Product Informaton Unversal grpper PGN-plus
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 0.08.. 39.5 kg Grppng force 123.. 21150 N Stroke per jaw 2.. 45 mm Workpece weght 0.62.. 80.5 kg 2
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
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 8573-1:2010 [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
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 www.schunk.com. Please contact us for further nformaton: SCHUNK techncal hotlne +49-7133-103-2696 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
PGN-plus Unversal grpper SCHUNK PGN-plus grppers Accessores at a glance 16 8 9 10 11 14 15 2 3 4 5 6 7 12 13 1 19 17 18 20 27 21 22 26 25 23 24 23 6
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
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 0371080 0371082 0371084 Stroke per jaw [mm] 2.5 2.5 2.5 Closng / openng force [N] 123/132 163/- -/182 mn. sprng force [N] 40 50 Weght [kg] 0.08 0.1 0.1 recommended workpece weght [kg] 0.62 0.62 0.62 Flud consumpton double stroke [cm³] 2.5 4.5 5.5 mn./max. operatng pressure [bar] 2.5/8 4/6.5 4/6.5 Nomnal operatng pressure [bar] 6 6 6 mn. / max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.02/0.02 0.02/0.03 0.03/0.02 Closng- / openng tme wth sprng [s] 0.05 0.05 max. admssble fnger length [mm] 58 54 54 max. admssble weght per fnger [kg] 0.1 0.1 0.1 Protecton class IP 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 Optons and ther characterstcs Dust-tght verson 37371080 37371082 37371084 Protecton class IP 64 64 64 Weght [kg] 0.1 0.12 0.12 Ant-corroson verson 38371080 38371082 38371084 Hgh-temperature verson 39371080 39371082 39371084 mn./max. ambent temperature [ C] 5/130 5/130 5/130 Force ntensfed verson 0372098 0372398 0372458 Closng / openng force [N] 225/235 265/- -/285 Weght [kg] 0.11 0.13 0.13 Maxmum pressure [bar] 6 6 6 max. admssble fnger length [mm] 50 50 50 Precson verson 0371120 0371420 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 8
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 22.. 9
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
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-050-040-P 0305754 19 11
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 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 14644-1 Protecton cover HUE PGN-plus 40 0371490 2 65 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 40 0300040 1 Fnger blanks ABR-PGZN-plus 40 0300008 SBR-PGZN-plus 40 0300018 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 40 0300008 Alumnum 1 SBR-PGZN-plus 40 0300018 16MnCr5 1 12
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 40 0308875 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 40 0308875 Evaluaton electroncs OAS-V09-D 0308865 OAS-V10-A 0308867 OAS-V10-D 0308866 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-031-1 0324900 ± 1.5 0.5 AGE-F-XY-031-2 0324901 ± 1.5 2 Often combned AGE-F-XY-031-3 0324902 ± 1.5 5 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-M3 0303322 ABV-MV15-M3-V2-M8 0303384 ABV-MV15-M3-V4-M8 0303354 ABV-MV15-M3-V8-M8 0303355 13
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 22...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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
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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 AQ Cable outlet IT MMS 22...-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 0301180 MMSK 22-PI2-S-PNP 0301182 Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD 0301130 MMSK 22-PI2-S-PNP-HD 0301132 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
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 0301371 MMS-P 22-S-M8-PNP 0301370 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 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
PGN-plus 40 Unversal grpper 17
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 0371099 0371149 0371399 0371449 0371459 0371469 Stroke per jaw [mm] 4 2 4 2 4 2 Closng / openng force [N] 140/145 290/310 185/- 385/- -/190 -/405 mn. sprng force [N] 45 95 45 95 Weght [kg] 0.17 0.17 0.21 0.21 0.21 0.21 recommended workpece weght [kg] 0.7 1.45 0.7 1.45 0.7 1.45 Flud consumpton double stroke [cm³] 5 5 8.5 8.5 11 11 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] 6 6 6 6 6 6 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 0.02/0.02 0.02/0.03 0.02/0.03 0.03/0.02 0.03/0.02 Closng- / openng tme wth sprng [s] 0.05 0.05 0.05 0.05 max. admssble fnger length [mm] 72 68 68 64 68 64 max. admssble weght per fnger [kg] 0.18 0.18 0.18 0.18 0.18 0.18 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371099 37371149 37371399 37371449 37371459 37371469 Protecton class IP 64 64 64 64 64 64 Weght [kg] 0.2 0.2 0.24 0.24 0.24 0.24 Ant-corroson verson 38371099 38371149 38371399 38371449 38371459 38371469 Hgh-temperature verson 39371099 39371149 39371399 39371449 39371459 39371469 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372099 0372149 0372399 0372459 Closng / openng force [N] 250/260 520/560 295/- -/305 Weght [kg] 0.21 0.21 0.26 0.26 Maxmum pressure [bar] 6 6 6 6 max. admssble fnger length [mm] 64 50 50 50 Precson verson 0371121 0371171 0371421 0371436 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 18
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 22.. 19
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
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-064-050-P 0305768 21 21
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 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 14644-1 Protecton cover HUE PGN-plus 50 0371479 2 65 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 50 0303020 BSWS-AR 50 0300091 Quck-change jaw system base BSWS-B 50 0303021 Jaw quck-change system BSWS-ABR-PGZN-plus 50 0300071 BSWS-SBR-PGZN-plus 50 0300081 Quck-change Jaw System reversed BSWS-UR 50 0302990 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 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 50 0311712 Alumnum PGN-plus 50 1 Only systems that are lsted n the table, can be used. 22
