ELECTRIC GRIPPER USER`S MANUAL
Contents
1. 22 SYSTEM T m 23 9 9 TnalR mand getestet 24 35 1 Sening Operation 24 3 5 2 Operating with electric gripper 24 REMOVING a pM Urea LU redeo rca AV 24 3 6 Maintenance and e 25 9 5 1 Inspection ti evkthun o 25 3 6 2 Procedure for Visual 25 3 6 3 Conducting Operation 25 364 meapplicali n of iu oeste rodea eve itn dun ee 26 3 6 5 Cleaning Outside of the 28 lt 6 EN 29 b Elema 31 1 Preface Thank you for purchasing our DRH ESG1 Series Electric Gripper This operation manual contains information necessary to use the DRH ESG1 Series Be sure to read the respective operation instruction manuals for the electric gripper electric gripper control board and electric gripper command to gain a firm understanding of their content before use Be sure to store the manual in a readily accessible location after reading in order that it may referenced at any time2. 6 255 detenta 2 3 CAUTION ea eRe Pu M M EU HMM A E ne 7 7 2 3 2 ENVIFONMIMENT Veo vin nd lui s RP S 233 KING MM ecd 8 23 5 8 235 Maintenance and 8 2 9 0 SOIIS EAVIFOMMECM epa endende ong t au aas 8 2M IDISDOSdlzudissesettnttntsdonicuti En cda 9 Handling Instructions and 10 3 1 INAMES or the Pans we dia teeta ea 10 32 eem 11 5 2 gt 9 11 9222 12 3 3 1 Gripping Force vs Instruction Value 12 PETRUM 14 S1 Jnstallauoni dore 14 SU Tae shakira tau cater 15 3 4 3 Connecting the Electric Gripper Connection
3. zi 6 65 ss 174 us 6 60 2 108 75 ve V VE w s 6 e ot 22 weeserssamx e 8 99 2 weserssanx 78 i 2 3 31 Single Cam DRH ESG1 SS 2005 3N 5N 180 10 TH 010 2 1 7 Effective 1 5 8 19 e A m I 3 N Viewed from the direction of B 00i 2 d 1 5 For mounting a finger 2 2 Effective 3 5 FH ______ N H r __ PL 18 1 32 Double SD 7 5 0 010 gt N u T Viewed from the direction of B 2 4 effective depth P Viewed from the direction of M Fig 19 EE GN E AT SB EC DRH ESG1 SD 28xx 24 24 14 15 98 2 405 25 80 126 226 7_ 801 80 42 36 25 13 20 50 3 40 89 7707363 260 8 ww UC ww TP 80 20 s 225 a 19 7 5 omeeserspam 10 ses 275 a2 46 16 93 6 6 weeserspap 15 75 s e 6 2310 24 108 75 75 80 20 6
4. Be sure to mount the product onto the flat surface Single cam type SS and double cam type SD have five mounting surfaces and screw type FT FS has three mounting surfaces therefore the gripper can flexibly installed 55 2005 has only two mounting surfaces In the opposite surface of the fingers mounting surface rotation axis hole for fingers and positioning holes are provided 15 Mounting surfaces and fixing taps Single Double cam type Installation dimensions of single double com type are the same 2x4 U effective depth V A For mounting 0 010 3H7 0 Depth 3 2x4 U effective depth V For mounting 2x4 U effective depth VB For mounting hole holes in opposite site also available SB AB Mounting surface Mounting surface X1 For SD type gt 50 Fig 8 Unit mm Model a 5 5 u DRH ESG1 SX 20XX 17 17 17 12 27 71 24 34 13 17 M3 5 52 54 28XX 24 24 14 15 38 78 32 46 16 21 4 67 61 42 36 25 13 20 50 46 18 24 5 7 5 10 62 16 DRH ESG1 SS 2005 3N 5N 0 2 299 Effective depth 1 5 Mounting surface Mounting surface 2 M3 efective depth 3 20 5 Fig 8 1 Note DRH ESG1 SS 2005 3N 5N have only two installation surfaces 17 60 3 Screw type 10H7 Im j A S 2x4 U effective depth V Depth 3 Fo
5. o ap f 29 Screw Type d FS 28 FT 28 paw 2049 N Open close stroke Max Rating mm sec Minimum setting mm sec oe Low speed gripping mode max o6 Gripping 1 0 5 1 1 e 20 10 20 10 1 0 5 e Repeatability 0 01 0 01 Maximum mass 1 pair N N m IN m IN m mm Allowable load Allowable pitching moment Allowable yawing moment Allowable rolling moment Max gripping point NO e Max overhang mm Guide structure Linear guide Max gripping mass kg 10 0 5 10 1 5 0 46 E 30 8 A no Co Co O 30 5 External Dimensions Single Cam SS 7 5 2 Viewed from the direction of B 2x4 U effective depth Q 2x4 U effective depth R RA For mounting hole holes in the opposite also available Viewed from the direction of A For moumting a finger 2 2 effective depth P For mounting a finger SS 42 A Fig 18 EE mm Cx mg To oe DRH ESG1 88 28xx 24 24 14 15 38 2 25 78 96 239 LTTOOEIERENEREQRERE SERIES nwieserssam 6 43 1s 5 Mose
