Translation of the original manual

Assembly and Operating Manual

EGP
Electric Small Components Gripper
Imprint

Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and
requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389476
Version: 11.00 | 31/03/2020 | en
© SCHUNK GmbH & Co. KG
All rights reserved.

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

SCHUNK GmbH & Co. KG

Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
Fax +49-7133-103-2399
info@de.schunk.com
schunk.com

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 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 .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.4 Accessories ........................................................................................................... 7
2 Basic safety notes ................................................................................................... 8
2.1 Appropriate use.................................................................................................... 8
2.2 Not intended use .................................................................................................. 8
2.3 Constructional changes ........................................................................................ 8
2.4 Spare parts ........................................................................................................... 9
2.5 Gripper fingers ..................................................................................................... 9
2.6 Ambient conditions and operating conditions ..................................................... 9
2.7 Personnel qualification....................................................................................... 10
2.8 Personal protective equipment.......................................................................... 10
2.9 Notes on safe operation ..................................................................................... 10
2.10 Transport ............................................................................................................ 11
2.11 Malfunctions....................................................................................................... 11
2.12 Disposal .............................................................................................................. 11
2.13 Fundamental dangers......................................................................................... 12
2.13.1 Protection during handling and assembly .............................................. 12
2.13.2 Protection during commissioning and operation ................................... 12
2.13.3 Protection against dangerous movements............................................. 13
2.13.4 Protection against electric shock............................................................ 14
2.14 Notes on particular risks..................................................................................... 14
3 Technical data......................................................................................................... 17
3.1 Connection data ................................................................................................. 17
3.1.1 EGP 25 .................................................................................................... 17
3.1.2 EGP 40 .................................................................................................... 18
3.1.3 EGP 50 .................................................................................................... 19
3.1.4 EGP 64 .................................................................................................... 20
3.2 Ambient conditions and operating conditions ................................................... 21
4 Design and description............................................................................................ 22
4.1 Design ................................................................................................................. 22

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Table of Contents

4.1.1 Digital I/O variant ................................................................................... 22

4.1.2 IO-Link variant ........................................................................................ 23
4.2 Description ......................................................................................................... 23
4.3 Display ................................................................................................................ 24
4.3.1 "Digital I/O" variant ................................................................................ 24
4.3.2 "Speed (S)" variant ................................................................................. 24
4.3.3 LED "READY" and "ERROR" ..................................................................... 25
4.3.4 "IO-Link" variant ..................................................................................... 26
4.3.5 LED "POWER", "COM" and "STATUS" ..................................................... 26
5 Assembly ................................................................................................................ 27
5.1 Installing and connecting.................................................................................... 27
5.2 Connections........................................................................................................ 28
5.2.1 Mechanical connection........................................................................... 28
5.2.2 Electrical connection - Digital I/O variant ............................................... 30
5.2.3 Electrical connection - "IO-Link" variant................................................. 30
5.3 Mounting the sensor .......................................................................................... 32
5.3.1 Overview of sensors ............................................................................... 32
5.3.2 Mount inductive proximity switch IN 40 ................................................ 32
5.3.3 Mount Flexible Position Sensor (FPS) ..................................................... 35
5.3.4 Mount the object distance sensor OAS .................................................. 36
6 Start-up .................................................................................................................. 37
6.1 "Digital I/O" variant ............................................................................................ 37
6.1.1 Adjust gripping force .............................................................................. 37
6.1.2 Actuation of the digital inputs ................................................................ 38
6.2 IO-Link variant .................................................................................................... 39
7 Troubleshooting ..................................................................................................... 40
7.1 Product does not move ...................................................................................... 40
7.2 Product does not execute a complete stroke..................................................... 40
7.3 Product opens or closes jerkily........................................................................... 40
7.4 Gripping force too low........................................................................................ 40
7.5 Opening and closing times are not achieved...................................................... 41
7.6 Electrical signals are not transmitted ................................................................. 41
7.7 Faults indicated by LED Error (only with "Digital I/O" variant) .................................... 41
7.8 Faults indicated by LED STATUS (only with "I/O-Link" variant)................................ 41
8 Maintenance .......................................................................................................... 42
8.1 Maintenance intervals........................................................................................ 42
8.2 Lubricants and lubricating points ....................................................................... 43
8.3 Disassembly and assembling .............................................................................. 43
9 EU-Declaration of Conformity ................................................................................. 44
10 Translation of original declaration of incorporation ................................................ 45
11 Annex to Declaration of Incorporation .................................................................... 46

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 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.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under
Applicable documents [} 6] are applicable.

1.1.1 Presentation of Warning Labels

To make risks clear, the following signal words and symbols are
used for safety notes.

DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.

WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.

CAUTION
Dangers for persons!
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.

