Product Information. Universal gripper PGN-plus

Transcription

1 Product Informaton Unversal grpper PGN-plus

2 PGN-plus Unversal grpper Relable. Robust. Flexble. PGN-plus unversal grpper Unversal 2-Fnger Parallel Grpper wth large grppng force and hgh maxmum moments due to mult-tooth gudance. Feld of applcaton Optmal standard soluton for many felds of applcaton. For unversal use n clean to slghtly drty envronments. Specal versons avalable for drty envronments. Advantages Your benefts Robust mult-tooth gudance for precse handlng Hgh maxmum moments possble sutable for usng long grpper fngers Drve concept oval pston for maxmum grppng forces Mountng from two sdes n three screw drectons for unversal and flexble grpper assembly Ar supply va hose-free drect connecton or screw connectons for unversal and flexble grpper assembly Comprehensve sensor accessory program for versatle queryng possbltes and stroke poston montorng Compact dmensons for mnmal nterferng contours n handlng Manfold optons for specal optmsaton for your specfc applcaton (dust-tght, hgh-temperature, corrosonprotected, etc.) Szes Quantty: 11 Weght kg Grppng force N Stroke per jaw mm Workpece weght kg 2

3 PGN-plus Unversal grpper Functonal descrpton The oval pston s moved up or down by compressed ar. The angled actve surfaces of the wedge-hook produce a synchronzed, parallel jaw moton. PGN-plus 1 Mult-tooth gudance hghly loadable, nearly backlash-free base jaw gudance for long fnger lenghts 4 Housng Weght-optmzed due to the use of hgh-strength alumnum alloy 2 Base Jaw for the connecton of workpece-specfc grpper fngers 3 Sensor system Brackets for proxmty swtches and adjustable control cams n the housng 5 Centerng and mountng possbltes for unversal assembly of the grpper 6 Wedge-hook desgn for hgh force transmsson and centrc grppng CAD data, operatng manuals and other current product documents can be found onlne. 3

4 PGN-plus Unversal grpper General notes about the seres Operatng prncple: Wedge-hook knematcs Housng materal: Alumnum Base jaw materal: Steel Actuaton: pneumatc, wth fltered compressed ar as per ISO :2010 [7:4:4]. Warranty: 36 months Longlfe: 30 years functonal warranty (detals can be found onlne) Scope of delvery: Bracket for proxmty swtch, centerng sleeves, O-rngs for drect connecton, assembly and operatng manual wth Declaraton of Incorporaton. Grppng force mantenance: possble by usng the verson wth mechancal grppng force mantenance or SDV-P pressure mantenance valve Grppng force: s the arthmetc total of the grppng force appled to each grpper jaw at dstance P (see llustraton). Fnger length: s measured from the reference surface as the dstance P n drecton to the man axs.the maxmum permssble fnger length apples untl the nomnal operatng pressure s acheved. Wth hgher pressures, the fnger length must be reduced proportonally to the nomnal operatng pressure. Repeat accuracy: s defned as the spread of the end poston durng 100 consecutve strokes. Workpece weght: s calculated for force-ft grppng wth a coeffcent of statc frcton of 0.1 and a safety factor of 2 aganst workpece slppage at acceleraton due to gravty g. For form-ft or capture grppng, there are sgnfcantly hgher permssble workpece weghts. Closng and openng tmes: are purely the tmes that the base jaws or fngers are n moton. Valve swtchng tmes, hose fllng tmes, or PLC reacton tmes are not a part of ths and are to be consdered when cycle tmes are calculated. Applcaton example Pck & place unt for lghtweght to mddleweght components. 1 PGN-plus 2-fnger parallel grpper 2 LM lnear module 3 LM lnear module 4

5 PGN-plus Unversal grpper SCHUNK offers more... The followng components make the product PGN-plus even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Rotary Actuator SRU-plus SWS quck-change system Compensaton unt ELB Compact lnear module Force-measurng jaws Fnger blanks wth quckchange jaw system Pressure mantenance valve BSWS jaw quck-change system Sensor system Addtonal nformaton regardng the products can be found on the followng product pages or at Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal nformaton Grppng force mantenance verson AS / IS: The mechancal grppng force mantenance verson ensures a mnmum grppng force also n the case of a drop n pressure. In the AS / S verson ths has the effect of a closng force, n the IS verson of an openng force Ant-corroson verson K: for use n corroson-nducng atmospheres Hgh-temperature verson V/HT: for use n hot envronments Force ntensfed verson KVZ: f hgher grppng forces are requred Precson verson P: for the hghest accuracy ATEX verson EX: for explosve envronments Dust-tght verson SD: absolutely dust-tght, ncreased degree of protecton aganst the penetraton of materals. Addtonal versons: Varous optons can be combned wth each other. 5

