directive. 2.3.2 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.

2.4 Personnel qualification

The assembly, initial commissioning, maintenance, and repair of the product may be performed only by trained specialist personnel. Every person called upon by the operator to work on the product must have read and understood the complete assembly and operating manual, especially the chapter "Basic safety notes" ( 2, Page 6). This applies particularly to personnel only used occasionally, such as maintenance personnel.

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Basic safety notes

2.5 Using personal protective equipment

When using this product, observe the relevant industrial safety regulations and use the personal protective equipment (PPE) required! Use protective gloves, safety shoes and safety goggles. Observe safe distances. Minimal safety requirements for the use of equipment.

2.6 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 connected. Do not reach into the open mechanism or the movement area of the unit. Perform maintenance, modifications, and additions outside the danger zone. Secure the product during all operations against uncontrolled activation. Take a precautionary approach by maintenance and disassembly. Only specially trained staff should disassemble the product.

WARNING
Risk of injury from objects falling and being ejected The danger zone must be surrounded by a safety fence during operation.

WARNING
Risk of injury from falling objects in case of failure of the power supply Avoidance: Use of a servo motor with holding brake.

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Accessories

3 Warranty
The warranty is valid for 24 months from the delivery date to the production facility under the following conditions: 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.

4 Scope of delivery
The scope of delivery includes: Long-stroke Electric Gripper LEG in the ordered model. Accessory pack

5 Accessories
A wide range of accessories are available for this module. For information about which accessories can be used with the appropriate product version catalog.

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Technical data

6 Technical data
Further technical data can be found in the catalog data sheet. The most recent version applies. Size -1 Basic operating data Max. motor torque [Nm] Max. rotation speed [min-1] Transmission [mm/360] Transmission toothed gear Number of teeth pulley motor Number of teeth pulley spindle Spindle pitch Max. impact speed [mm/s] Ambient temperature [C] Min. Max. IP rating Noise emission [dB(A)] Mechanical operating data Stroke per finger [mm]
NOTE

400 -2 0.75 4000 54/13 13/18 18 13 3 10 +5 +55 20 70 101 1.0 4000 54/13 13/18 18 13 3 10 +5 +55 20 70 281 -1

760 -2 0.75 4000 54/13 13/18 18 13 3 10 +5 +55 20 70 281

1.0 4000 54/13 13/18 18 13 3 10 +5 +55 20 70 101

You can find more electrical operating data in the relevant motor instructions.

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Assembly

7 Assembly
7.1 Assembly of the servo motors

Fig. 1

1 Loosen screws and remove all cover plates.

47 05 07

05 07 47

Fig. 2

Loosen fitting screws and disassemble motor adapter plates.

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Assembly
X

34 44 17
Fig. 3 Adjust distance "X" from flanged wheel to centering rebate

Recommended motor type Distance "X" LEG 400 BOSCH MSM030 FANUC 0.5 Distance "X" LEG 760 ELAU SH055 FANUC 0.5 BOSCH MSK030B KUKA MG8 tightening torque pulley motor Item 17 LEG 760 LEG 400 with BOSCH MSM030 LEG 400 mit FANUC 0.5 3

Distance "X" [mm] 20,7 22.2 21,2 22,2 20,7 20,7

tightening torque [Nm] 20.0 1,2 (4 screws) 20.0

Insert clamping element (44) into the belt pulley drive (34).

4 Twist threaded ring (17) slightly in. 5 Push the belt pulley onto the motor shaft. 6 Adjust distance "X" with a depth gauge. 7 Tighten threaded ring (17) with an Allen key (size 10).

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Assembly

56 / 58

05
Fig. 4

07

05 06 07 56 58 75

motor adapter for ELAU/ KUKA motor adapter for FANUC motor adapter for Bosch cheese-head screws for BOSCH

40, 63, M5 50, 70, M5 40, 63, M4 4x M4 x 16 - 12.9

cheese-head screws for FANUC/ KUKA/ 4x M5 x 16 - 12.9 ELAU cheese-head screws for ABB 4x M5 x 20 - 12.9

8 Screw motor adapter (05 - 07) with cheese-head screws (56 or 58) to the servo motor.

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Assembly

Fig. 5

9 Insert the motor in the gripper and mount it gently with the fitting screws (47). 10 Twist clamping element (46) out of the motor adapter (05 - 07).

Druckstck eind rehen

Fig. 6 Screw in the pressure piece

11 Screw the pressure piece (46) into the lug of the motor adapter until the ball is sunk. 12 Pretension the belt (37) until the ball of the pressure piece (46) is sunk to the half. This ensures the correct belt preload force. 13 Tighten all fitting screws (47). 14 Remove the pressure piece (46) and screw it into the motor adapter (05 - 07). 15 Mount all cover plates.

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Assembly

7.2 Mechanical connection WARNING

Risk of injury when the machine/system moves unexpectedly! Switch off power supply. The module is mounted to the machine or robot via an adapter plate. The customer must provide the mounting materials. SCHUNK recommends the use of the ISO flange for mounting of the gripper. All necessary screws and centering elements are atached to the respective ISO flange (sold separately) and the enclosed pack of the gripper. ID number 0308090 0308091 0308092 0308093 0308094 Designation ISO Flange ADF-ISO-9409-1-A-050 ADF-ISO-9409-1-A-063 ADF-ISO-9409-1-A-100 ADF-ISO-9409-1-A-125 ADF-ISO-9409-1-A-160

The connection dimensions of ISO flange are contained in the catalog.

