Festo HGR A Series Operating Instructions Manual Download Page 2 | Manualshive

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Winkel-GreiferTyp HGW-...-A

Angled gripper Type HGW-...-A

Radial-Greifer Typ HGR-...-A

Radial gripper Type HGR-...-A

Bild 1/Fig. 1

Operating parts and
connections

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Bedienteile und Anschlüsse

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Gewindebohrungen für Druckluftanschlüsse
Gewindebohrungen mit Zentrierung für
Befestigungsschrauben
Gewinde-/Durchgangsbohrungen mit
Zentrierung für Befestigungsschrauben
Greifbacken
Passung für Greiffinger-Montage (Greif-
finger nicht im Lieferumfang enthalten
Gewindebohrungen für Greiffinger-
Montage
Durchgangsbohrungen für Greiffinger-
Montage
Nut für Sensorbefestigung

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Threaded holes for compressed
air connection)
Threaded holes with centering for
fastening screws
Threaded/through holes with centering
for fastening screws
Gripper jaws
Fitting for mounting the gripper fingers
(gripper fingers not included)
Threaded holes for mounting gripper
fingers
Through holes for mounting the
gripper fingers
Groove for fastening sensors

HGR-...A, HGW-...-A

0511d

D/GB 2

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Summary of Contents for HGR A Series

Page 1: ...s Type HGW A Einbau und Inbetriebnahme nur von qualifiziertem Fachpersonal gemäß Bedienungsanleitung Fitting and commissioning to be carried out by qualified personnel only in accordance with the operating instructions Es bedeuten Symbols Warnung Warning Caution Hinweis Note Recycling Recycling Zubehör Accessories 699 417 0511d D GB 1 ...

Page 2: ...g für Greiffinger Montage Greif finger nicht im Lieferumfang enthalten Gewindebohrungen für Greiffinger Montage Durchgangsbohrungen für Greiffinger Montage Nut für Sensorbefestigung ª ª Threaded holes for compressed air connection Threaded holes with centering for fastening screws Threaded through holes with centering for fastening screws Gripper jaws Fitting for mounting the gripper fingers gripp...

Page 3: ...tzbar Der HG wird bestimmungsgemäß zum Greifen und Festhalten von Nutzla sten eingesetzt Function and application When the compressed air connections are pressurized alternately a piston is moved backwards and forwards A mechanical device converts the axial pi ston movements into a rotary movement which is then transferred to the gripper jaws Gripper fingers are fastened to the gripper jaws The gr...

Page 4: ...erufsgenossenschaft des Techni schen Überwachungsvereins oder en tsprechende nationale Bestimmun gen Safety conditions These general conditions for the correct and safe use of the product must be ob served at all times Please oberve the limits for pres sures forces torques masses spe eds temperatures and electrical vol tages Please ensure that there is a supply of correctly prepared compressed air...

Page 5: ...iebsanleitung Verwenden Sie das Produkt im Origi nalzustand ohne jegliche eigenmäch tige Veränderung Remove all packaging such as pro tective wax foils polyamide caps polyethylene The individual materials can be di sposed of in recycling containers Maintain the medium selected at the start for the complete service life of the product e g if non lubricated compressed air is selected this should alw...

Page 6: ...er Kenngrößen Kraft F Moment Mx My Mz Siehe hierzu Kapitel Technische Daten Fitting Mechanical Mounting the gripper fingers If possible select short and light gripper fingers Please observe the following points see technical specifications the force F the torque Mx My Mz See also chapter Technical Specifica tions 4 Bild 7 Fig 7 Bild 8 Fig 8 HGR A HGW A 0511d D GB 6 ...

Page 7: ... operation The various grippers have connection threads of the following sizes Toleranzfeld Tolerance range HGR 10 A HGR 16 A HGR 25 A HGR 32 A HGR 40 A Passung Fitting H8 2 2 3 4 5 Gewindebohrung Threaded hole M2 5 M3 M4 M5 M6 Anzugsmoment Tightening torque 0 7 Nm 1 2 Nm 3 Nm 5 9 Nm 10 Nm HGW 10 A HGW 16 A HGW 25 A HGW 32 A HGW 40 A Passung Fitting H8 2 2 5 3 3 4 Durchgangsbohrung Through hole 2 ...

Page 8: ...en in die Durchgangsboh rungen einschieben Greiffinger befestigen Bild 13 Bild 11 Fig 11 Press a dowel pin see table into each of the fittings of the gripper fingers Please observe the permitted tighte ning torques when fitting the gripper fingers Torques which are too tight will damage the gripping mechanism Fasten the gripper fingers with the dowel pin on the gripper jaws as follows HGR HGW Inse...

Page 9: ...nde Sensoren Sensor bausatz SMH SE Montagereihenfolge der Sensoren Kabelabgangsrichtung der Sensoren Fitting the HG If high acceleration occurs in the longi tudinal direction of the gripper e g when fitted to moving parts such as the DGO Note that there will be a reduction in the gripping force Ensure that there is sufficient room for the connecting elements Check whether adapter plates type HAPG ...