6 PGN-plus Unversal grpper SCHUNK PGN-plus grppers Accessores at a glance

7 PGN-plus Unversal grpper 1 PGN-plus Unversal servo-electrc 2-fnger parallel grpper wth hgh grppng force and hgh maxmum moment due to mult-tooth gudance 2 IN Inductve proxmty swtch wth ntegrated cable and axal cable outlet 3 IN...-SA Inductve proxmty swtch wth ntegrated cable and sde cable outlet 4 FPS Dgtal measurng system for montorng up to fve dfferent freely selectable postons 5 APS-Z80 Inductve measurng system for precse montorng of the grpper jaw poston wth analog output 6 APS-M1S Mechancal measurng system for precse montorng of the grpper jaw poston wth analog output 7 RMS Reed swtch, n round verson 8 MMS 22 Magnetc swtch wth axal cable outlet for montorng one poston 8 MMS 22-PI1 Magnetc swtch wth axal cable outlet for montorng one freely programmable poston 8 MMS 22-PI2 Magnetc swtch wth axal cable outlet for montorng two freely programmable postons 9 MMS 22-SA Magnetc swtch wth sde cable outlet for montorng one poston 9 MMS 22-PI1-SA Magnetc swtch wth sde cable outlet for montorng one freely programmable poston 10 MMS-P Magnetc swtch wth axal cable outlet for montorng two freely programmable postons, wth ntegrated teach functon 11 RMS 22 Reed swtch for drect mountng n the C slot 12 CWS Manual changng system wth ntegrated ar feed-through for easy changng of the handlng components 13 TCU Tolerance compensaton unt for compensatng smaller tolerances n the plane 14 AGE Compensaton unt for compensatng larger tolerances n the X and Y axs 15 ASG Adapter plate for combnng many dfferent automaton components n a modular system 16 CLM Lnear module wth pneumatc drve and pre-loaded juncton rollers wth zero play 17 OAS Optcal clearance and presence sensor for detectng the presence of a workpece and ts clearance 18 UZB The unversal ntermedate jaw allow fast and safe adjustment of top jaws on the grpper, wthout the use of tools 19 FMS Power measurement jaws for measurng grppng forces, workpece weghts or dmensonal devatons 20 BSWS-AR Adapter couplng of the jaw quck-change system for fast, manual changng of top jaws 21 BSWS-B Lockng mechansm of the jaw quck-change system for fast, manual changng of top jaws 22 BSWS-A Adapter couplng of the jaw quck-change system for adaptaton to the customzed fnger 23 Customzed fnger 24 BSWS-ABR Alumnum fnger blank wth nterface of the jaw quckchange system 24 BSWS-SBR Steel fnger blank wth nterface of the quck-change jaw system 25 BSWS-UR Lockng mechansm for ntegraton of the jaw quckchange system n customzed fngers 26 ABR / SBR Steel or alumnum fnger blanks wth standardzed screw connecton pattern 27 ZBA Intermedate jaws for reorentaton of the bolt-on surface 7

8 PGN-plus 40 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 10 Nm M y max. 12 Nm M z max. 5 Nm F z max. 250 N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus 40 PGN-plus 40-AS PGN-plus 40-IS ID Stroke per jaw [mm] Closng / openng force [N] 123/ /- -/182 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.02/ / /0.02 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 225/ /- -/285 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 8

9 PGN-plus 40 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS

10 PGN-plus 40 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M2 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. AT Projecton apples only for AS verson The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 10

11 PGN-plus 40 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson BT For AS / IS verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson Adapter plate for PGN-plus 40 BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 1 Robot-sde connecton 2 Tool-sde connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate has ntegrated ar feed-throughs n order to be able to use the hose-free drect connecton of the approprate grpper. Descrpton ID Heght Often combned [mm] Tool sde A-CWA P

12 PGN-plus 40 Unversal grpper SDV-P pressure mantenance valve Protectve cover HUE PGN-plus 40 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PGN-plus UZB 40 unversal ntermedate jaw Fnger blanks ABR- / SBR-PGZN-plus 40 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The drawng shows the UZB unversal ntermedate jaw. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB Fnger blanks ABR-PGZN-plus SBR-PGZN-plus Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 12

13 PGN-plus 40 Unversal grpper Object dstance sensor OAS-PGN-plus 40 Object dstance sensor AQ Cable outlet AQ Cable outlet IT OAS Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Optcal dstance and presence sensor for drect mountng to to the grpper. One OAS sensor can be attached per grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D The evaluaton of the OAS can be done wth ether an analog or dgtal evaluaton unt and wth or wthout a dsplay. The states whch should be detected can be easly taught. XY compensaton unt wth sprng return Attachment valves IT Montorng The unt has drect connecton possbltes for dfferent grppers of the PGN-plus and PZN-plus seres. For more detaled nformaton, please refer to the man vew. Descrpton ID Compensaton XY Reset force [mm] [N] Compensaton unt AGE-F-XY ± AGE-F-XY ± Often combned AGE-F-XY ± Due to the nterferng contour, montorng of the grpper s not possble. 4 Grppers AQ Cable outlet AS Ar connecton DR Hose EP Included n the scope of delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog chapter. Descrpton ID Often combned Attachment valves ABV-MV15-M ABV-MV15-M3-V2-M ABV-MV15-M3-V4-M ABV-MV15-M3-V8-M

14 PGN-plus 40 Unversal grpper Modular Assembly Automaton Electronc magnetc swtches MMS 4 Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog "Modular Assembly Automaton". AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 14

15 PGN-plus 40 Unversal grpper Programmable magnetc swtches MMS PI1 Programmable magnetc swtches MMS PI2 AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD AQ Cable outlet IT MMS PI2-... sensor Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 15

16 PGN-plus 40 Unversal grpper Programmable magnetc swtches MMS-P GN Stop for MMS-P Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 16

17 PGN-plus 40 Unversal grpper 17

18 PGN-plus 50 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 20 Nm M y max. 25 Nm M z max. 10 Nm F z max. 500 N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus 50-1 PGN-plus 50-2 PGN-plus 50-1-AS PGN-plus 50-2-AS PGN-plus 50-1-IS PGN-plus 50-2-IS ID Stroke per jaw [mm] Closng / openng force [N] 140/ / /- 385/- -/190 -/405 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.02/ / / / / /0.02 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 250/ / /- -/305 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 18

19 PGN-plus 50 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS

20 PGN-plus 50 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M3 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. AT Projecton apples only for AS verson The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 20

21 PGN-plus 50 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson Adapter plate for PGN-plus 50 BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 1 Robot-sde connecton 2 Tool-sde connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate has ntegrated ar feed-throughs n order to be able to use the hose-free drect connecton of the approprate grpper. Descrpton ID Heght Often combned [mm] Tool sde A-CWA P

22 PGN-plus 50 Unversal grpper SDV-P pressure mantenance valve Protectve cover HUE PGN-plus 50 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PGN-plus BSWS jaw quck-change jaw systems ZBA-L-plus 50 ntermedate jaws 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger Scope of delvery nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 50 1 Only systems that are lsted n the table, can be used. 22