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General

1.1.3 Symbol definition

The following symbols are used in this manual:
■ Prerequisite for an action
Ø Action
✓ Intermediate result
✔ Final result

1.1.4 Applicable documents

• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• IO-Link variant: Software guide "SCHUNK gripper with IO-Link"
*
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com

1.1.5 Sizes
This operating manual applies to the following sizes:
• EGP 25
• EGP 40
• EGP 50
• EGP 64

1.1.6 Variants
This operating manual applies to the following variations:
• EGP
• EGP Speed (S)
• EGP IO-Link
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:
• Observe the specified maintenance and lubrication intervals
• 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
• Electric Small Components Gripper EGP in the version ordered
• Assembly and Operating Manual

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 General

• Accessory pack
1.4 Accessories
The following accessories, which are to be ordered separately, are
available for the product:
• Connection cable 4-pole, socket M8
– angled, 5 m
– angled, 10 m
– straight, 5 m
– straight, 10 m
NOTE
When using customer-supplied cable: at least 4 x 0.25 mm²
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.

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Basic safety notes

2 Basic safety notes

2.1 Appropriate use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
• The product may only be used within the scope of its technical
data, Technical data [} 17].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product is intended for installation in a machine. The
applicable guidelines must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
It is not intended use if the product is used, for example, as a
pressing tool, stamping tool, lifting gear, guide for tools, cutting
tool, clamping device or a drilling tool.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.

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 Basic safety notes

2.4 Spare parts

Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious
injuries and significant property damage.
• Arrange the gripper fingers in a way that the product reaches
either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy
remains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.6 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.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [} 17].

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Basic safety notes

2.7 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.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• 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.
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.
2.8 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.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
2.9 Notes on safe operation
Incorrect handling of the personnel

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 Basic safety notes

Incorrect handling and assembly may impair the product's safety

and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does not
apply to products that are designed for special environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material
damage.
• When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.
2.11 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the
malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.
2.12 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.
• Follow local regulations on dispatching product components for
recycling or proper disposal.

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Basic safety notes

2.13 Fundamental dangers

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

2.13.1 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.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• 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.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.

2.13.2 Protection during commissioning and operation

Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.

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 Basic safety notes

2.13.3 Protection against dangerous movements

Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during
commissioning or software errors may trigger dangerous
movements.
• 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.
• 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.

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Basic safety notes

2.13.4 Protection against electric shock

Work on electrical equipment
Touching live parts may result in death.
• Work on the electrical equipment may only be carried out by
qualified electricians in accordance with the electrical
engineering regulations.
• Lay electrical cables properly, e. g. in a cable duct or a cable
bridge. Observe standards.
• Before connecting or disconnecting electrical cables, switch off
the power supply and check that the cables are free of voltage.
Secure the power supply against being switched on again.
• Before switching on the product, check that the protective
earth conductor is correctly attached to all electrical
components according to the wiring diagram.
• Check whether covers and protective devices are fitted to
prevent contact with live components.
• Do not touch the product's terminals when the power supply is
switched on.
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.
• The operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
• 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.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.
2.14 Notes on particular risks

DANGER
Danger from electric voltage!
Touching live parts may result in death.
• Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched on
again.
• Only qualified electricians may perform electrical installations.
• Check if de-energized, ground it and hot-wire.
• Cover live parts.

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 Basic safety notes

DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
• Stand clear of suspended loads and do not step within their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
• 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.
• Take appropriate protective measures to secure the danger
zone.

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.
• Before starting any work on the product: Switch off the power
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.

WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during the base jaw procedure and
when breaking or loosening the gripper fingers.
• Wear suitable protective equipment.
• Do not reach into the open mechanism or the movement area
of the product.

WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
• Use suitable protective equipment.

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Basic safety notes

WARNING
Risk of burns through contact with hot surfaces!
Surfaces of components can heat up severely during operation.
Skin contact with hot surfaces causes severe burns to the skin.
• For all work in the vicinity of hot surfaces, wear safety gloves.
• Before carrying out any work, make sure that all surfaces have
cooled down to the ambient temperature.

WARNING
Risk of injury from objects falling in the event of an energy
supply failure
In case of an energy supply failure, the gripping force decreases
and a secure hold on the gripped workpiece cannot be
guaranteed.
• Take suitable protective measures to secure the danger zone.

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 Technical data

3 Technical data
3.1 Connection data
3.1.1 EGP 25
Designation EGP
25 25-S
Supply voltage [VDC] 24
Min. [VDC] 21.6
Max. [VDC] 26.4
Min. Supply current power 1.0
supply unit [A] *
Max. Current input [A]** 1.0
Gripping force [%] 50 100 100
Current input in blocked 0.07 0.14 0.14
state [A] ***
Integrated electronic control unit
Communication interface Digital I/O
Number of digital inputs/
outputs 2/2
* minimum supply current for reliable operation of product
** maximum current input in the acceleration phase (max. t = 50 ms)
*** Current input in blocked state (in gripper end position or
while gripping a workpiece) with active command "Open
Gripper" or "Close Gripper"
More technical data is included in the catalog data sheet.
Whichever is the latest version.

