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operating instructions handling components ba-100032

1. OPERATING INSTRUCTIONS HANDLING COMPONENTS Gripper GPL BA 100032 english Edition 03 2006 Operating instruction Handling components Gripper GPL Contents 1 Important information 1 1 EU conformance to EU Directive on Machines Appendix Il A 1 2 Product description and purpose 1 3 Dangers 1 4 Additional information 1 5 Validity of the User Manual 1 6 Technical data GPL 1 7 Gripping force diagrams GPL 1 8 Dimension sheet size GPL 30 GPL 40 1 1 9 Dimension sheet size GPL 45 GPL 60 GPL 75 2 1 10 Load calculations 1 11 Sample calculation 2 Installation 2 1 Installation position 2 2 Mounting 2 3 Supply of compressed air 2 4 Setting the end stops 2 5 Setting the proximity switches 2 6 Istallation of the shaft encoder 3 Maintenance 4 Spare part GPL 4 1 Sapre parts GPL Gripper 4 2 Spare parts shaft encoder add on kit 5 Environmental compatibility and disposal 6 Picture index 2 2 2 2 3 3 4 6 7 8 9 0 1 ue iO Oo oO U a ea m 23 24 26 27 28 29 MONAECH Operating instruction Handling components Gripper GPL 1 Important information 1 1 EU conformance to EU Directive on Machines Appendix Il A Regulations and standards taken into account EU Directive on Machines 89 392 EEC 91 368 EEC Manufacturer Montech AG Gewerbestrasse 12 CH 4552 Derendingen Tel 41 32 681 55 00 Fax 41 32 682 19 77 1 2 Product description and purpos
2. Steel Steel Operating instruction Handling components Gripper GPL 4 2 Spare parts shaft encoder add on kit Pos Designation Ref No GPL 1 GPL 2 10 Positioning pin 49003 49003 20 Pinion shaft 1 48085 48087 30 Machine screw 501601 501601 40 Cable tie 505885 505885 All this articles are available as spare parts Material Steel Steel Steel Plastic 27 MONAECH Operating instruction Handling components Gripper GPL 5 Environmental compatibility and disposal Material used Aluminium Steel Brass Acrylonitrile butadiene rubber NBR as per ISO 1629 Polyoxymethylene Polyacetal POM Paraffinic mineral oil synthetic hydrocarbon Surface treatment Anodic oxidation of aluminium Blackening of steel Surface hardening of alloyed structural steels Shaping processes Machining of aluminium POM brass plastic and steel Moulding of NBR gaskets Profile pressing of aluminium Emissions during operation None When the devices are operated with oiled air we recommend that the exhaust air be returned to the atmosphere through an oil filter or separator Disposal Grippers that are no longer serviceable should not be disposed of as complete units but disman tled into their parts which can be recycled according to the material of which they are made The kind of material used for every part is shown in the spare parts list Material that cannot be recycled s
3. 2 Fig 2 9 Shaft encoder 508126 oder 200 10 506686 S 1207 200 10 150 220 60 207200 50 Replacing pinion shaft 1 Fig 2 9 Fig 4 1 Loosen the two bolts 220 Remove bearing cover 50 together with pinion shafts through the opening in the casing 10 by pressing on those shaft ends of the two pinion shafts 20 40 which are opposite the bearing cover Replace pinion shaft 1 40 by pinion shaft 1 20 Remove bearing 200 from the pinion shaft 40 and mount in the correct position on pinion shaft 1 20 Install pinion shaft 1 20 and pinion shaft 2 50 with the correctly positioned bearings 200 in the casing 10 Insert bearing cover 60 and tighten the two bolts 220 19 MONAECH Operating instruction Handling components Gripper GPL Mounting the shaft encoder holder Fig 2 9 Fig 4 1 Screw positioning pin 10 into the threaded hole on proximity switch side next to the project ing pinion shaft 20 in the housing 10 and tighten Mount cable tie 150 by means of cheese head screw 120 on the housing 10 iid the shaft encoder Fig 2 9 Fig 4 1 Mount encoder 508126 or 506686 on the shaft end of the pinion shaft 1 20 and push on the shaft end towards the housing 10 During this turn the encoder so that the positioning pin 10 is inserted into the groove provided Secure the shaft encoder on the pinion shaft 1 20 by tightening the screw S i