6. 2 FOR SAFE USE Cautionary descriptions given here are for correct use of the products and for prevention of hazard on you and other people in vicinity and damage with equipment These descriptions are divided into three items of DANGER WARNING and CAUTION depending on the severity of hazard or damage and level of imminence All bear important descriptions pertaining to safety Strictly observe the instructions in addition to those of ISO 10218 2 and other safety rules Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Indicates a potentially hazardous situation which could result in WARNING death or serious injury if the equipment is operated wrongly Indicates a potentially hazardous situation which may result in injury and machine damage if the equipment is operated wrongly 1 ISO 10218 2 Robots and robotic devices Safety requirements for industrial robots Part 2 Robot systems and integration e This product is designed and manufactured as a component for use in general industrial machinery e Devices must be selected and handled by system designer personnel in charge of the actual operation using the product or similar individual with sufficient knowledge and experience e Be sure to read the catalogue and operation manual before handling the product Mishandling of the product poses a risk Please read the respective operation instruction manua
7. amp 5 22 e o 2 forn esarso ax 10 7s oe amp 3 33 Screw type FS Bam Viewed from the direction of Fig 20 wa eo 10 5 m amp RTS T mm Iomeserrsamx 12 as 275 me a0 76 ImeEserrsam 24 so 125 30 2 34 Screw SB A 22 LJ 10H7 d m Depth 3 Fig 21 Unit mm DRH ESG1 FT 20XX 105 295 9 12 DRH ESGI FT 28XX 13 51 8 4 we m A as 275 5 76 2r 27 s 2 a DRH ESG1 FT 20xx 30 125 m4 6 60 38 2 35 RC8 CONTROLLER ELECTRIC GRIPPER USER S MANUAL First Edition August 2012 DENSO WAVE INCORPORATED The purpose of this manual is to provide accurate information in the handling and operating of the robot Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have for generally improving the manual In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual
8. to the parts may result in unavailability of exhibition of full performance malfunction damage of mechanical device and physical accident Do not use spray grease Flying grease may come in contact with the encoder Never use fluorine grease If fluorine grease is mixed with lithium grease the lubricating function of grease will drop and the electric gripper may suffer damage Do not use spray oil because it may cause grease to wash out resulting in lubrication failure It may also travel to the unexpected parts and cause them to malfunction When disassembling and reassembling the gripper to add grease be sure to observe the specified instructions Failure to do so may result in product malfunction or damage Applicable Grease Multemp PSNo 2 KYODO USHI or equivalent product lithium grease 26 Applying Grease to the Guide Par AN Caution Apply the specified grease to the space between the guide block and guide rail to four ball screws with an injection device After application of grease wipe off unnecessary grease around the guide part Fig 16 2 Applying Grease to the Ball Screws D For easier application of grease open Cover fixing screw the guide block first 2 Unscrews and remove the cover 3 Apply proper amount of grease on the surface of ball screws with fingers 4 Screw the cover at recommended torque level Cover fixing screw size and recommended tightening torque Recommen
9. upon occurrence of a dangerous situation during operation Lack of such device in an appropriate position may result in injury When installing the product including fingers be sure to securely support and mount them Failure to do so may cause the product or workpiece to tip over drop or malfunction resulting in injury Provide sufficient maintenance space when installing the product Routine inspection and maintenance cannot be performed without sufficient space which will eventually cause the equipment to stop or the product to sustain damage Before installing or adjusting the product or performing other operations on the product display a sign that reads WORK IN PROGRESS DO NOT TURN ON POWER If the power is turned on inadvertently injury may result due to electric shock or sudden activation of the controller Do not hold the moving parts of the product or its cables during installation It may result in injury Operation Keep your fingers away from the product to prevent you from being caught into the other devices Do not touch the connectors or exposed terminals of the electric gripper control board Doing so may result in electric shock Turn off the power of the electric gripper in the event of power failure Failure to do SO may cause the product to suddenly start moving when the power is restored thus resulting in injury or product damage When moving electric gripper finger by hand for the purpose of manual posit
10. DENSO ROBOT RC8 CONTROLLER ELECTRIC GRIPPER USER S MANUAL Copyright DENSO WAVE INCORPORATED 2012 All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher Specifications are subject to change without prior notice All products and company names mentioned are trademarks or registered trademarks of their respective holders 1 2 3 P 1 FOR SAFF USE aah stl R 2 2 1 CAO ae 3 3 oer P 3 213 Operaung 4 2 144 MAS VAN ses ame adicit mai cau Ead Duc ode sola 4 2 109 cm 4 Maintenance and tint Unna uri piv cha Ue 4 2 2 WARNING imi cu Eden 5 221 Operating 5 22 25 Le iz 5 A Pec 6 2 2 4 Maintenance and
