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4.3 Confirmation of Gripping Force

•

Gripping force (F) shown in the figure below is the thrust of one jaw, when both
jaws are in full contact with the workpiece as shown in the figure below.

•

Set the workpiece gripping point (L) so that it is within the range shown in the
figure below.

•

XEG-16 relationship between gripping force & gripping point:

夾

持

力

)

夾持點

L (mm)

夾持力

:100%

夾持力

:70%

夾持力

:50%

)

Gripping point L(mm)

Gripping force: 100%

Gripping force: 70%

Gripping force: 50%

夾具

夾爪

工作物

夾具

夾爪

:夾持力

:夾持點

:夾持力

:夾持點

內徑夾持狀態

外徑夾持狀態

治具

グリッパ

ワーク

把持力

把持点

把持力

把持点

内径の把持状態

外径の把持状態

Jaw

Gripper

External gripping state

Internal gripping state

Workpiece

Jaw

Gripper

Workpiece

:Gripping force

:Gripping point

:Gripping force

:Gripping point

C02UE03-2007

Содержание XEG Series

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

Страница 2: ...utomation Semiconductor Medical Ball Type HG EG WE MG CG Quiet Type QH QE QW QR Other RG E2 PG SE RC Bearing Machine Tools Robot Crossed Roller Bearing Ballscrew Bearing Linear Bearing Support Unit DA...

Страница 3: ...s Identification Number Illustration 18 3 5 External Wiring Diagram 19 3 6 Description of Motion Signal 20 3 7 Operation Modes 22 3 8 Parameter Setting 23 3 9 I O Signal Setting 26 4 Process for Model...

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: ...off the power to the product in the event of power failure Failure to do so may cause the product to suddenly start moving when the power is restored resulting in injury or product damage If the produ...

Страница 6: ...ing Make use of them if necessary Design the jaws to be lightweight and minimum length Mass of a workpiece that the jaws can grip greatly differs depending on the material quality shape and gripping s...

Страница 7: ...ed Gripper body and control components 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...

Страница 8: ...which has signal output such as status return abnormal alarm and object identification The use of a miniature both hand linear module to achieve the advantages of high speed high precision high rigid...

Страница 9: ...ignment Multi point position control I O signal communication mode 31 or 62 group of action mode can be stored Serial communication mode No limit for action group Identifying by position detection In...

Страница 10: ...on of the attachments fingers Design the attachments fingers to be lightweight and minimum length Note 5 The gripping force of the specification sheet is measured at a speed of 2mm s and a gripping po...

Страница 11: ...p XEG dll Communication method I O signal Communication method Serial Communication RS232 Power Cable Power Cable Power Supply DC 24V Power Supply DC 24V Controller Controller Electric Gripper Electri...

Страница 12: ...onal accessory There are two specifications for the cable length 0 5M and 5M please specify when ordering Note 7 XEG Dynamic Link Library dll and user manual please visit HIWIN official website to dow...

Страница 13: ...size other kinds of cable length or special order etc XEG 16 C2 10 1 W2 S A B C D E F G 1500 mm 3000 mm 3000 mm 5000 mm 1500 mm 5000 mm 10 30 1L 3L 50 5L Code Item Illustration A Type XEG 2 finger ty...

Страница 14: ...ighten the mounting screw of the attachments fingers with the specified torque as below table Note 4 The mounting face has holes and slots for positioning Make use of them if necessary Model Bolt Reco...

Страница 15: ...aximum opening position or under the power off condition adjusting the gripper to the maximum opening position manually after removing the bolt on the manual adjustment part After removing the bolts o...

Страница 16: ...bricating Grease for Electric Gripper Optional Item Model no GN 80M GN 400C Dimen sions Spec 1 Working pressure 15 MPa 2 Output 0 5 0 6 c c Stroke 3 Weight 520 g grease excluded 4 Grease reload 70 g f...

Страница 17: ...Not limited External I O Input 5 points Command point setting 1 point Command input 6 points Command point setting 1 point Command input 1 point Firmware version update Output 6 points Control output...

Страница 18: ...in each abnormal state is as follows Note 2 The description and wiring diagram of the power connector are as follows When EMG and EMG are disconnected the emergency stop function is activated Servo of...

Страница 19: ...ler s locking surface and avoid the signal cable approaching the high voltage circuit 10 2 3 4 5 6 789 A B C D E F Function Setting CN7 CN8 CN7 CN8 CN7 CN8 CN7 CN8 Station Number No 1 No 2 No 3 No 4 T...

Страница 20: ...DE2 O6 White CHK CODE1 Identification number O7 Light Green CHK CODE2 O8 Yellow Black CHK CODE3 O9 White Black COM Common ground Note 1 After the controller firmware version is V2 0 16 inclusive when...

Страница 21: ...tatus 0 0 1 0 Position fault 0 1 Over travel 1 1 Original point fault CHK CODE1 CHK CODE2 Identification 0 0 1 0 Workpiece 1 0 1 Workpiece 2 1 1 Workpiece 3 CHK CODE1 CHK CODE2 CHK CODE3 Identificatio...

Страница 22: ...B3 Green B4 Purple B5 White B6 Light Green B7 White Black IN1 IN2 IN3 IN4 IN5 START COM BUSY HOLD ALM CODE1 ALM CODE2 CHK CODE1 CHK CODE2 COM I2 I3 I4 I5 I6 I7 I9 O1 O2 O3 O4 O5 O6 O9 LOAD DC24V CN6 X...

