Product Information. Gripper for small components EGP

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1 Product Informaton EGP

2 EGP Hgh Performance Densty. Fast. Compact. EGP grpper for small components Electrc 2-fnger parallel grpper wth smooth-runnng base jaws guded on roller bearngs Feld of applcaton Grppng and movng of small to medum-szed workpeces wth flexble force and hgh speed n clean envronments, such as assembly, testng, laboratory and pharmaceutcal ndustry Advantages Your benefts Hghest compact performance for the use of smaller grppers szes Control va dgtal I/O for easy commssonng and rapd ntegraton nto exstng systems Two to four stage adjustable grppng force for smple adapton to senstve workpeces Backlash-free, pre-loaded cross roller gude for precse grppng wth nearly constant force for all permssble fnger lengths Very hgh maxmum cycles per mnute for hghest productvty Compact dmensons for mnmal nterferng contours n the applcaton Proven a thousand tmes MPG-plus bass for equal grppng forces and strokes wth dentcally hgh effcency Brushless DC servomotor for almost wear-free use and a long servce lfe Szes Quantty: 4 Weght kg Grppng force N Stroke per jaw mm Workpece weght kg 2

3 EGP Functonal descrpton The brushless servomotor drves the base jaw va the gear mechansm. The jaw stroke s synchronzed by means of rack and pnon knematcs. EGP 1 Base jaw for the connecton of workpece-specfc grpper fngers 2 Cross roller gudance precse grppng due to backlash-free base jaw gudance 3 Gear Rack and pnon prncple for centrc grppng 4 Drve Brushless DC servomotor 5 Control electroncs ntegrated control and power electroncs for decentralzed control of the servomotor CAD data, operatng manuals and other current product documents can be found onlne. 3

4 EGP General notes about the seres Operatng prncple: Rack and pnon prncple Housng materal: Alumnum alloy, DNC coatng Base jaw materal: Steel Actuaton: servo-electrc, va brushless DC servomotor Warranty: 24 months Scope of Delvery: Enclosed pack wth centerng sleeves, mount for proxmty swtch, assembly and operatng manual wth Declaraton of Incorporaton. 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. 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. PLC reacton tmes are not a part of ths and are to be consdered when cycle tmes are calculated. Applcaton example Electrcally drven, dual-axs pck-andplace machne for small components 1 EGP electrc 2-fnger parallel grpper 2 PPU-E pck & place unt 4

5 EGP SCHUNK offers more... The followng components make the product EGP even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Lnear modules Rotary modules Pck & Place modules Pllar assembly system Flexble poston sensor Inductve proxmty swtches Fnger blanks s Optcal dstance sensor Connecton cables 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 Manually adjustable grppng force: Wth an ntegrated rotary swtch, the grppng force can be adjusted n two stages for the EGP % and 50%, and n four stages for EGP 40, 50 and %, 75%, 50%, and 25%. Optonal status montorng va external sensor system: The status of the grpper can be montored by external senors. Optonal adapter plates: Space-savng frontal mountng of the grpper s enabled by optonal adapter plates. KA connecton cable: Connecton cables wth an angled or a straght female connector can be ordered n varous lengths to connect the grpper wth the power supply and hgher-level control system. Speed Verson S: for faster closng and openng tmes 5

6 EGP 25 Grppng force Fnger load Grppng force Pont P - Fnger length M x max. 0.5 Nm M y max Nm M z max. 1.5 Nm F z max. 70 N 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. Techncal data Descrpton EGP 25-N-N-B EGP 25-N-S-B ID General operatng data Stroke per jaw [mm] 3 3 mn. / max. grppng force [N] 20/40 12/12 recommended workpece weght [kg] max. admssble fnger length [mm] max. admssble weght per fnger [kg] Repeat accuracy [mm] closng/openng tme [s] 0.09/ /0.03 Weght [kg] mn./max. ambent temperature [ C] 5/55 5/55 Protecton class IP Nose emsson [db(a)] < 70 < 70 Electrcal operatng data Nomnal voltage [V DC] Nomnal current [A] max. current [A] 1 1 Controller electroncs ntegrated ntegrated Communcaton nterface Dgtal Inputs Dgtal Inputs Number of dgtal nputs/outputs 2/- 2/- 6

7 EGP 25 Man vew The drawng shows the basc verson of the grpper wth open jaws, wthout dmensonal consderaton of the optons descrbed below. 1 Grpper connecton 2 Fnger connecton ET Electrcal connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT Sensor IN... Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 7

