Gripping force, O.D. gripping. Gripping force, I.D. gripping

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1 Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Grppng force Fnger length M x max. 80 Nm M y max. 115 Nm M z max. 70 Nm F z max N Fnger length The ndcated moments and forces are statc values, apply per base jaw and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. If the max. permtted fnger weght s exceeded, t s mpreatve to throttle the ar supply so that the jaw movement occurs wthout any httng or bouncng. Servce lfe may be reduced. 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 per 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] Closng- / openng tme [s] 0.07/ / / / / /0.05 Closng- / openng tme only wth sprng [s] max. permtted fnger length [mm] max. permtted weght per fnger [kg] IP class 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 IP class 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. permtted fnger length [mm] Precson verson The full grppng force accordng to the data table s only realsed after around 100 grppng cycles. 334

2 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 ). Maxmum permtted fnger projecton y A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton ( bar) 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part IT MMS sensor IK IN... sensor z Permtted range Inadmssble range The curve apples for the base verson (Stroke -1). For other versons, the curve must be offset n parallel correspondng to the max. permssble fnger length. 335

3 Hose-free drect connecton M3 Grppng force mantenance devce AS / IS 3 Adapter 4 Grpper 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 mantenance of grppng force also assures a mnmum grppng force n the case of a loss of pressure. Wth the AS / S varant, ths acts as a closng force, and as an openng force for the IS varant. The mantenance of grppng force element can also be used as a means for ncreasng grppng force or for sngle actuated grppng. 336

4 Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK For KVZ verson The dust-protecton opton ncreases the degree of protecton aganst penetratng substances. The screw connecton 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 power booster cylnder ncreases grppng forces for openng and closng. A second pston connected n a seres ncreases the force on the dagonal pull for ths purpose. If applcable, observe the addtonal nstallaton heght for combnaton wth an element for mantenance of grppng force. Precson verson BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part The ndcated tolerances just refer to the types of precson versons shown n the chart of techncal specfcatons. All other types of precson versons are avalable on request. 337

5 SDV-P pressure mantenance valve HUE PGN-plus 100 protectve cover 4 Grpper IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valves ensure that the pressure n the pston chamber of pneumatc grppng, rotary, lnear, and quck-change modules s mantaned temporarly durng an emergency stop. Descrpton ID Pressure mantenance valve SDV-P For mountng screw connecton dagram, see basc verson The HUE protectve cover completely protects the grpper aganst external nfluences up to IP65 f an addtonal sealng of the cover bottom s provded as part of the applcaton. The mountng dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class IP class ISO Protecton cover HUE PGN-plus

6 BSWS jaw quck-change systems ZBA L-plus 100 ntermedate jaws 4 Grpper IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grppers. For detaled nformaton, refer to the approprate product. Descrpton ID Jaw quck-change system adapter BSWS-AR BSWS-A Jaw quck-change system base BSWS-B Fnger blanks wth jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Jaw quck-change system reversed BSWS-UR Fnger connecton EP Included n delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng 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 Scope of delvery Intermedate jaws ZBA-L-plus Alumnum 1 Only the systems lsted n the table can be used. 339

7 UZB 100 unversal ntermedate jaw FMS-ZBA / ZBP 100 force-measurng jaws 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 matng part The unversal ntermedate jaw allows fast tool-free and relable pluggng and shftng of top jaws at the grpper. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB UZB-S Fnger blanks ABR-PGZN-plus SBR-PGZN-plus Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng 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-A control unt and a FMS-AK 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 Electronc processor FMS-A

8 ABR- / SBR-PGZN-plus 100 fnger blanks OAS-PGN-plus 100 object dstance sensor 2 Fnger connecton GL Ft for centerng sleeves Fnger blanks for customzed subsequent machnng. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Object dstance sensor OAS-PGN-plus Object dstance sensor Attachment valves IT OAS Optcal dstance and presence sensor for drect mountng on the grpper. One OAS sensor per grpper can be assembled. Descrpton ID Object dstance sensor OAS-PGN-plus Electronc processor 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 smply taught. 4 Grpper AS Ar connecton DR Hose EP Included n 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 secton. 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

9 Modular assembly automaton VB-PGN-plus 100 valve box 4 Grpper IT CLM / KLM / LM / ELM / ELS / HLM lnear module IK ASG adapter plate Grpper and lnear modules can be combned wth standard adapters out of the modular assembly system. For more nformaton see our catalog Modular Assembly Automaton. AS Ar connecton ET Electrcal connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part Descrpton ID Valve box VB-PGN-plus IT Power supply IK Valve swtched b for grpper opened IL Valve swtched a for grpper opened IM Valve swtched a and b 342

