MPZ Operating Manual

Assembly- and Operating Manual
MPZ
3 - finger - centric gripper
Translation of Original Operating

Manual
Imprint
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK SE & Co. KG.
All rights reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389218
Version: 13.00 | 30/10/2023 | en
Dear Customer,
Thank you for trusting our products and our family-owned company, the leading technology
supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions. Ask
us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
Customer Management
Tel. +49-7133-103-2503
Fax +49-7133-103-2189
[email protected]
Please read the operating manual in full and keep it close to the product.
2 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

Table of contents
Table of Contents
1 General ............................................................................................. 5
1.1 About this manual............................................................................... 5
1.1.1 Presentation of Warning Labels ..................................................... 5
1.1.2 Definition of Terms ..................................................................... 5
1.1.3 Symbol definition....................................................................... 6
1.1.4 Applicable documents ................................................................. 6
1.1.5 Sizes........................................................................................ 6
1.1.6 Variants ................................................................................... 6
1.2 Warranty ........................................................................................... 7
1.3 Scope of delivery................................................................................. 7
1.3.1 Accessories pack......................................................................... 7
1.4 Accessories ........................................................................................ 8
1.4.1 Seal kit .................................................................................... 8
2 Basic safety notes ................................................................................ 9
2.1 Intended use...................................................................................... 9
2.2 Constructional changes......................................................................... 9
2.3 Spare parts ........................................................................................ 9
2.4 Gripper fingers .................................................................................. 9
2.5 Ambient conditions and operating conditions ........................................... 10
2.6 Personnel qualification ........................................................................ 10
2.7 Personal protective equipment .............................................................. 11
2.8 Notes on safe operation........................................................................ 11
2.9 Transport........................................................................................... 12
2.10 Malfunctions ...................................................................................... 12
2.11 Disposal ............................................................................................ 12
2.12 Fundamental dangers .......................................................................... 12
2.12.1 Protection during handling and assembly ....................................... 13
2.12.2 Protection during commissioning and operation ............................... 13
2.12.3 Protection against dangerous movements ....................................... 13
2.12.4 Protection against electric shock.................................................... 14
2.13 Notes on particular risks ....................................................................... 15
3 Technical data ..................................................................................... 17
4 Design and description .......................................................................... 18
4.1 Configuration ..................................................................................... 18
4.2 Description ........................................................................................ 18
5 Assembly............................................................................................ 19
5.1 Assembly and connection ..................................................................... 19
5.2 Connections ....................................................................................... 21
13.00 | MPZ | Assembly- and Operating Manual | en | 389218 3

Table of contents
5.2.1 Mechanical connection................................................................ 21

5.2.2 Pneumatical connection .............................................................. 21
5.3 Mounting the sensor............................................................................ 23
5.3.1 Overview of sensors .................................................................... 23
5.3.2 Switch-off hysteresis for magnetic switches ..................................... 23
5.3.3 Setting dimensions..................................................................... 24
5.3.4 Mounting MMS 22 magnetic switch ................................................. 25
5.3.5 Mounting MMS 22-PI1 programmable magnetic switch........................ 26
5.3.6 Mounting programmable MMS 22-PI2 magnetic switch ....................... 28
5.3.7 Mounting programmable MMS-P magnetic switch ............................. 29
5.3.8 Mounting programmable magnetic switch MMS-IOL ........................... 30
5.3.9 Mounting inductive proximity switch IN 30K..................................... 32
5.3.10 Mounting flexible position sensor FPS ............................................. 33
6 Troubleshooting................................................................................... 34
6.1 Product is not moving .......................................................................... 34
6.2 Product is not executing the complete stroke ............................................ 34
6.3 Product opens or closes abruptly ............................................................ 34
6.4 Gripping force is dropping..................................................................... 35
6.5 Product does not achieve the opening and closing times ............................. 35
6.6 Compressed air connection is leaking ...................................................... 35
7 Maintenance ....................................................................................... 36
7.1 Notes................................................................................................ 36
7.2 Maintenance intervals.......................................................................... 36
7.3 Lubricants/Lubrication points................................................................. 37
7.4 Dismantling the product ....................................................................... 38
7.4.1 Version without gripping force maintenance .................................... 38
7.4.2 Maintencance of module with gripping force maintenance "O.D.
gripping" (O.D.) ........................................................................ 38
7.4.3 Version with gripping force maintenance I.D. ................................... 39
7.4.4 Variant with flexible position sensor (FPS) ....................................... 40
7.5 Assembling the product ........................................................................ 41
7.6 Tightening torque for screws ................................................................. 41
7.7 Assembly drawing ............................................................................... 41
7.7.1 Assembly MPZ 16-25 .................................................................... 42
7.7.2 Assembly MPZ 30-45 ................................................................... 43
7.7.3 Assembly with flexible position sensor FPS....................................... 44
8 Translation of the original declaration of incorporation ................................. 45
9 UKCA declaration of incorporation ............................................................ 46
10 Information on the RoHS Directive, REACH Regulation and Substances of Very High
Concern (SVHC) ..................................................................................... 47

General
1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working
is the observance of all safety instructions in this manual.
In addition to these instructions, the documents listed
under } 1.1.4 [/ 6] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels

To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Dangers for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Non-observance can lead to irreversible injury and even death.
CAUTION
Non-observance can cause minor injuries.
CAUTION
Material damage!
Information about avoiding material damage.
1.1.2 Definition of Terms

The term "product" replaces the product name on the title page
in this manual.

