SCHMALZ Rob-Set SGM-SV 40 UR Magnetic Gripper Instruction Manual

Rob-Set SGM-SV 40 UR Magnetic Gripper

Operating instructions
Rob-Set SGM-SV 40 UR
WWW.SCHMALZ.COM

EN-US · 30.30.01.02746 · 01 · 12/22

Note

The Operating instructions were originally written in German. Store in a safe place for future reference. Subject to technical changes without notice. No responsibility is taken for printing or other types of errors.

Published by
© J. Schmalz GmbH, 12/22 This document is protected by copyright. J. Schmalz GmbH retains the rights established thereby. Reproduction of the contents, in full or in part, is only permitted within the limits of the legal provisions of copyright law. Any modifications to or abridgments of the document are prohibited without explicit written agreement from J. Schmalz GmbH.

Contact
J. Schmalz
GmbH Johannes-Schmalz-Str. 1 72293 Glatten, Germany T: +49 (0) 7443 2403-0 [email protected] www.schmalz.com Contact information for Schmalz companies and trade partners worldwide can be found at: www.schmalz.com/salesnetwork

1 Important Information

1 Important Information
1.1 Note on Using this Document

J. Schmalz GmbH is generally referred to as Schmalz in this document. The document contains important notes and information about the different operating phases of the product:

• Transport, storage, start of operations and decommissioning
• Safe operation, required maintenance, rectification of any faults

The document describes the product at the time of delivery by Schmalz and is aimed at:

• Installers who are trained in handling the product and can operate and install it
• Technically trained service personnel performing the maintenance work
• Technically trained persons who work on electrical equipment

1.2 The technical documentation is part of the product

1. For problem-free and safe operation, follow the instructions in the documents.
2. Keep the technical documentation in close proximity to the product. The documentation must be accessible to personnel at all times.
3. Pass on the technical documentation to subsequent users.
   ⇨ Failure to follow the instructions in these Operating instructions may result in injuries!
   ⇨ Schmalz is not liable for damage or malfunctions that result from failure to heed these instructions.

If you still have questions after reading the technical documentation, contact Schmalz Service at: www.schmalz.com/services

1.3 Other Applicable Documents

When using the SGM-SV, the following technical documents must also be observed:

• The operating instructions for the magnetic gripper SGM-SV –> part number 30.30.01.02746
• The operating instructions for the proximity sensor (option) –> part number 30.30.01.01624
• The assembly instructions for the valve set with energy chain –> part number 30.30.01.02876

1.4 Type Plate

The type plate (1) is permanently attached to the product at the location shown and must always be clearly legible.

It contains important information about the product:

• Part sales designation/type
• Part number
• Serial number
• Coded date of manufacture
• Permitted pressure range

Please specify all the information above when ordering replacement parts, making warranty claims or for any other inquiries.

1.5 Symbols

This symbol indicates useful and important information.
This symbol represents a prerequisite that must be met prior to an operational step.
This symbol represents an action to be performed.
This symbol represents the result of an action.

Actions that consist of more than one step are numbered:

1. First action to be performed.
2. Second action to be performed.

2 Fundamental Safety Instructions

2 Fundamental Safety Instructions
2.1 Intended Use

The magnetic gripper is used, preferably with a collaborative robot, for handling ferromagnetic workpieces such as perforated plates, complex laser-cut workpieces, sheet metal with drill holes and apertures. The operator is required to document the static strength and holding force and to comply with safety factors. For system designs, a safety factor of S=3 should be applied. The magnetic gripper is built in accordance with the latest standards of technology and is shipped in safe condition. However, hazards can arise during use. Observe the warnings in these operating instructions. The load to be lifted must be sufficiently rigid so that it is not damaged during gripping and handling. The maximum lift capacity must not be exceeded (> See ch. Technical Data).