10 Valve box Inductve proxmty swtches 4 Grpper AS Ar connecton ET Electrcal connecton IT Power supply IK Valve swtched b for grpper opened IL Valve swtched a for grpper opened IM Drect connecton for hose-free compressed ar supply Ready to nstall, local control soluton! Valves are attached drectly to the handlng component. As a result, cycle tmes are sgnfcantly reduced and the number of hoses, commssonng tmes, and ar consumpton are mnmsed whle maxmum process safety s assured. 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. IT IN... sensor Drectly mounted lmt poston montor. IK IN...-SA sensor Descrpton ID Often combned Inductve proxmty swtches IN 80-S-M IN 80-S-M IN-C 80-S-M INK 80-S Inductve proxmty swtches wth lateral outlet IN 80-S-M8-SA Cable extensons 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 Two sensors (closer/s) are requred for each unt, plus extenson cables as an opton. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. 343

11 Flexble poston sensor MMS electronc magnetc swtches IT FPS-S sensor IK FPS-F5 / -F5 T electronc processor IL Cable extensons Flexble poston montorng of up to fve postons. Descrpton ID Often combned Mountng kt for FPS AS-FPS-PGZN-plus AS-FPS-PGZN-plus 100-2/PZB Electronc processor FPS-F FPS-F5 T Sensor FPS-S M Clp for plug / socket CLI-M When usng a FPS system, a FPS sensor (FPS-S) and a control unt (FPS-F5 / F5 T) are requred for each grpper as well as a mountng kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog secton. IT MMS sensor IK MMS SA sensor End poston montorng for mountng n the C-slot. Descrpton ID Often combned MMS electronc magnetc swtches MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral cable outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Reed swtches RMS 22-S-M Cable extensons 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 rado sensor system RSS-T Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt, plus extenson cables as an opton. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. 344

12 MMS PI1 programmable magnetc swtches MMS PI2 programmable magnetc swtches IT MMS PI1-... sensor IK MMS PI1-...-SA sensor Poston query wth one programmable poston per sensor and electroncs ntegrated n sensor. Programmable va MT magnet teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). Lmt poston query mounted n C-groove. If the ST plug teachng tools are lsted n the table, teachng can only take place wth the ST plug teachng tools. Descrpton ID Often combned MMS PI1 programmable magnetc swtches MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP MMS PI1-HD programmable magnetc swtches wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD MMS PI1 programmable magnetc swtches wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Two sensors (closer/s) are requred for each unt, plus extenson cables as an opton. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. Connecton cable, cable extensons, and sensor dstrbutors can be found n the table for the MMS 22. IT MMS PI2-... sensor Poston query wth two programmable postons per sensor and electroncs ntegrated n sensor. Programmable va MT magnet teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). Lmt poston query mounted n C-groove. If the ST plug teachng tools are lsted n the table, teachng can only take place wth the ST plug teachng tools. Descrpton ID Often combned MMS PI2 programmable magnetc swtches MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP MMS PI2-HD programmable magnetc swtches 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. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. Connecton cable, cable extensons, and sensor dstrbutors can be found n the table for the MMS-P

13 MMS-P programmable magnetc swtches APS-Z80 analog poston sensor GN Stop for MMS-P Poston montorng wth two programmable postons per sensor. The end poston montorng s mounted n the C-slot. Descrpton ID Often combned MMS-P programmable magnetc swtches 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 Contactlessly 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 mountng kt (AS-APS-Z80) and one APS-Z80 sensor s requred per grpper. MMS-A analog poston sensor Per unt one sensor (closer/s) s requred, optonally a cable extenson. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. GN Stop for MMS-P Contactlessly measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-05V-M MMS 22-A-10V-M One sensor s needed for each grpper. No addtonal mountng kt s needed the standard grpper s equpped for use of the MMS-A. 346

14 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 Often combned Mountng kt for APS-M1 AS-APS-M1-PGZN-plus AS-APS-M1-PGZN-plus Connecton cables APS-K APS-K Electronc processor APS-M1E Sensor APS-M1S Lmt poston montor can be mounted wth mountng kt. Descrpton Mountng 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, plus extenson cables as an opton. Ths mountng kt needs to be ordered optonally as an accessory. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. ID When usng an APS system, for each grpper a mountng 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. 347