Page 10: ...d for fastening the grippers Fitting on the base surface with sensors already fitted in groove Side fitting with threaded holes Side fitting with through holes Toleranzfeld Tolerance range HG 10 A HG 16 A HG 25 A HG 32 A HG 40 A Zentrierungs Ø Centering diameter H8 5 5 7 9 12 Zentrierungstiefe Centering depth 0 0 1 1 2 1 2 1 6 2 1 2 6 Nennweite Width M3 M3 M4 M6 M8 Anzugsmoment Tightening torque 1...

Page 11: ... Bohrungen Seitliche Monta ge eindrehen 4 Den HG an vorgesehener Stelle befestigen Bild 19 Fasten the HG as follows Fastening with through hole screw connector Fastening with threaded screw connector 1 Insert the enclosed centering sleeve b into the fitting of the threaded hole The diameters of the fittings are shown in the following table 2 Place the gripper in the intended position In doing so i...

Page 12: ...lüsse Verwenden Sie nur gerade Ver schraubungen Winkelverschraubungen können sich gegenseitig behindern Pneumatic Ensure that there are no dust parti cles or objects in the connections of the gripper and the tubing Check whether the following are re quired a compensation reservoir of type VZS This will reduce fluctuations in pressure a safety start up valve of type HGL This will prevent the load f...

Page 13: ...ie Drosselrückschlagventile kann die Schließzeit der Greifbacken verändert werden P P Use Festo screw connectors e g of type QS The eccentric pressurization bore may be blocked on other products Connect the tubing of the HG to the compressed air connections Compressed air con nection on base surface Compressed air connection on gripper jaw External gripping Open Close Internal gripping Close Open ...

Page 14: ... außen greifend Schließen Öffnen innen greifend Öffnen Schließen Bild 23 Commissioning Use sensors of type SME 8 SMT 8 with HG 16 40 A as well as with type SMH SE with HG 10 A for interrogating the end positions When interrogating bothpiston end posi tions push both sensors into different sen sor grooves In order to adjust the sensors always move the piston into the desired end position by means o...

Page 15: ... Kapitel Kennlinien Das Massenträgheitsmoment der Greiffinger sollte berechnet worden sein Complete system Slowly pressurize the complete system No uncontrolled movements will then occur The safety start up valve type MFHE or VLHE should be used for gradual application of compressed air Individual unit Please observe the specified values for the maximum gripping moment see characteristic curve ext...

Page 16: ...e response pressure increases the gripping force is reduced Fig 26 Stellen Sie sicher daß im Greifbereich niemand zwischen die Greif finger faßt sich keine Fremdteile befinden z B durch Schutzgitter Zur Einstellung der Schließzeit Drehen Sie die Drosselschrauben der vorgeschalteten GRLA GRLZ zunächst ganz ein dann wiederetwa eine Umdrehung heraus Starten Sie einen Probelauf in der angegebenen Reih...

Page 17: ... the test run The gripper must be exhausted 1 Horchen Sie auf das Anschlagen des Kolbens Kolbenanschlag weich Kolbenanschlag metallisch Probelauf mit Punkt 2 und 3 fortsetzen Probedurchlauf beenden Drosselschrauben eine Umdrehung eindrehen Die maximale Greifgeschwindigkeit ist erreicht Bild 27 2 Drehen Sie die Drosselschrauben der vorgeschalteten GRLA GRLZ um eine Umdrehung heraus 3 Wiederholen Si...

Page 18: ... Kühlmittel Schleifstäube glühende Funken oder Späne Dies führt zur Schädigung des HG 6 Operation Make sure that nobody can place his her hand between the gripper fingers there are no objects in the path of the gripper If the work load mass changes observe the permitted gripper loadings Observe also the maximum permit ted gripping force Avoid the HG coming into con tact with the following media co...

Page 19: ... Ver wendung der gleichen Greiffinger in der Regel ohne nachjustieren mö glich ist Maintenance and care Grease the HG after 5 million switching cycles See Accessories for permitted greases If necessary clean the exterior of the HG with a soft cloth The permitted cleaning agent is soap suds max 60 C Defective grippers should be returned to Festo for repair Dismantling and repairs Please note that w...

Page 20: ...itäts gruppe 32 nach ISO OFSW 32 Fett Metall auf Metall Kolben Molycote DX Molycote PG 75 Bild 30 9 Exhausting Make sure that the gripper is not holding a load In this way you will prevent the load falling down suddenly Accessories Designation Type Safety valve MFHE VLME Non return valve GRLZ GRLA Safety valve HGL Sensors SME 8 SMT 8 Hall sensor SMH SE Compensation reseroir VZS Adapter plate HAPG ...

Page 21: ...eßt nicht Druckluft fehlt Greifer defekt Überprüfung der Druckluftanschlüsse Einschicken des Greifers zu Festo Bild 31 Fault Possible cause Remedy Gripper cannot hold load firmly Mass too large Pressure too low Centre of pressure of gripper fingers too far outside Select another gripper Increase pressure Shift centre of pressure inwards Sensor does not show gripper status Sensor incorrectly adjust...

