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6.3

Mounting the gripper

Through-hole mounting and direct mounting

Fig. 3 Through-hole mounting on the side, direct mounting underneath (also possible on the side)

Mounting with adapter kit

Adapter kits

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to access

unlock function

1

2

3

4

Fig. 4 Mounting with adapter kit from underneath

Mounting

8

Festo — EHPS — 2018-06

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Содержание EHPS Series

Страница 1: ...8083687 EHPS Parallel gripper 8083687 2018 06 8083689 Instructions Operat ing ...

Страница 2: ...Translation of the original instructions 2 Festo EHPS 2018 06 ...

Страница 3: ...6 1 Preparing the gripper fingers 6 6 2 Mounting the gripper fingers 7 6 3 Mounting the gripper 8 6 4 Mounting accessories 9 7 Installation 9 7 1 Electrical installation 9 8 Commissioning 11 8 1 Preparation 11 8 2 Execution 11 9 Maintenance 12 9 1 Safety 12 9 2 Cleaning 12 9 3 Lubrication 13 10 Malfunctions 13 10 1 Diagnostics 13 10 2 Fault clearance 14 10 3 Repair 15 11 Disassembly 16 12 Disposal...

Страница 4: ...e is 20 The occurrence of a failure could lead to unforeseeable movements if the gripper is connected with the power supply Only operate the gripper once protective measures have been taken against mechanical threats to body parts 2 2 Intended use The intended use of the product is to grip and hold payloads workpieces using custom designed gripper fingers attached by the customer The gripper finge...

Страница 5: ...pper jaws move towards one another closing or apart opening Gripper fingers are fastened to the gripper jaws The payload can be gripped in 2 ways on the external contour external gripping when closing on the internal contour internal gripping when opening The parallel gripper is controlled by a higher order controller using digital signals Product overview 5 Festo EHPS 2018 06 ...

Страница 6: ...g hole and thread for mounting Fig 1 Product design 6 Mounting 6 1 Preparing the gripper fingers Requirements for gripper fingers Observe maximum permitted forces and torques on the gripper jaws è 13 Technical data Use gripper fingers that are as short and lightweight as possible Observe maximum length and weight è 13 Technical data Produce gripper fingers that are suitable for the payload and typ...

Страница 7: ...e gripper jaws and secure with 2 screws on each Fix gripper jaws in place during mounting and comply with tightening torque Size 16 20 25 Screw M4 M4 M5 Centring hole for cent ring sleeve H8 mm 7 7 9 Centring hole for cent ring pin H8 mm 3 4 4 Jaw width mm 10 0 05 12 0 05 15 0 05 Tightening torque1 Nm 2 9 2 9 6 1 Brace at gripper jaws Tab 2 Gripper finger mounting dimensions and tightening torque ...

Страница 8: ...le mounting on the side direct mounting underneath also possible on the side Mounting with adapter kit Adapter kits è www festo com catalogue Ready Error Force Remove screw to access unlock function 1 2 3 4 Fig 4 Mounting with adapter kit from underneath Mounting 8 Festo EHPS 2018 06 ...

Страница 9: ...7 7 9 Tightening torque Nm 1 2 1 2 2 9 Tab 3 Mounting attachments and tightening torque 6 4 Mounting accessories If required use proximity sensor to sense the position of the gripper jaws in the slot 7 Use only proximity sensors approved for the product 7 Installation 7 1 Electrical installation WARNING Risk of injury due to electric shock For the electric power supply use only PELV or SELV circui...

Страница 10: ...le connecting cable è www festo com catalogue 3 Connect parallel gripper at the connection6 to the controller M12 plug 5 pin A coded Pin1 Connection Designation 1 BN brown 24 V DC 10 Nominal operating voltage 2 WH white Input 1 Open gripper jaws 3 BU blue 0 V 4 BK black Input 2 Close gripper jaws 5 GY grey n c Not connected 1 Wire colour with use of connecting cables according to accessories è www...

Страница 11: ...sh body parts Do not reach into the movement range Activation opening closing of the gripper is via commands from a higher order controller to the digit al inputs Pin 2 and Pin 4 In this case the gripper is edge triggered and moves on detection of a pos itive edge As soon as a high signal level is detected travel to the stop is executed Please ensure that once travel is complete the corresponding ...

Страница 12: ...e workpiece to be gripped 4 Closing the gripper jaws Apply a rising edge 0 è 1 at Pin 4 and 0 signal at Pin 2 5 Execute a test run During the test check that the workpiece is gripped properly 9 Maintenance 9 1 Safety 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 s...

