Size
10
16
25
32
40
Fitting hole
∅
[H8] for centring sleeve
9
[mm]
5
5
7
9
12
Screw for mounting (Fig. 5)
Through mounting
aJ
M2.5
M2.5
M3
M5
M6
Tightening torque
aJ
[Nm]
0.7
0.7
1.2
5.9
10
Direct mounting
from below/laterally
aA
M3
M3
M4
M6
M8
Tightening torque
aA
[Nm]
1.2
1.2
2.9
10
25
Fig. 6
4
Pneumatic installation
Note
Contamination in the connections can impair functioning.
• Ensure that there are no dirt particles or foreign matter in the connections and
tubing lines.
• Check whether an HGL non-return valve is required. In this way you can prevent
the effective load from sliding down if there is a sudden drop in pressure.
• Connect the tubing of the DHWS to the compressed air connections
(
11 Technical data).
Type of gripping
(effective load)
External gripping
Internal gripping
Connection
4
(Fig. 1)
Open
Close
Connection
5
(Fig. 1)
Close
Open
Fig. 7
If using long and heavy gripper fingers:
• Use a one-way flow control valve GRLA directly at the compressed air supply
ports. These determine the opening and closing time of the gripper fingers, and
therefore the bearing load.
If short and light gripper fingers are used, the built-in restrictors of the DHWS
eliminate the need for an additional, external restrictor (
catalogue specifica-
tions at www.festo.com/catalogue).
5
Commissioning
Note
• Observe the permissible values (
catalogue specifications) for:
– the maximum gripping force (dependent on the holding force and holding
point)
– the permissible mass moment of inertia of the gripper fingers, depending on
the opening and closing time.
The mass moment of inertia of the gripper fingers should be calculated.
Setting the opening/closing time for long and heavy gripper fingers:
• Tighten the restrictor screws of the upstream GRLA:
– first completely,
– then loosen about one turn.
• Start a test run using the specified sequence:
Test run
Tests
Without effective load
– Correct assignment of the compressed air connections
– Permissible gripper speed
– Reliable function of the proximity sensors
With effective load
– Effective load is gripped firmly
Fig. 8
1. Listen to the piston stop:
Piston stop: Soft
Piston stop: Hard
• Unscrew the flow control screws of the up-
stream GRLA one turn.
• Repeat step 1 until the desired gripper
speed has been reached.
• Screw the flow control screw in one turn.
The maximum gripper speed has been
reached.
Fig. 9
2. Finish the test run.
3. Vent the gripper.
6
Operation
• Avoid contact of the DHWS with:
– contaminated media
– grinding dust
– glowing sparks or chips.
These will destroy the DHWS.
7
Maintenance and care
• Grease the bearing surfaces of the DHWS after 10 million switching cycles.
Permitted grease is Molykote DX.
• Clean the product, if required, externally with a soft cloth.
Permitted cleaning agent is soap suds, max. +60 °C.
8
Disassembly and repairs
• Vent the system and the product for disassembly.
• Recommendation: Return the product to our repair service.
This ensures that special attention will be paid to the necessary fine adjust-
ments and inspections.
• Information on spare parts and auxiliary means can be found at:
www.festo.com/spareparts
9
Accessories
Note
• Please select the appropriate accessories from our catalogue
www.festo.com/catalogue
10
Troubleshooting
Malfunction
Possible cause
Remedy
Gripper cannot hold
load firmly
Supply pressure too low
Increase supply pressure (up to max.
permissible value)
Point at which the fingers grip
the workpiece is too far outwards
Shift point at which the fingers grip
the workpiece inwards
Mass too large
Select larger gripper
Proximity sensor does
not show gripper
status
Proximity sensor not adjusted
Check position and calibration of
proximity sensor
Wire break
Replace proximity sensor
Gripper does not
open/close
No compressed air
Check the compressed air supply
ports
Gripper defective
Return gripper to Festo
Fig. 10
11
Technical data
Size
10
16
25
32
40
Mode of operation
Double-acting angle gripper
Operating medium
Dried compressed air, lubricated or unlubricated.
Mounting position
Any
Operating pressure
DHWS-…
[bar]
2 ... 8
DHWS-…-NC
[bar]
–
4 ... 8
Pneumatic connection
M3
M5
G
Á
Tightening torque
[Nm]
1.2
5.9
7
Opening angle per gripper jaw
[°]
20
Ambient temperature
[°C]
+5 ... +60
Storage temperature
[°C]
–10 ... +80
Max. force at gripper jaw, static F
[N]
25
50
90
120
200
Maximum torque on gripper jaw, static
Mx
[Nm]
0.6
1.6
3.6
6
13
My
[Nm]
0.6
1.6
3.6
6
13
Mz
[Nm]
0.6
1.6
3.6
6
13
Total gripping torque at 6 bar
opening
[Ncm]
43
129
386
810
1497
closing
[Ncm]
30
114
356
746
1362
Repetition accuracy
[mm]
.
0.04
Max. interchangeability
[mm]
.
±0.2
Information on materials
Housing
Anodised aluminium
Cover cap
Polyamide
Screws
Stainless steel
Gripper jaw
Hardened steel
O-ring, piston seals
Nitrile rubber
Product weight
DHWS-…
[kg]
0.04
0.11
0.26
0.45
0.78
DHWS-…-NC
[kg]
–
0.14
0.27
0.46
0.79
Fig. 11
