x moment load my moment load mz up to 600 nm - comoso · moment load mx up to 400 nm moment load my...

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GWSTool Changing · Gripper Change System

Sizes064 .. 125

Handling weightup to 170 kg

Moment load Mxup to 400 Nm

Moment load Myup to 400 Nm

Moment load Mzup to 600 Nm

Application example

Replacing and placing tools in a gripperchanging rack

Gripper Changing Rack

Gripper Changing Adapter GWA

Gripper Changing Head GWK

02-Wechseln_RZ_0708_EN.qxd:02-Wechseln GB.qxd 25.09.2008 12:03 Uhr Seite 160

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Integrated air feed-throughfor safe energy supply for the gripper modulesStorage racks for all sizes for reliable positioning of your toolsStorage racks to fit all sizes available as an accessory for reliable positioning of your toolsRobust wedge-hook kinematicsfor a secure connection between the gripper changing head andthe gripper changing adapterTwo 18-pin electrical feed-throughs as standardsufficient feed-throughs for most applicationsISO flange for easy attachment to most types of robots without additionaladapter plates

Pneumatic gripper change systemGripper Change System

Area of applicationFast conversion of production lines for other products; the use of various different tools on a robot

Your advantages and benefits

General information on the seriesActuationPneumatic, compressed air filtered (10 µm), dry or lubricatedOperating pressure range4.5 bar to 6 barEnergy transmissionFor elec. power: 2 x 18-pin 0.14 mm2; 60 V ~; max. 1 A delivered as standard.Available as an option: 4-pin 2.5 mm2; 380 V/B ~; max. 25 A in accordance withVDE guidelinesProtection classIP 65 when locked, in accordance with DIN 40050CodingFour proximity switches can be installed, therefore a total of 15 adapters possibleor via elec. plug connection

Locking mechanism monitoringPossible via inductive proximity switchesWorking principleWedge gear with planar power transmissionSafety equipmentIn the event of a power failure, self-locking is ensured by means of integratedspringsAmbient temperature5 °C to 60 °CMaterialHousing: high-strength, hard-coated Al alloy. Functional components: hardened steelMaintenancePrelubricated – relubrication recommended after 2 million cyclesWarranty24 months


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Automatic changing of the robot tool (e.g. gripper, vacuum lifting devices, pneu-matically or electrically driven tools, electrode holders etc.) increases the flexibilityof your robot. The gripper changing system (GWS) is made up of a gripper changing head (GWK)and a gripper changing adapter (GWA). The GWK, mounted onto the robot, couplesup the GWA mounted onto your tool. The locking mechanism, based on a wedge-hook system, provides a secure connection. Integrated springs maintain the lockingforce in the event of a drop in pressure. After coupling, pneumatic and electric feed-throughs automatically supply your robot tool.

Function description

Sectional diagram

Pneumatics feed-throughintegration into housing means no interferingcontours

E modulefor electrical energy and signal transmission

Locking mechanismwedge-hook system for high locking forces,integrated springs for maintaining the lockingforce in the event of a drop in pressure

Drivepneumatic and powerful with extremely easyhandling

Housingweight-reduced through the use of a high-strength aluminum alloy

Lockfor compensating positioning errors in the X-Y plane


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Accessories from SCHUNK -the suitable supplement formaximum functionality, reliability and performance of all automation modules.

IN inductive proximityswitches Fittings GWM storage racks

Accessories

� For the exact size of the accessories, availability for this size and the designation and ID, please refer to the additional views at the end of the size in question. You can find moredetailed information on our accessory range in the “Accessories” catalog section.


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Wedge-hook kinematicsSelf-locking in the event of a power failure by means of integrated springsEnergy transmission2x 18 pins 60 V-1 APiston stroke controloptional Direct mounting to ISO 9409-1-50-4-M6

GWS-064Tool Changing · Gripper Change System

Technical data

Moment load Product description

Designation GWK-064 GWK-A-064 GWA-064ID 0302506 0302534 0302517

Piston stroke control No Yes NoMaximum payload [kg] 60 60 60Repeat accuracy [mm] 0.02 0.02 0.02Weight (in total, without cables) [kg] 0.5 0.74 0.35Pneumatic energy transmission 4x M5 and 2x G 1/8“ 4x M5 and 2x G 1/8“ 4x M5 and 2x G 1/8“Electric energy transmission 2x 18 pins 60 V/1 A 2x 18 pins 60 V/1 A 2x 18 pins 60 V/1 AMin./max. distance on locking [mm] 2 2 2Maximum permissible XY offset [mm] 1.5 1.5 1.5Maximum permissible angular offset [°] 1 1 1

FZ max. 1800 NMXY max. 75 NmMZ max. 100 NmFd max. 3000 N


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Main views

View of GWK-A with piston stroke control

The drawing shows the change system in the basic version, the dimensions do notinclude the options described below.

A Locked air connectionB Unlocked air connection� Robot-side connection� Tool-side connection� Through-bore for screw connection with screw (enclosed)�� Tool side cable length 2 m�� Robot side cable length 5 m

� Through-bore for screw connection with screw (enclosed)


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End position monitoring:Inductive proximity switches, for direct mountingDesignation ID Recommended productIN 65/S-M12 0301576IN 65/S-M8 0301476 •INK 65/S 0301554

� Two sensors and optional extension cables are needed for each gripper change system

Installing the proximity switch in the GWK-A Installing the proximity switch for coding

Extension cables for proximity switches/magnetic switchesDesignation IDGK 3-M8 0301622KV 10-M12 0301596KV 10-M8 0301496KV 20-M12 0301597KV 20-M8 0301497KV 3-M12 0301595KV 3-M8 0301495W 3-M12 0301503W 5-M12 0301507WK 3-M8 0301594WK 5-M8 0301502

� Please note the minimum permitted bending radii for the sensor cables, which aregenerally 35 mm.