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Technical data

3.1.2 EGP 40
Designation EGP
40 40-S
Supply voltage [VDC] 24
Min. [VDC] 21.6
Max. [VDC] 26.4
Min. Supply current power 1.0
supply unit [A] *
Max. Current input [A]** 2.0
Gripping force [%] 25 50 75 100 100
Current input in blocked 0.05 0.10 0.15 0.20 0.20
state [A] ***
Integrated electronic control unit
Communication interface Digital I/O
Number of digital inputs/
outputs 2/2
Designation EGP 40 IO-Link
Supply voltage [VDC] 24
Min. [VDC] 21.6
Max. [VDC] 26.4
Min. Supply current power 1.0
supply unit [A] *
Max. Current input [A]** 2.0
Gripping force [%] 25 50 75 100
Current input in blocked 0.05 0.10 0.15 0.2
state [A] ***
End position detection
tolerances [mm]
(in delivery status / after
stroke measurement) ±0.5
Integrated electronic control unit
Communication interface IO-Link
Specification: V1.1
Transmission rate COM2
Port Class B
* minimum supply current for reliable operation of product
** maximum current input in the acceleration phase (max. t = 50 ms)
*** Current input in blocked state (in gripper end position or
while gripping a workpiece) with active command "Open
Gripper" or "Close Gripper"
More technical data is included in the catalog data sheet.
Whichever is the latest version.

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 Technical data

3.1.3 EGP 50
Designation EGP 50
Supply voltage [VDC] 24
Min. [VDC] 21.6
Max. [VDC] 26.4
Min. Supply current power
supply unit [A] * 2.0
Max. Current input [A]** 2.0
Gripping force [%] 25 50 75 100
Current input in blocked 0.07 0.15 0.22 0.3
state [A] ***
Integrated electronic control unit
Communication interface Digital I/O
Number of digital inputs/
outputs 2/2
Designation EGP 50 IO-Link
Supply voltage [VDC] 24
Min. [VDC] 21.6
Max. [VDC] 26.4
Min. Supply current power
supply unit [A] * 2.0
Max. Current input [A]** 2.0
Gripping force [%] 25 50 75 100
Current input in blocked 0.07 0.15 0.22 0.3
state [A] ***
End position detection
tolerances [mm]
(in delivery condition / after
stroke measurement) ±0.5
Integrated electronic control unit
Communication interface IO-Link
Specification: V1.1
Transmission rate COM2
Port Class B
* minimum supply current for reliable operation of product
** maximum current input in the acceleration phase (max. t = 50 ms)
*** Current input in blocked state (in gripper end position or
while gripping a workpiece) with active command "Open
Gripper" or "Close Gripper"
More technical data is included in the catalog data sheet.
Whichever is the latest version.

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Technical data

3.1.4 EGP 64
Designation EGP 64
Supply voltage [VDC] 24
Min. [VDC] 21.6
Max. [VDC] 26.4
Min. Supply current power
supply unit [A] * 2.0
Max. Current input [A]** 2.0
Gripping force [%] 25 50 75 100
Current input in blocked 0.04 0.08 0.1 0.15
state [A] ***

Designation EGP 64 IO-Link

Supply voltage [VDC] 24
Min. [VDC] 21.6
Max. [VDC] 26.4
Min. Supply current power 2.0
supply unit [A] *
Max. Current input [A]** 2.0
Gripping force [%] 25 50 75 100
Current input in blocked 0.04 0.08 0.1 0.15
state [A] ***
End position detection
tolerances [mm]
(in delivery condition / after
stroke measurement) ±0.5
Integrated electronic control unit
Communication interface IO-Link
Specification: V1.1
Transmission rate COM2
Port Class B
* minimum supply current for reliable operation of product
** maximum current input in the acceleration phase (max. t = 50 ms)
*** Current input in blocked state (in gripper end position or
while gripping a workpiece) with active command "Open
Gripper" or "Close Gripper"
More technical data is included in the catalog data sheet.
Whichever is the latest version.

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 Technical data

3.2 Ambient conditions and operating conditions

Designation EGP
25 – 64
IP protection class (mechanical) * 30
IP protection class (electrical) * 40
(only with center plug)
Noise emission [dB(A)] ≤ 70
Ambient temperature [°C]
Min. 5
Max. 55
* 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.

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Design and description

4 Design and description

4.1 Design
4.1.1 Digital I/O variant

Design EGP, Digital I/O

1 "Power supply and control" connection plug

2 "Gripping force" rotary switch
3 LED READY
4 LED ERROR
5 Base jaw
6 Housing

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 Design and description

4.1.2 IO-Link variant

Design EGP, IO-Link

1 "IO-Link" connection plug

2 LED POWER, COM and STATUS
3 Base jaw
4 Housing

4.2 Description
The product is a servo-electric 2-finger parallel gripper featuring
high power density and integrated electronics.

