user manual electrical angular gripper gwe ba-100070
Contents
1. item 480 Ballscrew lubrication Lubrication opening 10 30 480 340 17 MON4 CH User manual Electrical Angular Gripper GWE In applications with more than 60 cycles minute it is advisable additionally to lubricate the guide rollers item 40 and the rollers item 30 at the same time Close gripping jaws item 30 and apply a few drops of lubricant to the guide rollers item 40 and to the fulcrums of the gripper jaws item 30 on the cylinder pins item 420 Lubrication the guide rollers and fulcrums MIN i iN iT 30 Lubricate item 40 Lubricate between item 30 and item 420 MON4 CH User manual Electrical Angular Gripper GWE 4 2 Replacing the motor Loosen cylinder screws item 480 and remove cover item 340 Pull motor plug connector out of double pin housing item 520 Loosen the cylinder screws item 460 and remove motor item 330 Push new motor item 330 into motor flange item 240 and push the toothed belt item 250 over the toothed wheel on the motor item 330 by tilting the motor item 330 Bring motor item 330 into a position parallel to the casing item 10 and fix with the cylinder screws item 460 to the motor flange item 240 note position of cable exit Check toothed belt tension and set the correct tension according to section entitled Toothed belt tension if the tension is too low Insert motor plu2. Foy Lz Foz Ly Nmm Moy perm Foz Lx Nmm Moz perm Fs Ly Foy Lx Nmm See clamping force diagram 80 400 60 60 120 2000 6000 3000 When Mox Moy and Moz act simultaneously each moment can reach its permissible maximum If the action of Foz on the gripper jaw is displaced by Lx the clamping force Fs is affected as follows Lx A aa Oz lz MON4 CH User manual Electrical Angular Gripper GWE 3 Commissioning 3 1 Installation position and assembly GWE electrical angular grippers can be installed in any position The GWE is assembled by means of Quick Set fixing elements SLL 20 40 SLL 55 40 or SLR 15 40 on the dovetail of the cover item 260 or via threaded and positioning holes in the cover item 260 Assembly with Quick Set fixing elements GWE with SLL 20 40 SLL 55 40 SLR 15 40 260 ab Assembly via threaded a a ositioning holes GWE with screws and pins 260 10 MON4 CH User manual Electrical Angular Gripper GWE 3 2 Mounting the gripper fingers Mounting the gripper fingers on the outside of the gripping jaws H7 MON4 CH User manual Electrical Angular Gripper GWE 3 3 Setting the stroke limit when opening GWE electrical angular grippers are suitable only for external gripping in parallel gripper jaw position The closed position of the jaws cannot be adjusted The opening angle of the gripper jaws item 30 can be changed by s
3. 3 pin proximity switch highly flexible screwable M8x1 5 m with socket straight on one side 504610 5 m with socket angled on one side 504929 10 m with socket straight on one side 507528 10 m with socket angled on one side 507529 Q especially suitable for dynamic stress for example if installed in energy supply chain MON4 CH User manual Electrical Angular Gripper GWE 2 7 Permitted finger dimensions GWE m kg 0 3 0 2 oo m Finger mass kg i ji a Center of gravity distance mm J Resulting finger mass moment of inertia kg mm 0 1 ki 0 09 0 08 0 07 0 06 0 05 0 04 0 03 0 02 J 100 J 300 J 500 20 30 40 50 60 80 100 200 a mm Definition of center of gravity distance a S Center of gravity of gripping finger a Distance between fulcrum and center of gravity L Distance between fulcrum and clamping point mm F Clamping force per gripping finger Jon Va k LAZA Gripping finger mounting on the inside of the gripper jaw Gripping finger mounting on the outside of the gripper jaw 2 8 Permissible loads Definition of the loads MON4 CH User manual Electrical Angular Gripper GWE Fs N Clamping force per gripper finger Foy Foz N Static forces Lx Ly Lz mm Distances over which force acts Mox Moy Moz Nmm Static moments y Fs N Foy perm N Foz perm N Lx perm mm Ly perm mm L perm mm Mox perm
4. M2x5 Cylinder head screw M3x6 Cylinder head screw M3x30 Threaded screw M3x8 Cable screw union Cable Double pin housing Plug connector Sensor fixing nut Ribbed washer M3 Name plate Clear cover EC Motor Controller ECMR o Price listed items available ex stock MON4 CH User manual Electrical Angular Gripper GWE Ref No 57413 57528 57464 502021 520329 502043 502503 520053 520043 506035 520330 520197 520332 520304 520303 507399 505385 41620 48508 57332 Material NR Various ABS Steel Steel Steel Steel Steel Steel Steel Steel Brass Various Various Various Brass Steel Polyester PUR Various 23 MON4 CH User manual Electrical Angular Gripper GWE 6 General information 6 1 Environmental compatibility and disposal Materials used Aluminum Steel Bronze ABS acrylonitrile butadiene styrene PU polyurethane POM polyoxymethylene NR butadiene rubber Brass Polyester Surface treatment Anodization of aluminum Blackening of steel Coating of plastic Shaping processes Machining of aluminum bronze and steel Injection molding of plastics Extrusion of PUR and NR Emissions during operation None Disposal GWE electrical angular grippers which can no longer be used should be recycled not as complete units but dismantled to components and disposed of according to the type of material The kind of