23 PGN-plus 50 Unversal grpper UZB 50 unversal ntermedate jaw Force-measurng jaws FMS-ZBA/ZBP 50 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The drawng shows the UZB unversal ntermedate jaw. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB Fnger blanks ABR-PGZN-plus SBR-PGZN-plus Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 23

24 PGN-plus 50 Unversal grpper Fnger blank ABR- / SBR-PGZN-plus 50 Object dstance sensor OAS-PGN-plus 50 2 Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 AQ Cable outlet Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Object dstance sensor TCU tolerance compensaton unt AQ Cable outlet IT OAS IT montorng of lockng Optcal dstance and presence sensor for drect mountng to to the grpper. One OAS sensor can be attached per grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Compensaton unt TCU-P OV no ±1 /±1 /±1,5 The evaluaton of the OAS can be done wth ether an analog or dgtal evaluaton unt and wth or wthout a dsplay. The states whch should be detected can be easly taught. 24

25 PGN-plus 50 Unversal grpper XY compensaton unt wth sprng return Compact change system for grppers IT Montorng The unt has drect connecton possbltes for dfferent grppers of the PGN-plus and PZN-plus seres. For more detaled nformaton, please refer to the man vew. Descrpton ID Compensaton XY Reset force [mm] [N] Compensaton unt AGE-F-XY ± 2 2 AGE-F-XY ± Often combned AGE-F-XY ± 2 3 Due to the nterferng contour, montorng of the grpper s not possble. 4 Grppers IT CWA compact change adapter IK CWK compact change master IL A-CWA adapter plate IM CWA compact change adapter IN CWK compact change master The CWS s a manual change system wth ntegrated ar feed-through for smple exchange of the handlng components. The grpper can ether be attached drectly to a change system of the same sze or mounted to a change system one sze larger va an adapter plate. The adapter plate also has ntegrated ar feed-throughs. Descrpton ID CWA compact change adapter CWA-050-P CWK compact change master CWK-050-P Tool sde A-CWA P

26 PGN-plus 50 Unversal grpper Attachment valves Modular Assembly Automaton 4 Grppers AQ Cable outlet AS Ar connecton DR Hose EP Included n the scope of delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog chapter. 4 Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog "Modular Assembly Automaton". Descrpton ID Often combned Attachment valves ABV-MV15-M ABV-MV15-M5-V2-M ABV-MV15-M5-V4-M ABV-MV15-M5-V8-M

27 PGN-plus 50 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP Sensor dstrbutor V2-M V4-M V8-M Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 27

28 PGN-plus 50 Unversal grpper Programmable magnetc swtches MMS-P GN Stop for MMS-P Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 28

29 PGN-plus 50 Unversal grpper 29

30 PGN-plus 64 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 40 Nm M y max. 60 Nm M z max. 40 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus 64-1 PGN-plus 64-2 PGN-plus 64-1-AS PGN-plus 64-2-AS PGN-plus 64-1-IS PGN-plus 64-2-IS ID Stroke per jaw [mm] Closng / openng force [N] 250/ / /- 710/- -/360 -/755 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.03/ / / / / /0.02 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 450/ / /- -/575 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 30

31 PGN-plus 64 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN... 31

32 PGN-plus 64 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M3 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. AT Projecton apples only for AS verson The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 32

33 PGN-plus 64 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson Adapter plate for PGN-plus 64 BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 1 Robot-sde connecton 2 Tool-sde connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate has ntegrated ar feed-throughs n order to be able to use the hose-free drect connecton of the approprate grpper. Descrpton ID Heght Often combned [mm] Tool sde A-CWA P

34 PGN-plus 64 Unversal grpper SDV-P pressure mantenance valve SDV-P E-P pressure mantenance valve 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E Adapter IT SDV-P E-P pressure mantenance valve IK PGN-plus / PGN-plus-P 2-fnger parallel grpper IL JGP 2-fnger parallel grppers IM PWG-plus 2-fnger angular grpper IN PGB 2-fnger parallel grpper IO Sealed DPG-plus grpper The SDV-P E-P pressure mantenance valves ensure that the pressure n the pston chamber s mantaned temporarly durng an emergency stop. SDV-P E-P can be drectly connected to the lsted grppers wthout the need for addtonal pneumatc hoses. Descrpton ID Pressure mantenance valve SDV-P 64-E-P Protectve cover HUE PGN-plus 64 9 For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PGN-plus

35 PGN-plus 64 Unversal grpper BSWS jaw quck-change jaw systems 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR Only systems that are lsted n the table, can be used. 35

36 PGN-plus 64 Unversal grpper ZBA-L-plus 64 ntermedate jaws UZB 64 unversal ntermedate jaw 2 Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger Scope of delvery nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 64 1 The drawng shows the UZB unversal ntermedate jaw. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB Fnger blanks ABR-PGZN-plus SBR-PGZN-plus

37 PGN-plus 64 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 64 Fnger blanks ABR- / SBR-PGZN-plus 64 1 Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. 2 Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 37

38 PGN-plus 64 Unversal grpper Object dstance sensor OAS-PGN-plus 64 Object dstance sensor AQ Cable outlet AQ Cable outlet IT OAS Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Optcal dstance and presence sensor for drect mountng to to the grpper. One OAS sensor can be attached per grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D The evaluaton of the OAS can be done wth ether an analog or dgtal evaluaton unt and wth or wthout a dsplay. The states whch should be detected can be easly taught. TCU tolerance compensaton unt XY compensaton unt wth sprng return IT montorng of lockng Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Often combned Compensaton unt TCU-P MV yes ±1 /±1,5 /±2 TCU-P OV no ±1 /±1,5 /±2 IT Montorng The unt has drect connecton possbltes for dfferent grppers of the PGN-plus and PZN-plus seres. For more detaled nformaton, please refer to the man vew. Descrpton ID Compensaton XY Reset force [mm] [N] Compensaton unt AGE-F-XY ± 4 12 AGE-F-XY ± 4 13 Often combned AGE-F-XY ± 4 18 Due to the nterferng contour, montorng of the grpper s not possble. 38