General
1.1.3 Symbol definition

The following symbols are used in this manual:
n Prerequisite for an action
1. Action 1
2. Action 2
ð Intermediate results
ð Final results
} 1.1.3 [/ 6]: chapter number and [page number] in hyperlinks
1.1.4 Applicable documents

l General terms of business *
l Catalog data sheet of the purchased product *
l Assembly and operating manuals of the accessories *
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.5 Sizes
This operating manual applies to the following sizes:
l MPZ 16
l MPZ 20
l MPZ 25
l MPZ 30
l MPZ 38
l MPZ 45
1.1.6 Variants
This operating manual applies to the following variations:
l MPZ without gripping force maintenance
l MPZ with gripping force maintenance O.D. gripping
l MPZ with gripping force maintenance I.D. gripping
l MPZ High-temperature version (HT)
l MPZ with flexible position sensor

General
1.2 Warranty
If the product is used as intended, the warranty is valid for 24
months from the ex-works delivery date under the following
conditions:
l Observe the specified maintenance and lubrication intervals
l Observe the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery

The scope of delivery includes
l 3 - finger - centric gripper MPZ in the version ordered
l Assembly and Operating Manual
l Accessory pack
1.3.1 Accessories pack
NOTE
MPZ 16-25 contains no accessory pack
Content of the accessory pack:

l 2x Cylindrical sleeves for mounting
l 2 x O-ring for hose-free direct connection *
l 2 x Locking screw **
*not for MPZ-FPS 30-45

** not for MPZ-FPS 30
Tab.: ID.-No. of the accessory pack
Accessory MPZ MPZ- High- MPZGKS - MPZ- AS / -IS MPZ- FPS

pack for temperature High-
version (HT) temperature
version (HT)
MPZ30 5512077 395512077 395512078 5512078 5512079
MPZ38 5512091 395512091 - 5512092 5512093
MPZ45 5512105 395512105 - 5512092 5512093
Content of the accessories pack: } 7.7 [/ 41].

General
1.4 Accessories
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
1.4.1 Seal kit

Tab.: ID.-No. of the seal kit
Seal kit for MPZ / MPZ-AS / MPZ-IS MPZ - High-temperature version

(HT)
MPZ 16 - -
MPZ 20 - -
MPZ 25 - -
MPZ 30 0370886 0370490
MPZ 38 0370887 -
MPZ 45 0370888 -
contents of the sealing kit, } 7.7 [/ 41].

Basic safety notes
2 Basic safety notes

2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
l The product may only be used within the scope of its technical
data, } 3 [/ 17].
l The product is intended for installation in a machine/
automated system. The applicable guidelines for the machine/
automated system must be observed and complied with.
l The product is intended for industrial and industry-oriented
use. Its use outside enclosed spaces is only permitted if
suitable protective measures are taken against outdoor
exposure. The product is not suitable for use in salty air.
l The product can be used within the permissible load limits
and technical data for holding workpieces during simple
machining operations, but is not a clamping device according
to EN 1550:1997+A1:2008.
l Appropriate use of the product includes compliance with all
instructions in this manual.
l Any utilization that exceeds or differs from the appropriate
use is regarded as misuse.
2.2 Constructional changes

Implementation of structural changes
Modifications, changes or reworking, e.g. additional threads,
holes, or safety devices, can damage the product or impair its
functionality or safety.
l Structural changes should only be made with the written
approval of SCHUNK.
2.3 Spare parts

Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
l Use only original spare parts or spares authorized by SCHUNK.
2.4 Gripper fingers

Requirements of gripper fingers
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.

Basic safety notes
l Execute the gripper fingers in such a way that the product

reaches either the "open" or "closed" position in a de-
energized state.
l Only change gripper fingers if no residual energy can be
released.
l Make sure that the product and the top jaws are a sufficient
size for the application.
2.5 Ambient conditions and operating conditions

Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the
product unsafe, leading to the risk of serious injuries,
considerable material damage and/or a significant reduction to
the product's life span.
l Make sure that the product is used only in the context of its
defined application parameters, } 3 [/ 17].
2.6 Personnel qualification

Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
l All work may only be performed by qualified personnel.
l Before working with the product, the personnel must have
read and understood the complete assembly and operating
manual.
l Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the

various activities related to the product:
Trained electrician Due to their technical training, knowledge and experience,
trained electricians are able to work on electrical systems,
recognize and avoid possible dangers and know the relevant
standards and regulations.
Qualified personnel Due to its technical training, knowledge and experience,
qualified personnel is able to perform the delegated tasks,
recognize and avoid possible dangers and knows the relevant
standards and regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.