2.2 Non-Intended Use

Schmalz accepts no liability for damage caused by the use of the gripper SGM- SV for purposes other than those described under Intended Use. Use of the gripper SGM-SV for loads that are not specified in the order confirmation or that have different physical properties than those specified in the order confirmation shall be considered non-intended use. In particular, the following are considered non-intended use:

• Use in potentially explosive atmospheres
• Storing loads when active
• Supporting the lifting process by applying external forces

2.3 Personnel Qualifications

Unqualified personnel cannot recognize dangers and are therefore exposed to higher risks! The operating company must ensure the following points:

• The personnel must be commissioned for the activities described in these instructions.
• The staff must be at least 18 years of age and physically and mentally capable.
• The product must be operated only by persons who have undergone appropriate training.
• Personnel must receive regular safety briefings (frequency as per country specific regulations).

The following target groups are addressed in these instructions:

• Mechanical and electrical specialists who are responsible for installing, troubleshooting and maintaining the product.

The operator of the system must comply with country-specific regulations regarding the age, ability and training of the personnel.

Applicable for Germany: A qualified employee is defined as an employee who has received technical training and has the knowledge and experience ­ including knowledge of applicable regulations ­ necessary to enable him or her to recognize possible dangers and implement the appropriate safety measures while performing tasks. Qualified employees must observe the relevant industry- specific rules and regulations.

2 Fundamental Safety Instructions

2.4 Warnings in This Document

Warnings warn against hazards that may occur when handling the product. The signal word indicates the level of danger.

Signal word

WARNING
CAUTION
NOTE

Meaning
Indicates a medium-risk hazard that could result in death or serious injury if not avoided.
Indicates a low-risk hazard that could result in minor or moderate injury if not avoided.
Indicates a danger that leads to property damage.

2.5   Residual Risks

 WARNING

The product contains a permanent magnet that generates a continuous magnetic field.

Danger for persons with pacemakers. Devices and data carriers can be damaged. 4 Keep persons with pacemakers away from the product.

Keep sensitive electrical devices and data carriers away from the product.

 CAUTION

Risk of crushing if workpiece is abruptly attached

Do not place any body parts between the gripping surface and the workpiece.

 CAUTION

Falling product

Risk of injury

• Securely attach the product at the site of operation.
• Wear safety shoes (S1) and safety glasses when handling and mounting/dismounting the product.

2.6   Technical Condition

If the product is operated while in a defective state, safety and function will be impaired.

• Only operate the gripper when in perfect working order as originally delivered.
• Follow the maintenance plan (> See ch. Maintenance).
• Use only original spare parts from Schmalz.
• If the operating behavior changes, check the gripper for faults. Rectify faults immediately!
• Do not independently modify or alter the gripper.
• Safety features must not be disabled under any circumstances.

Schmalz assumes no liability for consequences of modifications over which it has no control.

EN-US · 30.30.01.02746 · 01 · 12/22 7 / 24

2 Fundamental Safety Instructions

2.7   Responsibility of the Integrator

The integrator is obligated to perform a risk assessment for the environmental conditions at the installation location.

The integrator is also responsible for third parties in the working area of the gripper. The operating com pany must ensure that they have the appropriate qualifications and skills.

• Ensure that regular breaks are taken.
• Ensure that the gripper cannot be started up by unauthorized persons.
• During maintenance or repair work, ensure that the gripper cannot be operated.
• Clearly define the responsibilities for the various activities performed with the gripper.
• Ensure that these responsibilities are observed.
• When handling unfamiliar loads, carry out tests where necessary to ensure safe operation:

– The load to be lifted is sufficiently rigid so that it cannot be damaged during gripping and handling.

2.8   Country-Specific Regulations for the Operating Company

1. Observe the country-specific regulations regarding accident prevention, safety testing and environ mental protection.
2. The gripper is used in combination with a collaborative robot.

Ensure that the appropriate country-specific regulations and safety regulations are adhered to.

3 Product Description

3   Product Description

3.1   Description of the Function

The magnetic gripper powered by compressed air lifts ferromagnetic workpieces using a magnetic force. It is used for handling sheet metal and perforated plates, complex laser-cut workpieces, sheet metal with drill holes and apertures, curved sheet metal and pipes. Series SGM-HPm is primarily designed for components with a sheet metal thickness < 2 mm.

To control the magnet, the system alternately supplies the two gripper connections with compressed air while venting the non-actuated connection.

By applying compressed air, the permanent magnet is moved toward the gripping surface (gripping the workpiece) or away from the gripping surface (releasing the workpiece).

