Festo EHPS, Operating Instructions Manual

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11.3 Repair
Send product to the Festo repair service for repair.
12 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.
13 Technical data
13.1 Technical data, general
EHPS -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] 24 ± 10 %
Max. current consumption [A] 1 2
Switching level [V] +18 … +28 (logic 1)
–3 … +8 (logic 0)
Max. cable length [m] 30 (including gripper cable)
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 (including gripper cable): 30 m
Tab. 7: Technical data
13.2 Characteristic curves
Lever arm x
Vertical
Horizontal
Tab. 8: Alignment of lever arm x
The forces refer exclusively to centric gripping of non-elastic components.
Total gripping force F
H
(2x jaw gripping force) as a function of lever arm x and
rotary switch position è 9.1 Preparation
Fig. 9: EHPS-16 external gripping, lever arm vertical
Force class 1
Force class 2 Force class 3
Force class 4
Fig. 10: EHPS-16 internal gripping, lever arm vertical
Force class 1
Force class 2 Force class 3
Force class 4
Fig. 11: EHPS-16 external gripping, lever arm horizontal
Force class 1
Force class 2 Force class 3
Force class 4