Basic safety notes
Service personnel of Due to its technical training, knowledge and experience, service
the manufacturer personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
2.7 Personal protective equipment

Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
l When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
l Observe the valid safety and accident prevention regulations.
l Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
l Wear heat-resistant protective gloves when handling hot
surfaces.
l Wear protective gloves and safety goggles when handling
hazardous substances.
l Wear close-fitting protective clothing and also wear long hair
in a hairnet when dealing with moving components.
2.8 Notes on safe operation

Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
l Avoid any manner of working that may interfere with the
function and operational safety of the product.
l Use the product as intended.
l Observe the safety notes and assembly instructions.
l Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
l Eliminate any malfunction immediately.
l Observe the care and maintenance instructions.
l Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.

Basic safety notes
2.9 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material
damage.
l When handling heavy weights, use lifting equipment to lift
the product and transport it by appropriate means.
l Secure the product against falling during transportation and
handling.
l Stand clear of suspended loads.
2.10 Malfunctions
Behavior in case of malfunctions
l Immediately remove the product from operation and report
the malfunction to the responsible departments/persons.
l Order appropriately trained personnel to rectify the
malfunction.
l Do not recommission the product until the malfunction has
been rectified.
l Test the product after a malfunction to establish whether it
still functions properly and no increased risks have arisen.
2.11 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's
safety and cause serious injuries as well as considerable material
and environmental harm.
l Follow local regulations on dispatching product components
for recycling or proper disposal.
2.12 Fundamental dangers

General
l Observe safety distances.
l Never deactivate safety devices.
l Before commissioning the product, take appropriate
protective measures to secure the danger zone.
l Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
l If the energy supply is connected, do not move any parts by
hand.

Basic safety notes
l Do not reach into the open mechanism or movement area of

the product during operation.
2.12.1 Protection during handling and assembly

Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
l Have all work carried out by appropriately qualified
personnel.
l For all work, secure the product against accidental operation.
l Observe the relevant accident prevention rules.
l Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
l Stand clear of suspended loads and do not step into their
swiveling range.
l Never move loads without supervision.
l Do not leave suspended loads unattended.
2.12.2 Protection during commissioning and operation

Falling or violently ejected components
Falling and violently ejected components can cause serious
injuries and even death.
l Take appropriate protective measures to secure the danger
zone.
l Never step into the danger zone during operation.
2.12.3 Protection against dangerous movements

Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
l Switch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
l Never rely solely on the response of the monitoring function
to avert danger. Until the installed monitors become effective,
it must be assumed that the drive movement is faulty, with its
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, and attachments outside the danger zone
defined by the movement range.

Basic safety notes
l To avoid accidents and/or material damage, human access to

the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum
possible movement energy. EMERGENCY STOP switches must be
easily and quickly accessible. Before starting up the machine
or automated system, check that the EMERGENCY STOP system
is working. Prevent operation of the machine if this protective
equipment does not function correctly.
2.12.4 Protection against electric shock

Possible electrostatic energy
Components or assembly groups may become electrostatically
charged. When the electrostatic charge is touched, the discharge
may trigger a shock reaction leading to injuries.
l The operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
l While paying attention to the actual conditions of the working
environment, the potential equalisation must be
implemented by a specialist electrician according to the
applicable regulations.
l The effectiveness of the potential equalisation must be
verified by executing regular safety measurements.

Basic safety notes
2.13 Notes on particular risks

DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
l Stand clear of suspended loads and do not step within their
swiveling range.
l Never move loads without supervision.
l Do not leave suspended loads unattended.
l Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
l Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
l Use suitable protective equipment.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
l Before starting any work on the product: Switch off the power
supply and secure against restarting.
l Make sure, that no residual energy remains in the system.

Basic safety notes
WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during movement of the base jaw, due
to breakage or loosening of the gripper fingers or if the
workpiece is lost.
l Wear suitable protective equipment.
l Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury due to spring forces!
Parts are under spring tension on products which clamp using
spring force or which have gripping force maintenance. While
disassembling components can move unexpectedly and cause
serious injuries.
l Disassemble the product cautiously.
l Make sure that no residual energy remains in the system.
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can,
during energy supply failure, still move independently in the
direction specified by the mechanical gripping force
maintenance.
l Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.

Technical data
3 Technical data
Size MPZ MPZ MPZ MPZ MPZ MPZ
16 20 25 30 38 45
Pressure medium Compressed air, compressed air quality according to
ISO 8573-1:2010 [7:4:4]
Nominal working pressure [bar] 6
Min. pressure [bar]
- without gripping force maintenance 2.0 2.0
- O.D. gripping 4.0 4.0
- I.D. gripping 4.0 4.0
- with flexible position sensor - 2.0
Max. pressure [bar]
- without gripping force maintenance 8.0 8.0
- O.D. gripping 6.5 6.5
- I.D. gripping 6.5 6.5
- with flexible position sensor - 8.0
More technical data is included in the catalog data sheet.
Whichever is the latest version.
Ambient conditions and operating conditions
Designation MPZ
Ambient temperature [°C]
min. +5
max. +90
Protection class IP * 40
Noise emission [dB(A)] ≤ 70
* For use in dirty ambient conditions (e.g. sprayed water, vapors,
abrasion or processing dust) SCHUNK offers corresponding
product options as standard. SCHUNK also offers customized
solutions for special applications in dirty ambient conditions.