4. Grooved ball bearing Machine screw Machine screw Machine screw Hex nut Cylindrical pin Machine screw Piston packing O ring Non return throttle valve Clamping screw Clamping block Cylindrical pin Ref No 30 1 49061 48764 48765 48074 48077 48659 47890 47747 47752 46904 47749 48169 41620 505572 501602 501604 501626 501999 505309 506056 504971 501233 505023 47904 47906 502108 All this articles are available as spare parts 26 40 1 49062 48766 48767 48074 48077 48659 47891 47747 47780 46904 47749 48169 41620 505572 501602 501604 501626 501999 505309 506056 504971 501233 505023 47904 47906 502108 45 2 49063 48768 48769 48080 48083 47725 47893 47724 47729 46874 47726 48170 41620 505571 501603 501620 501644 502000 502057 506056 504973 503114 505023 47904 47906 502122 60 2 49064 48770 48771 48080 48083 47725 47892 47724 47787 46874 47726 48170 41620 505571 501603 501620 501644 502000 502057 506056 504973 503114 505023 47904 47906 502122 MONAECH 75 2 49065 48772 48773 48080 48083 47725 48166 47724 48167 46874 47726 48170 41620 505571 501603 501620 501644 502000 502057 506056 504973 503114 505023 47904 47906 502122 Material Aluminium Steel Steel Steel Steel Aluminium Steel POM Steel Steel Aluminium Aluminium Various Various Steel Steel Steel Steel Steel Steel Steel NBR NBR Brass Steel
5. have a housing 6 5mm in diameter Fig 2 7 The figure shows the external gripping version ra 0 5 ar 130 Workpiece p II 370lA We w 360 A 370 B 360 B Operating instruction Handling components Gripper GPL is procedure for external gripping gripper Fig 2 7 Close gripper atmospheric pressure until gripping fingers touch the workpiece Set stop B gripper closed so that there is a distance of about 0 5 mm between gripping jaw and stop when the gripping fingers touch the workpiece Fig 2 7 Plug the proximity switch B into the plate 130 up to the end stop When the proximity switch is electrically connected the LED lights up Withdraw the proximity switch until there is a gap of approx 0 5 mm between the gripper jaw and the proximity switch Secure the proximity switch by tightening the screw 360 B Plug the proximity switch A into the plate 130 up to the end stop When the proximity switch is electrically connected the LED lights up Open the gripper up to the set stop A atmospheric pressure Withdraw the proximity switch until there is a gap of approx 0 5 mm between the gripper jaw and the proximity switch Secure the proximity switch by tightening the screw 360 A Setting procedure for internal gripping grippers Fig 2 7 Open the gripper atmospheric pressure until the gripping fingers touch the workpiece Set stop A gripper open so that there is a
6. recommend using the stop valve Stop valve Article number 46582 Fig 2 3 Wiring diagram stop valve mE mE SE Two way valve TT Fig 2 4 Supply of compressed GPL Open grippers 13 MONAECH Operating instruction Handling components Gripper GPL GPL gripper mounted on rotary drive with internal compressed air supply DAPI Fig 2 5 Internal supply of compressed air DAPI 7 eee mi SRR Tn NI E E C SLL 55 AI GPL GPL 2 ETT Operating instruction Handling components Gripper GPL 2 4 Setting the end stops The two end positions Gripper open A and Gripper closed B are set with the bolts 250 and the nuts 260 Setting procedure for Gripper open Loosen nut 260 A Open gripper in pressureless state Set stop position with bolt 250 A Secure stop position by tightening the nut 260 A Fig 2 6 Setting the end stops 250 A 260 A 250 B 260 B Setting procedure for Gripper closed Loosen nut 260 B Close gripper in pressureless state Set stop position with bolt 250 B Secure stop position by tightening the nut 260 B 15 MONAECH Operating instruction Handling components Gripper GPL 2 5 Setting the proximity switches Gripper open A and gripper closed B The proximity switches used must have a switching distance Sn of 2 mm be designed for flush mounting and