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 50 0300041 1.5 Fnger blanks ABR-PGZN-plus 50 0300009 SBR-PGZN-plus 50 0300019 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. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 50 0301830 Passve ntermedate jaws FMS-ZBP 50 0301831 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A1 0301810 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
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 50 0300009 Alumnum 1 SBR-PGZN-plus 50 0300019 16MnCr5 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 50 0308876 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 50 0308876 Evaluaton electroncs OAS-V09-D 0308865 OAS-V10-A 0308867 OAS-V10-D 0308866 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-050-3-OV 0324757 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
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-040-1 0324920 ± 2 2 AGE-F-XY-040-2 0324921 ± 2 2.5 Often combned AGE-F-XY-040-3 0324922 ± 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 0305751 CWK compact change master CWK-050-P 0305750 Tool sde A-CWA-050-040-P 0305754 25
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-M5 0303323 ABV-MV15-M5-V2-M8 0303386 ABV-MV15-M5-V4-M8 0303356 ABV-MV15-M5-V8-M8 0303357 26
PGN-plus 50 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS 22...-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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 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
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 0301371 MMS-P 22-S-M8-PNP 0301370 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 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
PGN-plus 50 Unversal grpper 29
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. 1100 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 0371090 0371091 0371092 0371093 0371094 0371095 Stroke per jaw [mm] 6 3 6 3 6 3 Closng / openng force [N] 250/270 520/565 340/- 710/- -/360 -/755 mn. sprng force [N] 90 190 90 190 Weght [kg] 0.28 0.28 0.37 0.37 0.37 0.37 recommended workpece weght [kg] 1.25 2.6 1.25 2.6 1.25 2.6 Flud consumpton double stroke [cm³] 10 17 17 21 21 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] 6 6 6 6 6 6 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] 0.03/0.03 0.03/0.03 0.02/0.04 0.02/0.04 0.04/0.02 0.04/0.02 Closng- / openng tme wth sprng [s] 0.08 0.08 0.08 0.08 max. admssble fnger length [mm] 90 85 85 80 85 80 max. admssble weght per fnger [kg] 0.35 0.35 0.35 0.35 0.35 0.35 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371090 37371091 37371092 37371093 37371094 37371095 Protecton class IP 64 64 64 64 64 64 Weght [kg] 0.35 0.35 0.44 0.44 0.44 0.44 Ant-corroson verson 38371090 38371091 38371092 38371093 38371094 38371095 Hgh-temperature verson 39371090 39371091 39371092 39371093 39371094 39371095 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372090 0372091 0372092 0372093 Closng / openng force [N] 450/485 935/1015 540/- -/575 Weght [kg] 0.35 0.35 0.43 0.43 Maxmum pressure [bar] 6 6 6 6 max. admssble fnger length [mm] 80 64 64 64 Precson verson 0371122 0371172 0371422 0371437 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 30
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
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
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-080-064-P 0305784 17 33
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 3 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 0300124 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 14644-1 Protecton cover HUE PGN-plus 64 0371480 2 65 34
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 64 0303022 BSWS-AR 64 0300092 Quck-change jaw system base BSWS-B 64 0303023 Jaw quck-change system BSWS-ABR-PGZN-plus 64 0300072 BSWS-SBR-PGZN-plus 64 0300082 Quck-change Jaw System reversed BSWS-UR 64 0302991 Only systems that are lsted n the table, can be used. 35
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 64 0311722 Alumnum PGN-plus 64 1 The drawng shows the UZB unversal ntermedate jaw. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB 64 0300042 1.5 Fnger blanks ABR-PGZN-plus 64 0300010 SBR-PGZN-plus 64 0300020 36
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 64 0300010 Alumnum 1 SBR-PGZN-plus 64 0300020 16MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 64 0301832 Passve ntermedate jaws FMS-ZBP 64 0301833 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A1 0301810 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
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 64 0308877 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 64 0308877 Evaluaton electroncs OAS-V09-D 0308865 OAS-V10-A 0308867 OAS-V10-D 0308866 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-064-3-MV 0324774 yes ±1 /±1,5 /±2 TCU-P-064-3-OV 0324775 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-063-1 0324940 ± 4 12 AGE-F-XY-063-2 0324941 ± 4 13 Often combned AGE-F-XY-063-3 0324942 ± 4 18 Due to the nterferng contour, montorng of the grpper s not possble. 38
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 0305765 CWK compact change master CWK-064-P 0305764 Tool sde A-CWA-064-050-P 0305768 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-M5 0303323 ABV-MV15-M5-V2-M8 0303386 ABV-MV15-M5-V4-M8 0303356 ABV-MV15-M5-V8-M8 0303357 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 64 0310092 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
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 64 0310092 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 clp for plug/socket CLI-M8 0301463 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-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 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
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 22...-SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGZN-plus 64-1/80-2 0301630 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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