5. MON4 CH USER MANUAL ELECTRICAL ANGULAR GRIPPER GWE Mechanical Part BA 100070 Starting from serial number 427121 English edition 02 2008 MON4 CH User manual Electrical Angular Gripper GWE Contents 1 Important information 2 1 1 Introduction 2 1 2 EU conformity EU Directive on Machines Appendix II A 2 1 3 Product description and application 2 1 4 Dangers 2 1 5 Additional information 3 1 6 Validity of the User Manual 3 2 Technical Data 4 2 1 GWE Technical Data 4 2 2 GWE gripping force diagram with Speed gt 50 5 2 3 GWE opening and closing times 5 2 4 Dimensional drawing GWE 6 2 5 Scope of delivery 7 2 6 GWE accessories 7 2 7 Permitted finger dimensions GWE 8 2 8 Permissible loads 9 3 Commissioning 10 3 1 Installation position and assembly 10 3 2 Mounting the gripper fingers 11 3 3 Setting the stroke limit when opening 12 3 4 Installation and connection of the inductive proximity switches 13 3 5 Setting the proximity switch damper 15 3 6 Internal wiring and cable connections 16 3 7 Wiring the controller 16 4 Maintenance 17 4 1 Lubrication 17 4 2 Replacing the motor 19 4 3 Toothed belt tension 20 5 Parts list for GWE 21 6 General information 24 6 1 Environmental compatibility and disposal 24 MON4 CH User manual Electrical Angular Gripper GWE 1 Important information 1 1 Introduction This User Manual describes the mechanical design technic
6. Technical Data Opening angle infinitely adjustable Opening closing time Weight Mass moment of inertia J closed Max cycles per minute Drive Rated motor power Protection type Repeatability 1 Check on end position open closed 2 Supply voltage current Ambient Temperature Rel humidity Air purity Warranty period Mounting position Material s kg kgcm W mm C 15 180 See diagram 0 95 6 1 80 Brushless electronic commutated DC motor toothed belt and ballscrew 25 IP42 0 05 Inductive proximity switches 24VDC 1 5A 10 50 5 85 without condensation Normal workshop atmosphere 2 years from the date of delivery Any Aluminum steel bronze plastic Scatter of the clamped end position at Lz 38 mm end of jaw measured for 100 successive strokes at constant motor temperature See accessories MON4 CH User manual Electrical Angular Gripper GWE 2 2 GWE gripping force diagram with Speed gt 50 Ms Gripping torque per gripper finger with parallel jaw position Current Nmm 100 Important 80 The gripping torque is influenced 60 by kinetic energy and the deformation of the application 40 specific gripping finger 20 4 at je L L L afon L 2500 3000 3500 4000 4500 Ms Nmm 2 3 GWE opening and closing times The speed should be throttled so that there is no hitting in the end position Moving A to the end posit
7. al data load limits installation maintenance and spare parts of the GWE electrical angular gripper 1 2 EU conformity EU Directive on Machines Appendix II A Rules and standards complied with Machinery guidelines 89 392 EEC 91 368 EEC Manufacturer Montech AG Gewerbestrasse 12 CH 4552 Derendingen Switzerland Tel 41 32 681 55 00 Fax 41 32 682 19 77 1 3 Product description and application GWE electrical angular grippers are electrically operated moment controlled grippers for external gripping of parts They are used wherever workpieces have to be regularly clamped for workpiece transport handling The load limits which were specified by the technical data must be complied with in all circumstances Overloading can lead to faults and failure of the devices 1 4 Dangers The use of GWE electrical angular grippers in an installation is permissible only when they are guarded by movable isolating protective devices as per EN 292 2 para 4 2 2 3 Failure to comply with this protective measure can result in injury due to fingers being squeezed or knocked particularly in machines which start up automatically It is essential to comply with the operating conditions and safety instructions described in the controller User Manual It is also essential to comply with the stated load limits During operation the surface of the motor may reach a temperatue of 100 C The motor must not be touched if the temperature has exc