7. steel plastic Noise level dBA 62 1 Measured at maximum stroke 2 Difference between gripped end positions of 100 successive strokes 3 See accessories 4 See special accessories Operating instruction Handling components Gripper GPL Special accessories Shaft encoder add on kit GPL 1 Shaft encoder add on kit GPL 2 Incremental encoder pluggable 5 Volt Incremental encoder pluggable 24 Volt Cable to 506686 L 10m Cable to 508126 L 10m Accessories Inductive proximity switch PNP omm with LED proof against short circuit and wrong polarity with a switch ing clearance of 2mm and a cable 2m long Pluggable Connecting cable to pluggable proximity switches Cable length 5m with angles socket at one end Cable length 10m with angled socket at one end Cable length 5m with straight socket at one end Cable length 10m with straight socket at one end 49004 49005 506686 508126 507512 508129 508842 508843 504929 507529 504610 507528 MONAECH Operating instruction Handling components Gripper GPL 1 7 Gripping force diagrams GPL Fig 1 2 Grippin force diagram GPL 30 GPL 40 1 30 60 90 120mm L7 Fig 1 3 Grippin force diagram GPL 45 GPL 60 GPL 75 2 6bar Sbar l bar 3bar L7 F Gripping force per gripping fingers MONA4ECH Operating instruction Handling components Gripper GPL 1 8 Dimension sheet size GPL 30 GPL 40 1 Fig 1 4 Dim
8. 681 55 00 Fax 41 32 682 19 77 info montech com www montech com
9. ber e g BA 100032 and an edition number e g 03 2006 The order number and the addition number are shown on the title page The article number and the date of edition are evident on the title page Operating instruction Handling components Gripper GPL 1 6 Technical data GPL Size bid distance total stroke of ied Clamping distance opening closing adjustable Closing and opening time at 3 6 bar 1 is Piston diameter mm Gripping force Fs N Moment of inertia J kgcm Repeatability 2 mm Operating pressure bar Own weight kg Actuating medium Pneumatic connection plug in Speed regulation End position control o pen closed Distance measuring system op 4 tion Ambient Temperature C Rel Atmospheric humidity Purity of the air Warranty period Maintenance Installation position MONAECH GPL 30 1 GPL 40 1 GPL 45 2 GPL 60 2 GPL 75 2 2 30 12 40 11 45 26 60 41 75 yes yes yes yes yes 0 18 0 22 0 44 0 6 0 76 0 1 0 12 0 25 0 32 0 36 16 16 25 25 25 See diagrams of gripping force 3 5 4 4 16 4 21 5 29 1 0 03 0 03 0 04 0 04 0 04 3 6 0 44 0 46 1 04 1 12 1 26 Compressed air filtered to 5um oiled or unoiled Dew point lt 6 C For hose a4mm Adjustable exhaust air throttle By inductive proximity switches Shaft encoder 10 50 9596 without condensation Normal workshop atmosphere 2 years from the date of delivery Maintenance free Arbitrary Material aluminium
10. distance of about 0 5 mm between gripping jaw and stop when the gripping fingers touch the workpiece Plug the proximity switch A into the plate 130 up to the end stop When the proximity switch is electrically connected the LED lights up Withdraw the proximity switch until there is a gap of approx 0 5 mm between the gripper jaw and the proximity switch Secure the proximity switch by tightening the screw 360 A Plug the proximity switch B into the plate 130 up to the end stop When the proximity switch is electrically connected the LED lights up Close gripper up to the set stop B atmospheric pressure Withdraw the proximity switch until there is a gap of approx 0 5 mm between the gripper jaw and the proximity switch Secure the proximity switch by tightening the screw 360 B 17 MONAECH Operating instruction Handling components Gripper GPL In the two end positions formed by the stops A and B the gripping jaws must not touch the proximity switch sleeves 1 A and 1 B respectively Fig 2 8 Electrical connections of the proximity switches brown brown black 18 Operating instruction Handling components Gripper GPL 2 6 Istallation of the shaft encoder With the shaft encoder add on kit 49004 for GPL 1 and 49005 for GPL 2 the grippers are equipped for continuous scanning of the gripping jaw position The item numbers marked with an refer to the shaft encoder addon kit GPL 1 or GPL