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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 AQ Cable outlet IT MMS 22...-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 0301180 MMSK 22-PI2-S-PNP 0301182 Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD 0301130 MMSK 22-PI2-S-PNP-HD 0301132 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
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 0301371 MMS-P 22-S-M8-PNP 0301370 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M08 0315825 MMS 22-A-10V-M12 0315828 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
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 64-1 0302105 AS-APS-Z80-PGZN-plus 64-2 0302106 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 64-1 0302075 AS-APS-M1-PGZN-plus 64-2 0302076 Sensor APS-M1S 0302062 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 64/80 0377725 Reed Swtches RMS 80-S-M8 0377721 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
PGN-plus 64 Unversal grpper 45
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. 1500 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 0371101 0371151 0371401 0371451 0371461 0371471 Stroke per jaw [mm] 8 4 8 4 8 4 Closng / openng force [N] 415/465 860/960 570/- 1180/- -/620 -/1280 mn. sprng force [N] 155 320 155 320 Weght [kg] 0.5 0.5 0.6 0.6 0.6 0.6 recommended workpece weght [kg] 2.1 4.3 2.1 4.3 2.1 4.3 Flud consumpton double stroke [cm³] 22.5 22.5 36 36 42.5 42.5 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] 6 6 6 6 6 6 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] 0.04/0.04 0.04/0.04 0.03/0.05 0.03/0.05 0.05/0.03 0.05/0.03 Closng- / openng tme wth sprng [s] 0.10 0.10 0.10 0.10 max. admssble fnger length [mm] 110 105 105 100 105 100 max. admssble weght per fnger [kg] 0.6 0.6 0.6 0.6 0.6 0.6 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371101 37371151 37371401 37371451 37371461 37371471 Protecton class IP 64 64 64 64 64 64 Weght [kg] 0.6 0.6 0.7 0.7 0.7 0.7 Ant-corroson verson 38371101 38371151 38371401 38371451 38371461 38371471 Hgh-temperature verson 39371101 39371151 39371401 39371451 39371461 39371471 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372101 0372151 0372401 0372461 Closng / openng force [N] 745/835 1550/1730 900/- -/990 Weght [kg] 0.65 0.65 0.75 0.75 Maxmum pressure [bar] 6 6 6 6 max. admssble fnger length [mm] 100 80 80 80 Precson verson 0371123 0371173 0371423 0371438 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 46
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
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
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-100-080-P 0305804 15 49
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 3 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 0300125 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 14644-1 Protecton cover HUE PGN-plus 80 0371481 2 65 50
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 80 0303024 BSWS-AR 80 0300093 Quck-change jaw system base BSWS-B 80 0303025 Jaw quck-change system BSWS-ABR-PGZN-plus 80 0300073 BSWS-SBR-PGZN-plus 80 0300083 Quck-change Jaw System reversed BSWS-UR 80 0302992 Only systems that are lsted n the table, can be used. 51
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 80 0311732 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 80 0300043 2 UZB-S 80 5518271 2 Fnger blanks ABR-PGZN-plus 80 0300011 SBR-PGZN-plus 80 0300021 52
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 80 0300011 Alumnum 1 SBR-PGZN-plus 80 0300021 16MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 80 0301834 Passve ntermedate jaws FMS-ZBP 80 0301835 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A1 0301810 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
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 80 0308878 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 80 0308878 Evaluaton electroncs OAS-V09-D 0308865 OAS-V10-A 0308867 OAS-V10-D 0308866 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-080-3-MV 0324792 yes ±1 /±1,5 /±2 TCU-P-080-3-OV 0324793 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-063-1 0324940 ± 4 12 AGE-F-XY-063-2 0324941 ± 4 13 Often combned AGE-F-XY-063-3 0324942 ± 4 18 Due to the nterferng contour, montorng of the grpper s not possble. 54
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 0305781 CWK compact change master CWK-080-P 0305780 Tool sde A-CWA-080-064-P 0305784 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-MV25-M5 0303326 ABV-MV25-M5-V2-M8 0303392 ABV-MV25-M5-V4-M8 0303362 ABV-MV25-M5-V8-M8 0303363 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
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-M12 0301578 IN 80-S-M8 0301478 IN-C 80-S-M8-PNP 0301475 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 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
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 22...-SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGZN-plus 64-1/80-2 0301630 AS-FPS-PGZN-plus 80-1/PZB 80/PZB 100 0301632 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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
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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 AQ Cable outlet IT MMS 22...-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 0301180 MMSK 22-PI2-S-PNP 0301182 Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD 0301130 MMSK 22-PI2-S-PNP-HD 0301132 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
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 0301371 MMS-P 22-S-M8-PNP 0301370 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M08 0315825 MMS 22-A-10V-M12 0315828 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
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 80-1 0302107 AS-APS-Z80-PGZN-plus 80-2 0302108 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 80-1 0302077 AS-APS-M1-PGZN-plus 80-2 0302078 Sensor APS-M1S 0302062 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 64/80 0377725 Reed Swtches RMS 80-S-M8 0377721 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
PGN-plus 80 Unversal grpper 61