Design and description
4 Design and description

4.1 Configuration
3 - finger - centric gripper
1 Housing
2 Main air connections
3 Base jaws
4.2 Description
3-finger centric gripper with base jaws guided on T-slots

Assembly
5 Assembly
5.1 Assembly and connection
WARNING
serious injuries.
CAUTION
Damage to the gripper is possible!
If the maximum permissible finger weight or the permissible
mass moment of inertia of the fingers is exceeded, the gripper
can be damaged.
l A jaw movement always has to be without jerks and bounce.
l You must therefore implement sufficient reduction and/or
damping.
l Observe the information in the catalog data sheet.
NOTE
l Observe the requirements for the compressed air
supply, } 3 [/ 17].
l In case of compressed air loss (cutting off the energy line),
the components lose their dynamic effects and do not remain
in a secure position. However, the use of a SDV-P pressure
maintenance valve is recommended in this case in order to
maintain the dynamic effect for some time. Product variants
are also offered with mechanical gripping force via springs,
which also ensure a minimum clamping force in the event of
a pressure drop.
1. Check the evenness of the mounting surface, } 5.2.1 [/ 21].

2. Only open the required air connections (main connection or
direct connection), } 5.2.2 [/ 21].
3. Connect the product via the hose-free direct connection.
ð Use O-rings from the accessory pack.
ð Seal main air connections which are not required with
locking screws.

Assembly
4. OR: Connect compressed air lines to the main air

connections, } 5.2.2 [/ 21].
ð Screw in air connections (plug connections).
OR: Screw on throttle valve in order to be able to perform
sufficient throttling and/or damping.
5. Screw the product to the machine/system, } 5.2.1 [/ 21].
ð If necessary, use appropriate connection elements
(adapter plates).
ð Observe the maximal tightening torque, admissible
screw-in depth and, if necessary, strength class.
6. Secure the gripper fingers to the base jaws, } 5.2.1 [/ 21].
7. Connect the sensor, see assembly and operating manual of
the sensor.
8. Mount the sensor, } 5.3 [/ 23].

Assembly
5.2 Connections
5.2.1 Mechanical connection
Evenness of the The values apply to the whole mounting surface to which the
mounting surface product is mounted.
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Tab.: Requirements for evenness of the mounting surface (Dimensions in mm)
Mounting The module can be mounted from the front and from the rear:
Assembly options
Tab.: Mounting material
Item Mounting 16 20 25 30 38 45
1 Front mounting M1.6 M1.6 M2.5 M3 M4 M4
2 Rear mounting M2 M2 M3 M4 M5 M5
5 deep 8 deep 10 deep 9 deep 10 deep 10 deep
91 * Centering sleeve Ø1.5 H7 Ø3.5 H7 Ø5 H7 Ø6 H7 Ø8 H7 Ø8 H7
* Contained in accessory pack.
NOTE
l Locate the module with 2 centre sleeves (91).
l Mount the module using the screws (1/2).
5.2.2 Pneumatical connection
NOTE
The central air unit must be equipped with a maintenance unit
that is located as near as possible to the consumer.

Assembly
Hose free
direct connection
Compressed air connections

Tab.: Thread diameter of the air connections
Item Connection 16 * 20 25 30 38 45
1 Hose connection at the side M2.5 M3 (2x) M3 (2x) M3 (2x) M3 (2x) M3 (2x)
(A = open, B = close) (2x)
2 Hose-free direct connection - - M2.5 M3 (2x) M3 (2x) M3 (2x)
from the rear (2x)
(a = open, b = close)
92 ** O-ring - - - Ø3 x 1.00
* For this size, the hose clips are pre-assembled at the factory
and the compressed air hoses prescribed by SCHUNK must be
used, see catalog data sheet. Procedure for leaking compressed
air connection, see section "Troubleshooting".
** Contained in accessory pack.
Further information on the hose-free direct connection contains
the catalog data sheet.

Assembly
5.3 Mounting the sensor
NOTE
Observe the assembly and operating manual of the sensor for
mounting and connecting.
The product is prepared for the use of sensors.

l For the exact type designations of suitable sensors, please see
catalog datasheet and } 5.3.1 [/ 23].
l For technical data for the suitable sensors, see assembly and
operating manual and catalog datasheet.
– The assembly and operating manual and catalog
datasheet are included in the scope of delivery for the
sensors and are available at schunk.com.
l Information on handling sensors is available at schunk.com or
from SCHUNK contact persons.
5.3.1 Overview of sensors

Designation MPZ
16 20 25 30 38 45
Magnetic switch MMS 22 X X X
Programmable magnetic switch X X X X X
MMS 22-PI1
MMS 22-PI2
MMS-P 22
Magnetic switch MMS 22-IOL X X X
Inductive proximity switch IN 30K X
Flexible position sensor FPS with X X X
FPS-S13
5.3.2 Switch-off hysteresis for magnetic switches