8 EGP 25 Jaw desgn Speed verson S IT Vertcally postoned prsm IK Horzontally postoned prsm A workpece, whch s grpped usng three ponts of contact, can be relably grpped wth hgh repeatablty. A system wth more than three ponts of contact s overdetermned. The drawng shows two alternatve grpper fnger desgns for coaxal and radal grppng of a cylndrcal part. The speed verson S offers reduced closng and openng tmes by usng a dfferent nternal gear rato. The drawng shows the changes n dmenson of the speed verson n comparson to the basc verson llustrated n the man vew. 1 Grpper connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus The adapter plate s a separately ordered, optonal accessory. HK Not ncluded n the scope of delvery The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus The adapter plate s a separately ordered, optonal accessory. 8

9 EGP 25 Fnger blanks wth BSWS ABR-BSWS-MPG-plus 25 Fnger blanks wth BSWS 2 Fnger connecton IT Machnng volume Fnger blanks for customzed subsequent machnng wth ntegrated jaw quck-change system for precse and fast fnger changes. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 IT Included n the scope of delvery The fnger blanks wth jaw quck-change system allow fast and manual grpper fnger changes. The mechancal nterface to the grpper s already ntegrated. Only the specfc workpece geometry needs to be machned nto the fnger blank. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 Object dstance sensor OAS-MPG-plus 25 Object dstance sensor AQ Cable outlet BR Through-hole Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-MPG-plus AQ Cable outlet HK Not ncluded n the scope of delvery IT OAS 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-MPG-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D

10 EGP 25 Modular Assembly Automaton IN 40 nductve proxmty swtches 4 Grppers IT ASG adapter plate IK CLM/KLM/LM/ELM/HLM lnear modules 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 Inductve proxmty swtches Drectly mounted end poston montorng. Descrpton ID Often combned Inductve proxmty swtches IN 40-S-M IN 40-S-M INK 40-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. 10

11 EGP 25 Connecton cables IT Electrcal connecton component IK Cable wth straght connector IL Cable wth angled connector Descrpton ID L1 Often combned [m] Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P BG stands for a connecton cable wth a straght female connector and BW for an angled female connector. SG stands for a connecton cable wth a straght male connector and SW for an angled male connector. 11

12 EGP 40 Grppng force Fnger load Grppng force Pont P - Fnger length M x max. 1.5 Nm M y max. 2 Nm M z max. 4 Nm F z max. 170 N 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. Techncal data Descrpton EGP 40-N-N-B ID General operatng data Stroke per jaw [mm] 6 mn. / max. grppng force [N] 35/140 recommended workpece weght [kg][g] 0.7 max. admssble fnger length [mm] 50 max. admssble weght per fnger [kg] 0.08 Repeat accuracy [mm] 0.02 closng/openng tme [s] 0.2/0.2 Weght [kg] 0.32 mn./max. ambent temperature [ C] 5/55 Protecton class IP 30 Nose emsson [db(a)] < 70 Electrcal operatng data Nomnal voltage [V DC] 24 Nomnal current [A] 0.2 max. current [A] 2 Controller electroncs ntegrated Communcaton nterface Dgtal Inputs Number of dgtal nputs/outputs 2/- 12

13 EGP 40 Man vew The drawng shows the basc verson of the grpper wth open jaws, wthout dmensonal consderaton of the optons descrbed below. 1 Grpper connecton 2 Fnger connecton ET Electrcal connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT Sensor IN... Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 13

14 EGP 40 Jaw desgn IT Vertcally postoned prsm IK Horzontally postoned prsm A workpece, whch s grpped usng three ponts of contact, can be relably grpped wth hgh repeatablty. A system wth more than three ponts of contact s overdetermned. The drawng shows two alternatve grpper fnger desgns for coaxal and radal grppng of a cylndrcal part. 1 Grpper connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus The adapter plate s a separately ordered, optonal accessory. Fnger blanks wth BSWS ABR-BSWS-MPG-plus 40 HK Not ncluded n the scope of delvery The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus Fnger connecton IT Machnng volume Fnger blanks for customzed subsequent machnng wth ntegrated jaw quck-change system for precse and fast fnger changes. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 The adapter plate s a separately ordered, optonal accessory. 14

15 EGP 40 Fnger blanks wth BSWS Object dstance sensor OAS-MPG-plus 40 IT Included n the scope of delvery The fnger blanks wth jaw quck-change system allow fast and manual grpper fnger changes. The mechancal nterface to the grpper s already ntegrated. Only the specfc workpece geometry needs to be machned nto the fnger blank. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 AQ Cable outlet BR Through-hole Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-MPG-plus Object dstance sensor Modular Assembly Automaton AQ Cable outlet HK Not ncluded n the scope of delvery IT OAS 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-MPG-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D Grppers IT ASG adapter plate IK CLM/KLM/LM/ELM/HLM lnear modules 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. 15