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Design and description

4.3 Display
4.3.1 "Digital I/O" variant

Function label EGP 25 and EGP 40-64

1 "Gripping force" rotary 3 LED "ERROR"

switch
2 LED "READY"

4.3.2 "Speed (S)" variant

Function label EGP-Speed (S)

1 LED "READY"
2 LED "ERROR"

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 Design and description

4.3.3 LED "READY" and "ERROR"

Designation Color Function
READY Green Indicates whether the voltage is connected.
• Lights up as long as voltage is present in the product.
• Does not light up if there is no voltage in the product.
ERROR Red Indicates whether there is a warning or an error.
• Does not light up when there is no warning or error and the
product is ready to operate.
• Lights up when there is an "excessive temperature" warning.
– The phase current of the motor is limited to Iduration.
– The closing and opening times can increase.
– Is automatically extinguished when the warning no longer
exists.
• Blinks slowly (at approx. 1.2 s intervals) when there is an
"excessive temperature" error.
– The product enters an idle phase until it has cooled down.
The commands Open gripper and Close gripper are not
processed.
– The error must be acknowledged.
• Blinks rapidly (at approx. 0.6 s intervals), when the Gripping
force rotary switch is between two switching positions.
Acknowledge error Ø Wait until the product has cooled down.
Ø Actuate both digital inlets, PIN 2 and PIN 4, with high.
Ø OR:
Disconnect voltage supply and reconnect.
✓ LED "error" is extinguished and the error is acknowledged.

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Design and description

4.3.4 "IO-Link" variant

Function label

1 LED POWER
2 LED COM
3 LED STATUS

4.3.5 LED "POWER", "COM" and "STATUS"

Designation Color Function
POWER Green • Lights up if ready for operation
• Does not light up if logic or actuator voltage is reversed or not
in the valid range.
COM Green • Does not light up if IO-Link communication is not active
• Flashes if IO-Link communication is active
STATUS Green • Does not light up if electronics are not active or defective
/ Red • Lights up green if ready for operation
• Lights up red in case of a fault. Error message is
communicated via IO-Link

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 Assembly

5 Assembly
5.1 Installing and connecting

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.
• Before starting any work on the product: Switch off the power
supply and secure against restarting.
• Make sure, that no residual energy remains in the system.

NOTE
Ensure sufficient heat dissipation using the customer's mounting
surface.
Mount the product so that sufficient cooling is guaranteed. The
size of the cooling surface depends on the application. Avoid
exposure to additional heat e.g. caused by attachments or by the
attached axle.
A temperature malfunction may occur if the product reaches
excessively high temperatures.
"Digital I/O" variant
Ø Check the evenness of the mounting surface, Mechanical
connection [} 28].
Ø Screw the product to the machine/system, Mechanical
connection [} 28].
✓ If necessary, use appropriate connection elements (adapter
plates).
✓ Use centering sleeves from the enclosed accessory pack.
✓ Observe the permissible depth of engagement.
✓ Observe the tightening torque for the mounting screws.
Ø Secure the gripper fingers to the base jaws,
Mechanical connection [} 28].
Ø Place the voltage supply and control cable on the M8 connector and
screw the threaded ring tightly by hand, Digital I/O variant [} 22].
Ø Adjust gripping force if necessary, Adjust gripping force [} 37].
Ø Mount the sensor, Mounting the sensor [} 32].

NOTE
For further information on controlling the product, see section
Start-up [} 37].

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Assembly

IO-Link variant
Ø Check the evenness of the mounting surface, Mechanical
connection [} 28].
Ø Screw the product to the machine/system, Mechanical
connection [} 28].
✓ If necessary, use appropriate connection elements (adapter
plates).
✓ Use centering sleeves from the enclosed accessory pack.
✓ Observe the permissible depth of engagement.
✓ Observe the tightening torque for the mounting screws.
Ø Secure the gripper fingers to the base jaws, Mechanical
connection [} 28].
Ø Place cable for IO-Link on the M12 connector and tighten the
threaded ring by hand, IO-Link variant [} 23].
NOTE
For further information on parameterization and control of the
product, see the section Commissioning -IO-Link variant [} 39].
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.
Requirements for evenness of the mounting surface (Dimensions in mm)
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Connections at the The product can be mounted from three sides.
housing

Assembly options

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 Assembly

Screw-in depth and tightening torque

EGP
Item Mounting 25 40 50 64
Side A
1 Mounting screw M3 M4 M5 M5
Max. depth of 7.4 8.9 10.9 10.9
engagement [mm]
Minimum screw-in depth 6.9 8.4 10.4 10.4
[mm]
Tightening torque [Nm] 1.2 3.1 6.1 6.1
2 Centering sleeve Ø5 Ø6 Ø8 Ø8
Side B
4 Mounting screw M3 M4 M5 M5
Max. depth of 6.9 8.9 10.4 10.4
engagement [mm]
Minimum screw-in depth 6.4 8.4 9.9 9.9
[mm]
Tightening torque [Nm] 1.2 3.1 6.1 6.1
3 Centering sleeve Ø5 Ø6 Ø8 Ø8
Side C
5 Mounting screw M2.5 M3 M4 M4
Connections at the
base jaws