Sensors MMS 22, MMS 22-PI1, MMS 22-PI2 and MMS-P 22
The smallest detectable difference in stroke is defined in the
following table:
For products with X mm Min. query range per jaw/
nominal stroke per jaw min. queried stroke difference per jaw
X ≤ 5 mm 30 % of the nominal stroke per jaw
X > 5 mm to X ≤ 10 mm 20 % of the nominal stroke per jaw
X > 10 mm 10 % of the nominal stroke per jaw
Tab.: The smallest detectable difference in stroke based on the nominal stroke

Assembly
Example: Product with 7 mm nominal stroke per jaw

7 mm * 20% = 1.4 mm
5.3.3 Setting dimensions
* Setting dimension I1, from product bottom edge (1) to front sensor (2)
The setting dimension applies for the following sensors:
l Programmable magnetic switch MMS 22-PI1
l Programmable magnetic switch MMS 22-PI2
l Programmable magnetic switch MMS-P 22
Size l1* [mm] Size l1* [mm]
MPZ 20 19.0 * MPZ 38 17.5
MPZ 20-AS 19.3 MPZ 38-AS 22.0
MPZ 20-IS 24.3 * MPZ 38-IS 41.0
MPZ 25 19.4 * MPZ 45 19.4
MPZ 25-AS 18.4 MPZ 45-AS 22.9
MPZ 25-IS 31.4 * MPZ 45-IS 37.5
MPZ 30 21.0 *
MPZ 30-AS 21.2
MPZ 30-IS 29.2
* up to the end of the groove

Assembly
5.3.4 Mounting MMS 22 magnetic switch
CAUTION
Risk of damage to the sensor during assembly!
l Observe the maximal tightening torque.
Positioning of the magnetic switches

Position "Gripper open" or "Part gripped (I.D. gripping)"
1. Bring product in the position to be set.
2. If necessary remove T-nut (3).
3. Turn the sensor 1 (1) into the groove (2).
OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1
(1) stops at the end of the groove.
4. Pull the sensor 1 (1) back again slowly until it switches.
5. Secure the sensor 1 (1) using the set-screw (4).
Tightening torque: 10 Ncm
6. Bring product into the "Gripper open" or "Part gripped"
position and test the function.
Position "Gripper closed" or "Part gripped (O.D. gripping)"
1. Bring product in the position in which it is to be set.
2. If necessary remove T-nut (3).
OR: Slide sensor 2 (1) into the groove (2) in the direction of the
housing middle (3), until the sensor 2 (1) switches.
5. Bring product into the "Gripper closed" or "Part gripped"
position and test the function.

Assembly
5.3.5 Mounting MMS 22-PI1 programmable magnetic switch
CAUTION
NOTE
The magnetic switch MMS 22-PI1 can be adjusted and taught in
two ways.
l "Standard mode" allows for quick installation on the T-nut
preset by SCHUNK in the groove or the defined setting
dimension "l1."
l In "Optimal Mode", the sensor identifies the optimal position
in the groove itself.
SCHUNK recommends "Optimal Mode" for setting the sensors.
NOTE
If there is no T-nut available, slide the sensor according to
dimension I1 into the groove (2), } 5.3.3 [/ 24].
Setting the sensor in "Standard mode"

OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1
(1) stops at the T-nut (3).
3. Adjust sensor 1 (1), see sensor assembly and operating
manual.
4. Repeat steps for sensor 2.

Assembly
Alternatively for size 20-45, except MPZ 25-AS and MPZ 45:
Setting the sensor in "Optimum mode"
1. Put product in the position in which it is to be set.
2. Hold teaching tool to the sensor 1 (1) until the sensor flashes.
3. Slide sensor 1 (1) into the groove (2), until the sensor 1 flashes
rapidly.
ð The optimum position is displayed.
5. Hold teaching tool to the sensor 1 (1) to confirm the position.
ð The sensor 1 (1) has been taught in.
6. Repeat steps for sensor 2.

Assembly
5.3.6 Mounting programmable MMS 22-PI2 magnetic switch
CAUTION
NOTE
1. Turn the sensor (1) into the groove (2).

OR: Slide the sensor (1) into the groove (2) until the sensor (1)
stops at the T-nut (3).
2. Secure the sensor (1) using the set-screw (4).
3. Adjust sensor (1), see sensor assembly and operating manual.

Assembly
5.3.7 Mounting programmable MMS-P magnetic switch
CAUTION
NOTE


Assembly
5.3.8 Mounting programmable magnetic switch MMS-IOL
CAUTION
NOTE
dimension I1 into the groove (2), see following table.

Size l1* [mm] Size l1* [mm]
30 20.0 45 20.0
30 AS 25.5 45 AS 22.75
30 IS 33.5 45 IS 34.5
38 21.0
38 AS 25.5
38 IS 42.0
Tab.: Dimensions I1
* Dimen Bottom edge of the product to front edge of the sensor

sion l1

Assembly
Size 45 AS:
During the monitoring process, the first and last 15% of the
nominal stroke will not produce a change in the analog signal. It
is therefore not possible to monitor the end positions. Should
you have questions, do not hesitate to contact SCHUNK.
Size Stroke
100% 15%
45 AS 5 mm 0.75 mm
Analog signal [V]
Signal Real
Signal Optimal
Stroke [mm]

Assembly
5.3.9 Mounting inductive proximity switch IN 30K
CAUTION
NOTE
The screw heads of screws (23) and (24) are used for proximity
switch monitoring. The monitoring positions "Gripper open" and
"Gripper closed" were factory-set. These monitoring positions
cannot be changed.
1. Slide both sensors into the holder (9) and tighten screw (22)
slightly.
2. Put the product in the position in which it is to be set.
3. Slide the sensor carefully towards the screw head.
4. Use a feeler gage to set a distance of 0.2 mm.
5. Bring the product into position and test the function.
6. Tighten screw (22) on the holder (9).

