Bus Capable. Compact. Flexible. WSG Intelligent Gripper

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1 WSG Bus Capable. Compact. Flexible. WSG Intelligent Gripper Servo-electric 2-finger parallel gripper with highly precise gripping force control and long stroke Field of Application A ll-purpose, ultra-flexible gripper for great part variety and sensitive components in clean environments Advantages Your benefit Gripping force control for the delicate gripping of sensitive workpieces Large stroke for flexible workpiece handling Fully integrated control and power electronics for creating a decentralized control system Versatile actuation options for simple integration into existing servo-controlled concepts via Ethernet TCP/IP, Profibus-DP, Profinet or CAN bus Integrated plug connector in the base jaw for connection of the optionally available attachment fingers with integrated strain gauges for direct internal force regulation Integrated web server for configuration and diagnostics with any standard web browser Integrated memory card for storage of parameters, documentation, and value adoption for gripper exchange, available for sizes 32 and 50 Sizes Quantity: 3 Weight kg Gripping force N Stroke per jaw mm Workpiece weight kg 1698

2 WSG Functional Description The brushless servo motor drives the toothed belt drive via the bevel gear. The base jaws mounted on the profiled rail guides are connected to the toothed belt. The rotary movement is transferred into a linear movement of the base jaws via the gear and the toothed belt Integrated Wd electronics Integrated atedw WSG tedwted control and power electronics for decentralized actuation of the servomotor 2 Encoder for gripper positioning and position evaluation 3Drive DC servomotor 5Micro SD card for storing of documentation and parameters 6Integrated plug connector for connection of attachment fingers with integrated sensors 7 Electrical connection for connection of power supply and communication 4Belt drive Force transmission from the servo motor to the drive belt CAD data, operating manuals and other current product documents are available at www. schunk. com 1699

WSG General Notes about the Series Operating principle: Linear guidance with belt drive Housingmaterial: Aluminum alloy, coated Base jaw material: Aluminum alloy, anodized Warranty: 24 months

A hybrid cable with connection to the WSG for size 25, the other end has open wires for voltage supply and RJ45 plug for Ethernet communication.

This is not included in the scope of delivery and must be ordered separately.

3 WSG General Notes about the Series Operating principle: Linear guidance with belt drive Housingmaterial: Aluminum alloy, coated Base jaw material: Aluminum alloy, anodized Warranty: 24 months (details, general terms and conditions and operating manuals can be downloaded at www. schunk. com) Scope of delivery: DVD with assembly and operating manual with declaration of incorporation. A hybrid cable with connection to the WSG for size 25, the other end has open wires for voltage supply and RJ45 plug for Ethernet communication. A memory card (integrated) for sizes 32 and 50 and a programming cable with RJ45 plug. A power cable is required for the voltage supply for operation of the gripper in sizes 32 and 50. This is not included in the scope of delivery and must be ordered separately. Gripping force: is the arithmetic total of the gripping force applied to each gripper jaw at distance P (see illustration). Finger length: is measured from the upper edge of the gripper housing in the direction of the main axis. The breach of the max. permitted finger length can bring higher abrasion. Repeat accuracy: is defined as the spread of the limit position after 100 consecutive strokes. Workpiece weight: is calculated for a force-fit connection with a coefficient of friction of 0.1 and a safety factor of 2 against slippage of the workpiece on acceleration due to gravity g. Considerably heavier workpiece weights are permitted with form-fit gripping. Closing and opening times: Minimum closing and opening times are only the movement times of the base jaws at max. speed, max. acceleration without electrical restrictions (maximum current) and observance of the maximum permissible mass per finger. Nominal currents: may be permanently applied. The information in the respective product documentation must be observed for all current levels beyond the rated current up to the maximum current. Application example Robot for flexible loading and unloading of sensitive workpieces 1 WSG servo-electric 2-Finger Parallel Gripper 2 Finger with integrated sensor electronics 1700

highest functionality, flexibility, reliability, and controlled production.

found on the following product pages or at www. schunk. com.

special Information Integrated electronics: The WSG gripper is electrically actuated by the fully

Hence, the module does not require any additional external control units.