16 EGP 40 IN 40 nductve proxmty swtches Attachment kt for FPS AQ Cable outlet IT Inductve proxmty swtches Drectly mounted end poston montorng. Descrpton ID Often combned Inductve proxmty swtches IN 40-S-M IN 40-S-M INK 40-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 The followng FPS poston sensor can dfferentate between fve programmable areas or swtchng ponts for the stroke of a grpper, and can be used n connecton wth a PC as a measurng system. Descrpton ID Attachment kt for FPS AS-FPS-MPG-plus Ths attachment kt needs to be ordered optonally as an accessory. 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. 16

17 EGP 40 Flexble poston sensor Connecton cables IT FPS-S sensor Flexble poston montorng of up to fve postons. IK FPS-F5 / -F5 T evaluaton electroncs Descrpton ID Often combned Attachment kt for FPS AS-FPS-MPG-plus Sensor FPS-S Evaluaton electroncs FPS-F FPS-F5 T 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. IT Electrcal connecton component IK Cable wth straght connector IL Cable wth angled connector Descrpton ID L1 Often combned [m] Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P BG stands for a connecton cable wth a straght female connector and BW for an angled female connector. SG stands for a connecton cable wth a straght male connector and SW for an angled male connector. 17

18 EGP 50 Grppng force Fnger load Grppng force Pont P - Fnger length M x max. 3 Nm M y max. 4 Nm M z max. 5 Nm F z max. 200 N 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. Techncal data Descrpton EGP 50-N-N-B ID General operatng data Stroke per jaw [mm] 8 mn. / max. grppng force [N] 54/215 recommended workpece weght [kg] 1.05 max. admssble fnger length [mm] 64 max. admssble weght per fnger [kg] 0.14 Repeat accuracy [mm] 0.02 closng/openng tme [s] 0.21/0.21 Weght [kg] 0.51 mn./max. ambent temperature [ C] 5/55 Protecton class IP 30 Nose emsson [db(a)] < 70 Electrcal operatng data Nomnal voltage [V DC] 24 Nomnal current [A] 0.3 max. current [A] 2 Controller electroncs ntegrated Communcaton nterface Dgtal Inputs Number of dgtal nputs/outputs 2/- 18

19 EGP 50 Man vew The drawng shows the basc verson of the grpper wth open jaws, wthout dmensonal consderaton of the optons descrbed below. 1 Grpper connecton 2 Fnger connecton ET Electrcal connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT Sensor IN... Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 19

20 EGP 50 Jaw desgn IT Vertcally postoned prsm IK Horzontally postoned prsm A workpece, whch s grpped usng three ponts of contact, can be relably grpped wth hgh repeatablty. A system wth more than three ponts of contact s overdetermned. The drawng shows two alternatve grpper fnger desgns for coaxal and radal grppng of a cylndrcal part. 1 Grpper connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus The adapter plate s a separately ordered, optonal accessory. Fnger blanks wth BSWS ABR-BSWS-MPG-plus 50 HK Not ncluded n the scope of delvery The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus Fnger connecton IT Machnng volume Fnger blanks for customzed subsequent machnng wth ntegrated jaw quck-change system for precse and fast fnger changes. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 The adapter plate s a separately ordered, optonal accessory. 20

21 EGP 50 Fnger blanks wth BSWS Object dstance sensor OAS-MPG-plus 50 IT Included n the scope of delvery The fnger blanks wth jaw quck-change system allow fast and manual grpper fnger changes. The mechancal nterface to the grpper s already ntegrated. Only the specfc workpece geometry needs to be machned nto the fnger blank. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 AQ Cable outlet BR Through-hole Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-MPG-plus Object dstance sensor Modular Assembly Automaton AQ Cable outlet HK Not ncluded n the scope of delvery IT OAS 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-MPG-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D Grppers IT ASG adapter plate IK CLM/KLM/LM/ELM/HLM lnear modules 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. 21

22 EGP 50 IN 40 nductve proxmty swtches Attachment kt for FPS AQ Cable outlet IT Inductve proxmty swtches Drectly mounted end poston montorng. Descrpton ID Often combned Inductve proxmty swtches IN 40-S-M IN 40-S-M INK 40-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 The followng FPS poston sensor can dfferentate between fve programmable areas or swtchng ponts for the stroke of a grpper, and can be used n connecton wth a PC as a measurng system. Descrpton ID Attachment kt for FPS AS-FPS-MPG-plus Ths attachment kt needs to be ordered optonally as an accessory. 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. 22