Page 22: ...tisch 0 1 Nm 0 3 Nm 0 6 Nm 1 Nm 1 9 Nm zul Moment My statisch 0 5 Nm 1 5 Nm 3 Nm 4 7 Nm 9 9 Nm zul Moment Mz statisch 0 4 Nm 1 Nm 2 Nm 3 2 Nm 6 7 Nm Massenträgheitsmoment nur Greifer 0 028 kgcm2 0 140 kg cm2 0 620 kg cm2 1 450 kg cm2 3 580 kg cm2 Schließzeit bei 6 bar ohne Last 0 005 s 0 045 s 0 080 s 0 075 s 0 100 s Luftverbrauch pro Zyklus bei 6 bar 0 003 Nl 0 0117 Nl 0 0405 Nl 0 0759 Nl 0 1134 ...

Page 23: ...N 54 N 74 N 124 N zul Moment Mx statisch 0 3 Nm 0 9 Nm 1 7 Nm 3 Nm 5 7 Nm zul Moment My statisch 0 1 Nm 0 3 Nm 0 6 Nm 1 Nm 2 2 Nm zul Moment Mz statisch 0 2 Nm 0 5 Nm 1 1 Nm 1 8 Nm 3 6 Nm Massenträgheitsmoment nur Greifer 0 0282 kg cm2 0 130 kg cm2 0 600 kg cm2 1 480 kg cm2 3 540 kg cm2 Schließzeit bei 6 bar ohne Last 0 005 s 0 030 s 0 040 s 0 040 s 0 050 s Luftverbrauch pro Zyklus bei 6 bar 0 001...

Page 24: ...N 39 N 55 N 83 N Permitted torque Mx static 0 1 Nm 0 3 Nm 0 6 Nm 1 Nm 1 9 Nm Permitted torque My static 0 5 Nm 1 5 Nm 3 Nm 4 7 Nm 9 9 Nm Permitted torque Mz static 0 4 Nm 1 Nm 2 Nm 3 2 Nm 6 7 Nm Mass moment of inertia only gripper 0 028 kgcm2 0 140 kg cm2 0 620 kg cm2 1 450 kg cm2 3 580 kg cm2 Closing time at 6 bar without load 0 005 s 0 045 s 0 080 s 0 075 s 0 100 s Air consumption per cycle at 6...

Page 25: ...orce F static 16 N 31 N 54 N 74 N 124 N Permitted torque Mx static 0 3 Nm 0 9 Nm 1 7 Nm 3 Nm 5 7 Nm Permitted torque My static 0 1 Nm 0 3 Nm 0 6 Nm 1 Nm 2 2 Nm Permitted torque Mz static 0 2 Nm 0 5 Nm 1 1 Nm 1 8 Nm 3 6 Nm Mass moment of inertia only gripper 0 0282 kg cm2 0 130 kg cm2 0 600 kg cm2 1 480 kg cm2 3 540 kg cm2 Closing time at 6 bar without load 0 005 s 0 030 s 0 040 s 0 040 s 0 050 s A...

Page 26: ... 7 Ncm 18 7 Ncm 53 4 Ncm 65 4 Ncm 100 Ncm 120 Ncm 166 7 Ncm 200 Ncm 6 bar 6 6 Ncm 7 5 Ncm 25 Ncm 28 Ncm 80 Ncm 98 Ncm 150 Ncm 180 Ncm 250 Ncm 300 Ncm Das Greifmoment nimmt mit steigender Temperatur ab The gripping moment reduces as temperatures increase Bild 33 Fig 33 Greifmoment bei Gripping moment at HGW 10 A HGW 16 A HGW 25 A HGW 32 A HGW 40 A Ma Mi Ma Mi Ma Mi Ma Mi Ma Mi 2 bar 3 7 Ncm 4 2 Ncm...

Page 27: ... 16 A M kgm x 1 0 2 4 0 0 0 5 1 0 1 5 2 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 t s 0 8 M kg m x 1 0 2 4 HGR 25 A 0 5 10 15 20 0 0 0 1 0 2 0 3 0 4 0 5 0 6 t s 0 8 M kg m x 10 2 4 HGR 40 A 0 10 20 30 40 50 60 70 0 0 0 1 0 2 0 3 0 4 0 5 0 6 t s 0 8 M kgm x 1 0 2 4 HGR 32 A 0 10 20 30 40 0 0 0 1 0 2 0 3 0 4 0 5 0 6 t s 0 8 HGR 10 A 0 0 0 1 0 2 0 3 0 0 0 1 0 2 0 3 0 4 t s M k gm x 1 0 2 4 Bild 35 Fig 35 0511d D...

Page 28: ...expressed authorization is prohibited Offenders will be held liable for the pay ment of damages All rights reserved in particular the right to carry out patent utility model or ornamental design regi strations M Massenträgheitsmoment t min Schließzeit in sec M mass moment of inertia t minimum closing time HGW 10 A 0 0 0 1 0 2 0 3 0 0 0 1 0 2 0 3 t s 0 4 M kgm x 10 2 4 HGW 32 A 0 5 10 15 20 25 30 0...

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