4 WSG SCHUNK offers more... The following components make the product WSG even more productive the suitable addition for the highest functionality, flexibility, reliability, and controlled production. Fingers Power- / and Data Cable Centering Sleeves i Further information regarding the products can be found on the following product pages or at www. schunk. com. Please contact us for further information: SCHUNK technical hotline Options and special Information Integrated electronics: The WSG gripper is electrically actuated by the fully integrated control and power electronics. Hence, the module does not require any additional external control units. Versatile actuation options: Various interfaces such as Ethernet TCP/IP, Profibus-DP, CAN bus, or Profinet are available as communication types for sizes 32 and 50. This enables the setup of industrial bus networks as well as easy integration in existing control concepts. We offer various cables for transmission of supply voltage and data communication. 1701

WSG 25 Gripping force, O.D. gripping Finger load Gripping force Speed Finger length M x max. 0.55 Nm M y max. 0.55 Nm M z max.

00 N Speed i The specified torques and forces are static values, apply for each base jaw, and may occur simultaneously.

Stroke Technical data Description WSG 25-64-B ID 0306170 General operating data Stroke per jaw [mm] 32 min. / max.

permitted weight per finger [kg] 0.022 Repeat accuracy [mm] ±0.03 max. speed [mm/s] 250 max.

5 WSG 25 Gripping force, O.D. gripping Finger load Gripping force Speed Finger length M x max Nm M y max Nm M z max Nm F z max N Speed i The specified torques and forces are static values, apply for each base jaw, and may occur simultaneously. M y may occur in addition to the torque generated by the gripping force. Stroke Technical data Description WSG B ID General operating data Stroke per jaw [mm] 32 min. / max. gripping force [N] 5/20 Recommended workpiece weight [kg] 0.1 max. permitted finger length [mm] 40 max. permitted weight per finger [kg] Repeat accuracy [mm] ±0.03 max. speed [mm/s] 250 max. acceleration [mm/s²] 3500 Weight [kg] 0.32 min. / max. ambient temperature [ C] 5/50 IP class 20 Electrical operating data Controller electronics integrated Nominal voltage [V DC] 24 Nominal current [A] 0.3 max. power supply [A] 0.7 Communication interface Ethernet TCP/IP Parametrized interface Ethernet TCP/IP 1702

6 WSG 25 Main view 180 The drawing shows the basic version of the gripper with open jaws, without dimensional consideration of the options described below. 1 Gripper connection 2 Finger connection GL Fit for centering sleeves GM Fit for centering pins IT Connection power supply and communication Maximum permitted finger projection Permitted range Inadmissible range L max is equivalent to the maximum permitted finger length, see the chart of technical specifications. 1703

7 WSG 32 Gripping force, O.D. gripping Finger load Gripping force Speed Finger length M x max Nm M y max Nm M z max Nm F z max N Speed i The specified torques and forces are static values, apply for each base jaw, and may occur simultaneously. M y may occur in addition to the torque generated by the gripping force. Stroke Technical data Description WSG B WSG C WSG P ID General operating data Stroke per jaw [mm] min. / max. gripping force [N] 5/35 5/35 5/35 Recommended workpiece weight [kg] max. permitted finger length [mm] max. permitted weight per finger [kg] Repeat accuracy [mm] ±0.03 ±0.03 ±0.03 max. speed [mm/s] max. acceleration [mm/s²] Weight [kg] min. / max. ambient temperature [ C] 5/50 5/50 5/50 IP class Electrical operating data Controller electronics integrated integrated integrated Nominal voltage [V DC] Nominal current [A] max. power supply [A] Communication interface Ethernet TCP/IP Ethernet TCP/IP, CAN bus Ethernet TCP/IP, Profinet CAN interface [Mbit/s] 1 Parametrized interface Ethernet TCP/IP Ethernet TCP/IP Ethernet TCP/IP 1704

8 WSG 32 Main view 180 The drawing shows the basic version of the gripper with open jaws, without dimensional consideration of the options described below. 1 Gripper connection 2 Finger connection BN Bolt circle GL Fit for centering sleeves GM Fit for centering pins IT Integrated connector for top jaw IK Voltage supply connection and CAN bus communication (optional) IL Ethernet communication connection (optionally Profinet) Maximum permitted finger projection Permitted range Inadmissible range L max is equivalent to the maximum permitted finger length, see the chart of technical specifications. 1705