39 PGN-plus 64 Unversal grpper Compact change system for grppers Attachment valves 4 Grppers IT CWA compact change adapter IK CWK compact change master IL A-CWA adapter plate IM CWA compact change adapter IN CWK compact change master The CWS s a manual change system wth ntegrated ar feed-through for smple exchange of the handlng components. The grpper can ether be attached drectly to a change system of the same sze or mounted to a change system one sze larger va an adapter plate. The adapter plate also has ntegrated ar feed-throughs. Descrpton ID CWA compact change adapter CWA-064-P CWK compact change master CWK-064-P Tool sde A-CWA P Grppers AQ Cable outlet AS Ar connecton DR Hose EP Included n the scope of delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog chapter. Descrpton ID Often combned Attachment valves ABV-MV15-M ABV-MV15-M5-V2-M ABV-MV15-M5-V4-M ABV-MV15-M5-V8-M Modular Assembly Automaton VB-PGN-plus 64 valve box 4 Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog "Modular Assembly Automaton". AS Ar connecton ET Electrcal connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part Descrpton ID Valve box VB-PGN-plus IT Voltage status ndcator IK Status dsplay valve connecton b opened IL Status dsplay valve connecton a opened IM Valve connecton a and b 39

40 PGN-plus 64 Unversal grpper Valve box Inductve Proxmty Swtches 4 Grppers AS Ar connecton ET Electrcal connecton IT Power supply IK Status dsplay valve connecton b opened IL Status dsplay valve connecton a opened IM Drect connecton for hose-free compressed ar supply Decentralzed control soluton completely ready for use! The valves are drectly mounted on the handlng component. Ths allows a strong reducton of cycle tmes, commssonng tmes, ar consumpton, and less tubng. All of these combned lead to maxmum process relablty wth mnmum effort. Descrpton ID Often combned Valve box VB-PGN-plus Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P clp for plug/socket CLI-M Valve and sensor sgnals of the unt can be merged on a bus dstrbutor so that the electrcal as well as the pneumatc connectons can be decentralzed. AQ Cable outlet IT Sensor IN... Drectly mounted end poston montorng. IK Sensor IN..-SA Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 40

41 PGN-plus 64 Unversal grpper Flexble poston sensor Electronc magnetc swtches MMS IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGZN-plus 64-1/ Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M ID When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 41

42 PGN-plus 64 Unversal grpper Programmable magnetc swtches MMS PI1 Programmable magnetc swtches MMS PI2 AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD AQ Cable outlet IT MMS PI2-... sensor Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 42

43 PGN-plus 64 Unversal grpper Programmable magnetc swtches MMS-P MMS-A analog poston sensor GN Stop for MMS-P AQ Cable outlet IT MMS 22-A-... sensor Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M MMS 22-A-10V-M One sensor s needed for each grpper. No addtonal attachment kt s needed the standard grpper s equpped for use of the MMS-A. Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 43

44 PGN-plus 64 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus 64/ Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 44

45 PGN-plus 64 Unversal grpper 45

46 PGN-plus 80 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 60 Nm M y max. 95 Nm M z max. 55 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus 80-1 PGN-plus 80-2 PGN-plus 80-1-AS PGN-plus 80-2-AS PGN-plus 80-1-IS PGN-plus 80-2-IS ID Stroke per jaw [mm] Closng / openng force [N] 415/ / /- 1180/- -/620 -/1280 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.04/ / / / / /0.03 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 745/ / /- -/990 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 46

47 PGN-plus 80 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN... 47

48 PGN-plus 80 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M3 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. AT Projecton apples only for AS verson The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 48

49 PGN-plus 80 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson Adapter plate PGN-plus 80 BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 1 Robot-sde connecton 2 Tool-sde connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate has ntegrated ar feed-throughs n order to be able to use the hose-free drect connecton of the approprate grpper. Descrpton ID Heght Often combned [mm] Tool sde A-CWA P

50 PGN-plus 80 Unversal grpper SDV-P pressure mantenance valve SDV-P E-P pressure mantenance valve 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E Adapter IT SDV-P E-P pressure mantenance valve IK PGN-plus / PGN-plus-P 2-fnger parallel grpper IL JGP 2-fnger parallel grppers IM PWG-plus 2-fnger angular grpper IN PGB 2-fnger parallel grpper IO Sealed DPG-plus grpper The SDV-P E-P pressure mantenance valves ensure that the pressure n the pston chamber s mantaned temporarly durng an emergency stop. SDV-P E-P can be drectly connected to the lsted grppers wthout the need for addtonal pneumatc hoses. Descrpton ID Pressure mantenance valve SDV-P 80-E-P Protectve cover HUE PGN-plus 80 9 For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PGN-plus

51 PGN-plus 80 Unversal grpper BSWS jaw quck-change jaw systems 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR Only systems that are lsted n the table, can be used. 51

52 PGN-plus 80 Unversal grpper ZBA-L-plus 80 ntermedate jaws UZB 80 unversal ntermedate jaw 2 Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger Scope of delvery nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 80 1 The drawng shows the UZB unversal ntermedate jaw. The fully removable UZB-S slde (can also be ordered separately) allows for a quck jaw change. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB UZB-S Fnger blanks ABR-PGZN-plus SBR-PGZN-plus

53 PGN-plus 80 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 80 Fnger blanks ABR- / SBR-PGZN-plus 80 1 Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. 2 Fnger connecton GL Ft for centerng sleeves IT ABR-PGZN-plus IK SBR-PGZN-plus The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 53