The compressed air must be applied for at least one second to ensure reliable switching.

Gripping the workpiece

Depositing the workpiece

The bistable mode of operation allows safe gripping even during a power failure.

3 Product Description

3.2   Scope of Delivery of the Kit and Design of the Magnetic Gripper

SGM-SV

3.2.1   Scope of Delivery of the Kit with Part No. 10.01.17.00593

• Magnetic gripper

• Lightweight housing

• Plug-in screw unions

• Fastening screws

• Cable ties for securing hoses and cables

3.2.2   Product Design of the SGM-SV

1. Gripper active surface with friction ring
2. Magnetic gripper
3. 1/8″ compressed air connection (depositing workpiece)
4. 1/8″ compressed air connection (gripping workpiece)
5. Fastening screws 4x (housing on robot flange)
6. Housing
7. Fastening screws 6x (magnetic gripper on housing)
8. Slot for optional proximity sensor
9. Dowel pin
10. Centering ridge
11. Mounting aid for cable ties

4 Technical Data

4   Technical Data

4.1   General Parameters

Parameter SGM-SV 40

Holding force 1≥ 0.5 mm, sheet metal 36 N

Holding force 1≥ 0.7 mm, sheet metal 60 N

Holding force 1≥ 1 mm, sheet metal 80 N

Holding force 1≥ 2 mm, sheet metal 100 N

Lateral force, dry 258 N

Lateral force, oily 252 N

Residual holding force ≤ 0.3 N

Opt. operating pressure 3.5 to 6.0 bar Ambient temperature +5° C to 70° C Mode of operation Bistable

Mounting position Any

Operating medium Air or neutral gas, 40 µm filtered, with or without oil, class 7-4-4 compressed air quality acc. to ISO 8573-1

Weight 0.45 kg

1 All holding forces are static and unsecured when gripper active surfaces are fully covered on steel plate S235 at +20° C

2 2 mm steel plate

As the operating temperature increases, the holding force of the grippers decreases. We recommend performing tests before continuous operation.

The specified values apply to clean, smooth surfaces for low-carbon steel sheets. Dirty, rough, and highly alloyed steel sheets reduce the holding force.

For maximum holding forces, the component to be handled must completely cover the grip ping surface.

Due to the design of the gripper, it is not possible to centrally grip parts that are smaller than the gripping surface.

4 Technical Data

4.2   Dimensions

All specifications except angles are stated in mm.

5 Checking the Delivery

5 Checking the Delivery

The scope of delivery can be found in the order confirmation. The weights and dimensions are listed in the delivery notes.

1. Compare the entire delivery with the supplied delivery notes to make sure nothing is missing.

2. Damage caused by defective packaging or occurring in transit must be reported immediately to the carrier and J. Schmalz GmbH.

6 Installation

6   Installation

6.1   Installation Instructions

  WARNING  

The product contains a permanent magnet that generates a continuous magnetic field.

Danger for persons with pacemakers. Devices and data carriers can be damaged. 4 Keep persons with pacemakers away from the product.

4 Keep sensitive electrical devices and data carriers away from the product.

CAUTION  

Improper installation or maintenance

Personal injury or damage to property

4 Prior to installation and before maintenance work, the product must be disconnected from the power supply, depressurized (vented to the atmosphere) and secured against unauthorized restart.

6.2   Mechanical Attachment

The gripper is adapted to a collaborative robot/handling system either directly or using replaceable flanges. Available flanges can be selected from the accessories range (> See ch. Accessories).

The gripper may be installed in any position.

1. Position the mount with the dowel pin on the robot flange in the correct orientation.

6 Installation

2. Attach the mount to the robot flange using 4 screws of size M6. Observe a tightening torque of 4.5 Nm.

3. Insert two of the screws into the mount from inside as shown in figure . Pass the tighten ing tool through the outer opening and tighten the screw .

