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User Manual

Electric Gripper

RoHS

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Содержание XEG-16

Страница 1: ...www hiwin tw User Manual Electric Gripper RoHS...

Страница 2: ...ideway Automation Semiconductor Medical Ball Type HG EG WE MG CG Quiet Type QH QE QW QR Other RG E2 PG SE RC Medical Equipment Hospital Rehabilitation centers Nursing homes Robotic Gait Training Syste...

Страница 3: ...Number Illustration 12 3 5 External Wiring Diagram 13 3 6 Operation Modes 13 3 7 Parameter Setting 14 3 8 I O Signal Setting 17 3 9 Description of Motion Signal 22 4 Process for Model Selection 23 4...

Страница 4: ...satisfies the regulations and standards first If so properly handle the product in accordance with the regulations and standards All situations are not covered by the Danger Warning and Caution safety...

Страница 5: ...r disengagement Do not touch the connectors or exposed terminals of the controller Doing so may result in electric shock Turn off the power to the product in the event of power failure Failure to do s...

Страница 6: ...nd gripping surface condition of the jaws Use speed and parameters appropriate with the product to avoid making a great impact to the jaws Please assure there is sufficient space for maintenance and i...

Страница 7: ...ponents using non Hiwin original products Adding or removing any element into out the gripper or the controller Modifying the wire or the cables between the gripper body and the controller Any modific...

Страница 8: ...Gripping position will be checked by the HOLD signal output to verify if the gripper is in the set range Speed control Motion speed can range from 1 to 100 mm s by increments of 1 mm s Applies to fast...

Страница 9: ...rs Design the attachments fingers to be lightweight and minimum length Model XEG 16 XEG 32 XEG 64 Electric gripper Stroke both sides mm 16 0 5 32 0 5 64 0 5 Gripping Force N 25 50 60 150 180 450 Speed...

Страница 10: ...ngth 1 5 m standard 3 m 5 m or produced upon receipt of order Note 3 Communication cable length 1 5 m standard Note 4 Power supply plug only PLC Upper Controller or I O Cable 14 pins Power Cable Power...

Страница 11: ...stroke is 64 mm C Controller C1 controller D Actuator Cable Length and Connector Type Note1 10 1 5M Standard 1L 1 5M Right Angle type 30 3 0M 3L 3 0M Right Angle type 50 5 0M 5L 5 0M Right Angle type...

Страница 12: ...tightening torque N m Effective depth mm XEG 16 M3x0 5P 0 6 0 8 5 XEG 32 M3x0 5P 0 6 0 8 4 XEG 64 M4x0 7P 1 2 1 6 8 Mounting Direction Positioning pin Positioning pin Positioning pin Mounting Directi...

Страница 13: ...in the figure below and then proceed the lubrication maintenance 2 7 Maintenance 2 7 1 Applying Grease to Single Axis Robot 2 7 2 Greasing Device for Electric Gripper Fingers Grease passage Grease ho...

Страница 14: ...HIWIN G04 or other lubricating grease with similar features Grease Gun Optional Item Grease Nozzle Adaptor Standard Item Grease Nozzle Standard Item Lubricating Grease for Electric Gripper Optional It...

Страница 15: ...ontrol output LED indicator Power supply lamp PWR green Error status lamp ALM red Serial Communication RS232 Power Supply V DC 24 10 Total Current A 3A MAX Operating Temperature Range C 5 45 Operating...

Страница 16: ...data bit4 A6 START Command input A7 COM Common ground B1 output BUSY Executing command B2 HOLD Gripping range check B3 ALM CODE1 Error status number B4 ALM CODE2 B5 CHK CODE1 Identification number B6...

Страница 17: ...ion A B C NG NG Speed Position Stroke Stroke Qual Gripping position limit 1 limit 2 Sort1 Sort2 Sort3 NG NG Stroke end Stroke Gripping position Speed Speed Speed Speed Speed Position Position Position...

Страница 18: ...tem Description Move position Move to the target position Move speed Transfer speed to the target position Note 1 Note 1 If the move speed is excess of the allowance the system will set the fastest sp...

Страница 19: ...ion Direction The relative position is required set open or close Gripping stroke From the initial gripping position to the end of gripping position Gripping speed Constant speed to the end of grippin...

Страница 20: ...ransfer speed to the initial gripping position Note 1 Gripping stroke From the initial gripping position to the end of gripping position Gripping speed Constant speed to the end of gripping position r...

Страница 21: ...IN1 IN2 IN3 IN4 It can also be set up by the user separately Description 3 It is necessary that the timing of opening the input signal START is to be the time of opening the input signal IN afterward...

Страница 22: ...ng the output signal BUSY it indicates that the motion is ended Description 4 If the abnormal state appears during the motion process or after the ending of motion the output signal ALARM will be open...

Страница 23: ...es that the motion is ended and the output signal HOLD is also opened indicating that the gripping motion is completed If the output signal HOLD is not opened it indicates that the gripped motion is n...

Страница 24: ...ut signal HOLD is not opened it indicates that the gripped motion is not completed Description 4 If workpiece recognition and size detection are performed after opening the output signal HOLD output s...

Страница 25: ...pened it indicates that the gripped motion is not completed Description 4 If an abnormal state appears during the motion process or after the ending of motion the output signal ALARM will be opened De...

Страница 26: ...0 0 No 5 1 0 1 0 0 No 6 0 1 1 0 0 No 7 1 1 1 0 0 No 8 0 0 0 1 0 No 9 1 0 0 1 0 No 10 0 1 0 1 0 No 11 1 1 0 1 0 No 12 0 0 1 1 0 No 13 1 0 1 1 0 No 14 0 1 1 1 0 No 15 1 1 1 1 0 No 16 0 0 0 0 1 No 17 1...