54 PGN-plus 80 Unversal grpper Object dstance sensor OAS-PGN-plus 80 Object dstance sensor AQ Cable outlet AQ Cable outlet IT OAS Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Optcal dstance and presence sensor for drect mountng to to the grpper. One OAS sensor can be attached per grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D The evaluaton of the OAS can be done wth ether an analog or dgtal evaluaton unt and wth or wthout a dsplay. The states whch should be detected can be easly taught. TCU tolerance compensaton unt XY compensaton unt wth sprng return IT montorng of lockng Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Often combned Compensaton unt TCU-P MV yes ±1 /±1,5 /±2 TCU-P OV no ±1 /±1,5 /±2 IT Montorng The unt has drect connecton possbltes for dfferent grppers of the PGN-plus and PZN-plus seres. For more detaled nformaton, please refer to the man vew. Descrpton ID Compensaton XY Reset force [mm] [N] Compensaton unt AGE-F-XY ± 4 12 AGE-F-XY ± 4 13 Often combned AGE-F-XY ± 4 18 Due to the nterferng contour, montorng of the grpper s not possble. 54

55 PGN-plus 80 Unversal grpper Compact change system for grppers Attachment valves 4 Grppers IT CWA compact change adapter IK CWK compact change master IL A-CWA adapter plate IM CWA compact change adapter IN CWK compact change master The CWS s a manual change system wth ntegrated ar feed-through for smple exchange of the handlng components. The grpper can ether be attached drectly to a change system of the same sze or mounted to a change system one sze larger va an adapter plate. The adapter plate also has ntegrated ar feed-throughs. Descrpton ID CWA compact change adapter CWA-080-P CWK compact change master CWK-080-P Tool sde A-CWA P Grppers AQ Cable outlet AS Ar connecton DR Hose EP Included n the scope of delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog chapter. Descrpton ID Often combned Attachment valves ABV-MV25-M ABV-MV25-M5-V2-M ABV-MV25-M5-V4-M ABV-MV25-M5-V8-M Modular Assembly Automaton 4 Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog "Modular Assembly Automaton". 55

56 PGN-plus 80 Unversal grpper Inductve Proxmty Swtches AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M IN-C 80-S-M8-PNP INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 56

57 PGN-plus 80 Unversal grpper Flexble poston sensor Electronc magnetc swtches MMS IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGZN-plus 64-1/ AS-FPS-PGZN-plus 80-1/PZB 80/PZB Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. ID End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 57

58 PGN-plus 80 Unversal grpper Programmable magnetc swtches MMS PI1 Programmable magnetc swtches MMS PI2 AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD AQ Cable outlet IT MMS PI2-... sensor Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 58

59 PGN-plus 80 Unversal grpper Programmable magnetc swtches MMS-P MMS-A analog poston sensor GN Stop for MMS-P AQ Cable outlet IT MMS 22-A-... sensor Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M MMS 22-A-10V-M One sensor s needed for each grpper. No addtonal attachment kt s needed the standard grpper s equpped for use of the MMS-A. Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 59

60 PGN-plus 80 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus 64/ Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 60

61 PGN-plus 80 Unversal grpper 61

62 PGN-plus 100 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 80 Nm M y max. 115 Nm M z max. 70 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus PGN-plus PGN-plus AS PGN-plus AS PGN-plus IS PGN-plus IS ID Stroke per jaw [mm] Closng / openng force [N] 660/ / /- 1870/- -/965 -/2000 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.07/ / / / / /0.05 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 1190/ / /- -/1545 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 62

63 PGN-plus 100 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN... 63

64 PGN-plus 100 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M3 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. AT Projecton apples only for AS verson The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 64

65 PGN-plus 100 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson Adapter plate for PGN-plus 100 BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 1 Robot-sde connecton 2 Tool-sde connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate has ntegrated ar feed-throughs n order to be able to use the hose-free drect connecton of the approprate grpper. Descrpton ID Heght Often combned [mm] Tool sde A-CWA P

66 PGN-plus 100 Unversal grpper SDV-P pressure mantenance valve SDV-P E-P pressure mantenance valve 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E Adapter IT SDV-P E-P pressure mantenance valve IK PGN-plus / PGN-plus-P 2-fnger parallel grpper IL JGP 2-fnger parallel grppers IM PWG-plus 2-fnger angular grpper IN PGB 2-fnger parallel grpper IO Sealed DPG-plus grpper The SDV-P E-P pressure mantenance valves ensure that the pressure n the pston chamber s mantaned temporarly durng an emergency stop. SDV-P E-P can be drectly connected to the lsted grppers wthout the need for addtonal pneumatc hoses. Descrpton ID Pressure mantenance valve SDV-P 100-E-P Protectve cover HUE PGN-plus For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PGN-plus

67 PGN-plus 100 Unversal grpper BSWS jaw quck-change jaw systems 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR Only systems that are lsted n the table, can be used. 67

68 PGN-plus 100 Unversal grpper ZBA-L-plus 100 ntermedate jaws UZB 100 unversal ntermedate jaw 2 Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 100 Scope of delvery 1 The drawng shows the UZB unversal ntermedate jaw. The fully removable UZB-S slde (can also be ordered separately) allows for a quck jaw change. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB UZB-S Fnger blanks ABR-PGZN-plus SBR-PGZN-plus

69 PGN-plus 100 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 100 Fnger blanks ABR- / SBR-PGZN-plus Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. 2 Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 69

70 PGN-plus 100 Unversal grpper Object dstance sensor OAS-PGN-plus 100 Object dstance sensor AQ Cable outlet AQ Cable outlet IT OAS Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Optcal dstance and presence sensor for drect mountng to to the grpper. One OAS sensor can be attached per grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D The evaluaton of the OAS can be done wth ether an analog or dgtal evaluaton unt and wth or wthout a dsplay. The states whch should be detected can be easly taught. TCU tolerance compensaton unt XY compensaton unt wth sprng return IT montorng of lockng Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Often combned Compensaton unt TCU-P MV yes ±1 /±1,5 /±1,2 TCU-P OV no ±1 /±1,5 /±1,2 IT Montorng The unt has drect connecton possbltes for dfferent grppers of the PGN-plus and PZN-plus seres. For more detaled nformaton, please refer to the man vew. Descrpton ID Compensaton XY Reset force [mm] [N] Compensaton unt AGE-F-XY ± 5 36 AGE-F-XY ± 5 55 Often combned AGE-F-XY ± 5 65 Due to the nterferng contour, montorng of the grpper s not possble. 70