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. 2000 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 100-1 PGN-plus 100-2 PGN-plus 100-1-AS PGN-plus 100-2-AS PGN-plus 100-1-IS PGN-plus 100-2-IS ID 0371102 0371152 0371402 0371452 0371462 0371472 Stroke per jaw [mm] 10 5 10 5 10 5 Closng / openng force [N] 660/725 1370/1500 900/- 1870/- -/965 -/2000 mn. sprng force [N] 240 500 240 500 Weght [kg] 0.81 0.81 1 1 1 1 recommended workpece weght [kg] 3.3 6.85 3.3 6.85 3.3 6.85 Flud consumpton double stroke [cm³] 45 45 79 79 90 90 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] 6 6 6 6 6 6 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] 0.07/0.07 0.07/0.07 0.05/0.09 0.05/0.09 0.09/0.05 0.09/0.05 Closng- / openng tme wth sprng [s] 0.20 0.20 0.20 0.20 max. admssble fnger length [mm] 145 135 135 125 135 125 max. admssble weght per fnger [kg] 1.1 1.1 1.1 1.1 1.1 1.1 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371102 37371152 37371402 37371452 37371462 37371472 Protecton class IP 64 64 64 64 64 64 Weght [kg] 0.99 0.99 1.18 1.18 1.18 1.18 Ant-corroson verson 38371102 38371152 38371402 38371452 38371462 38371472 Hgh-temperature verson 39371102 39371152 39371402 39371452 39371462 39371472 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372102 0372152 0372402 0372462 Closng / openng force [N] 1190/1305 2465/2700 1430/- -/1545 Weght [kg] 1.05 1.05 1.3 1.3 Maxmum pressure [bar] 6 6 6 6 max. admssble fnger length [mm] 125 100 100 100 Precson verson 0371124 0371174 0371424 0371439 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 62
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
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
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-125-100-P 0305829 16 65
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 3 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 0300126 Protectve cover HUE PGN-plus 100 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 14644-1 Protecton cover HUE PGN-plus 100 0371482 2 65 66
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 100 0303026 BSWS-AR 100 0300094 Quck-change jaw system base BSWS-B 100 0303027 Jaw quck-change system BSWS-ABR-PGZN-plus 100 0300074 BSWS-SBR-PGZN-plus 100 0300084 Quck-change Jaw System reversed BSWS-UR 100 0302993 Only systems that are lsted n the table, can be used. 67
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 100 0311742 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 100 0300044 2.5 UZB-S 100 5518272 2.5 Fnger blanks ABR-PGZN-plus 100 0300012 SBR-PGZN-plus 100 0300022 68
PGN-plus 100 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 100 Fnger blanks ABR- / SBR-PGZN-plus 100 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 100 0300012 Alumnum 1 SBR-PGZN-plus 100 0300022 16MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 100 0301836 Passve ntermedate jaws FMS-ZBP 100 0301837 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A1 0301810 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
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 100 0308879 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 100 0308879 Evaluaton electroncs OAS-V09-D 0308865 OAS-V10-A 0308867 OAS-V10-D 0308866 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-100-2-MV 0324808 yes ±1 /±1,5 /±1,2 TCU-P-100-3-OV 0324811 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-080-1 0324960 ± 5 36 AGE-F-XY-080-2 0324961 ± 5 55 Often combned AGE-F-XY-080-3 0324962 ± 5 65 Due to the nterferng contour, montorng of the grpper s not possble. 70
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 0305801 CWK compact change master CWK-100-P 0305800 Tool sde A-CWA-100-080-P 0305804 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-G1/8 0303328 ABV-MV30-G1/8-V2-M8 0303396 ABV-MV30-G1/8-V4-M8 0303366 ABV-MV30-G1/8-V8-M8 0303367 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 100 0310094 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
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 100 0310094 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 clp for plug/socket CLI-M8 0301463 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-M12 0301578 IN 80-S-M8 0301478 IN-C 80-S-M8-PNP 0301475 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M8-SA 0301483 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 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
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 22...-SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGZN-plus 100-1 0301634 AS-FPS-PGZN-plus 100-2/PZB 125 0301635 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Reed Swtches RMS 22-S-M8 0377720 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 RSS Wreless sensor system RSS-T2 0377715 RSS-T2-US/CA 0377717 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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
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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 AQ Cable outlet IT MMS 22...-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 0301180 MMSK 22-PI2-S-PNP 0301182 Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD 0301130 MMSK 22-PI2-S-PNP-HD 0301132 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
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 0301371 MMS-P 22-S-M8-PNP 0301370 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M08 0315825 MMS 22-A-10V-M12 0315828 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
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 100-1 0302109 AS-APS-Z80-PGZN-plus 100-2 0302110 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 100-1 0302079 AS-APS-M1-PGZN-plus 100-2 0302080 Sensor APS-M1S 0302062 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 100/125 0377726 Reed Swtches RMS 80-S-M8 0377721 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
PGN-plus 100 Unversal grpper 77