Страница 27: ...ion 4 2 4 3 Step 2 Confirm gripping point overhang Section 4 4 Step 3 Confirm gripping speed Section 4 5 1 Confirm gripping force 3 Confirm gripping speed 4 Confirm allowable external load 2 Confirm g...

Страница 28: ...220 N Therefore it can be applied Step 4 Confirm external load Section 4 6 F N M N m L m 7 72 0 035 220 10 F N M N m L m 7 72 0 035 220 10 Allowable Load F N Static Allowable Moment M N m L m 7 72 0...

Страница 29: ...ure below XEG 16 relationship between gripping force gripping point N L mm 0 10 20 30 40 50 60 10 20 30 40 50 60 70 100 70 50 0 10 20 30 40 50 60 10 20 30 40 50 60 70 Gripping force N Gripping point L...

Страница 30: ...pping force Note 3 Please select the model with greater buffering capacity in terms of gripping force with respect to workpiece weight L mm Gripping force N Gripping point L mm 0 20 40 10 20 30 40 50...

Страница 31: ...p between gripping point overhang XEG 64 relationship between gripping point overhang 80 100 100 0 20 40 60 80 0 20 40 60 80 0 20 40 60 80 100 0 20 40 60 80 100 XEG 16 XEG 32 XEG 64 0 20 40 60 80 0 20...

Страница 32: ...5 20 25 XEG 16 70 80 50 60 mm s mm s XEG 32 30 40 90 100 110 0 5 10 15 20 25 70 80 50 60 30 40 90 100 110 0 5 10 15 20 25 XEG 16 70 80 50 60 Gripping force and speed range 5 10 15 20 25 mm s mm s 5 10...

Страница 33: ...rmula Example Assume a static load of f 10 N is operating which applies pitch moment to L 20 mm form the XEG 16 Can it be used ANS It can be used Note 1 Values for load in the table indicate static va...

Страница 34: ...X0 7PX10DP 42 5 40 4 2 3 0 02 0 X3DP 2 3 0 02 0 X3DP 4 M4X0 7PX4 5DP 62 5 4 4 31 33 19 88 125 10 18 5 18 5 Stroke 0 32 83 5 14 51 51 51 5 16 24 25 6 15 14 2 2 0 02 0 X2 5DP 2 M3X0 5PX5DP 2 0 02 0 X3DP...

Страница 35: ...X 3 5 DP 146 21 5 189 21 5 94 5 56 5 5 64 5 60 5 5 10 80 54 5 94 5 5 5 9 30 20 10 40 4 18 23 6 23 6 42 92 93 48 4 5THRU M6X1PX12DP 2 5 0 02 0 X4DP 10 2 3 0 02 0 X3DP 6 M3X0 5PX8DP 16 2 5 0 02 0 X4DP...

Страница 36: ...6 Appendix 6 1 EC Declaration of Conformity C02UE03 1711 33...

Страница 37: ...6 2 Certi cate of Conformity for Directive 2011 65 EU RoHS C02UE03 1711 34...

Страница 38: ...Error status lamp Red 24V 0V Power supply terminal CN1 Actuator terminal CN2 Communication terminal CN3 I O connector CN3 CN2 CN1 DC24V I O Cable USB Cable Power Cable Controller Actuator Cable PC Sof...

Страница 39: ...Standard shipping items Product label Product label Product label 1 Electric gripper 2 Electric gripper controller 3 Cable Actuator cable I O cable USB cable 4 Accessory kit Power connector Pin Grease...

Страница 40: ...pin 5X8L 1 2 XEG16 605 Robot arm adapter 1 3 Spring washer 5 SUS 4 4 Bolt M5X0 8PX8L SUS 4 5 Positioning pin 5X8L 2 6 Gripper adapter 1 7 Positioning pin 2X4 4L 2 8 Spring washer 3 SUS 4 9 Bolt M3X0...

Страница 41: ...XEG32 605 Robot arm adapter 1 3 Spring washer 5 SUS 4 4 Bolt M5X0 8PX8L SUS 4 5 Positioning pin 5X8L 2 6 Gripper adapter 1 7 Positioning pin 3X4L 2 8 Spring washer 4 SUS 4 9 Bolt M4X0 5PX6L SUS 4 10 S...

Страница 42: ...XEG64 620 Robot arm adapter 1 3 Spring washer 6 SUS 4 4 Bolt M6X1PX10L SUS 4 5 Positioning pin 6X5 8L 2 6 Gripper adapter 1 7 Positioning pin 5X8L 2 8 Spring washer 6 SUS 4 9 Bolt M6X1PX10L SUS 4 10...

Страница 43: ...force N Gripping speed mm s Workpiece volume Cable length Connector type of gripper side Standard Right angle type Actuator cable 1 5M 3M 5M I O cable 1 5M 3M 5M Environment Clean room Dust Oil Water...

Страница 44: ...sell or export those techniques and products restricted under the Foreign Trade Act and relevant regulations Any export of restricted products should be approved by competent authorities in accordanc...

Страница 45: ...GAPORE www hiwin sg info hiwin sg HIWIN KOREA SUWON KOREA www hiwin kr info hiwin kr HIWIN CHINA SUZHOU CHINA www hiwin cn info hiwin cn Mega Fabs Motion System Ltd HAIFA ISRAEL www mega fabs com info...

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