71 PGN-plus 100 Unversal grpper Compact change system for grppers Attachment valves 4 Grppers IT CWA compact change adapter IK CWK compact change master IL A-CWA adapter plate IM CWA compact change adapter IN CWK compact change master The CWS s a manual change system wth ntegrated ar feed-through for smple exchange of the handlng components. The grpper can ether be attached drectly to a change system of the same sze or mounted to a change system one sze larger va an adapter plate. The adapter plate also has ntegrated ar feed-throughs. Descrpton ID CWA compact change adapter CWA-100-P CWK compact change master CWK-100-P Tool sde A-CWA P Grppers AQ Cable outlet AS Ar connecton DR Hose EP Included n the scope of delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog chapter. Descrpton ID Often combned Attachment valves ABV-MV30-G1/ ABV-MV30-G1/8-V2-M ABV-MV30-G1/8-V4-M ABV-MV30-G1/8-V8-M Modular Assembly Automaton VB-PGN-plus 100 valve box 4 Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog "Modular Assembly Automaton". AS Ar connecton ET Electrcal connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part Descrpton ID Valve box VB-PGN-plus IT Voltage status ndcator IK Status dsplay valve connecton b opened IL Status dsplay valve connecton a opened IM Valve connecton a and b 71

72 PGN-plus 100 Unversal grpper Valve box Inductve Proxmty Swtches 4 Grppers AS Ar connecton ET Electrcal connecton IT Power supply IK Status dsplay valve connecton b opened IL Status dsplay valve connecton a opened IM Drect connecton for hose-free compressed ar supply Decentralzed control soluton completely ready for use! The valves are drectly mounted on the handlng component. Ths allows a strong reducton of cycle tmes, commssonng tmes, ar consumpton, and less tubng. All of these combned lead to maxmum process relablty wth mnmum effort. Descrpton ID Often combned Valve box VB-PGN-plus Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P clp for plug/socket CLI-M Valve and sensor sgnals of the unt can be merged on a bus dstrbutor so that the electrcal as well as the pneumatc connectons can be decentralzed. AQ Cable outlet IT Sensor IN... Drectly mounted end poston montorng. IK Sensor IN..-SA Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M IN-C 80-S-M8-PNP INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M8-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 72

73 PGN-plus 100 Unversal grpper Flexble poston sensor Electronc magnetc swtches MMS IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGZN-plus AS-FPS-PGZN-plus 100-2/PZB Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. ID End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed Swtches RMS 22-S-M Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP RSS Wreless sensor system RSS-T RSS-T2-US/CA Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 73

74 PGN-plus 100 Unversal grpper Programmable magnetc swtches MMS PI1 Programmable magnetc swtches MMS PI2 AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD AQ Cable outlet IT MMS PI2-... sensor Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 74

75 PGN-plus 100 Unversal grpper Programmable magnetc swtches MMS-P MMS-A analog poston sensor GN Stop for MMS-P AQ Cable outlet IT MMS 22-A-... sensor Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M MMS 22-A-10V-M One sensor s needed for each grpper. No addtonal attachment kt s needed the standard grpper s equpped for use of the MMS-A. Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 75

76 PGN-plus 100 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus 100/ Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 76

77 PGN-plus 100 Unversal grpper 77

78 PGN-plus 125 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 120 Nm M y max. 145 Nm M z max. 100 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus PGN-plus PGN-plus AS PGN-plus AS PGN-plus IS PGN-plus IS ID Stroke per jaw [mm] Closng / openng force [N] 1080/ / /- 3040/- -/1560 -/3220 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.1/ / / / / /0.08 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 1945/ / /- -/2495 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 78

79 PGN-plus 125 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN... 79

80 PGN-plus 125 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M5 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 80

81 PGN-plus 125 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson SDV-P pressure mantenance valve BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E

82 PGN-plus 125 Unversal grpper SDV-P E-P pressure mantenance valve Protectve cover HUE PGN-plus Adapter IT SDV-P E-P pressure mantenance valve IK PGN-plus / PGN-plus-P 2-fnger parallel grpper IL JGP 2-fnger parallel grppers IM PWG-plus 2-fnger angular grpper IN PGB 2-fnger parallel grpper IO Sealed DPG-plus grpper The SDV-P E-P pressure mantenance valves ensure that the pressure n the pston chamber s mantaned temporarly durng an emergency stop. SDV-P E-P can be drectly connected to the lsted grppers wthout the need for addtonal pneumatc hoses. Descrpton ID Pressure mantenance valve SDV-P 125-E-P For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PGN-plus

83 PGN-plus 125 Unversal grpper BSWS jaw quck-change jaw systems ZBA-L-plus 125 ntermedate jaws 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 125 Scope of delvery 1 Only systems that are lsted n the table, can be used. 83

84 PGN-plus 125 Unversal grpper UZB 125 unversal ntermedate jaw Force-measurng jaws FMS-ZBA/ ZBP Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The drawng shows the UZB unversal ntermedate jaw. The fully removable UZB-S slde (can also be ordered separately) allows for a quck jaw change. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB UZB-S Fnger blanks ABR-PGZN-plus SBR-PGZN-plus Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 84

85 PGN-plus 125 Unversal grpper Fnger blanks ABR- / SBR-PGZN-plus 125 Object dstance sensor OAS-PGN-plus Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 AQ Cable outlet Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Object dstance sensor TCU tolerance compensaton unt AQ Cable outlet IT OAS IT montorng of lockng Optcal dstance and presence sensor for drect mountng to to the grpper. One OAS sensor can be attached per grpper. Descrpton ID Object dstance sensor OAS-PGN-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D The evaluaton of the OAS can be done wth ether an analog or dgtal evaluaton unt and wth or wthout a dsplay. The states whch should be detected can be easly taught. Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Often combned Compensaton unt TCU-P MV yes ±1 /±1,5 /±1,5 TCU-P OV no ±1 /±1,5 /±1,5 85