23 EGP 50 Flexble poston sensor Connecton cables IT FPS-S sensor Flexble poston montorng of up to fve postons. IK FPS-F5 / -F5 T evaluaton electroncs Descrpton ID Often combned Attachment kt for FPS AS-FPS-MPG-plus Sensor FPS-S Evaluaton electroncs FPS-F FPS-F5 T 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. IT Electrcal connecton component IK Cable wth straght connector IL Cable wth angled connector Descrpton ID L1 Often combned [m] Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P BG stands for a connecton cable wth a straght female connector and BW for an angled female connector. SG stands for a connecton cable wth a straght male connector and SW for an angled male connector. 23

24 EGP 64 Grppng force Fnger load Grppng force Pont P - Fnger length M x max. 3.5 Nm M y max. 6 Nm M z max. 9 Nm F z max. 250 N 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. Techncal data Descrpton EGP 64-N-N-B ID General operatng data Stroke per jaw [mm] 10 mn. / max. grppng force [N] 75/300 recommended workpece weght [kg] 1.25 max. admssble fnger length [mm] 80 max. admssble weght per fnger [kg] 0.24 Repeat accuracy [mm] 0.02 closng/openng tme [s] 0.49/0.49 Weght [kg] 0.8 mn./max. ambent temperature [ C] 5/55 Protecton class IP 30 Nose emsson [db(a)] < 70 Electrcal operatng data Nomnal voltage [V DC] 24 Nomnal current [A] 0.15 max. current [A] 2 Controller electroncs ntegrated Communcaton nterface Dgtal Inputs Number of dgtal nputs/outputs 2/- 24

25 EGP 64 Man vew The drawng shows the basc verson of the grpper wth open jaws, wthout dmensonal consderaton of the optons descrbed below. 1 Grpper connecton 2 Fnger connecton ET Electrcal connecton HT Depth of the centerng sleeve hole n the counter part Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 25

26 EGP 64 Jaw desgn IT Vertcally postoned prsm IK Horzontally postoned prsm A workpece, whch s grpped usng three ponts of contact, can be relably grpped wth hgh repeatablty. A system wth more than three ponts of contact s overdetermned. The drawng shows two alternatve grpper fnger desgns for coaxal and radal grppng of a cylndrcal part. 1 Grpper connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus The adapter plate s a separately ordered, optonal accessory. Fnger blanks wth BSWS ABR-BSWS-MPG-plus 64 HK Not ncluded n the scope of delvery The adapter plate ncludes an O-rng* for a drect ar connecton, addtonal centerng sleeves, and screws for mountng the grpper. *Optonal only wth pneumatc actuators Descrpton ID APL-MPG-plus Fnger connecton IT Machnng volume Fnger blanks for customzed subsequent machnng wth ntegrated jaw quck-change system for precse and fast fnger changes. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 The adapter plate s a separately ordered, optonal accessory. 26

27 EGP 64 Fnger blanks wth BSWS Object dstance sensor OAS-MPG-plus 64 IT Included n the scope of delvery The fnger blanks wth jaw quck-change system allow fast and manual grpper fnger changes. The mechancal nterface to the grpper s already ntegrated. Only the specfc workpece geometry needs to be machned nto the fnger blank. Descrpton ID Materal Scope of Delvery Fnger blanks ABR-MPG-plus Alumnum 2 ABR-BSWS-MPG-plus Alumnum 2 AQ Cable outlet BR Through-hole Object dstance sensor for detectng a workpece and for measurng ts dstance to the grpper. Descrpton ID Object dstance sensor OAS-MPG-plus Object dstance sensor Modular Assembly Automaton AQ Cable outlet HK Not ncluded n the scope of delvery IT OAS 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-MPG-plus Evaluaton electroncs OAS-V09-D OAS-V10-A OAS-V10-D Grppers IT ASG adapter plate IK CLM/KLM/LM/ELM/HLM lnear modules 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. 27

28 EGP 64 IN 40 nductve proxmty swtches Connecton cables AQ Cable outlet Drectly mounted end poston montorng. IT Inductve proxmty swtches IT Electrcal connecton component IK Cable wth straght connector IL Cable wth angled connector Descrpton ID Often combned Inductve proxmty swtches IN 40-S-M IN 40-S-M INK 40-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 Descrpton ID L1 Often combned [m] Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P BG stands for a connecton cable wth a straght female connector and BW for an angled female connector. SG stands for a connecton cable wth a straght male connector and SW for an angled male connector. 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. 28

29 EGP 64 29

30 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

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