11. e Grippers type GPL can be used in all applications where workpieces have to be regularly gripped externally or internally for the purpose of transport handling Under all circumstances the load limits given under Technical data must be complied with 1 3 Dangers The use of Grippers types GPL in installations is only permissible when they are secured by Mov able separating protective devices as per EN 292 2 Failure to comply with this rule can result in injury e g squeezing of the fingers MONA4ECH Operating instruction Handling components Gripper GPL 1 4 Additional information The aim of the present User Manual is to enable users to employ Grippers types GPL correctly and safely Should further information be required in relation to your particular application please con tact 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 Fig 1 1 Nameplate MONGRECH CHASSI DIFINDINGEN GO RAST IZ Produkt Product name ce Reference number Serial number Montech AG Management U D Wagner C Wullschleger 1 5 Validitv of the User Manual Our products are continuallv updated to reflect the latest state of the art and practical experience In line with product developments our User Manuals are continuallv updated Everv User Manual has an order num
12. ension sheet size GPL 30 GPL 40 1 72 40 f ze EM NN n l x D TT ADAD dd ds uy PAY 7 dc ni IN gt W 2 dii oD M e 7 I I H A B C D E GPL 30 1 30 131 92 46 55 78 22 GPL 40 1 40 141 102 51 55 88 27 1 With incremental encoder special accessories Article number GPL 30 1 47759 Article number GPL 40 1 47776 MONAECH Operating instruction Handling components Gripper GPL 1 9 Dimension sheet size GPL 45 GPL 60 GPL 75 2 Fig 1 5 Dimension sheet size GPL 45 GPL 60 GPL 75 2 A H A B C D E GPL 45 2 45 174 131 66 113 39 5 GPL 60 2 60 189 146 73 5 128 47 GPL 75 2 75 204 161 81 143 54 5 1 With incremental encoder special accessories Article number GPL 45 2 47736 Article number GPL 60 2 47783 Article number GPL 75 2 48168 Operating instruction Handling components Gripper GPL 1 10 Load calculations Fig 1 6 Load calculations GPL 1 GPL 2 s perm N See diagrams of gripping force DM N 7 5 15 Es N 70 120 ix mm 55 75 eve mm 90 160 Ene mm 120 200 aS ee mm 90 160 E mm 120 200 Libia mm 120 200 Mas LE LM EN Nmm 7000 22000 Mose seca Oe Ea Nmm 9000 37000 Mou Nmm 4000 23000 F Gripping force N see diagrams of gripping force FF Acting forces INI belek Distance of force mm lt M M Existing moments Nmm y I With cooperation of M M and M each moment may reach its per
13. hould be disposed of appropriately 28 Operating instruction Handling components Gripper GPL 6 Picture index ige Ie pa cleats a i et ee 3 Fig 1 2 Grippin force diagram GPL 30 GPL 40 1 oo ee i 6 Fig 1 3 Grippin force diagram GPL 45 GPL 60 GPL 75 2 nee en nesa 6 Fig 1 4 Dimension sheet size GPL 30 GPL 40 1 oo eee 7 Fig 1 5 Dimension sheet size GPL 45 GPL 60 GPL 75 2 i 8 Fic eo Loa 610 4 0 NS eee nce ne ce ee nnn eee aero UU M ocu 9 Bile Fan ys ano more aill cuil t M 10 Fig 2 1 Mounting GPP with QUICK SET rei 11 Fig 2 2 Mounting of GPP by screwing and pinning eese eene nnne 12 FIO Z23 WIGAN GUO OM INS NT 13 Fig al Suppivor compressed ga iii dana ij o mer eee ire E ea eee eee re ore ee 13 Fig 2 9 Internal Supply OF compressed alla 14 FIO 2 0 3eLti da too eL NE E e E TO T 15 Fig 2 7 The figure shows the external gripping version eene 16 Fig 2 8 Electrical connections of the proximity switches seen 18 Fig Ze SATE CIC OE RO set orci ESE A E EENE ES 19 Fig 2 10 Tension relief for the shaft encoder cable iii 21 Fie2 21 1 Connections encode seoir ROI Eum Ire en fa 22 gie EV T eT 24 29 MONAECH more than technology MONTECH AG Gewerbestrasse 12 CH 4552 Derendingen Fon 41 32