86 PGN-plus 125 Unversal grpper XY compensaton unt wth sprng return Compact change system for grppers IT Montorng The unt has drect connecton possbltes for dfferent grppers of the PGN-plus and PZN-plus seres. For more detaled nformaton, please refer to the man vew. Descrpton ID Compensaton XY Reset force [mm] [N] Compensaton unt AGE-F-XY ± 5 36 AGE-F-XY ± 5 55 Often combned AGE-F-XY ± 5 65 Due to the nterferng contour, montorng of the grpper s not possble. 4 Grppers IT CWA compact change adapter IK CWK compact change master IL A-CWA adapter plate IM CWA compact change adapter IN CWK compact change master The CWS s a manual change system wth ntegrated ar feed-through for smple exchange of the handlng components. The grpper can ether be attached drectly to a change system of the same sze or mounted to a change system one sze larger va an adapter plate. The adapter plate also has ntegrated ar feed-throughs. Descrpton ID CWA compact change adapter CWA-125-P CWK compact change master CWK-125-P Tool sde A-CWA P

87 PGN-plus 125 Unversal grpper Attachment valves Modular Assembly Automaton 4 Grppers AQ Cable outlet AS Ar connecton DR Hose EP Included n the scope of delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog chapter. 4 Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog "Modular Assembly Automaton". Descrpton ID Often combned Attachment valves ABV-MV30-G1/ ABV-MV30-G1/8-V2-M ABV-MV30-G1/8-V4-M ABV-MV30-G1/8-V8-M

88 PGN-plus 125 Unversal grpper Inductve Proxmty Swtches Flexble poston sensor AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus 125-1/PZB AS-FPS-PGZN-plus Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 88

89 PGN-plus 125 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed Swtches RMS 22-S-M Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP RSS Wreless sensor system RSS-T RSS-T2-US/CA Sensor dstrbutor V2-M V4-M V8-M Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 89

90 PGN-plus 125 Unversal grpper Programmable magnetc swtches MMS PI2 Programmable magnetc swtches MMS-P AQ Cable outlet IT MMS PI2-... sensor GN Stop for MMS-P Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 90

91 PGN-plus 125 Unversal grpper MMS-A analog poston sensor APS-Z80 analog poston sensor AQ Cable outlet IT MMS 22-A-... sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M MMS 22-A-10V-M One sensor s needed for each grpper. No addtonal attachment kt s needed the standard grpper s equpped for use of the MMS-A. No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. APS-M1 analog poston sensor Cylndrcal reed swtches IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus 100/ Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 91

92 PGN-plus 160 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 170 Nm M y max. 180 Nm M z max. 130 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus PGN-plus PGN-plus AS PGN-plus AS PGN-plus IS PGN-plus IS ID Stroke per jaw [mm] Closng / openng force [N] 1640/ / /- 4420/- -/2340 -/4680 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.15/ / / / / /0.12 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 2950/ / /- -/3755 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 92

93 PGN-plus 160 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN... 93

94 PGN-plus 160 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M5 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 94

95 PGN-plus 160 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson SDV-P pressure mantenance valve BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E

96 PGN-plus 160 Unversal grpper Protectve cover HUE PGN-plus 160 BSWS jaw quck-change jaw systems 9 For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PGN-plus Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR Only systems that are lsted n the table, can be used. 96

97 PGN-plus 160 Unversal grpper ZBA-L-plus 160 ntermedate jaws UZB 160 unversal ntermedate jaw 2 Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 160 Scope of delvery 1 The drawng shows the UZB unversal ntermedate jaw. The fully removable UZB-S slde (can also be ordered separately) allows for a quck jaw change. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB UZB-S Fnger blanks ABR-PGZN-plus SBR-PGZN-plus

98 PGN-plus 160 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 160 Fnger blanks ABR- / SBR-PGZN-plus Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. 2 Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 98

99 PGN-plus 160 Unversal grpper TCU tolerance compensaton unt Attachment valves IT montorng of lockng Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Often combned Compensaton unt TCU-P MV yes ±1 /±2 /±1,5 TCU-P OV no ±1 /±2 /±1,5 4 Grppers AQ Cable outlet AS Ar connecton DR Hose EP Included n the scope of delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog chapter. Descrpton ID Often combned Attachment valves ABV-MV30-G1/ ABV-MV30-G1/8-V2-M ABV-MV30-G1/8-V4-M ABV-MV30-G1/8-V8-M

100 PGN-plus 160 Unversal grpper Inductve Proxmty Swtches Flexble poston sensor AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus AS-FPS-PGZN-plus Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 100

101 PGN-plus 160 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed Swtches RMS 22-S-M Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP RSS Wreless sensor system RSS-T RSS-T2-US/CA Sensor dstrbutor V2-M V4-M V8-M Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 101

102 PGN-plus 160 Unversal grpper Programmable magnetc swtches MMS PI2 Programmable magnetc swtches MMS-P AQ Cable outlet IT MMS PI2-... sensor GN Stop for MMS-P Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 102

103 PGN-plus 160 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus 160-1/200-2/ AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus 160-1/ AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 103

104 PGN-plus 200 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 180 Nm M y max. 200 Nm M z max. 140 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus PGN-plus PGN-plus AS PGN-plus AS PGN-plus IS PGN-plus IS ID Stroke per jaw [mm] Closng / openng force [N] 2700/ / /- 6250/- -/3780 -/6580 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.35/ / / / / /0.3 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 4860/ / /- -/6075 Weght [kg] Maxmum pressure [bar] max. admssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 104

105 PGN-plus 200 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN

106 PGN-plus 200 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M5 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 106

107 PGN-plus 200 Unversal grpper Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. Precson verson SDV-P pressure mantenance valve BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E

108 PGN-plus 200 Unversal grpper BSWS jaw quck-change jaw systems ZBA-L-plus 200 ntermedate jaws 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system base BSWS-B Quck-change jaw system adapter BSWS-A Only systems that are lsted n the table, can be used. 2 Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery Optonally ntermedate jaws can be used, enablng drect connecton and algnment of top jaws and varous standard accessores n Z-drecton. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 200 Scope of delvery 1 UZB 200 unversal ntermedate jaw 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The drawng shows the UZB unversal ntermedate jaw. The fully removable UZB-S slde (can also be ordered separately) allows for a quck jaw change. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB UZB-S Fnger blanks ABR-PGZN-plus SBR-PGZN-plus