7.3 Electrical connection WARNING

Risk of injury when the machine/system moves unexpectedly! Switch off power supply.
NOTE

Observe the maximum electrical energy values (see motor instructions). Connect the motor to the machine. Follow the instructions from the operating manual for the motor.

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Assembly

7.4 Interfaces for top jaws WARNING

Risk of injury when the machine/system moves unexpectedly! Switch off power supply.

Fig. 7 Dimensions of a carriage for the assembly of the top jaws

Design the top jaws correctly depending on application. Mount the top jaws with 6 screws (M6) on the carriage.

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Commissioning

8 Commissioning
WARNING
Risk of injury in case of breakage of gripping parts due to overload! Do not exceed the allowed engine power. Reduce engine power accordingly. There is more information in the chapter "Technical Data" ( 6, Page 10).

8.1 Gripping process - speeds of the process NOTICE

To avoid overloading the gripper components when the jaws impact the workpiece, the maximum impact speed( 6, Page 10)must not be exceeded. This speed must also not be exceeded when approaching the end positions of the jaws. Accordingly the following operating data arise as a result: If the location and dimension of the workpiece are known- prepositioning If the location and dimension of the workpiece are known exactly the jaws can be driven to a sufficient safety distance to the workpiece with the max. permitted speed (= pre- positioning of the jaws). From this point it will be moved with the reduced impact speed. In solving it will be opened up to the pre- positioning point with the reduced speed and from then on the jaws can be moved with the permitted movement speed again. If the exactly location of the gripping position is unknown, e.g. because of a large component tolerance or an inaccurate deposition of the successor process, the entire stroke has to be moved in gripping direction with the reduced impact speed. In solving with the necessary reliability it has to be opened with the reduced speed, until the workpiece is solved safe. Then the rest of the stroke can be moved with the max. speed.

If the location and dimension of the workpiece are unknown

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Troubleshooting

9 Troubleshooting
9.1 Module does not move?
Possible cause No jaw movement, motor turns Engine doesnt turn Corrective action Check the belts. Check the spindle. Check electrical connection. Check the ease of movement of the spindle. Check belt tension. Replace component or send the module with a repair order to SCHUNK. Ensure that the module was only used within its defined application parameters. ( 6, Page 10).

Component is broken, e.g. through overloading

9.2 The gripping force drops?

Possible cause Spindle defective Corrective action Send the module to SCHUNK with a repair order.. Ensure that the module was only used within its defined application parameters.

9.3 The module does not travel through the entire stroke?
Possible cause Dirt deposits between the cover and the piston Corrective action Remove the cover, clean the module and relubricate it. ( 10, Page 19).

Dirt deposits between the base jaws and the Disassemble and clean module.. guide Mounting surface is not even enough Component is broken, e.g. through overloading Check the levelness of the bolting surface. ( 7.2, Page 15) Send the module to SCHUNK with a repair order or disassemble module..

If a repair at the gripper is necessary, please contact SCHUNK Service Department (Tel. +49-7133-103-2696).

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Maintenance and care

10 Maintenance and care

10.1 Observation of the maintenance and lubrication intervals NOTICE
At ambient temperature above 60C the lubricants can harden faster. Interval decrease accordingly. Visual inspection Lubrication intervalls (cycles) daily 1 Mio.

At short gripping strokes (<30 mm) there should be driven one complete stroke per 24 hours.

10.2 Lubricants/Lubrication points (basic lubrication)

We recommend the lubricants listed. Lubricants which are proven to be equivalent can be used. Treat all lubrication points with grease during maintenance. Lubricant point Lubricant

Grease nipple (8x) PB 107 (THK) AFC-grease (THK)

Fig. 8 Grease nipple per slide

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Maintenance and care

10.3 Servicing the gripper

Clean the module at regular intervals with a dry cloth. Remove coarse contamination like chips and debris. Clean all parts thoroughly and check for damage and wear. Replace all wear parts / seals. Treat all greased areas with lubricant. ( 10.2, Page 19) Oil or grease bare external steel parts.

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Notes

Notes

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Notes

Notes

22

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Translation of original declaration of incorporation

11 Translation of original declaration of incorporation

in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of the Council on machinery. Manufacturer/ Distributor SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr. 106 134 D-74348 Lauffen/Neckar We hereby declare that on the date of the declaration the following incomplete machine complied with all basic safety and health regulations found in the directive 2006/42/EC of the European Parliament and of the Council on machinery. The declaration is rendered invalid if modifications are made to the product. Product designation: ID number Long-stroke Electric Gripper / LEG 400 / 760 / 0308002, 0308003, 0308004, 0308005, 0308012, 0308013, 0308014, 0308015, 0308022, 0308023, 0308032, 0308033

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 - Risk assessment and risk reduction

The manufacturer agrees to forward on demand the relevant technical documentation for the partly completed machinery to state offices. The special technical documents according to Appendix VII, Part B belonging to the incomplete machine have been compiled. Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address

Lauffen/Neckar, January 2014

p.p. Ralf Winkler, Head of Gripping Systems Development

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