Product Informaton
PGN-plus 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 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 General notes about the seres Operatng prncple: Wedge gear wth surface power transmsson 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 Cross gantry for lght to medum-weght components 1 PGN-plus 2-fnger parallel grpper 2 LM lnear module 3 LM lnear module 4
PGN-plus 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 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 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
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 -AS -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. permssble fnger length [mm] 58 54 54 Max. permssble mass 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. permssble 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
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
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
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 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
SDV-P pressure mantenance valve Protectve cover HUE 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 0371490 2 65 12
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 Felds of applcaton Seres Sze Varant Sutablty -1 (6 bar) -1-AS / -1-IS (6 bar) -...-KVZ (6 bar) Legend Can be combned wthout restrctons Use wth restrctons (see loadng lmts) cannot be combned The load lmts for descrbng the applcaton lmts can be found n the catalog chapter of the correspondng accessores. If the operatng pressure s hgher than 6 bar, sutablty for use above the applcaton lmts must be checked. 13
Object dstance sensor OAS- 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- 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- 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 1.5 AGE-F-XY-031-2 0324901 ± 1.5 4 Often combned AGE-F-XY-031-3 0324902 ± 1.5 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 14
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. 15
Programmable magnetc swtch MMS 22-PI1 Programmable magnetc swtch MMS 22-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 swtch MMS 22-PI1 MMS 22-PI1-S-M8-PNP 0301160 MMSK 22-PI1-S-PNP 0301162 Programmable magnetc swtch MMS 22-PI1 wth lateral connecton MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Programmable magnetc swtch MMS 22-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 swtch MMS 22-PI2 MMS 22-PI2-S-M8-PNP 0301180 MMSK 22-PI2-S-PNP 0301182 Programmable magnetc swtch MMS 22-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. 16
Programmable magnetc swtches MMS-P MMS-A analog poston sensor GN Lmt stop for sensor 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. 17
Flexble poston sensor wth MMS-A GN Lmt stop for sensor IT MMS 22-A-... sensor IK FPS-F5 evaluaton electronc IL Connecton cables Flexble poston montorng of up to fve postons. Descrpton ID Analog poston sensor MMS 22-A-05V-M08 0315805 Evaluaton electroncs FPS-F5 0301805 Connecton cables KA BG16-L 12P-1000 0301801 When usng an FPS system, one MMS 22-A-05V and one electronc processor (FPS-F5) are requred per each grpper, as well as a mountng kt (AS), f lsted. Cable extensons (KV) are optonally avalable - see catalog chapter Accessores. 18
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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 Folgen Se uns Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for safe, precse grppng and holdng. schunk.com/lehmann 2018-04-24 2018 SCHUNK GmbH & Co. KG