8. crewing the stop disk in and out item 300 Adjusting the opening angle 290b on the threaded pin item 490b push to the top damper item 290a and fix When increasing the opening angle first always loosen the lower damper item A in place by tightening the threaded pin item 490b Loosen cylinder screws item 470 Screw stop disk in or out item 300 with hexagon socket screw key Tighten cylinder screws item 470 stop The maximum opening angle is reached when the stop disk item 300 is flush with The GWE electrical angular gripper must never be operated without an opening the casing item 10 Non observance can result in early failure of the gripper Adjusting the opening angle 290a 490a 490b 10 Hitt e a A 300 30 470 Opening angle 12 MON4 CH User manual Electrical Angular Gripper GWE 3 4 Installation and connection of the inductive proximity switches The inductive proximity switches to be installed must fulfill the following conditions Switch gap 2mm Flush mountable Casing diameter 6 5 mm Minimum casing length 6 5 19 mm Mounting a proximity switch is done by inserting it into the fastening nut for the sensor item 540 until it contacts the end of the casing bore item 10 It is then fastened by tightening the fastening nut for the sensor item 540 Installation of the inductive proximity switches Proximity switch A clos
9. ed pos Proximity switch B open pos Connecting cable to proximity switch A To ensure that forces do not affect the proximity switches the connecting cables should always be provided with tension reliefs 13 MON4 CH User manual Electrical Angular Gripper GWE The electrical connection is made as shown in the diagram below Connection of the inductive proximity switches DC voltage brown DC voltage brown 14 MON4 CH User manual Electrical Angular Gripper GWE 3 5 Setting the proximity switch damper Closed position Close gripper Loosen threaded pin item 490a and push the top damper item 290a until the LED lights on the electrically connected proximity switch A Tighten threaded pin item 490a when doing so ensure that the damper item 290a does not contact the casing item 10 Open position Open gripper Loosen threaded pin item 490b and push the lower damper item 290b until the LED lights on the electrically connected proximity switch B Tighten threaded pin item 490b when doing so ensure that the damper item 290b does not contact the casing item 10 Setting the proximity switch damper Closed position Open position 490a 290a 490b 290b A closed B open 15 MON4 CH User manual Electrical Angular Gripper GWE 3 6 Internal wiring and cable connections Motor Output cable 10 x 0 25 mm Designation Wire color Plug connecto
10. eeded 40 C measurement of the surface temperature During maintenance work on the GWE it must be ensured that the drive energy has been switched off and cannot be switched on by unauthorized persons MON4 CH User manual Electrical Angular Gripper GWE 1 5 Additional information The aim of the present User Manual is to enable users to employ GWE electrical angular grippers correctly and safely Should further information be required in relation to your particular application please contact the manufacturer When reordering User Manuals it is essential to quote the reference number the product name and serial number This document can be obtained from our homepage www montech com Name plate M H CH 4552 DERENDINGEN GERWERBESTRASSE 12 Produkt a Reference number Product name Serial number Montech AG Management di U D Wagner C Wullschleger 1 6 Validity of the User Manual Our products are continually updated to reflect the latest state of the art and practical experience In line with product developments our User Manuals are continually updated Every User Manual has an article number e g BA 100020 and an edition number e g 02 2008 The article number and the edition date are shown on the title page Validity Full name Short name Reference number Electrical Angular Gripper GWE GWE 57834 MON4 CH User manual Electrical Angular Gripper GWE 2 Technical Data 2 1 GWE
11. g connecter on the double pin casing item 520 Note loop the cable so that the cable cannot make contact with the projecting motor shaft when the cover item 340 is mounted Invert cover item 340 over motor item 330 and double pin housing item 520 and fix the cylinder screws item 480 Motor installation 480 340 Cable exit 520 460 240 250 19 MON4 CH User manual Electrical Angular Gripper GWE 4 3 Toothed belt tension Loosen cylinder screws item 430a and remove cover item 260 Slightly loosen cylinder screws item 430b Pull motor flange item 240 with motor item 330 away from the housing item 10 so that the toothed belt item 250 is stretched without initial tension Excessive tension of the toothed belt item 250 can lead to destruction of the motor bearing Hold the motor flange item 240 and tighten cylinder screws item 430b Mount cover item 260 and fix with cylinder screws item 430a Toothed belt tension 430a 330 10 20 ECH MON4E User manual Electrical Angular Gripper GWE Oo L L 30 Parts list for GWE Exploded view 5 480 21 230 310 320 300 470 MON4 CH User manual Electrical Angular Gripper GWE Item Sym Designation a GWE Electrical Angular Gripper 10 Casing 20 yo Bracket 30 Yo Gripping jaw 40 Guide roller 50 yo Cylindrical pin 60 yo Rod 70 Yo Lock washer 80 y