Assembly
5.3.10 Mounting flexible position sensor FPS

The flexible position sensor FPS consists of an evaluation unit and
one of the following sensors:
l FPS-S 13
CAUTION
1. Insert the sensor (41) with the circular elevation (active sensor
surface) in the recess of the housing.
2. Secure the sensor (41) on the gripper using screws (46).
3. Connect the evaluation unit and adjust the sensor, see the
Assembly and Operating Manual for the sensor.

Troubleshooting
6 Troubleshooting
6.1 Product is not moving
Possible cause Corrective action
Base jaws jam in housing, e.g. mounting Check the evenness of the mounting surface.
surface is not sufficiently even. } 5.2.1 [/ 21]
Loosen the mounting screws of the product
and actuate the product again.
Pressure drops below minimum. Check air supply.
} 5.2.2 [/ 21]
Compressed air lines switched. Check compressed air lines.
} 5.2.2 [/ 21]
Proximity switch defective or set incorrect. Readjust or change sensor.
Unused air connections open. Close unused air connections.
Flow control valve closed. Open the flow control valve.
Component part defective. Replace component or send it to SCHUNK for
repair.
6.2 Product is not executing the complete stroke

Dirt deposits between cover and piston. Clean and if necessary re-lubricate.
Dirt deposits between basic jaws and Disassemble and clean the product.
guidance.
} 5.2.2 [/ 21]
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
} 5.2.1 [/ 21]
repair.
6.3 Product opens or closes abruptly

Too little grease in the mechanical guiding Clean and lubricate product.
areas. } 7 [/ 36]
Compressed air lines blocked. Check compressed air lines of damage.
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
One-way flow control valve is missing or Install and adjust one-way flow control valve.
adjustet incorrectly.
Loading too large. Check permissible weight and length of the
gripper fingers.

Troubleshooting
6.4 Gripping force is dropping

Compressed air can escape. Check seals, if necessary, disassemble the
product and replace seals.
Too much grease in the mechanical Clean and lubricate product.
movement space.
} 3 [/ 17]
repair.
6.5 Product does not achieve the opening and closing times
Compressed air lines are not installed If present: Open the flow control couplings on
optimally. the product to the maximum that the
movement of the jaws occurs without
bouncing and hitting.
Check compressed air lines.
Inner diameters of compressed air lines are of
sufficient size in relation to compressed air
consumption.
Flow rate of valve is sufficiently large relative
to the compressed air consumption.
If you still cannot achieve the open and close
times in the latest catalog, we recommend
the use of quick-air-vent-valves directly at
the product.
Compressed air can escape. Check seals, if necessary, disassemble the
product and replace seals.
repair.
Too much grease in the mechanical Clean and lubricate product.
movement space. } 7 [/ 36]
Loading too large. Check permissible weight and length of the
gripper fingers.
6.6 Compressed air connection is leaking

Wrong hose. Check hose, see catalog data sheet.
Hose gets wider if it is frequently Cut off hose, replace if necessary.
disassembled/assembled.
Hose gets wider due to external forces. Fix hose e.g. using cable tie.

Maintenance
7 Maintenance
7.1 Notes
Original spare parts
Use only original spare parts of SCHUNK when replacing spare and
wear parts.
Replacement of the housing and base jaws
The base jaws and the guides in the housing are matched to
each other. To replace these parts, send the product to SCHUNK
with a repair order.
Maintenance of version with gripping force maintenance I.D.
gripping and O.D. gripping
The pistons have to be aligned using an assembly device.
Therefore we recommend to have the module serviced and the
seals replaced by SCHUNK.
7.2 Maintenance intervals

CAUTION
Material damage due to hardening lubricants!
Lubricants harden more quickly at temperatures above 60°C,
leading to possible product damage.
l Reduce the lubricant intervals accordingly.
Interval (million cycles) Maintenance work

for MPZ
16 - 25 30 - 45
1.5 1.5 Treat all grease areas with
lubricant, } 7.3 [/ 37].
Oil or grease external steel parts.
Clean all parts thoroughly, check for
damage and wear
- 1.5 If necessary, replace seals, } 7.4 [/ 38].
The seals are in the enclosed sealing
kit. } 1.4.1 [/ 8].

Maintenance
7.3 Lubricants/Lubrication points

During maintenance, treat all greased areas with lubricant.
Thinly apply lubricant with a lint-free cloth.
SCHUNK recommends the lubricants listed.
Lubricant point Lubricant
Metallic sliding surfaces Elkalub VP 874
All seals Rivolta F.L.G. GT-2
Bore hole at the piston Rivolta F.L.G. GT-2
The product contains food-compliant lubricants as standard.
The requirements of standard EN 1672-2:2020 are not fully met.
NOTE
l Change contaminated food-compliant lubricant.
l Observe information in the safety data sheet from the
lubricant manufacturer.

