Festo EHPS, Operating Instructions Manual

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9.2 Procedure
WARNING
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
The gripper is controlled (open/close) by commands from a higher-order con-
troller to the digital inputs (Pin 2 and Pin 4). In this case, the gripper is edge-trig-
gered and moves on detection of a rising edge. As soon as a high signal level
is detected, travel to the stop is executed. Please ensure that, once travel is
complete, the corresponding signal is reset again before transmitting a signal in
the opposite direction. Pause times of at least 10 ms must be observed between
cancelling the signal and the next command.
If a signal remains at the high signal level until the next travel, this can prevent
unintended travel being initiated in the event of a cable break.
For certain gripping situations, it may be necessary to send an additional gripping
signal (max. 3x in one direction).
Behaviour in emergency off
–
In the event of an emergency off, the gripper jaws stop moving.
–
When the gripper grips a component, the position and force achieved are
maintained by the self-locking function of the jaws.
–
If the gripper jaws are in motion at the time the current is switched off, the
gripping process is no longer fully completed. A force cannot or can only be
partially dynamically applied.
Fig. 7: Signal diagram
1. Switch on the power supply.
Ä
The Ready LED is green.
2. Open gripper jaws:
–
Apply a rising edge (0 è 1) at pin 2
–
Logic 0 at pin 4.
Pin allocation for connection è Tab. 3 Pin allocation
3. Approach the workpiece to be gripped.
4. Closing the gripper jaws:
–
Apply a rising edge (0 è 1) at pin 4
–
Logic 0 at pin 2.
5. Execute a test run. During the test, check that the workpiece is gripped
properly.
10 Maintenance
10.1 Safety
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.
10.2 Cleaning
Clean the product with a soft cloth. Do not use aggressive cleaning agents.
For use with reduced particle emission:
–
Remove abrasion and contamination from the product on the following
schedule:
–
Prior to initial commissioning.
–
Regularly during operation.
10.3 Lubrication
Interval Maintenance work
After 5 million switching cycles Grease the guide of the gripper jaws. Permissible lubricating
grease
è
www.festo.com/spareparts.
Tab. 4
Cut the lubrication interval by half if one of the following applies:
• High thermal stress
• Heavy contamination
• Proximity of grease-dissolving liquids or vapours
11 Malfunctions
11.1 Diagnostics
LED Meaning
Ready LED is green Nominal operating voltage at connection
3
pin 1 is
24 V DC ± 10%.
Ready LED is off Nominal operating voltage is switched off.
Error LED is red Nominal operating voltage at connection
3
Pin 1 is outside
the valid range.
Error LED flashes red Device error
Tab. 5: LED
11.2 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
è
13.1 Technical data,
general.
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
è
Procedure
instructions.
Interruption of communication
between gripper and control
unit. Check connecting cable.
Gripper is faulty. Replace gripper.
Squeaking noises Lack of lubrication Lubricate gripper
è
10.3 Lubri-
cation.
Payload is too great. Observe permissible values
è
13.1 Technical data, gen-
eral.
Tab. 6: Fault clearance
Fig. 8: 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