• Implement the following steps for commissioning:
1. Screw the gripper component by hand into the end position using an anti-clock-
wise motion.
2. Slowly pressurise connections R and Z (
Fig. 11).
The end position previously set mechanically can sometimes change under op-
erating pressure. This change occurs when the stop cam drifts from its original
setting to approach the cushioning component once a pressure load is applied.
3. Only loosen the locking screw of the clamping component.
(M)
Fig. 12
4. Screw the cushioning component
5
until the required end position has been
reached.
Size
12
16
20
Width across flats
2
2.5
3
Change in swivel angle per
rotation of the cushioning
component
[°]
1.5
2.6
2.0
Tightening torque of the
locking screw
[Nm]
0.3
0.8
1.2
Fig. 13
• During the setting procedure check the position of the cushioning component
through the inspection window (M
Fig. 12). Observe the following maximum
positions when doing this:
Rotation
Anti-clockwise
Clockwise
Maximum position
flush with cushioning mount
up to stop ring (N)
(N)
Fig. 14
5. Tighten the locking screw of the clamping element again (permitted tightening
torque
Fig. 13).
6. Turn the external one-way control valves to adjust the swivelling/gripping
speed:
– first close completely,
– then open one rotation.
7. Start a test run with a low cycle frequency and speed.
8. Adjust the one-way flow control valves until the desired travel time is achieved.
A hard impact will cause the stop cam
9
to rebound against the end position.
9. Check whether the following settings need to be modified:
– the end positions
– the position of the proximity sensors
Following several uninterrupted motion cycles:
10. Make sure that the operating frequency of the gripping and swivelling move-
ment does not exceed the maximum permissible value (
13 Technical data).
To take into consideration possible switching point shifts:
11. Repeat the test run a number of times, each time gradually increasing the
speed until the desired operating speed is reached.
Fault-free test run:
12. End the test run.
7
Operation
Warning
Moving loads can result in personal injury (crushing) or damage to property.
• Ensure the following during operation of the HGDS:
– no body parts or objects are located between the gripper fingers
– the positions of the external end stops cannot be changed
– the HGDS cannot be touched (e. g. by means of a protective screen).
• Check the cushioning components for the following signs of wear:
Cushioning component
Shock absorbers
Rubber buffer
Test cycle
Every 2 million cycles
Every 5 million cycles
Signs of wear
Oil leakage, hard impact;
impact cap remains in retracted
end position / moves slowly from
end position
Loud noises
Replacement cycle
Every 10 million cycles
Every 10 million cycles
Fig. 15
• Avoid the HGDS coming into contact with the following:
– Aggressive media
– Grinding dust
– Glowing sparks or chips.
These will damage the HGDS.
8
Maintenance and care
Cleaning:
• If required clean the outside of the HGDS using a soft cloth.
Permitted cleaning agents are:
– Soap suds, max. 60 °C
– Petroleum ether
– Any gentle detergent.
• Lubricate the following elements if required (permitted greases
11 Accessories):
– The guide elements of the HGDS after 10 million switching cycles
– the impact surface of the shock absorber (reduces roll-off resistance on the
stop cam).
Relubrication is not required in normal industrial environments.
9
Disassembly
• Ensure that the gripper is not retaining a load at the moment of venting. This will
prevent loads being released.
To replace the cushioning components:
1. Vent the HGDS.
2. Dismantle the cover cap (
5.1 Mechanical installation - Presetting the swivel
angle).
3. Loosen the locking screw in the clamping component (
Fig. 12; do not
completely unscrew the locking screw). Please bear in mind that the clamping
component can fall out when the cushioning component is disassembled.
4. Unscrew the cushioning component completely using an anti-clockwise motion.
5. Assemble the new cushioning component from the repair kit in reverse order
(tightening torque of the locking screw
Fig. 13).
6. Assemble the cover cap.
7. Conduct the recommissioning procedure.
10
Repair
• Recommendation: Return the product to our repair service for overhaul.
This ensures that special attention will be paid to the necessary fine adjust-
ments and inspections.
• Information about spare parts and aids can be found at:
www.festo.com/spareparts
11
Accessories
Note
• Please select the appropriate accessories from our catalogue
(
www.festo.com/catalogue).
Grease
Gripper head guide elements
Molykote DX
Shock absorber impact surface
(only for HGDS-…-YSRT-B)
Klüber BE 31-222
Fig. 16