Mounting of the gripper finger

Screw-in depth and tightening torque
EGP
Item Mounting 25 40 50 64
1 Thread in base jaws M4 M5 M6 M8
Max. depth of engagement 4 6 8 10
from locating surface [mm]
Max. tightening torque of 3.1 6.1 10 25
the mounting screws [Nm]
2 Bore holes for cylindrical pin Ø 1.5 Ø 2.5 Ø 3 Ø 4
[mm]

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Assembly

5.2.2 Electrical connection - Digital I/O variant

NOTE
Note on EMC conformity (in accordance with EN 61000-6-4:2007
+ A1:2011):
• The product may only be used in DC distribution networks with
an expansion of < 30 m.
Voltage supply and
control

M8 connection plug for gripper (view of connection plug)

Connection assignment
Pin Wire strand Signal
1 Brown + 24 V
2 White Open gripper
3 Blue GND
4 Black Close gripper
Components of the electrical connection
Plug connector Plug connector
EGP provided by the
Connection customer
Gripper Connection plug 4- Connection cable 4-pin,
pin, M8 M8 socket
Tightening torque of M8 plug connection: 50 cNm

5.2.3 Electrical connection - "IO-Link" variant

CAUTION
Risk of damage to the electronics!
A faulty connection can cause damage to the internal electronics.
• The supply network must be a network of type "PELV" for
power and logic.
• Observe the PIN assignment of the connecting terminals.
• Make sure that all components are grounded correctly.

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 Assembly

NOTE
Note on EMC conformity (in accordance with EN 61000-6-4:2007
+ A1:2011):
• The product may only be used in DC distribution networks with
an expansion of < 30 m.
Components of the electrical connection
Plug connector Plug connector
gripper provided by the customer
Connector 5-pin, M12, A-coded Connection cable 5-pin, M12
socket, A-coded
Voltage supply and
control

IO-Link cable assignment, 5-pin M12 port class B

Pin Wire strand Signal

1 Brown + 24 V
2 White + 24 V (actuator)
3 Blue GND
4 Black C/Q IO-Link
5 Grey GND (actuator)

NOTE
For information on actuation, see Software guide "SCHUNK
gripper with IO-Link".

5.2.3.1 IO-Link connection diagram

IO-Link master IO-Link master
Class A 24V+ power supply
Class B

Y distributor

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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.
• For the exact type designations of suitable sensors, please see
catalog datasheet and Overview of sensors [} 32].
• 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.
• Information on handling sensors is available at schunk.com or
from SCHUNK contact persons.

5.3.1 Overview of sensors

EGP
Designation 25 40 50 64
Inductive proximity switch IN 40 X X X X
Flexible position sensor FPS-S 13 X X X
Optical distance sensor OAS X X X X

5.3.2 Mount inductive proximity switch IN 40

The inductive proximity switches are mounted on the plug
connectors side of the product. If the cable routing on this side is
unfavorable for the customer-specific application, the inductive
proximity switches can be mounted on the opposite side.
The screw heads and the spacer sleeve serve the purpose of
querying by the inductive proximity switches and are mounted on
the gripper fingers.

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 Assembly

5.3.2.1 Mount inductive proximity switches

NOTE
The positions "Gripper opened" and "Gripper closed" are monitored
without an additional spacer sleeve (2) via the screws (1).
Ø To monitor the position "Part gripped": Screw the spacer sleeve
(2) and scew (1) from the accessory pack to the gripper finger (3).
Tightening torque: 12.5 Ncm
Ø Screw on sensor holder (4).
✓ Tighten screws (5) only slightly.
Ø Move product to the position "Gripper opened" .
Ø Slide sensor (6) into the sensor holder (4) and adjust the 0.2 mm
distance to the screw head.
Ø Move product to the position "Gripper closed".
Ø Slide sensor (7) into the sensor holder (4) and adjust the 0.2 mm
distance to the screw head.
Ø Tighten the screw (5) on the sensor holder (4).
Tightening torque: 10 Ncm
Ø Connect both sensors (6)/(7).
Ø Bring the product in position and test the function.

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Assembly

5.3.2.2 Set the inductive proximity switch (IN)

The sensor is dampened by the screw heads.
If the screws are used without spacer sleeves, the positions
"Gripper opened" and "Gripper closed" can be monitored.
If the spacer sleeve is used, the distance between the screw head
and the gripper finger is greater. This enables e.g. the position
"Gripper closed" to be varied or the position "Part gripped" to be
monitored.
Gripper open Gripper open Part gripped

Part gripped Gripper closed Gripper closed

Adjusting the sensor

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 Assembly

5.3.3 Mount Flexible Position Sensor (FPS)

NOTE
The sensor cannot be used for sizes 25 and 25-S.
The sensor is mounted to the product using a holder. This holder
is available from SCHUNK.

Size 40 and 50

Size 64
Ø Secure holder (1) with screws (2).
Ø Secure sensor (4) to holder (1) with screws (3).
Tightening torque: 1 Ncm
Ø Up to 12/2015: Secure control cam (6) onto the cover (7) of the
base jaw with screw (5).
Ø As of 01/2016: Secure control cam (6) directly to the base jaw
with screw (5).
✓ Ensure that the magnets in the control cam (6) are facing
towards the sensor surface.
Ø Connect the torque sensor system controller and adjust the
sensor (4), see Sensor Assembly and Operating Manual.