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. 2800 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 125-1 PGN-plus 125-2 PGN-plus 125-1-AS PGN-plus 125-2-AS PGN-plus 125-1-IS PGN-plus 125-2-IS ID 0371103 0371153 0371403 0371453 0371463 0371473 Stroke per jaw [mm] 13 6 13 6 13 6 Closng / openng force [N] 1080/1170 2240/2420 1470/- 3040/- -/1560 -/3220 mn. sprng force [N] 390 800 390 800 Weght [kg] 1.35 1.35 1.85 1.85 1.85 1.85 recommended workpece weght [kg] 5.4 11.2 5.4 11.2 5.4 11.2 Flud consumpton double stroke [cm³] 87 87 119 119 166 166 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] 6 6 6 6 6 6 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] 0.1/0.1 0.1/0.1 0.08/0.12 0.08/0.12 0.12/0.08 0.12/0.08 Closng- / openng tme wth sprng [s] 0.30 0.30 0.30 0.30 max. admssble fnger length [mm] 180 170 170 160 170 160 max. admssble weght per fnger [kg] 2.1 2.1 2.1 2.1 2.1 2.1 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371103 37371153 37371403 37371453 37371463 37371473 Protecton class IP 64 64 64 64 64 64 Weght [kg] 1.55 1.55 2.05 2.05 2.05 2.05 Ant-corroson verson 38371103 38371153 38371403 38371453 38371463 38371473 Hgh-temperature verson 39371103 39371153 39371403 39371453 39371463 39371473 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372103 0372153 0372403 0372463 Closng / openng force [N] 1945/2105 4030/4355 2335/- -/2495 Weght [kg] 1.85 1.85 2.3 2.3 Maxmum pressure [bar] 6 6 6 6 max. admssble fnger length [mm] 160 125 125 125 Precson verson 0371125 0371175 0371425 0371440 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 78
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
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
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 81
PGN-plus 125 Unversal grpper SDV-P E-P pressure mantenance valve Protectve cover HUE PGN-plus 125 3 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 0300127 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 14644-1 Protecton cover HUE PGN-plus 125 0371483 2 65 82
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 125 0303028 BSWS-AR 125 0300095 Quck-change jaw system base BSWS-B 125 0303029 Jaw quck-change system BSWS-ABR-PGZN-plus 125 0300075 BSWS-SBR-PGZN-plus 125 0300085 Quck-change Jaw System reversed BSWS-UR 125 0302994 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 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 125 0311752 Alumnum PGN-plus 125 Scope of delvery 1 Only systems that are lsted n the table, can be used. 83
PGN-plus 125 Unversal grpper UZB 125 unversal ntermedate jaw Force-measurng jaws FMS-ZBA/ ZBP 125 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 125 0300045 3 UZB-S 125 5518273 3 Fnger blanks ABR-PGZN-plus 125 0300013 SBR-PGZN-plus 125 0300023 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. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 125 0301838 Passve ntermedate jaws FMS-ZBP 125 0301839 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A1 0301810 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
PGN-plus 125 Unversal grpper Fnger blanks ABR- / SBR-PGZN-plus 125 Object dstance sensor OAS-PGN-plus 125 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 125 0300013 Alumnum 1 SBR-PGZN-plus 125 0300023 16MnCr5 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 125 0308880 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 125 0308880 Evaluaton electroncs OAS-V09-D 0308865 OAS-V10-A 0308867 OAS-V10-D 0308866 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-125-3-MV 0324828 yes ±1 /±1,5 /±1,5 TCU-P-125-3-OV 0324829 no ±1 /±1,5 /±1,5 85
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-080-1 0324960 ± 5 36 AGE-F-XY-080-2 0324961 ± 5 55 Often combned AGE-F-XY-080-3 0324962 ± 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 0305826 CWK compact change master CWK-125-P 0305825 Tool sde A-CWA-125-100-P 0305829 86
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-G1/8 0303328 ABV-MV30-G1/8-V2-M8 0303396 ABV-MV30-G1/8-V4-M8 0303366 ABV-MV30-G1/8-V8-M8 0303367 87
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-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus 125-1/PZB 160 0301636 AS-FPS-PGZN-plus 125-2 0301637 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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
PGN-plus 125 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS 22...-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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Reed Swtches RMS 22-S-M8 0377720 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 RSS Wreless sensor system RSS-T2 0377715 RSS-T2-US/CA 0377717 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 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
PGN-plus 125 Unversal grpper Programmable magnetc swtches MMS PI2 Programmable magnetc swtches MMS-P AQ Cable outlet IT MMS 22...-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 0301180 MMSK 22-PI2-S-PNP 0301182 Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD 0301130 MMSK 22-PI2-S-PNP-HD 0301132 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 0301371 MMS-P 22-S-M8-PNP 0301370 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 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
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-M08 0315825 MMS 22-A-10V-M12 0315828 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 125-1 0302111 AS-APS-Z80-PGZN-plus 125-2 0302112 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 125-1 0302081 AS-APS-M1-PGZN-plus 125-2 0302082 Sensor APS-M1S 0302062 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 100/125 0377726 Reed Swtches RMS 80-S-M8 0377721 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
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. 4300 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 160-1 PGN-plus 160-2 PGN-plus 160-1-AS PGN-plus 160-2-AS PGN-plus 160-1-IS PGN-plus 160-2-IS ID 0371104 0371154 0371404 0371454 0371464 0371474 Stroke per jaw [mm] 16 8 16 8 16 8 Closng / openng force [N] 1640/1770 3200/3460 2210/- 4420/- -/2340 -/4680 mn. sprng force [N] 570 1220 570 1220 Weght [kg] 2.6 2.6 3.6 3.6 3.6 3.6 recommended workpece weght [kg] 8.2 16 8.2 16 8.2 16 Flud consumpton double stroke [cm³] 164 164 210 210 265 265 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] 6 6 6 6 6 6 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] 0.15/0.15 0.15/0.15 0.12/0.25 0.12/0.25 0.25/0.12 0.25/0.12 Closng- / openng tme wth sprng [s] 0.45 0.45 0.45 0.45 max. admssble fnger length [mm] 220 210 210 200 210 200 max. admssble weght per fnger [kg] 3.5 3.5 3.5 3.5 3.5 3.5 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371104 37371154 37371404 37371454 37371464 37371474 Protecton class IP 64 64 64 64 64 64 Weght [kg] 3 3 4 4 4 4 Ant-corroson verson 38371104 38371154 38371404 38371454 38371464 38371474 Hgh-temperature verson 39371104 39371154 39371404 39371454 39371464 39371474 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372104 0372154 0372404 0372464 Closng / openng force [N] 2950/3185 5760/6230 3520/- -/3755 Weght [kg] 3.4 3.4 4.4 4.4 Maxmum pressure [bar] 6 6 6 6 max. admssble fnger length [mm] 160 125 125 125 Precson verson 0371126 0371176 0371426 0371441 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 92