4. Push the magnetic gripper into the mount up to the stop.

6 Installation

5. Attach the magnetic gripper to the mount using 6 M4 screws. Observe a tightening torque of 2.5 Nm.

6.3   Pneumatic connection

Lay the hose lines:

• as short as possible

• without bends and crimps

• so that they do not rub

  CAUTION  

Getting caught in the hose lines

Risk of injury

• Route the hose lines closely along the robot arm without restricting the movement of the robot.
• When securing the hose lines, also use the mounting possibilities on the gripper (mounting aid for cable ties).
• Wear tight clothing when working on or near the robot.

1. Connect the compressed air hose for “gripping” to the compressed air connection (P1) using the plug connection.

2. Connect the compressed air hose for “depositing” to the compressed air connection (P2) using the plug connection.

7 Faults, Causes, Solutions

7   Faults, Causes, Solutions

Workpiece is not
gripped

| Magnets are not in the corresponding end position|

‣ Check compressed air supply Check hose connections and plug-in screw unions

Pressure too low
Magnetic gripper
leaks when compressed
air is applied| Sealing elements damaged; use at too high contact or ambient temperature|

‣ Adhere to the defined temperature ranges.

Workpiece is only
gripped with reduced
holding
force

| The workpiece to be handled does not completely cover the gripping surface.|

‣ Make sure that the workpiece to be
handled completely covers the gripping
surface.

Contact elements damaged|

‣ Replace damaged contact elements.

Ferromagnetic pollutants on the gripping surface (e.g. iron shavings)|

‣ Clean the gripping surface.

Contact elements make insufficient or no contact with the pole shoes|

‣ Make sure that the pole shoes are in flat contact when mounting the
contact elements.

The workpiece to be gripped has a dirty and/or rough surface or is highly alloyed.|

‣ If possible, only handle low-carbon workpieces (steel sheets) with a
clean and smooth surface.

The operating or ambient temperature is too high.|

‣ Adhere to the defined temperature ranges; if necessary, tests should be
performed before continuous use.

When using sensors
Sensor (for monitoring
the piston
position) cannot
be taught| Sensor defective|

‣ Replace the sensor.

Sensor cannot be
taught or can only
be taught with errors| Teaching is performed using a magnetizable
tool (e.g. ballpoint pen refill,
hexagon wrench, etc.).|

‣ Use the teach-in tool supplied with
the sensor or a comparable plastic
pen.

Sensor signal is
lost or faulty

| Sensor not fully inserted into the corresponding
sensor slot; sensor fastening
screw is loose|

‣ Push the sensor in as far as possible
and tighten the fastening screw
with the specified torque.

Magnetic interference fields|

‣ Avoid magnetic interference fields
and maintain minimum distances.

Ferromagnetic pollutants in the area of the sensor slot (e.g. iron shavings)|

‣ Check the sensor slot(s) at regular intervals and clean them if necessary.

8 Maintenance

8   Maintenance

8.1   Safety

Maintenance work may only be carried out by qualified personnel.

  WARNING  

Risk of injury due to incorrect maintenance or troubleshooting

• Check the proper functioning of the product, especially the safety features, after every maintenance or troubleshooting operation.

  CAUTION  

Improper installation or maintenance

Personal injury or damage to property

• Prior to installation and before maintenance work, the product must be disconnected from the power supply, depressurized (vented to the atmosphere) and secured against unauthorized restart.

8.2   Maintenance Schedule

Schmalz stipulates the following checks and check intervals. The operator must comply with the legal regulations and safety regulations applicable at the location of use. These intervals apply to single-shift operation. For heavier use, such as multi-shift operation, the intervals must be shortened accordingly.

Check wear of the friction ring and replace
if necessary

| | x| | |

Check screw unions and plug connections

| | x| | |

Clean the product

| | | x| |

8.2.1   Cleaning the Magnetic Gripper

1. For cleaning, do not use aggressive cleaning agents such as industrial alcohol, white spirit or thinners. Only use cleaning agents with pH 7–12.

2. Remove dirt on the exterior of the device with a soft cloth and soap suds.

3. Ensure that no moisture gets into the sensors.

8 Maintenance

8.2.2   Replacing the Friction Ring

The friction ring (1) must be replaced at the latest when the V structure (2) on the friction ring (1) is no longer visible.

1. Pry off the friction ring (1) from the gripper using a screwdriver or similar tool. 2. Press on the new friction ring.