12. ions with hitting has a negative impact on the service life and may result in early failure By setting the largest permissible opening and closing times the gripper is subject to less wear and tear and service life is increased Speed 100 90 80 70 60 50 100 80 60 Current with finger J 100kgmm with finger J 500kgmm t Opening closing times from edge change at the input 40 Direction s 30 20 0 15 0 2 03 04 0506 08 1 tis MON4 CH User manual Electrical Angular Gripper GWE 2 4 Dimensional drawing GWE Q6 5 mm bores for proximity switch 3 8 30 401 Thread z MES M4x8 mm a L Ei 4 H8x6 mm Higi w M4x8 mm a patih 4 H8x6 mm 30 001 Bores Reference number GWE 57834 MON4 CH User manual Electrical Angular Gripper GWE 2 5 Scope of delivery Mechanical part including 3 m cable with loose ends for connecting to the ECMR controller 3 m cable unshielded and towable ECMR controller completely configured with all counter connection terminals for connecting the loose wires CD ROM with Windows commissioning software and Operating Instructions in German English French and Italian 2 6 GWE accessories Inductive proximity switches PNP 6 5 mm with LED protection against Ref no shortcircuits and reverse pin connection switch gap 2 mm flush mountable Length 2 m 508842 Pluggable M8x1 508843 Connecting cable Ref no for
13. material used for each part is shown in the spare parts lists Material which cannot be recycled should be appropriately disposed of 24 MON4 CH User manual Electrical Angular Gripper GWE FLEXIBILITY FOR INNOVATORS ONLY
14. o Ballscrew 90 Circlip 100 Adjusting disk 110 Support ring 120 yo Bearing bush 130 yo Deep groove ball bearing 140 O Hexagon nut M7x0 75 150 yo Bearing cover 160 yo Toothed wheel 170 yo Clamping bushing 180 yo Centering sleeve 190 l Hexagon nut M6x0 75 200 yo Deep groove ball bearing 210 Guide peg 220 Yo Journal 230 Stop screw 240 yo Motor flange 250 e Toothed belt 260 Yo Cover 270 yo Buffer 280 yo Closure screw 290 Damper 300 Yo Stop disk 310 Yo Stop adjustment disk 22 Ref no 57834 57401 56392 56273 46078 56499 57403 520331 56647 520045 56645 57092 57177 505244 57389 57179 56649 510010 56405 520042 508279 57178 56394 57404 56659 520079 56386 57394 56660 56262 57408 57407 Material Aluminum Steel Steel Steel Steel Steel Steel Steel various Steel Steel Steel Steel Steel Steel Aluminum Aluminum steel Steel Steel Steel Steel Bronze Bronze Steel Aluminum PUR Aluminum PUR Steel Steel Steel Steel Item Sym 320 0 330 340 400 410 420 430 460 470 480 490 500 510 520 530 540 550 900 910 S KOU cee eee FOW EE KO es W me FE ou W Fo poun ou a e e These are wearing parts and are available from stock May not be available ex stock upon request Designation Buffer stop Motor with toothed disk Cover Cylindrical pin Q3h6x8 Pointed threaded pin M3x4 Cylindrical pin 4h6x30 Cylinder head screw M3x10 Cylinder head screw
15. r Wire color Plug connector item 530 Motor winding 1 brown 1 white 1 Motor winding 2 red 2 brown 2 Motor winding 3 orange 3 green 3 U Hall sensors yellow 4 red 4 GND Hall sensors green 5 blue 5 Hall sensor 1 blue 6 yellow 6 Hall sensor 2 violet 7 grey 7 Hall sensor 3 grey 8 pink 8 black n c violet n c Legend n c not connected Plug connector pin assignment marking 3 7 Wiring the controller Please refer to Chapter 3 4 Internal wiring and cable connections and Operating Instructions BA 100078 ECMR EC Motor Controller electrical and software part 16 MON4 CH User manual Electrical Angular Gripper GWE 4 Maintenance 4 1 Lubrication A During maintenance work on the GWE it must be ensured that the drive energy is switched off and cannot be switched on by unauthorized persons It is essential to use only Kl ber oil Paraliq P460 Montech ref no 504721 as lubricant Lubrication interval 800 operating hours Lubrication of ballscrew Loosen cylindrical screws item 480 and remove cover item 340 Move gripping jaws item 30 to parallel position Apply a few drops of lubricant to the ballscrew item 80 through the lubricating opening in the casing item 10 Close and open gripping jaws item 30 several times Repeat the process 3 4 times Invert cover item 340 over motor item 330 and double pin housing item 520 and fix with cylindrical screws
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