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
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
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 95
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 14644-1 Protecton cover HUE PGN-plus 160 0371484 2 65 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 160 0303030 BSWS-AR 160 0300096 Quck-change jaw system base BSWS-B 160 0303031 Jaw quck-change system BSWS-ABR-PGZN-plus 160 0300076 BSWS-SBR-PGZN-plus 160 0300086 Quck-change Jaw System reversed BSWS-UR 160 0302995 Only systems that are lsted n the table, can be used. 96
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 160 0311762 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 160 0300046 4 UZB-S 160 5518274 4 Fnger blanks ABR-PGZN-plus 160 0300014 SBR-PGZN-plus 160 0300024 97
PGN-plus 160 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 160 Fnger blanks ABR- / SBR-PGZN-plus 160 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 160 0300014 Alumnum 1 SBR-PGZN-plus 160 0300024 16MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 160 0301840 Passve ntermedate jaws FMS-ZBP 160 0301841 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A2 0301811 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
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-160-3-MV 0324846 yes ±1 /±2 /±1,5 TCU-P-160-3-OV 0324847 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-G1/8 0303328 ABV-MV30-G1/8-V2-M8 0303396 ABV-MV30-G1/8-V4-M8 0303366 ABV-MV30-G1/8-V8-M8 0303367 99
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-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus 160-1 0301638 AS-FPS-PGZN-plus 160-2 0301639 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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
PGN-plus 160 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS 22...-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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Reed Swtches RMS 22-S-M8 0377720 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 RSS Wreless sensor system RSS-T2 0377715 RSS-T2-US/CA 0377717 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 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
PGN-plus 160 Unversal grpper Programmable magnetc swtches MMS PI2 Programmable magnetc swtches MMS-P AQ Cable outlet IT MMS 22...-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 0301180 MMSK 22-PI2-S-PNP 0301182 Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD 0301130 MMSK 22-PI2-S-PNP-HD 0301132 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 0301371 MMS-P 22-S-M8-PNP 0301370 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 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
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 160-1/200-2/240-2 0302113 AS-APS-Z80-PGZN-plus 160-2 0302114 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 160-1/240-2 0302083 AS-APS-M1-PGZN-plus 160-2 0302084 Sensor APS-M1S 0302062 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 160-380 0377727 Reed Swtches RMS 80-S-M8 0377721 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
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. 5000 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 200-1 PGN-plus 200-2 PGN-plus 200-1-AS PGN-plus 200-2-AS PGN-plus 200-1-IS PGN-plus 200-2-IS ID 0371105 0371155 0371405 0371455 0371465 0371475 Stroke per jaw [mm] 25 14 25 14 25 14 Closng / openng force [N] 2700/2870 4650/4980 3610/- 6250/- -/3780 -/6580 mn. sprng force [N] 910 1600 910 1600 Weght [kg] 5.4 5.4 7.5 7.5 7.5 7.5 recommended workpece weght [kg] 13.5 23.5 13.5 23.5 13.5 23.5 Flud consumpton double stroke [cm³] 385 385 495 495 620 620 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] 6 6 6 6 6 6 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] 0.35/0.35 0.35/0.35 0.3/0.6 0.3/0.6 0.6/0.3 0.6/0.3 Closng- / openng tme wth sprng [s] 0.50 0.50 0.50 0.50 max. admssble fnger length [mm] 280 240 240 200 240 200 max. admssble weght per fnger [kg] 6.5 6.5 6.5 6.5 6.5 6.5 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.02 0.02 0.02 0.02 0.02 0.02 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371105 37371155 37371405 37371455 37371465 37371475 Protecton class IP 64 64 64 64 64 64 Weght [kg] 6 6 8.1 8.1 8.1 8.1 Ant-corroson verson 38371105 38371155 38371405 38371455 38371465 38371475 Hgh-temperature verson 39371105 39371155 39371405 39371455 39371465 39371475 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372105 0372155 0372405 0372465 Closng / openng force [N] 4860/5165 8370/8965 5770/- -/6075 Weght [kg] 6.7 6.7 9 9 Maxmum pressure [bar] 6 6 6 6 max. admssble fnger length [mm] 200 160 160 160 Precson verson 0371127 0371177 0371427 0371442 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 104
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... 105
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
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 04 0403130 Pressure mantenance valve wth ar bleed screw SDV-P 04-E 0300120 107
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 200 0303033 Quck-change jaw system adapter BSWS-A 200 0303032 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 200 0311772 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 200 0300047 7 UZB-S 200 5518275 7 Fnger blanks ABR-PGZN-plus 200 0300015 SBR-PGZN-plus 200 0300025 108