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Assembly

5.3.4 Mount the object distance sensor OAS

Ø Fix sensor (1) with screws (2) at the housing (3).

Notice: The screws (2) are not included in the scope of delivery.
Ø Connect control unit output and adjust sensor, see sensor
mounting and operating manual.

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 Start-up

6 Start-up
6.1 "Digital I/O" variant
Overview ■ Cable for voltage supply and control is attached to the product.
Ø Adjust gripping force, Adjust gripping force [} 37].
Ø Connect the product to PLC and voltage supply.
Ø Control product via digital inputs, Actuation of the digital inputs [} 38].
Maintain a rest period between commands.
NOTE
• For a detailed description of incorporating the product into a
control, see the documentation of the relevant control
manufacturer.

6.1.1 Adjust gripping force

NOTE
For the "Speed" variant, the gripping force is set to 100% in the
factory and cannot be changed.
The gripping force is changed by altering the current limitation via
the "Gripping force" rotary switch.
■ Digital inputs "Opens gripper" and "Closes gripper" are not
powered (low), Actuation of the digital inputs [} 38].
Ø Remove seal plug.
Ø Adjust gripping force with the "Gripping force" rotary switch. Do
this using a suitable slit screwdriver with a blade at least 2 mm
wide. IMPORTANT! Do not exert axial pressure on the axis of
the rotary switch.
Note: The "Gripping force" rotary switch has four set positions.
Ø Insert seal plug.
✓ Protection Class IP 40 (electrical housing) is ensured only
when the seal plug is mounted.
Gripping force [%]
Item EGP 25 EGP 40-64
100 (default) 100 100
75 75
50 50 50
25 25

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Start-up

6.1.2 Actuation of the digital inputs

Truth table The truth table shows the actuation of the digital inputs during
possible commands by the superordinated control unit.
Power consumption per digital inputs amounts to max. I=10 mA.
Open/close digital inlets
Pin 2 Pin 4
Function (open) (close)
De-energized drive 0 0
(shutdown, motor is short-circuited)
Open the gripper 1 0
Close the gripper 0 1
Rectify error 1 1
(shutdown, motor is short-circuited)

Rest period between

two commands
CAUTION
Material damage due to faulty control!
Inputting twice can damage internal electronics.
• Maintain a rest period between commands.

The following graph shows the minimum rest period that must be
kept between two commands.

Open gripper
Close gripper

15 ms
Min. rest period

Example Open Gripper/Close Gripper

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 Start-up

6.2 IO-Link variant

NOTE
• The commissioning depends on the design of the IO-Link
master. For further information on handling the IO-Link master,
see the documentation of the relevant IO-Link master
manufacturer.
• The gripping force is set via the "IO-Link" communication
interface.
■ The IO-Link Master is integrated in the PLC.
■ The product is connected to the IO-Link master and voltage
supply, IO-Link connection diagram [} 31].
Ø Make sure that the product is ready-to-operate and not
reporting any errors. If necessary, rectify the error reported,
Troubleshooting [} 40].
✓ LED POWER lights up green.
✓ LED COM flashes green.
✓ LED STATUS lights up green for approx. 3 seconds, then red.
Ø Import IODD to the IO-Link master.
Note: The IODD is available at schunk.com or via "IODDfinder"
from the IO-Link Community.
Ø Configure product via IO-Link master device tool.
Note: If the IO-Link master does not support IODD, the product
can be parameterized via acyclic data exchange.
✓ Parameterization was transferred to the product.
Ø Control product via PLC.
NOTE
• For a detailed description of incorporating the product into a
control, see the documentation of the relevant control
manufacturer.
• For further information on parameterization, control and start-
up behavior of the product, see Software guide "SCHUNK
gripper with IO-Link".

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Troubleshooting

7 Troubleshooting
7.1 Product does not move
Possible cause Corrective action
Base jaws jam in housing, e.g. mounting Check the evenness of the mounting surface.
surface is not sufficiently even. Mechanical connection [} 28]
Loosen the mounting screws of the product
and actuate the product again.
Sensor incorrectly set. / Sensor is Adjust sensor so that it does not obstruct
misaligned. the traverse path of the product.
Distance to the querying mechanics: approx.
0.2 mm
Power supply connected incorrectly. Check the power supply.
Electrical connection - Digital I/O variant [} 30]

7.2 Product does not execute a complete stroke

Possible cause Corrective action
Dirt deposits between basic jaws and Clean and lubricate product.
guidance. Maintenance [} 42]
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
Mechanical connection [} 28]
Breakage of components, e.g. by Send the product to SCHUNK with a repair
overloading. order.