Coding:Inductive proximity switches, for direct mountingDesignation ID Recommended productIN 60/S-M12 0301585IN 60/S-M8 0301485 •INK 60/S 0301553

� A max. of four sensors can be mounted per gripper change system. Therefore 15tools can be given binary codes.


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GWM-S 064Forces and moments GWM-S 064

� Robot-side connection �� Center of GWA� Tool-side connection

Designation GWM-SMaterial AluminumPresence monitoring Possible by means of proximity switches (by separate order)Assembly position Horizontal only (vertical on request)Add. coding On requestLoad compensationin X, Y-axis ± 0.5 mmin Z-axis ± 0.25 mm

Designation FZ MX MY

GWM-S 064 420 N 6 Nm 23 Nm

Proximity switches for GWM-SAdapter plate arrangement

� D GWA

Tool

h2

Proximity switcheswith easy to assemble design and LED display

Designation Switching function IDINW 80/SL Closer 0301509

Adapter arrangement on tool-side of GWA

NoteWhen attaching tools to the GWA adapter plates the external diameters indicatedwith D = 64 mm are not to be exceeded in the height h2 = 5 mm.


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Wedge-hook kinematicsSelf-locking in the event of a power failure by means of integrated springsEnergy transmission2x 18 pins 60 V-1 AWith piston stroke controloptional Direct mountingto ISO 9409-1-63-4-M6


Technical data

Product description Moment load


Piston stroke control No Yes NoMaximum payload [kg] 86 86 86Repeat accuracy [mm] 0.02 0.02 0.02Weight (in total, without cables) [kg] 0.65 0.95 0.4Pneumatic energy transmission 6x M5 and 2x G 1/8“ 6x M5 and 2x G 1/8“ 6x M5 and 2x G 1/8“Electric energy transmission 2x 18 pins 60 V/1 A 2x 18 pins 60 V/1 A 2x 18 pins 60 V/1 AMin./max. distance on locking [mm] 2 2 2Maximum permissible XY offset [mm] 1.5 1.5 1.5Maximum permissible angular offset [°] 1 1 1



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Main views



A Locked air connectionB Unlocked air connection� Robot-side connection� Tool-side connection� Through-bore for screw connection with screw (enclosed)�� Tool-side cable length 2 m�� Robot-side cable length 5 m



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Extension cables for proximity switches/magnetic switchesDesignation IDGK 3-M8 0301622KV 10-M12 0301596KV 10-M8 0301496KV 20-M12 0301597KV 20-M8 0301497KV 3-M12 0301595KV 3-M8 0301495W 3-M12 0301503W 5-M12 0301507WK 3-M8 0301594WK 5-M8 0301502






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GWM-S 080Forces and moments GWM-S 080

� Robot-side connection �� Centre of GWA� Tool-side connection

Designation GWM/GWM-SMaterial AluminumPresence monitoring Possible, by means of proximity switches (by separate order)Assembly position Horizontal only (vertical on request)Add. coding On requestLoad compensationin X, Y-axis ± 0.5 mmin Z-axis ± 0.25 mm


GWM-S 080 600 N 8 Nm 30 Nm


� D GWA

Tool

h2






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Wedge-hook kinematicsSelf-locking in the event of a power failure by means of integrated springsEnergy transmission2x 18 pins 60 V-1 APiston stroke controloptionalDirect mountingto ISO 9409-1-100-6-M8

Technical data

Product description Moment load


Piston stroke control No Yes NoMaximum payload [kg] 170 170 170Repeat accuracy [mm] 0.02 0.02 0.02Weight (in total, without cables) [kg] 2.3 2.6 1.7Pneumatic energy transmission 8x G 1/8“ 2x G 1/4“ 8x G 1/8“ 2x G 1/4“ 8x G 1/8“ 2x G 1/4“Electric energy transmission 2x 18 pins 60 V/1 A 2x 18 pins 60 V/1 A 2x 18 pins 60 V/1 AMin./max. distance on locking [mm] 2 2 2Maximum permissible XY offset [mm] 1.5 1.5 1.5Maximum permissible angular offset [°] 1 1 1



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Main views



A Locked air connectionB Unlocked air connection� Robot-side connection� Tool-side connection� Through-bore for screw connection with screw (enclosed)�� Tool-side cable length 2 m�� Robot-side cable length 5 m



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Extension cables for proximity switches/magnetic switchesDesignation IDGK 3-M8 0301622GK 3-M5-PNP/NPN 0301652KV 10-M12 0301596KV 10-M8 0301496KV 20-M12 0301597KV 20-M8 0301497KV 3-M12 0301595KV 3-M8 0301495W 3-M12 0301503W 5-M12 0301507WK 3-M8 0301594WK 3-M8 NPN 0301602WK 5-M8 0301502WK 5-M8 NPN 9641116






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GWS-S 125Forces and moments GWM-S 125

� Robot-side connection �� Centre of GWA� Tool-side connection

Designation GWM/GWM-SMaterial AluminumPresence monitoring Possible, by means of proximity switches (by separate order)Assembly position Horizontal only (vertical on request)Add. coding On requestLoad compensationin X, Y-axis ± 0.5 mmin Z-axis ± 0.25 mm


GWM-S 125 1500 N 30 Nm 70 Nm


� D GWA

Tool

h2






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