Festo EHMD-40-RE Series, Инструкция по применению

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EHMD-40-RE-... GE GE-16 GP
Interface, rotor position
sensor RS422, TTL
Incremental A, B
+ zero index RS422, TTL
Incremental A, B
+ zero index RS422, TTL
Incremental A, B
+ zero index
Electric gripper drive
Functional principle Hybrid stepper
motor, 2­phase,
bipolar Hybrid stepper
motor, 2­phase,
bipolar –
Nominal voltage [V DC] 24 24 –
Nominal current per phase [A] 0.5 0.5 –
Holding torque at nominal
current [Nm] 0.043 0.043 –
Resistance per phase
[
W
]
5.6 ± 15% 5.6 ± 15% –
Inductance per phase [mH] 4.0 ± 20% 4.0 ± 20% –
Step angle 1.8° ± 5% 1.8° ± 5% –
Insulation class B B –
Moment of inertia
1)
[kgm
2
] 9 x 10
­7
9 x 10
­7
–
Feed constant
2)
[mm/rev] 1.478 4.4 –
Max. speed per gripper jaw [mm/s] 25 70 –
Permissible speed for hom­
ing to stop
2)
[mm/s] 2 5 –
Nominal stroke
2)
[mm] 5 15 –
Reversing backlash
2)
[mm] 0.3
<
0.8 –
Max. gripping force (closed­
loop operation) [N] 35 14 –
Maximum gripping force
(open­loop operation) [N] 20 … 25 6 … 8 –
Minimum gripping force in
event of power failure [N]
>
10
>
4 –
Encoder, electric gripper drive
Operating voltage [V DC] 5 ± 10% 5 ± 10% –
Pulses/rev [1/r] 500 500 –
Current consumption (typic­
al, no load) [mA] 30 30 –
Interface, rotor position
sensor RS422, TTL
Incremental A, B
+ zero index RS422, TTL
Incremental A, B
+ zero index –
1) Refers to motor shaft
2) Refers to movement of one gripper jaw
Tab. 8 Technical data, electrical