Страница 23: ...1 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...

Страница 24: ...preset to RESET Input Signal Motion No I1 I2 I3 I4 I5 I6 No 1 1 0 0 0 0 0 No 2 0 1 0 0 0 0 No 3 1 1 0 0 0 0 No 4 0 0 1 0 0 0 No 5 1 0 1 0 0 0 No 6 0 1 1 0 0 0 No 7 1 1 1 0 0 0 No 8 0 0 0 1 0 0 No 9 1...

Страница 25: ...tion 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 Positio...

Страница 26: ...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 27: ...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 28: ...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 29: ...f opening the output signal BUSY afterward and recommended that is to be pending over 10ms after opening the output signal START Description 5 After ending the output signal BUSY it indicates that the...

Страница 30: ...T Description 3 After ending the output signal BUSY it indicates that the motion is ended Description 4 If the motion is ended and the position is correct the output signal POS is opened Description 5...

Страница 31: ...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 32: ...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 33: ...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 34: ...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 35: ...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 36: ...gure 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...

Страница 37: ...0 30 40 50 60 70 80 90 0 20 40 60 80 100 120 140 160 10 20 30 40 50 60 70 80 90 Gripping force 100 Gripping force 70 Gripping force 40 N L mm Gripping force N Gripping point L mm 100 70 50 Gripping fo...

Страница 38: ...greater buffering capacity in terms of gripping force with respect to workpiece weight Note 4 The relationship between the grip point and the gripping force in the above chart is measured at a speed...

Страница 39: ...pping point L mm Gripping force 50 Gripping force 40 Gripping force 70 Gripping force 70 Grippingforce100 Grippingforce100 XEG 64 H mm L mm 0 20 40 60 80 100 0 20 40 60 80 100 100 70 40 100 XEG 64 Ove...

Страница 40: ...25 70 80 50 60 mm s 5 10 15 20 25 Gripping force and speed range XEG 64 30 40 90 100 110 0 5 10 15 20 25 70 80 50 60 Gripping Force Gripping speed mm s Gripping force and speed range 15 20 25 mm s mm...

Страница 41: ...ic values Note 2 L H Distance to the point at which the load is applied mm Calculation of allowable external force Allowable load F N Static allowable moment M N m L m Allowable load F N 83 10 externa...

Страница 42: ...X3DP 2 3 0 02 0 X3DP 4 M4X0 7PX4 5DP 62 5 4 4 Stroke 0 32 41 8 49 3 32 3 Standard type Right angle type XEG 32 Connector 83 5 14 51 51 51 5 16 24 25 11 2 2 0 02 0 X2 5DP 2 M3X0 5PX5DP 2 0 02 0 X3DP 2...

Страница 43: ...P 6 M3X0 5PX8DP 2 3 0 02 0 X3DP Stroke 0 64 41 8 49 3 32 3 Standard type Right angle type XEG 64 Connector 35 5 10 12 75 23 6 18 4 M3X0 5PX8DP 4 120 21 5 21 5 163 Stroke 0 48 11 5 5 56 5 5 60 51 5 81...

Страница 44: ...P Model of XEG 32 PR 41 8 49 3 32 8 126 STROKE 0 129 28 5 72 64 5 8 23 8 23 4 4 M4X0 7X5DP 79 3 0 02 0 00 X2 5DP 1 3 0 02 0 X3DP 12 39 12 13 19 5 0 02 0 X3DP 3 5 3 0 02 0 00 X3DP 27 54 16 4 M3X0 5X5DP...

Страница 45: ...ery EN ISO 12100 2010 EN 60204 1 2006 AC 2010 Electromagnetic Compatibility Directives EMC EN 61000 6 2 2005 EN 61000 6 4 2007 A1 2011 Hazardous Substances Restriction Directives RoHS 2 2011 65 EU 201...

Страница 46: ...r 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 Softwar...

Страница 47: ...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 pipe Grease nozzle Note...

Страница 48: ...XEG 16 605 610 adapter kits Items Parts Amount 1 Positioning 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 P...

Страница 49: ...adapter kits Items Parts Amount 1 Positioning pin 5X8L 1 2 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...

Страница 50: ...G 64 605 610 adapter kits Items Parts Amount 1 Positioning pin 5X8L 1 2 XEG64 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 Pos...

Страница 51: ...620 adapter kits Items Parts Amount 1 Positioning pin 6X5 8L 1 2 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 Position...

Страница 52: ...rence in gripping force increases Elastic material Elastic material Experimental Planning and Condition Setting Project Experiment 1 Experiment 2 Experiment 3 Experiment 4 Type XEG 32 XEG 32 XEG 32 XE...

Страница 53: ...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 54: ...website for patented product directory http www hiwin tw Products Products_patents aspx 4 HIWIN will not sell or export products or processes restricted under the Foreign Trade Act or related regulat...

Страница 55: ...HIWIN CHINA SUZHOU CHINA www hiwin cn info hiwin cn Mega Fabs Motion Systems Ltd HAIFA ISRAEL www mega fabs com info mega fabs com HIWIN GmbH OFFENBURG GERMANY www hiwin de www hiwin eu info hiwin de...

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