109 PGN-plus 200 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 109

110 PGN-plus 200 Unversal grpper Fnger blanks ABR- / SBR-PGZN-plus 200 TCU tolerance compensaton unt 2 Fnger connecton GL Ft for centerng sleeves IT ABR-PGZN-plus IK SBR-PGZN-plus The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 IT montorng of lockng Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Often combned Compensaton unt TCU-P MV yes ±1 /±2 /±1,5 TCU-P OV no ±1 /±2 /±1,5 TCU-P MV yes ±1 /±1,5 /±1 TCU-P OV no ±1 /±1,5 /±1 110

111 PGN-plus 200 Unversal grpper Inductve Proxmty Swtches Flexble poston sensor AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus AS-FPS-PGZN-plus Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 111

112 PGN-plus 200 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed Swtches RMS 22-S-M Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP RSS Wreless sensor system RSS-T RSS-T2-US/CA Sensor dstrbutor V2-M V4-M V8-M Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 112

113 PGN-plus 200 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus 160-1/200-2/ AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus 200-1/ AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 113

114 PGN-plus 240 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 260 Nm M y max. 250 Nm M z max. 160 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus PGN-plus PGN-plus AS PGN-plus AS PGN-plus IS PGN-plus IS ID Stroke per jaw [mm] Closng / openng force [N] 4200/ / /- 8340/- -/5540 -/8710 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.45/ / / / / /0.35 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 114

115 PGN-plus 240 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN

116 PGN-plus 240 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M5 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 116

117 PGN-plus 240 Unversal grpper Dust-tght verson Precson verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. SDV-P pressure mantenance valve BSWS jaw quck-change jaw systems 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 07-E Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system base BSWS-B Quck-change jaw system adapter BSWS-A Only systems that are lsted n the table, can be used. 117

118 PGN-plus 240 Unversal grpper ZBA-L-plus 240 ntermedate jaws Fnger blanks ABR- / SBR-PGZN-plus Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. 2 Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 240 Scope of delvery 1 118

119 PGN-plus 240 Unversal grpper Inductve Proxmty Swtches Flexble poston sensor AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus AS-FPS-PGZN-plus Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 119

120 PGN-plus 240 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed Swtches RMS 22-S-M Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP RSS Wreless sensor system RSS-T RSS-T2-US/CA Sensor dstrbutor V2-M V4-M V8-M Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 120

121 PGN-plus 240 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus 160-1/200-2/ AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus 160-1/ AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 121

122 PGN-plus 300 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 400 Nm M y max. 400 Nm M z max. 250 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus PGN-plus PGN-plus AS PGN-plus AS PGN-plus IS PGN-plus IS ID Stroke per jaw [mm] Closng / openng force [N] 6000/ / / /- -/7660 -/13000 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.5/ / / / / /0.4 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 122

123 PGN-plus 300 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN

124 PGN-plus 300 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M5 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 124

125 PGN-plus 300 Unversal grpper Dust-tght verson Precson verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. SDV-P pressure mantenance valve BSWS jaw quck-change jaw systems 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P 10-E Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system base BSWS-B Quck-change jaw system adapter BSWS-A Only systems that are lsted n the table, can be used. 125

126 PGN-plus 300 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 300 Fnger blanks ABR- / SBR-PGZN-plus Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. 2 Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 126

127 PGN-plus 300 Unversal grpper Inductve Proxmty Swtches Flexble poston sensor AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 127

128 PGN-plus 300 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed Swtches RMS 22-S-M Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP RSS Wreless sensor system RSS-T RSS-T2-US/CA Sensor dstrbutor V2-M V4-M V8-M Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 128

129 PGN-plus 300 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 129

130 PGN-plus 380 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 560 Nm M y max. 560 Nm M z max. 370 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PGN-plus PGN-plus PGN-plus AS PGN-plus AS PGN-plus IS PGN-plus IS ID Stroke per jaw [mm] Closng / openng force [N] 9050/ / / /- -/ /21800 mn. sprng force [N] Weght [kg] recommended workpece weght [kg] Flud consumpton double stroke [cm³] mn./max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.6/ / / / / /0.5 Closng- / openng tme wth sprng [s] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Protecton class IP mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 130

131 PGN-plus 380 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN

132 PGN-plus 380 Unversal grpper Maxmum permtted fnger projecton y z Permtted range Inadmssble range The curve apples to the basc verson (stroke -1). For other versons, the curve wll be parallel but offset n lne wth the max. permtted fnger length. Hose-free drect connecton M6 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. 132

133 PGN-plus 380 Unversal grpper Dust-tght verson Precson verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. SDV-P pressure mantenance valve 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P 10-E

134 PGN-plus 380 Unversal grpper Inductve Proxmty Swtches Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 134

135 PGN-plus 380 Unversal grpper Flexble poston sensor Electronc magnetc swtches MMS IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGN-plus Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P clp for plug/socket CLI-M ID When usng an FPS system, an FPS sensor (FPS-S) and an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as an attachment kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog chapter. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed Swtches RMS 22-S-M Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP RSS Wreless sensor system RSS-T RSS-T2-US/CA Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 135

136 PGN-plus 380 Unversal grpper Programmable magnetc swtches MMS PI1 APS-Z80 analog poston sensor AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 136

137 PGN-plus 380 Unversal grpper APS-M1 analog poston sensor Cylndrcal reed swtches IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton Mountng kt for APS-M1 AS-APS-M1-PGZN-plus 200-1/ AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. ID End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 137

138 SCHUNK GmbH & Co. KG Spann- und Greftechnk Bahnhofstr D Lauffen/Neckar Tel Fax Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for precse grppng and safe holdng SCHUNK GmbH & Co. KG