14. missible maximum Operating instruction Handling components Gripper GPL 1 11 Sample calculation Gripper type GPL 30 1 The part is clamped in right angled fingers and pressed in Operating pressure 6 bar Fig 1 7 Sample calculation MONAECH 30mm 60mm 60mm 120mm rrr Hd IT r Il F gripping force diagram 31N F av 20N 0 5 press in force M 0 60 20 60 M 31 60 20 30 M 31 60 0 30 10 F z perm 1200Nmm M 1260Nmm M 1860Nmm M x perm y perm z perm 55mm 90mm 120mm 120mm 70N 000Nmm 9000Nmm 4000Nmm Operating instruction Handling components Gripper GPL 2 Installation 2 1 Installation position The installation position of the GPL gripper is arbitrary 2 2 Mounting The GPL grippers are mounted quickly and easily on their housing with the QUICK SET mounting system Fig 2 1 Mounting GPP with QUICK SET SLL 55 40 11 MONAECH Operating instruction Handling components Gripper GPL If no QUICK SET components are used the GPP can be mounted by direct screwing and pinning Fig 2 2 Mounting of GPP by screwing and pinning For drilling template for screwing and pinning see dimension sheets in Fig 1 4 and 1 5 12 Operating instruction Handling components Gripper GPL 2 3 Supply of compressed air To secure the gripping force for example in the event of an emergency stop we
15. n the clamping ring Distance between housing 10 and clamping ring approx 1mm 20 Operating instruction Handling components Gripper GPL Tension relief for the shaft encoder cable Fig 2 10 Fig 4 1 Lay the cable according to Fig 2 10 and fix with cable tie 150 Fig 2 10 Tension relief for the shaft encoder cable 908126 or 506686 21 MONECH Operating instruction Handling components Gripper GPL Technical data for incremental shaft encoder 500 pulse revolution resolution 0 114mm pulse for GPL 1 and 0 163mm pulse for GPL 2 Based on the total stroke 2 square wave signals electrically offset 90 1 reference signal per revolution All signals with inversion only incremental encoder 506686 Output signal Signal 2 lagging behind signal 1 on rotation in counterclockwise direction view onto the shaft i e with gripper closing Technical data for incremental shaft encoder 506686 Fig 2 11 Connections encoder 360 el Connections 1 inkr encoder inkr encoder 506686 508126 l green 2 i m gray d O Val vhi 90 el Voltage supply 5 VDC 10 Current consumption without load typ 60mA Output circuit Antivalent Line Driver EIA Standard RS 422 Output level Un 3 8V ab bass 20mA U 0 4V at 20mA Low Low max 22 MONA4ECH Operating instruction Handling components Gripper GPL Electrical data for incremental encoder 508126 V
16. oltage supply 10 30 VDC Current consumption without load typ 60mA at 24 VDC Output circuit Push pull protection against short circuits Output level With R zu OV U opos 20 8V U ow max 0 2V With R zu V U isa 22V U 2 3V Low typ 3 Maintenance The GPL is generally maintenance free up to 5Mio We recommend the following preventative maintenance to ensure optimum performance of the unit Periodic cleaning of the unit particularly the mechanical guide Inspection of the seals possible replacement Lubricate with Paraliq P460 Montech article no 504721 particularly the mechanical guide 23 Operating instruction Handling components Gripper GPL 4 Spare part GPL Fig 4 1 Drawing GPL 24 508126 oder 506686 230 260 380 120 330 MONAECH 30 110 20 110 MONA4ECH Operating instruction Handling components Gripper GPL 80 90 70 230 350 230 40 200 60 220 80320300330 130 380 370 360 SSS i ee aosaigh 25 140 Operating instruction Handling components Gripper GPL 4 1 Pos 10 20 30 40 50 0 70 80 90 110 120 130 140 200 200 220 230 250 260 280 300 320 330 350 360 370 380 Sapre parts GPL Gripper Designation Casing GPP Gripping jaw left Gripping jaw right Pinion shaft 1 Pinion shaft 2 Bearing cover Toothed rack Piston Cylinder tube Roller Stop plate Plate Type plate Sliding bearing

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