PGN-plus 200 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 200 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. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 200 0301842 Passve ntermedate jaws FMS-ZBP 200 0301843 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A2 0301811 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
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 200 0300015 Alumnum 1 SBR-PGZN-plus 200 0300025 16MnCr5 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-200-3-MV 0324864 yes ±1 /±2 /±1,5 TCU-P-200-3-OV 0324865 no ±1 /±2 /±1,5 TCU-P-240-3-MV 0324730 yes ±1 /±1,5 /±1 TCU-P-240-3-OV 0324731 no ±1 /±1,5 /±1 110
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-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus 200-1 0301640 AS-FPS-PGZN-plus 200-2 0301641 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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
PGN-plus 200 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS 22...-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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Reed Swtches RMS 22-S-M8 0377720 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 RSS Wreless sensor system RSS-T2 0377715 RSS-T2-US/CA 0377717 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 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
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 160-1/200-2/240-2 0302113 AS-APS-Z80-PGZN-plus 200-1 0302115 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 200-1/380-2 0302085 AS-APS-M1-PGZN-plus 200-2 0302086 Sensor APS-M1S 0302062 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 160-380 0377727 Reed Swtches RMS 80-S-M8 0377721 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
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. 6200 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 240-1 PGN-plus 240-2 PGN-plus 240-1-AS PGN-plus 240-2-AS PGN-plus 240-1-IS PGN-plus 240-2-IS ID 0371108 0371158 0371408 0371458 0371468 0371478 Stroke per jaw [mm] 30 17 30 17 30 17 Closng / openng force [N] 4200/4440 6500/6870 5300/- 8340/- -/5540 -/8710 mn. sprng force [N] 1100 1840 1100 1840 Weght [kg] 8.5 8.5 12 12 12 12 recommended workpece weght [kg] 21.5 33 21.5 33 21.5 33 Flud consumpton double stroke [cm³] 650 650 810 810 995 995 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] 6 6 6 6 6 6 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] 0.45/0.45 0.45/0.45 0.35/0.65 0.35/0.65 0.65/0.35 0.65/0.35 Closng- / openng tme wth sprng [s] 0.55 0.55 0.55 0.55 max. admssble fnger length [mm] 320 280 280 240 280 240 max. admssble weght per fnger [kg] 8.5 8.5 8.5 8.5 8.5 8.5 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.04 0.04 0.04 0.04 0.04 0.04 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371108 37371158 37371408 37371458 37371468 37371478 Protecton class IP 64 64 64 64 64 64 Weght [kg] 11.4 11.4 14.4 14.4 14.4 14.4 Ant-corroson verson 38371108 38371158 38371408 38371458 38371468 38371478 Hgh-temperature verson 39371108 39371158 39371408 39371458 39371468 39371478 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Precson verson 0371128 0371178 0371428 0371443 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 114
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... 115
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
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 07 0403131 Pressure mantenance valve wth ar bleed screw SDV-P 07-E 0300121 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 240 0303035 Quck-change jaw system adapter BSWS-A 240 0303034 Only systems that are lsted n the table, can be used. 117
PGN-plus 240 Unversal grpper ZBA-L-plus 240 ntermedate jaws Fnger blanks ABR- / SBR-PGZN-plus 240 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 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 240 0300017 Alumnum 1 SBR-PGZN-plus 240 0300027 16MnCr5 1 Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-L-plus 240 0311782 Alumnum PGN-plus 240 Scope of delvery 1 118
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-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus 240-1 0301643 AS-FPS-PGZN-plus 240-2 0301644 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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
PGN-plus 240 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS 22...-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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Reed Swtches RMS 22-S-M8 0377720 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 RSS Wreless sensor system RSS-T2 0377715 RSS-T2-US/CA 0377717 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 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
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 160-1/200-2/240-2 0302113 AS-APS-Z80-PGZN-plus 240-1 0302116 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 160-1/240-2 0302083 AS-APS-M1-PGZN-plus 240-1 0302087 Sensor APS-M1S 0302062 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 160-380 0377727 Reed Swtches RMS 80-S-M8 0377721 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
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. 8000 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 300-1 PGN-plus 300-2 PGN-plus 300-1-AS PGN-plus 300-2-AS PGN-plus 300-1-IS PGN-plus 300-2-IS ID 0371106 0371156 0371406 0371456 0371466 0371476 Stroke per jaw [mm] 35 20 35 20 35 20 Closng / openng force [N] 6000/6260 10300/10800 7400/- 12500/- -/7660 -/13000 mn. sprng force [N] 1400 2200 1400 2200 Weght [kg] 13.9 13.9 17.2 17.2 17.2 17.2 recommended workpece weght [kg] 30 51.5 30 51.5 30 51.5 Flud consumpton double stroke [cm³] 1040 1040 1295 1295 1560 1560 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] 6 6 6 6 6 6 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] 0.5/0.5 0.5/0.5 0.4/0.7 0.4/0.7 0.7/0.4 0.7/0.4 Closng- / openng tme wth sprng [s] 0.60 0.60 0.60 0.60 max. admssble fnger length [mm] 350 300 300 250 300 250 max. admssble weght per fnger [kg] 11.5 11.5 11.5 11.5 11.5 11.5 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.05 0.05 0.05 0.05 0.05 0.05 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371106 37371156 37371406 37371456 37371466 37371476 Protecton class IP 64 64 64 64 64 64 Weght [kg] 17.6 17.6 21.3 21.3 21.3 21.3 Ant-corroson verson 38371106 38371156 38371406 38371456 38371466 38371476 Hgh-temperature verson 39371106 39371156 39371406 39371456 39371466 39371476 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Precson verson 0371129 0371179 0371429 0371444 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 122