Maintenance
7.4 Dismantling the product
NOTE
For sizes 16, 20 and 25, there is no need to dismantle the product
since seal replacement is not necessary.
7.4.1 Version without gripping force maintenance

Position of the item numbers } 7.7 [/ 41]
WARNING
serious injuries.
1. Remove the compressed air hoses.

2. Unscrew the screws (20) and remove the cover (8).
3. Unscrew screw (18) and remove the housing (2).
4. Unscrew screw (19) and remove cylinder piston (5).
5. Press the piston (4) upward out of the housing (1).
6. Pull the base jaws (3) out of the housing (1).
7.4.2 Maintencance of module with gripping force maintenance

"O.D. gripping" (O.D.)
WARNING
serious injuries.

Maintenance
WARNING
The cylinder piston is under spring tension.
l Carefully disassemble the product.

3. Unscrew the screws (38) and remove the housing (32).
4. WARNING Danger of injury due to spring forces! the cover
housing isspring tensioned. Carefully disassemble the
module. Secure the cylinder piston (35) against accidently
springing out and unscrew the screw (39).
5. Release the tension on the spring (31) and remove the
cylinder piston (35).
7.4.3 Version with gripping force maintenance I.D.

WARNING
serious injuries.
WARNING
The cylinder piston is under spring tension.
l Carefully disassemble the product.

3. WARNING Danger of injury due to spring forces! The cylinder
piston (35) is under spring tenison Carefully disassemble the
module. Clamp the module between the housing parts (32)
and (1) in a vice.

Maintenance
4. Unscrew the screws (38).

5. Carefully open the vise until the compression spring (31) has
no more tension.
6. Remove the housing (32) and take out the compression spring
(31).
7. Unscrew screw (19) and remove cylinder piston (5) from the
housing (1).
7.4.4 Variant with flexible position sensor (FPS)

WARNING
serious injuries.

2. Unscrew screws (48) and remove the housing (42).
3. Hold the set screw (49) and unscrew the cylinder piston (45).

Maintenance
7.5 Assembling the product

Assembly takes place in the opposite order to disassembly.
Observe the following:
l Unless otherwise specified, secure all screws and nuts with
Loctite no. 243 and tighten with the appropriate tightening
torque.} 7.6 [/ 41]
7.6 Tightening torque for screws

Tab.: Values in Nm
Item MPZ 16 MPZ 20 MPZ 25 MPZ 30 MPZ 38 MPZ 45

18 - - - 1.1 2.4 2.4
19 - - - 2.2 5.8 12.0
20 0.3 0.6 1.3 0.18 0.18 0.18
21 0.3 0.6 1.3 - - -
22 0.1 - - - - -
23 0.1 - - - - -
24 0.1 - - - - -
38 - - - 0.6 1.1 2.6
39 - - - 2.2 5.8 12.0
49 - - - 0.8 2.2 5.9
94 - - - 1.1 2.4 2.4
7.7 Assembly drawing

The following figures are example images.
They serve for illustration and assignment of the spare parts.
Variations are possible depending on size and variant.
* Positions are adapted to each other and can not be replaced by the customer.
** Wearing part, replace during maintenance.
Included in the seal kit. Seal kit can only be ordered completely.
*** Contained in accessory pack.

Maintenance
7.7.1 Assembly MPZ 16-25
Version Version Version

O.D.gripping I.D. gripping without gripping force maintenance
Assembly of the Types O.D.gripping / I.D. gripping / without gripping force maintenance

Maintenance
7.7.2 Assembly MPZ 30-45
Version Version Version

O.D.gripping I.D. gripping without gripping force maintenance
Assembly of the Types Außengreifend (AS) / Innengreifend (IS) / ohne Greifkrafterhaltung

Maintenance
7.7.3 Assembly with flexible position sensor FPS
Assembly of the Types with flexible position sensor FPS

Translation of the original declaration of incorporation
8 Translation of the original declaration of

incorporation
in terms of the Directive 2006/42/EG, Annex II, Part 1 Section B.
Manufacturer/ SCHUNK SE & Co. KG
Distributor Toolholding and Workholding | Gripping Technology | Automation
Technology
Bahnhofstr. 106 - 134
D-74348 Lauffen/Neckar
We hereby declare that the partly completed machine described below
Product designation: 3 - finger - centric gripper / MPZ /pneumatic
ID number 0340480 ... 0340533
meets the following basic occupational health and safety of the Machinery Directive 2006/42/
EC:
No. 1.1.1, No. 1.1.2, No. 1.1.3, No. 1.1.5, No. 1.3.2, No. 1.5.3, No. 1.5.4, No. 1.5.6, No. 1.5.8, No.
1.5.10, No. 1.5.11, No. 1.5.13
The partly completed machinery may not be put into operation until it has been confirmed
that the machine into which the partly completed machinery is to be installed complies with
the provisions of the Machinery Directive (2006/42/EC). The declaration shall be rendered
invalid if modifications are made to the product.
Applied harmonized standards, especially:
EN ISO 12100:2010 Safety of machinery - General principles for design -
Risk assessment and risk reduction
The special technical documentation according to Annex VII, Part B, belonging to the partly
completed machine, has been created.
Person authorized to compile the technical documentation:
Stefanie Walter, Address: see manufacturer's address
Lauffen/Neckar, October 2023 Dr.-Ing. Manuel Baumeister,

