7.3
Mounting the gripper
7.3.1
Through-hole mounting and direct mounting
Fig. 3: Through-hole mounting on the side, direct fastening underneath
EHPS
-16
-20
-25
Direct fastening
Screw
M4
M4
M6
Max. screw-in depth
[mm]
8
8
12
Centring hole
[mm]
7
7
9
Tightening torque
[Nm]
2.9
2.9
10
Through-hole mounting
Screw
M3
M3
M4
Centring hole
[mm]
7
7
9
Tightening torque
[Nm]
1.2
1.2
2.9
Tab. 2: Mounting attachments and tightening torque
7.3.2
Mounting with adapter kit
Adapter kits
Fig. 4: Mounting with adapter kit from below
NOTICE
Accumulation of heat results from cramped installation situation.
Material damage or malfunction.
• Mount the product with sufficient space for heat dissipation.
1. Press 2 centring sleeves into the locating holes of the gripper.
2. Use the centring sleeves to position the gripper on the connecting surface.
3. Select screws in accordance with the type of mounting.
4. Tighten screws with the associated tightening torque.
7.4
Mounting proximity switches
If required: use proximity switch to sense the position of the gripper jaws in the
slot. Use only proximity sensors approved for the product.
8
Installation
8.1
Electrical installation
WARNING
Risk of injury due to electric shock
• For the electric power supply, use only PELV or SELV circuits that ensure a
reliable electric disconnection from the mains network.
WARNING
Risk of injury due to electric shock or burns.
The gripper does not offer any additional protection against unintended high
currents in the supply cables.
• The cross section of the supply cables should be designed to meet the max-
imum current value that could occur in the event of a failure.
WARNING
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
6
Fig. 5: Electrical connection
1. Switch off power to the controller and safeguard it from being switched on
again unintentionally.
2. Use permissible connecting cable
3. Connect the parallel gripper to the controller at the connection plug.
M12 plug
(5-pin, A-coded)
Pin
1)
Connection
Identifier
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.festo.com/catalogue
Tab. 3: Pin allocation
DANGER
Danger of crushing due to unexpectedly moving loads and unintentional move-
ments.
Contrary to specification IO-Link port class B without galvanic isolation between
primary and secondary power supply. This can lead to malfunction or damage of
the IO-Link Master and the connected IO-Link devices.
• Connect pin 3 (L-) and pin 5 (N24) externally to avoid compensating currents via
the gripper.
• When installing further IO-Link devices on the master, note that the actuator
supply can only be switched off via pin 2 (P24).
9
Commissioning
9.1
Preparation
3
Fig. 6: Set speed for gripping force
3
Rotary switch for setting the
speed for gripping force
•
Set the required speed for the gripping force at the rotary switch [3].
Representation of total gripping force
–
Position 1 = approx. 50% of gripping force
–
Position 2 = approx. 70% of gripping force
–
Position 3 = approx. 85% of gripping force
–
Position 4 = approx. 100% of gripping force
• The speed influences the gripping force. Adjusting the gripping force is not
a linear process.
• The gripping position and gripping force are not readjusted.
• The design of the gripper jaws has a major influence on the achievable
gripping force.