7.3 Product opens or closes jerkily

Possible cause Corrective action
Too little grease in the mechanical guiding Clean and lubricate product.
areas. Maintenance [} 42]
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
Mechanical connection [} 28]
Loading too large. Check permissible weight and length of the
gripper fingers.
Technical data [} 17]

7.4 Gripping force too low

Possible cause Corrective action
Too much grease in the mechanical Clean and lubricate product.
movement space. Maintenance [} 42]
Wrong gripping pre-selection. Check adjustment of the gripping force.
Adjust gripping force [} 37]
Check layout of the product. Meanwhile
observe the maximum workpiece weight,
see Catalog Data Sheet.
Technical data [} 17]

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 Troubleshooting

7.5 Opening and closing times are not achieved

Possible cause Corrective action
Loading too large. Check permissible weight and length of the
gripper fingers.

7.6 Electrical signals are not transmitted

Possible cause Corrective action
Cable connected incorrectly. Check round connector for correct fit.
Strands swapped. Check pin allocation.

7.7 Faults indicated by LED Error (only with "Digital I/O" variant)
Possible cause LED "Error" Corrective action
Rotary switch is in an LED blinks at Turn rotary switch to a marked position.
intermediate position 0.6 s intervals
Error LED flashes at • Wait until the product has cooled down.
overheating 1.2 s intervals • Actuate both digital inlets, "Opens
gripper" and "Closes gripper" to high.
OR:
Disconnect voltage supply and reconnect.
• The "ERROR" LED goes out. The error is
acknowledged.
Warning LED lights up The warning disappears automatically when
overheating continuously the product has cooled down.

7.8 Faults indicated by LED STATUS (only with "I/O-Link"

variant)
Possible cause LED "STATUS" Corrective action
Fault requiring ac- LED lights up red • Check device status via IO-Link.
knowledgment • Take measures according to error
message.
• Acknowledge error.
See Software guide "SCHUNK gripper with
IO-Link"

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Maintenance

8 Maintenance
8.1 Maintenance intervals
Interval (million cycles)
for EGP 25 – 64 Maintenance work
1000 cycles Travel an entire stroke.
or once per day
2 Treat all grease areas with lubricant,
Lubricants and lubricating points [} 43]
2 Clean all parts thoroughly, check for
damage and wear.
For extreme ambient and application conditions, shortened
maintenance cycles can ensure the lifespan is maintained.

CAUTION
Material damage due to hardening lubricants!
Lubricants harden more quickly at temperatures above 60°C,
leading to possible product damage.
• Reduce the lubricant intervals accordingly.

CAUTION
Damage to property caused by insufficient lubrication!
Continuously traveling short strokes when the product is
inadequately lubricated risks damaging it by causing it to run dry.
• Travel the full stroke every 1000 cycles or at least once daily.

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 Maintenance

8.2 Lubricants and lubricating points

SCHUNK recommends the listed lubricant.
During maintenance, treat all greasing areas with lubricant. Apply
a thin film of lubricant using a lint-free cloth or brush.
Lubricant point Lubricant
Metallic sliding surfaces Isoflex-Topas NCA 52

Position of the lubricating points

8.3 Disassembly and assembling

This product must not be disassembled for maintenance.

CAUTION
Material damage due to improper disassembly!
Incorrect works can cause damage to the mechanics and internal
electronics.
• Disassembly or opening of the product is not permitted.
• Only allow SCHUNK to repair the product.

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EU-Declaration of Conformity

9 EU-Declaration of Conformity

Manufacturer/ SCHUNK GmbH & Co. KG Spann- und Greiftechnik

Distributor Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Product designation: Electric Small Components Gripper EGP
ID number 0310900, 0310902, 0310940, 0310942, 0310960, 0310980,
1372735, 1383538, 1383545
We hereby declare on our sole authority that the product meets the requirements of the
following directive at the time of declaration.
The declaration is rendered invalid if modifications are made to the product.
• EMC Directive 2014/30/EU
Directive of the European Parliament and the Council of February 26, 2014 on the
harmonization of the laws of the Member States relating to electromagnetic
compatibility

Applied harmonized standards, especially:

EN 61000-6-2 (2005) Electromagnetic compatibility (EMC) - Partl 6-2: Generic
standards -Immunity for industrial environments
IEC 61000-6-2: 2005
EN 61000-6-4:2007 + Electromagnetic compatibility (EMC) - Part 6-4: Generic standards
A1:2011 - Emission standard for industrial environments
(IEC 61000-6-4:2006 + A1:2010);

Signed for and on behalf of: SCHUNK GmbH & Co. KG

Dr.-Ing. Manuel
Baumeister,Technology &
Innovation, Mechatronics & Sensors

Lauffen/Neckar, April 2020

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 Translation of original declaration of incorporation