9 WSG 32 Attachment fingers for WSG Cable connector / cable extension 2 Finger connection GL Fit for centering sleeves HT Depth of the centering sleeve hole in the mating part IT Connecting point for component IK Cable with straight connection IL Cable with angular connection The attachment fingers are optionally available with (DV) or without (GV) integrated strain gauges. The plastic insert can be reworked or exchanged for customized requirement. Fastening screws and centring sleeves are included in the scope of delivery. Description ID Material Scope of delivery Finger ABF WSG32/50-DV Aluminum 1 ABF WSG32/50-GV Aluminum 1 Description ID L 2 [m] Connection cables KA GLN0806-LK A KA WLN0806-LK A i BG stands for a connection cable with a straight female connector and BW for an angled female connector. i With operation of the WSG with the ABF attachment fingers, two pieces are normally required, optionally with or without integrated strain gauges. 1706

10 Notes

WSG 50 Gripping force Finger load Gripping force Speed Finger length M x max. 4.00 Nm M y max. 4.00 Nm M z max. 3.00 Nm F z max. 80.

Stroke Technical data Description WSG 050-110-B WSG 050-110-P WSG 050-210-B WSG 050-210-P ID 0306120 0306122 0306125 0306127 General operating data Stroke per jaw [mm] 55 55 105 105 min. / max.

3 0.3 0.3 Repeat accuracy [mm] ±0.03 ±0.03 ±0.03 ±0.03 max. speed [mm/s] 420 420 420 420 max. acceleration [mm/s²] 5000 5000 5000 5000 Weight [kg] 1.2 1.2 1.6 1.6 min. / max.

11 WSG 50 Gripping force Finger load Gripping force Speed Finger length M x max Nm M y max Nm M z max Nm F z max N Speed i The specified torques and forces are static values, apply for each base jaw, and may occur simultaneously. M y may occur in addition to the torque generated by the gripping force. Stroke Technical data Description WSG B WSG P WSG B WSG P ID General operating data Stroke per jaw [mm] min. / max. gripping force [N] 5/80 5/80 5/80 5/80 Recommended workpiece weight [kg] max. permitted finger length [mm] max. permitted weight per finger [kg] Repeat accuracy [mm] ±0.03 ±0.03 ±0.03 ±0.03 max. speed [mm/s] max. acceleration [mm/s²] Weight [kg] min. / max. ambient temperature [ C] 5/50 5/50 5/50 5/50 IP class Electrical operating data Controller electronics integrated integrated integrated integrated Nominal voltage [V DC] Nominal current [A] max. power supply [A] Communication interface Ethernet TCP/IP, Profibus, CAN bus Ethernet TCP/IP, Profinet Ethernet TCP/IP, Profibus, CAN bus Ethernet TCP/IP, Profinet Profibus interface [Mbit/s] CAN interface [Mbit/s] 1 1 Parametrized interface Ethernet TCP/IP Ethernet TCP/IP Ethernet TCP/IP Ethernet TCP/IP 1708

12 WSG 50 Main view 180 The drawing shows the basic version of the gripper with open jaws, without dimensional consideration of the options described below. 1 Gripper connection 2 Finger connection BN Bolt circle GL Fit for centering sleeves GM Fit for centering pins IT Connection power supply IK Connection to the internal terminal box IL Ethernet communication connection (optionally Profinet) IM Integrated connector for top jaw Maximum permitted finger projection Permitted range Inadmissible range L max is equivalent to the maximum permitted finger length, see the chart of technical specifications. 1709

13 WSG 50 WSG 50 stroke variant Attachment fingers for WSG The drawing shows changes in dimensions of the versions with a differing stroke compared to the main view of the shown version. 2 Finger connection GL Fit for centering sleeves HT Depth of the centering sleeve hole in the mating part The attachment fingers are optionally available with (DV) or without (GV) integrated strain gauges. The plastic insert can be reworked or exchanged for customized requirement. Fastening screws and centring sleeves are included in the scope of delivery. Description ID Material Scope of delivery Finger ABF WSG32/50-DV Aluminum 1 ABF WSG32/50-GV Aluminum 1 i With operation of the WSG with the ABF attachment fingers, two pieces are normally required, optionally with or without integrated strain gauges. 1710

14 WSG 50 Cable connector / cable extension IT Connecting point for component IK Cable with straight connection IL Cable with angular connection Description ID Length Connection electric cabinet sided [m] Connection cables KA BG08-L 4P open wires KA BW08-L 4P open wires i BG stands for a connection cable with a straight female connector and BW for an angled female connector

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