LED red ‘Error’
LED green ‘Ready’
Meaning
flashing red
flashing
green
–
IO-Link Supply voltage: connected
–
IO-Link Communication: active
–
Actuator supply voltage: not connected
red light
flashing
green
–
IO-Link Supply voltage: connected
–
IO-Link Communication: active
–
Actuator supply voltage: connected
–
‘ErrorNumber’ and ‘ErrorCode’ is output
off
flashing
green
–
IO-Link Supply voltage: connected
–
IO-Link Communication: active
–
Actuator supply voltage: connected
Tab. 26: LED display
12.2
Fault clearance
WARNING
Danger of crushing due to unexpectedly fast-moving loads and unintentional
movements.
• Remove the payload.
• Switch off power to the product.
• Safeguard the power supply from being switched on again unintentionally.
WARNING
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
Fault description
Cause
Remedy
Gripper does not hold payload
securely.
Gripping point of gripper fin-
gers is too far outwards.
Move gripping point inwards.
Sufficient force cannot be
applied.
Increase travel path. Minimum
travel
Payload is too heavy.
Select a larger gripper.
Gripper fingers do not move
uniformly.
Slots are dirty.
Clean and grease the slots.
Gripper jaws are distorted.
Rectify distortion.
Gripper fingers do not open/
close.
Jamming due to excessive
speed of the gripper fingers.
Resolve jamming
Interruption of communication
between gripper and control
unit.
Check connecting cable.
Gripper is faulty.
Replace gripper.
Squeaking noises
Lack of lubrication
Payload is too great.
Observe permissible values
Tab. 27: Fault clearance
Fig. 7: Resolve jamming of gripper jaws
1. Remove the plug screw.
2. Rotate the worm shaft underneath using the hex wrench until the jamming is
resolved:
–
Anti-clockwise (external gripping)
–
Clockwise (internal gripping)
3. Retighten plug screw.
EHPS
-16
-20
-25
Hex wrench
ß
1.5
ß
1.5
ß
2
Tightening torque for plug
screw
[Nm]
0.6
0.6
2.8
12.3
Repair
Send product to the Festo repair service for repair.
13
Disassembly
WARNING
Danger of crushing due to unexpectedly fast-moving loads and unintentional
movements.
• Remove the payload.
• Switch off power to the product.
• Safeguard the power supply from being switched on again unintentionally.
14
Technical data
14.1
Technical data, general
Size
16
20
25
Design
Electric parallel gripper
Mounting position
Any
Minimum travel per jaw for
max. gripping force
[mm]
0.5
Mass moment of inertia
[kg/cm²]
0.78
2.02
5.24
Max. load per gripper finger
[g]
100
150
230
Max. permissible length of
gripper finger
[mm]
80
100
120
Max. repetition accuracy
[mm]
£
0.03
£
0.01
£
0.01
Max. interchangeability
[mm]
£
0.02
Nominal operating
voltage DC
[V DC]
Sensor IO-Link: 18 … 30
Actuator: 24 ± 10%
Max. current consumption
[A]
1
2
Max. cable length
[m]
20 (including gripper cable)
Min. wire cross section
[mm
2]
0.34
Degree of protection
IP40
Relative humidity
[%]
0 … 95 (at 25 C non-condensing)
Ambient
temperature
1)
[°C]
+5 … +60
Storage temperature
[°C]
–20 … +60
CE marking (declaration of
conformity)
In accordance with EU EMC Directive
2)
3)
Electrical safety
In accordance with standard EN 61010-1:2010
Weight
[g]
296
532
904
Materials
Housing
Aluminium
Covering
Plastic
Gripper jaws, bearings,
plugs, screws
Steel
O-ring
NBR
Max. force (static) and max. torque (static)
F
Z
[N]
200
325
450
M
X
[Nm]
7
13
28
M
Y
[Nm]
4.4
8
16
M
Z
[Nm]
7
13
28
1) Max. housing temperature = ambient tempe35 K
2) Only when using connecting cable from Festo
3) Max. length of the connecting cable (incl. gripper cable): 20 m
Tab. 28: Technical data