Страница 13: ...ss Heavy contamination Proximity of grease dissolving liquids or vapours 10 Malfunctions 10 1 Diagnostics LED Meaning Ready LED lights up green Nominal operating voltage at connection 3 Pin 1 is 24 V DC 10 Ready LED does not light up Nominal operating voltage is switched off Error LED lights up red Nominal operating voltage at connection 3 Pin 1 is outside the valid range Error LED flashes red Dev...

Страница 14: ...lied Increase travel path Minimum travel è 13 Technical data Gripper does not hold payload firmly Payload is too heavy Select a larger gripper Slots are dirty Clean and grease the slots Gripper fingers do not move uni formly Gripper jaws are distorted Rectify distortion Jamming due to excessive speed of the gripper fingers Resolve jamming è Resolve mechanical jamming of gripper jaws Connection int...

Страница 15: ...underneath using the hex wrench until the jamming is resolved Anti clockwise external gripping Clockwise internal gripping 3 Retighten plug screw è Tab 8 Size 16 20 25 Hex wrench ß1 5 ß1 5 ß2 Tightening torque for plug screw Nm 0 6 0 6 2 8 Tab 8 10 3 Repair Send product to the Festo repair service for repair Malfunctions 15 Festo EHPS 2018 06 ...

Страница 16: ...ta 13 1 Technical data general Size 16 20 25 Design Electric parallel gripper Mounting position Any Minimum travel mm 0 5 Mass moment of inertia kg cm 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 Repetition accuracy mm 0 03 0 01 0 01 Max interchangeability mm 0 02 Nominal operating voltage DC V DC 24 10 Max current consump tion A 1...

Страница 17: ...eight g 296 532 904 Materials Housing Aluminium Cover Polymer Gripper jaws bearings plugs screws Steel O ring NBR Max force static and max torque static FZ N 200 325 450 MX Nm 7 13 28 MY Nm 4 4 8 16 MZ Nm 7 13 28 1 Max housing temperature ambient temperature 35 K 2 Only when using the connecting cable from Festo 3 Max length of connecting cable including gripper cable 30 m Tab 9 Technical data Tec...

Страница 18: ...13 2 Characteristic curves Lever arm x Vertical Horizontal Tab 10 Alignment of lever arm x Technical data 18 Festo EHPS 2018 06 ...

Страница 19: ...witch position è 8 1 Preparation Position 1 Position 2 Position 3 Position 4 Fig 9 EHPS 16 external gripping lever arm vertical Position 1 Position 2 Position 3 Position 4 Fig 10 EHPS 16 internal gripping lever arm vertical Technical data 19 Festo EHPS 2018 06 ...

Страница 20: ...tion 2 Position 3 Position 4 Fig 11 EHPS 16 external gripping lever arm horizontal Position 1 Position 2 Position 3 Position 4 Fig 12 EHPS 16 internal gripping lever arm horizontal Technical data 20 Festo EHPS 2018 06 ...

Страница 21: ...sition 2 Position 3 Position 4 Fig 13 EHPS 20 external gripping lever arm vertical Position 1 Position 2 Position 3 Position 4 Fig 14 EHPS 20 internal gripping lever arm vertical Technical data 21 Festo EHPS 2018 06 ...

Страница 22: ...tion 2 Position 3 Position 4 Fig 15 EHPS 20 external gripping lever arm horizontal Position 1 Position 2 Position 3 Position 4 Fig 16 EHPS 20 internal gripping lever arm horizontal Technical data 22 Festo EHPS 2018 06 ...

Страница 23: ...sition 2 Position 3 Position 4 Fig 17 EHPS 25 external gripping lever arm vertical Position 1 Position 2 Position 3 Position 4 Fig 18 EHPS 25 internal gripping lever arm vertical Technical data 23 Festo EHPS 2018 06 ...

Страница 24: ...tion 2 Position 3 Position 4 Fig 19 EHPS 25 external gripping lever arm horizontal Position 1 Position 2 Position 3 Position 4 Fig 20 EHPS 25 internal gripping lever arm horizontal Technical data 24 Festo EHPS 2018 06 ...

Страница 25: ......

Страница 26: ...rization is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG 73734 Esslingen Ruiter Straße 82 Germany 49 711 347 0 49 711 347 2144 Fax service_international festo com www festo com Internet Phone e mail ...

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