EN-US · 30.30.01.02746 · 01 · 12/22 19 / 24

9 Accessories, Spare Parts and Wearing Parts

9   Accessories, Spare Parts and Wearing Parts

Magnetic gripper accessories

10.01.17.00603
Adapter plug, AD-ST-G S-M8-4 B-M12-4 A| 21.04.05.00579

Additional accessories, use of a proximity switch

Proximity switch PNP
Sensor PNP| 10.01.17.00199
Proximity switch NPN
Sensor NPN| 10.01.17.00215

Spare and wearing parts

Sensor screw (left-hand thread)
ZUB SGM-S NAEH-SCHA SCREW| 10.01.17.00509| Spare part
Plastic pin for sensor
ZUB SGM-S NAEH-SCHA PIN| 10.01.17.00510| Spare part
Plug-in screw union bracket
STV-W G1/8-AG 4| 10.08.02.00355| Spare part

10   Disposing of the Product

Recover the disassembled parts for recycling or reuse (provided no agreement on return or disposal has been made).

1. Dispose of the product properly after replacement or decommissioning.

2. Observe the country-specific guidelines and legal obligations for waste prevention and disposal.

11 Declarations of Conformity

11   Declarations of Conformity

11.1   EU Declaration of Incorporation

The manufacturer Schmalz confirms that the product described in these instructions fulfills the following applicable EU directives:

2006/42/EC Machinery Directive

The product specified is solely intended for installation indoors in a complete system. Startup is prohibited until the end product has been declared to comply with the Directive 2006/42/EC.

The manufacturer commits to provide special documentation of the partly completed machinery to na tional authorities in electronic form if requested. The special technical documentation belong to the ma chine as per Annex VII Part B has been created.

The following harmonized standards were applied:

EN ISO 12100 Safety of machinery — General principles for design — Risk assessment and risk reduction

EN ISO 10218-2 Industrial Robots – Safety Requirements – Part 2: Robot Systems and Integra tion

Additional technical standards and specifications were applied:

ISO TS 15066 Human-robot collaboration

The Declaration of Incorporation valid at the time of product delivery is delivered with prod uct or made available online. The standards and directives cited here reflect the status at the time of publication of the operating and assembly instructions.

22 / 24 EN-US · 30.30.01.02746 · 01 · 12/22

11 Declarations of Conformity

11.2   UKCA Declaration of Incorporation

The manufacturer Schmalz confirms that the product described in these operating instructions fulfills the following applicable UK regulations:

2008 Supply of Machinery (Safety) Regulations

The product specified is solely intended for installation indoors in a complete system. The start of opera tions shall be prohibited until the conformity of the final product with the “Supply of Machinery (Safety) Regulations 2008” has been established.

The manufacturer commits to provide special documentation of the partly completed machinery to na tional authorities in electronic form if requested. The special technical documentation belonging to the machine as per Annex VII Part B has been created.

The following designated standards were applied:

EN ISO 12100 Safety of machinery — General principles for design — Risk assessment and risk reduction

EN ISO 10218-2 Industrial Robots – Safety Requirements – Part 2: Robot Systems and Integra tion

Additional technical standards and specifications were applied:

ISO TS 15066 Human-robot collaboration

The Declaration of Incorporation (UKCA) valid at the time of product delivery is delivered with the product or made available online. The standards and directives cited here reflect the status at the time of publication of the operating and assembly instructions.

Vacuum automation Handling systems

WWW.SCHMALZ.COM/AUTOMATION

WWW.SCHMALZ.COM/EN-US/VACUUM-LIFTERS AND-CRANE-SYSTEMS

J. Schmalz GmbH

Johannes-Schmalz-Str. 1

72293 Glatten, Germany

T: +49 (0) 7443 2403-0

[email protected]

WWW.SCHMALZ.COM

References

• Vacuum Technology: Automation, Handling, Clamping | Schmalz
• Vacuum Technology for Automation
• Vacuum Technology: Automation, Handling, Clamping | Schmalz
• Vakuumheber | Kransysteme | Manuelle Handhabung | Schmalz
• Contact to Customer Advisor
• Services for Handling Systems | Schmalz

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