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... 123
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
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 0300109 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 300 0303037 Quck-change jaw system adapter BSWS-A 300 0303036 Only systems that are lsted n the table, can be used. 125
PGN-plus 300 Unversal grpper Force-measurng jaws FMS-ZBA/ ZBP 300 Fnger blanks ABR- / SBR-PGZN-plus 300 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 300 0300016 Alumnum 1 SBR-PGZN-plus 300 0300026 16MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 300 0301846 Passve ntermedate jaws FMS-ZBP 300 0301847 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Evaluaton electroncs FMS-A2 0301811 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
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-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus 300-2 0301642 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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
PGN-plus 300 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS 22...-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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Reed Swtches RMS 22-S-M8 0377720 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 RSS Wreless sensor system RSS-T2 0377715 RSS-T2-US/CA 0377717 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 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
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 300-1 0302117 AS-APS-Z80-PGZN-plus 300-2 0302118 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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 300-1 0302088 AS-APS-M1-PGZN-plus 300-2 0302089 Sensor APS-M1S 0302062 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 160-380 0377727 Reed Swtches RMS 80-S-M8 0377721 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
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. 10000 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 380-1 PGN-plus 380-2 PGN-plus 380-1-AS PGN-plus 380-2-AS PGN-plus 380-1-IS PGN-plus 380-2-IS ID 0371107 0371157 0371407 0371457 0371467 0371477 Stroke per jaw [mm] 45 26 45 26 45 26 Closng / openng force [N] 9050/9400 15450/16100 12350/- 21150/- -/12700 -/21800 mn. sprng force [N] 3300 5700 3300 5700 Weght [kg] 28 29 36.5 37.5 36.5 37.5 recommended workpece weght [kg] 47 80.5 47 80.5 47 80.5 Flud consumpton double stroke [cm³] 2275 2275 2705 2705 3175 3175 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] 6 6 6 6 6 6 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] 0.6/0.6 0.6/0.6 0.5/0.8 0.5/0.8 0.8/0.5 0.8/0.5 Closng- / openng tme wth sprng [s] 0.80 0.80 0.80 0.80 max. admssble fnger length [mm] 400 350 350 300 350 300 max. admssble weght per fnger [kg] 17 17 17 17 17 17 Protecton class IP 40 40 40 40 40 40 mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.05 0.05 0.05 0.05 0.05 0.05 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371107 37371157 37371407 37371457 37371467 37371477 Protecton class IP 64 64 64 64 64 64 Weght [kg] 30 31 38.5 39.5 38.5 39.5 Ant-corroson verson 38371107 38371157 38371407 38371457 38371467 38371477 Hgh-temperature verson 39371107 39371157 39371407 39371457 39371467 39371477 mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Precson verson 0371130 0371180 0371430 0371445 It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 130
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... 131
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
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 0300109 133
PGN-plus 380 Unversal grpper Inductve Proxmty Swtches Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Cable extenson KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 clp for plug/socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M12 0301776 V2-M8 0301775 V4-M12 0301747 V4-M8 0301746 V8-M12 0301752 V8-M8 0301751 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
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 22...-SA Flexble poston montorng of up to fve postons. Descrpton Attachment kt for FPS AS-FPS-PGN-plus 380-2 0301645 Sensor FPS-S M8 0301704 Cable extenson KV BG08-SG08 3P-0050 0301598 KV BG08-SG08 3P-0100 0301599 clp for plug/socket CLI-M8 0301463 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 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Reed Swtches RMS 22-S-M8 0377720 Cable extenson KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 clp for plug/socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 RSS Wreless sensor system RSS-T2 0377715 RSS-T2-US/CA 0377717 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 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
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 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 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 380-1 0302101 AS-APS-Z80-PGZN-plus 380-2 0302119 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 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
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 200-1/380-2 0302085 AS-APS-M1-PGZN-plus 380-1 0302090 Sensor APS-M1S 0302062 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 160-380 0377727 Reed Swtches RMS 80-S-M8 0377721 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
SCHUNK GmbH & Co. KG Spann- und Greftechnk Bahnhofstr. 106-134 D-74348 Lauffen/Neckar Tel. +49-7133-103-0 Fax +49-7133-103-2239 nfo@de.schunk.com www.schunk.com www.youtube.com/schunkhq www.twtter.com/schunk_hq www.facebook.com/schunk.hq Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for precse grppng and safe holdng. www.gb.schunk.com/lehmann 2017-11-23 2017 SCHUNK GmbH & Co. KG