Head of Systems Engineering,
Technology & Innovation

UKCA declaration of incorporation
9 UKCA declaration of incorporation

in accordance with the Supply of Machinery (Safety) Regulations 2008.
Manufacturer/ SCHUNK Intec Limited
Distributor Clamping and gripping technology
3 Drakes Mews, Crownhill
MK8 0ER Milton Keynes
We hereby declare that on the date of the declaration the following partly completed machine
complied with all basic safety and health regulations found in the
"Supply of Machinery (Safety) Regulations 2008".
The declaration shall be rendered invalid if modifications are made to the product.
Product designation: 3 - finger - centric gripper / MPZ / pneumatic
ID number 0340480 ... 0340533
The partly completed machine may not be put into operation until it has been confirmed that
the machine into which the partly completed machine is to be installed complies with the
provisions of the "Supply of Machinery (Safety) Regulations 2008".
Applied harmonized standards, especially:
EN ISO 12100:2010 Safety of machinery - General principles for design -
Risk assessment and risk reduction
The special technical documentation according to Annex VII, Part B, belonging to the partly
completed machine, has been created.
Person authorized to compile the technical documentation:

Marcel Machado, address: refer to manufacturer's address


Information on the RoHS Directive, REACH Regulation and Substances of Very High Concern (SVHC)
10 Information on the RoHS Directive, REACH

Regulation and Substances of Very High Concern
(SVHC)
RoHS Directive
SCHUNK products are classified as "large-scale stationary installations" or as "large-scale
stationary industrial tools" within the meaning of Directive 2011/65/EU and its
extension 2015/863/EU "on the restriction of the use of certain hazardous substances in
electrical and electronic equipment (RoHS)", or fulfill their intended function only as part of
one. Therefore products from SCHUNK do not fall within the scope of the directive at this time.
REACH Regulation
Products from SCHUNK fully comply with the regulations of Regulation (EC) No. 1907/2006
"concerning the Registration, Evaluation, Authorization and Restriction of Chemicals (REACH)"
and its amendment 2022/477. SCHUNK attaches great importance to completely avoiding
chemicals of concern to humans and the environment wherever possible.
Only in rare exceptional cases do SCHUNK products contain SVHC substances on the candidate
list with a mass content above 0.1%. In accordance with Article. 33 (1) of
Regulation (EC) No. 1907/2006, SCHUNK complies with its duty to "communicate information on
substances in articles" and lists the components concerned and the substances used in an
overview that can be viewed at schunk.com\SVHC.


SCHUNK SE & Co. KG 13.00 | MPZ | Assembly- and Operating Manual | en | 389218
Toolholding and Workholding | Gripping Technology |
Automation Technology
© 2023 SCHUNK SE & Co. KG
Bahnhofstr. 106 - 134

D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
[email protected]
schunk.com
Folgen Sie uns I Follow us

10-2023
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Assembly- and Operating Manual

Translation of Original Operating

2 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 3

5.2.1 Mechanical connection................................................................ 21

4 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

1.1.1 Presentation of Warning Labels

1.1.2 Definition of Terms

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1.1.3 Symbol definition

1.1.4 Applicable documents

6 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

1.3 Scope of delivery

1.3.1 Accessories pack

Content of the accessory pack:

*not for MPZ-FPS 30-45

Accessory MPZ MPZ- High- MPZGKS - MPZ- AS / -IS MPZ- FPS

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 7

1.4.1 Seal kit

Seal kit for MPZ / MPZ-AS / MPZ-IS MPZ - High-temperature version

8 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

2 Basic safety notes

2.2 Constructional changes

2.3 Spare parts

2.4 Gripper fingers

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 9

l Execute the gripper fingers in such a way that the product

2.5 Ambient conditions and operating conditions

2.6 Personnel qualification

The following personal qualifications are necessary for the

10 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

2.7 Personal protective equipment

2.8 Notes on safe operation

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 11

2.12 Fundamental dangers

12 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

l Do not reach into the open mechanism or movement area of

2.12.1 Protection during handling and assembly

2.12.2 Protection during commissioning and operation

2.12.3 Protection against dangerous movements

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 13

l To avoid accidents and/or material damage, human access to

2.12.4 Protection against electric shock

14 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

2.13 Notes on particular risks

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 15

16 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 17

4 Design and description

3 - finger - centric gripper

18 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

1. Check the evenness of the mounting surface, } 5.2.1 [/ 21].

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 19

4. OR: Connect compressed air lines to the main air

20 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

5.2.2 Pneumatical connection

13.00 | MPZ | Assembly- and Operating Manual | en | 389218 21

Compressed air connections

22 13.00 | MPZ | Assembly- and Operating Manual | en | 389218

5.3 Mounting the sensor