10 Translation of original declaration of incorporation

in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of
the Council on machinery.
Manufacturer/ SCHUNK GmbH & Co. KG Spann- und Greiftechnik
Distributor Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
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 directive
2006/42/EC of the European Parliament and of the Council on machinery. The declaration
is rendered invalid if modifications are made to the product.
Product designation: Electric Small Components Gripper / EGP / electric
ID number 0310900, 0310902, 0310940, 0310942, 0310960, 0310980,
1372735, 1383538, 1383545
The partly completed machine may not be put into operation until conformity of the
machine into which the partly completed machine is to be installed with the provisions of
the Machinery Directive (2006/42/EC) is confirmed.
Applied harmonized standards, especially:
EN ISO 12100:2010 Safety of machinery - General principles for design -
Risk assessment and risk reduction
The manufacturer agrees to forward on demand the relevant technical documentation for
the partly completed machinery in electronic form to national authorities.
The relevant technical documentation according to Annex VII, Part B, belonging to the
partly completed machinery, has been created.
Person authorized to compile the technical documentation:
Robert Leuthner, Address: see manufacturer's address

Lauffen/Neckar, April 2020 Dr.-Ing. Manuel Baumeister, Technology &

Innovation, Mechatronics & Sensors

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Annex to Declaration of Incorporation

11 Annex to Declaration of Incorporation

according 2006/42/EG, Annex II, No. 1 B
1.Description of the essential health and safety requirements pursuant to 2006/42/EC,
Annex I that are applicable and that have been fulfilled with:
Product designation Electric Small Components Gripper
Type designation EGP
ID number 0310900, 0310902, 0310940, 0310942, 0310960, 0310980, 1372735,
1383538, 1383545

To be provided by the System Integrator for the overall machine ⇓

Fulfilled for the scope of the partly completed machine ⇓
Not relevant ⇓
1.1 Essential Requirements
1.1.1 Definitions X
1.1.2 Principles of safety integration X
1.1.3 Materials and products X
1.1.4 Lighting X
1.1.5 Design of machinery to facilitate its handling X
1.1.6 Ergonomics X
1.1.7 Operating positions X
1.1.8 Seating X

1.2 Control Systems

1.2.1 Safety and reliability of control systems X
1.2.2 Control devices X
1.2.3 Starting X
1.2.4 Stopping X
1.2.4.1 Normal stop X
1.2.4.2 Operational stop X
1.2.4.3 Emergency stop X
1.2.4.4 Assembly of machinery X
1.2.5 Selection of control or operating modes X
1.2.6 Failure of the power supply X

1.3 Protection against mechanical hazards

1.3.1 Risk of loss of stability X
1.3.2 Risk of break-up during operation X
1.3.3 Risks due to falling or ejected objects X
1.3.4 Risks due to surfaces, edges or angles X
1.3.5 Risks related to combined machinery X

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 Annex to Declaration of Incorporation

1.3 Protection against mechanical hazards

1.3.6 Risks related to variations in operating conditions X
1.3.7 Risks related to moving parts X
1.3.8 Choice of protection against risks arising from moving parts X
1.3.8.1 Moving transmission parts X
1.3.8.2 Moving parts involved in the process X
1.3.9 Risks of uncontrolled movements X

1.4 Required characteristics of guards and protective devices

1.4.1 General requirements X
1.4.2 Special requirements for guards X
1.4.2.1 Fixed guards X
1.4.2.2 Interlocking movable guards X
1.4.2.3 Adjustable guards restricting access X
1.4.3 Special requirements for protective devices X

1.5 Risks due to other hazards

1.5.1 Electricity supply X
1.5.2 Static electricity X
1.5.3 Energy supply other than electricity X
1.5.4 Errors of fitting X
1.5.5 Extreme temperatures X
1.5.6 Fire X
1.5.7 Explosion X
1.5.8 Noise X
1.5.9 Vibrations X
1.5.10 Radiation X
1.5.11 External radiation X
1.5.12 Laser radiation X
1.5.13 Emissions of hazardous materials and substances X
1.5.14 Risk of being trapped in a machine X
1.5.15 Risk of slipping, tripping or falling X
1.5.16 Lightning X

1.6 Maintenance
1.6.1 Machinery maintenance X
1.6.2 Access to operating positions and servicing points X
1.6.3 Isolation of energy sources X
1.6.4 Operator intervention X
1.6.5 Cleaning of internal parts X

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Annex to Declaration of Incorporation

1.7 Information
1.7.1 Information and warnings on the machinery X
1.7.1.1 Information and information devices X
1.7.1.2 Warning devices X
1.7.2 Warning of residual risks X
1.7.3 Marking of machinery X
1.7.4 Instructions X
1.7.4.1 General principles for the drafting of instructions X
1.7.4.2 Contents of the instructions X
1.7.4.3 Sales literature X

The classification from Annex 1 is to be supplemented from here

forward.
2 Supplementary essential health and safety requirements for certain X
categories of machinery
2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical X
products
2.2 Portable hand-held and/or guided machinery X
2.2.1 Portable fixing and other impact machinery X
2.3 Machinery for working wood and material with similar physical X
characteristics
3 Supplementary essential health and safety requirements to offset X
hazards due to the mobility of machinery
4 Supplementary essential health and safety requirements to offset X
hazards due to lifting operations
5 Supplementary essential health and safety requirements for machinery X
intended for underground work
6 Supplementary essential health and safety requirements for machinery X
presenting particular hazards due to the lifting of persons

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