Festo EHMD-40-RE Series, Instructions For Use

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Plug connector on EHMD
Connection Pin EHMD-
…
-GE
EHMD- … -GE-16
EHMD-
…
-GP
1 Encoder rotation I Encoder rotation I
2 Encoder rotation B Encoder rotation B
3 Encoder rotation A Encoder rotation A
4 Encoder gripper I –
5 Encoder gripper B –
6 Encoder gripper A –
7 Shield Shield
8 +5 V DC encoder gripper –
9 +5 V DC encoder rotation +5 V DC encoder rotation
10 Shield Shield
11 Motor rotation phase B Motor rotation phase B
12 Motor rotation phase B Motor rotation phase B
13 Motor rotation phase A Motor rotation phase A
14 Motor rotation phase A Motor rotation phase A
15 Motor gripper phase B –
16 Motor gripper phase A –
17 Motor gripper phase A/ –
18 Motor gripper phase B/ –
19 Motor rotation phase A/ Motor rotation phase A/
20 Motor rotation phase A/ Motor rotation phase A/
21 Motor rotation phase B/ Motor rotation phase B/
22 Motor rotation phase B/ Motor rotation phase B/
23 Shield Shield
24 GND encoder GND encoder
25 Shield Shield
26 Encoder gripper A/ –
27 Encoder gripper B/ –
28 Encoder gripper I/ –
29 Encoder rotation A/ Encoder rotation A/
30 Encoder rotation B/ Encoder rotation B/
31 Encoder rotation I/ Encoder rotation I/
Tab. 4 Pin allocation
8 Maintenance
8.1 Cleaning
When cleaning: observe protection class.
Permitted cleaning agents:
•
Ethanol 70 % or 95 %
• Hydrogen peroxide 5 %
• Clean the outside of the product with a soft cloth.
8.2 Lubrication
The product is delivered with initial lubrication. Subsequent lubrication is not
required.
9 Disposal
Dispose of the product and packaging at the end of its useful life through environ­
mentally friendly recycling in accordance with applicable regulations.
10 Technical data
10.1 Technical data, general
EHMD-40-RE-... GE GE-16 GP
Weights
Product weight [g] 681 724 577
Rated load
1)
[g] 250 250 250
Mounting position any any any
Corrosion resistance
CRC1
2)
CRC1
2)
CRC1
2)
Noise level
Continuous sound level
LpAeq (DIN 45635­01Cl.2) [dBA]
<
60
<
60
<
60
Degree of protection
IP 20 IP 20 IP 20
Operating and environmental conditions
Ambient temperature [°C] 0 … 40 0 … 40 0 … 40
Relative humidity [%] 0 … 85 (non­con­
densing) 0 … 85 (non­con­
densing) 0 … 85 (non­con­
densing)
Transport and storage condi­
tions [°C] –20 … +70 –20 … +70 –20 … +70
EHMD-40-RE-... GE GE-16 GP
Materials
Housing top part Polymer Polymer Polymer
Housing bottom part Aluminium Aluminium Aluminium
Gripper housing Aluminium Aluminium Aluminium
Gripper jaws Polymer Polymer Polymer
Severity level (SL) for vibration and shock
Severity level 1
3)
Severity level 1
3)
Severity level 1
3)
1) Rated load = tool load (gripper finger) + payload
2) Low corrosion stress. Dry internal use or transport and storage protection. Also applies to parts behind
covers in non­visible interior areas, and parts which are covered in the application (e.g. drive trunnions).
3) Specification for vibration and shock resistance applies to the product with rigid mounting kit; mounting
kit with Z­neutralisation is not included.
Tab. 5 Technical data, general
Features of severity level (SL)
Vibration load
Frequency range [Hz] Acceleration [m/s
2
] Deflection [mm]
SL1 SL2 SL1 SL2 SL1 SL2
2 … 8 2 … 8 – – ±3.5 ±3.5
8 … 27 8 … 27 10 10 – –
27 … 58 27 … 60 – – ±0.15 ±0.35
58 … 160 60 … 160 20 50 – –
160 … 200 160 … 200 10 10 – –
Shock load
Acceleration [m/s
2
] Duration [ms] Shocks per direction
SL1 SL2 SL1 SL2 SL1 SL2
±150 ±300 11 11 5 5
Continuous shock load
Acceleration [m/s
2
] Duration [ms] Shocks per direction
±150 6 1000
Tab. 6 Features of severity level (SL)
10.2 Technical data, pneumatic
EHMD-40-RE-... GE GE-16 GP
Pneumatic gripper drive
Mode of operation of cylinder – – double­acting
Operating medium – – Compressed air
to
ISO 8573­1:201­
0 [7:4:4]
Minimum operating pressure [bar] – – 1.5
Nominal operating pressure [bar] – – 6
Max. operating pressure [bar] – – 8
Nominal gripping force [N] – – 25
Nominal stroke
1)
[mm] – – 5
1) Refers to movement of one gripper jaw
Tab. 7 Technical data, pneumatic
10.3 Technical data, electrical
EHMD-40-RE-... GE GE-16 GP
Electric rotary drive
Functional principle Hybrid stepper
motor, 2­phase,
bipolar Hybrid stepper
motor, 2­phase,
bipolar Hybrid stepper
motor, 2­phase,
bipolar
Nominal voltage [V DC] 24 24 24
Nominal current per phase [A] 0.9 0.9 0.9
Holding torque at nominal
current [Nm] 0.3 0.3 0.3
Max. output rotational speed [rpm] 240 240 240
Resistance per phase [
W
] 5.8 ± 15% 5.8 ± 15% 5.8 ± 15%
Inductance per phase [mH] 11 ± 20% 11 ± 20% 11 ± 20%
Step angle 1.8° ± 5% 1.8° ± 5% 1.8° ± 5%
Insulation class B B B
Gear ratio Direct drive 1:1 Direct drive 1:1 Direct drive 1:1
Moment of inertia including
gripper [kgm
2
] 1.25 x 10
­5
2.34 x 10
­5
1.25 x 10
­5
Permissible shaft load, radial [N] 5 5 5
Permissible shaft load, axial [N] 5 5 5
Encoder, rotary drive
Operating voltage [V DC] 5 ± 10% 5 ± 10% 5 ± 10%
Pulses/rev [1/r] 500 500 500
Current consumption (typ.,
no load) [mA]
<
60
<
60
<
60