Product Informaton
PRG More flexble More powerful. Slm. PRG unversal grpper 180 radal grpper wth powerful 1-shft slotted lnk gear and oval pston. Feld of applcaton For areas of applcaton whch, n addton to a large grppng force, requre the shortest possble moton sequences through the radal desgn of the jaw stroke. Advantages Your benefts Knematcs the 1-shft slotted lnk gear assures a consstant closng moment from -5 to +7. Optmzed cycle tme due to nnovatve dampng drectly ntegrated drve chan Maxmum compact performance for hgher closng moments, longer and stable grpper fngers Many optons ensure a hgher degree of flexblty adjusted to the ndvdual applcaton, the PRG s also avalable wth a mechanc grppng force mantenance devce, as a hgh-temperature verson, and wth three openng angle versons 30 / 60 / 90. Ar supply va hose-free drect connecton or screw connectons for flexble pressure supply n all automated systems Szes Quantty: 8 Weght 0.13.. 6.72 kg Grppng moment 2.. 295 Nm Angle per jaw 30.. 90 Workpece weght 0.3.. 6.96 kg 2
PRG Functonal descrpton The patented "1-pn lnk gude" converts the movement nto a powerful closng torque. The closng moment s addtonally renforced by the curved shape of the gudance. In addton to a rapd stroke behavour the slotted lnk also assures a nearly constant closng torque over a large closng angle range. PRG 1 Housng Weght-optmzed due to the use of hgh-strength alumnum alloy 2 Base Jaw for the connecton of workpece-specfc grpper fngers 3 Knematcs Slotted lnk gear for very hgh grppng forces when the workpece s contacted 4 Dampng decouples the drve, for shorter cycle tmes 5 Montorng ntegrated end poston montorng wth magnetc swtches CAD data, operatng manuals and other current product documents can be found onlne. 3
PRG General notes about the seres Operatng prncple: Slotted lnk gear Housng materal: Alumnum alloy, anodzed Base jaw materal: Steel Actuaton: pneumatc, wth fltered compressed ar as per ISO 8573-1:2010 [7:4:4]. Warranty: 24 months Scope of delvery: Centerng sleeves, O-rngs for drect connecton, assembly and operatng manual wth manufacturer s declaraton Grppng moment: grppng moment s the arthmetc total of grppng moments for each grpper jaw. Fnger length: s measured from the reference surface as the dstance P n drecton to the man axs. Repeat accuracy: s defned as the spread of the end poston durng 100 consecutve strokes. Workpece weght: s calculated for force-ft grppng wth a coeffcent of statc frcton of 0.1 and a safety factor of 2 aganst workpece slppage at acceleraton due to gravty g. For form-ft or capture grppng, there are sgnfcantly hgher permssble workpece weghts. Closng and openng tmes: are purely the tmes that the base jaws or fngers are n moton. 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 Grpper-swvel combnaton for handlng of small shafts. The 180 openng angle of the grpper replaces a stroke unt whch otherwse would be necessary. 1 PRG 2-fnger radal grpper 2 Rotary Actuator SRU-plus 4
PRG SCHUNK offers more... The followng components make the product PRG even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Centerng sleeves Fttngs Magnetc swtches Inductve Proxmty Swtches Sensor dstrbutor Grpper pads Sensor cables Plastc nserts Pressure mantenance valve 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 Hgh-temperature verson V/HT: for use n hot envronments 180 radal grppers are advantageous snce further stroke motons are no more necessary. Snce every jaw swvels away by 90, the grpper s outsde of the workng area, and a stroke moton back of the whole grpper s no more necessary. Addtonal versons: Varous optons can be combned wth each other. Numerous addtonal optons are also avalable - just tell us what your task s! 5
Grppng force, O.D. grppng Fnger load Grppng force Max. permssble nerta J* Pont P - Fnger length M x max. 10 Nm M z max. 2.5 Nm F z max. 470 N Inerta The ndcated torques and forces are statc values, apply for each base jaw, and may occur smultaneously. Closng/openng tme Techncal data Descrpton -30-30-AS -60-60-AS -90-90-AS ID 0303654 0303664 0303694 0303704 0303674 0303684 Openng angle per jaw [ ] 30 30 60 60 90 90 Closed angle per jaw up to [ ] 3 3 3 3 3 3 Closng moment 20 23 20 23 20 23 Closng moment generated by sprng [Nm] 3 3 3 Weght [kg] 0.77 0.8 0.76 0.8 0.75 0.79 Recommended workpece weght [kg] 1.3 1.3 1.3 1.3 1.3 1.3 Flud consumpton double stroke [cm³] 52 52 61 61 72 72 Mn./max. operatng pressure [bar] 2/8 4/6.5 2/8 4/6.5 2/8 4/6.5 Nomnal operatng pressure [bar] 6 6 6 6 6 6 Closng/openng tme [s] 0.11/0.11 0.12/0.18 0.19/0.19 0.19/0.25 0.24/0.24 0.21/0.32 Closng tme wth sprng only [s] 0.13 0.25 0.37 Max. permssble fnger length [mm] 100 100 100 100 100 100 Max. permssble mass moment of nerta per chuck jaw* [kgcm²] 21.55 21.55 21.55 21.55 21.55 21.55 Protecton class IP 20 20 20 20 20 20 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 Optons and ther characterstcs Hgh-temperature verson 39303654 39303664 39303694 39303704 39303674 39303684 Mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. The curve apples for 90 versons. For other versons the curve must be parallely off-set accordng to the openng and closng tmes. The ndcated closng moment wll be reached at an openng angle of 0. A detaled closng moment course dependng on the openng angle can be taken out of the followng dagram "Closng moment to openng angle". 6
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 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.. Closng torque curve** Closng moment **The dagramm s vald for all openng angle varants. Openng angle 7
Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table Hose-free drect connecton M3 Fnger desgn 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 drawng shows a suggerstonof how to desgn the grpper fngers. A B C D [mm] [mm] [mm] [mm] 16 20.5 8 14 8
SDV-P pressure mantenance valve Attachment kt for proxmty swtch IN 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 The attachment kt conssts of brackets, control cams, and approprate fastenng materals. The proxmty swtches must be ordered separately. Descrpton ID Attachment kt for proxmty swtch AS--IN40 0303624 Ths attachment kt needs to be ordered optonally as an accessory. IN 40 nductve proxmty swtches Attachment kt for proxmty swtch IN 80 End poston montorng can be mounted wth an attachment kt. Descrpton ID Often combned Attachment kt for proxmty swtch AS--IN40 0303624 Inductve Proxmty Swtches IN 40-S-M12 0301574 IN 40-S-M8 0301474 INK 40-S 0301555 The attachment kt conssts of brackets, control cams, and approprate fastenng materals. The proxmty swtches must be ordered separately. Descrpton ID Attachment kt for proxmty swtch AS--IN80 0304135 Ths attachment kt needs to be ordered optonally as an accessory. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 9
IN 80 nductve proxmty swtches Electronc magnetc swtches MMS AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS 22...-SA End poston montorng can be mounted wth an attachment kt. Descrpton ID Often combned Attachment kt for proxmty swtch AS--IN80 0304135 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 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. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 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. 10
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 Plug teachng tool ST-MMS 22-PI1-PNP 0301025 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 Plug teachng tool ST-MMS 22-PI2-PNP 0301026 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. 11
Programmable magnetc swtches MMS-P GN Lmt stop for 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 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. 12
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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 2018-04-12 2018 SCHUNK GmbH & Co. KG