11. ded Screw tightening torque Size DRH ESG1 FX 20XX 0 55 0 70 DRH ESG1 FX 28XX 4 10 tioma Fig 17 3 6 5 Cleaning Outside of the Grippe Y CAUTION Wipe dirt with soft cloth to prevent dust flying To clean stubborn soiling moisten a soft cloth etc with neutral detergent Care should be taken not to prevent water droplets on the surface of the ball screws from rusting the product Do not blow compressed air onto the electric gripper too strongly to prevent dust from entering the electric gripper through small openings and gaps 28 4 Specifications Cam type o mm me mu zs w es 100 wo wm 4 NE nave andara cs TITUT move and grip 96 B res vs ape res em a me 2 9 9 _ Guide structure Linear guide 10 10 m E x 10 Zr 07 40 Gripping force Position Allowable load Allowable pitching moment Allowable yawing momen Nem Allowable rolling moment Max gripping point mm Max overhang mm Max gripping mass oo o um Operating temperature range Operating humidity range 96 RH35 90 Operating storage pu temperature ee ss eo
12. e contact our sales representatives 2 1 3 Operating Environmen e Do not use this product in a place exposed to ignitable inflammable or explosive substances The product has not been designed with explosion protection The product may explode or ignite resulting in product damage or injury Do not use the product in a place where it may be exposed to water or oil droplets 2 1 4 Installation Wire the product correctly by referring to the ELECTRIC GRIPPER CONTROL BOARD USER S MANUAL Securely connect the cables and connectors so that they will not be disconnected or come loose Failure to do so may cause the product to malfunction or cause fire 2 1 5 Operation e When operating or adjusting the gripper after it was mounted to the system machine robot etc be sure to observe safety measures for the system Failure to do so may result in serious injury e Before supplying power to and operating the product always check the operation area of the equipment to ensure safety Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts Do not touch the connectors or other parts power being supplied to the product It may result in electric shock or malfunction f you are using a pace maker or other mechanical implant do not come within one meter of the product The strong magnetic field generated by the product may cause the pace maker etc to malfunction Keep pacemak
13. e vs instruction value for single cam type Instruction value Fig 4 Gripping force vs instruction value for single cam type 30 90 ponds al Fig 4 1 12 Gripping force Gripping force vs instruction value for double cam type 350 Instruction value 96 Fig 9 Use the charts between gripping force and instruction value for reference There is variance in actual gripping force Design so that mass of a gripped workpiece is approximately 1 10 to 1 20 of the gripping force When the electric gripper is moved and revolved while it is gripping a workpiece design operating ranges with ample margins from the ratings Mass of a workpiece that the fingers can grip greatly differs depending on the material quality shape and gripping surface condition of the fingers Gripping force N 200 180 160 140 120 100 80 60 40 Gripping force vs instruction value for screw type 50 60 70 80 Instruction value Fig 6 13 Use the charts between gripping force and instruction value for reference There is variance in actual gripping force Design so that mass of a gripped workpiece is approximately 1 10 to 1 20 of the gripping force When the electric gripper is moved and revolved while it is gripping a workpiece design operating ranges with ample margins from the ratings Mass of a workpiece that the fingers can grip greatly differs depending on the ma
14. er wearers one meter away from the product The pacemaker may not work properly due to strong magnetic affection Do not pour water onto the product Spraying water over the product washing it with water or using it in water may cause the product to malfunction resulting in injury electric shock fire etc e When conducting operation checks or performing operation increase the robot speed gradually to check whether the electric gripper gripping force can be sustained relative to the robot speed If not there is a possibility of danger such as flying workpieces 2 1 0 Maintenance and Inspection e Ifthe electric gripper is used integrated into a system machine robot etc ensure that regulations and standards for safety measures are strictly observed and use the product properly and safely Do not disassemble and reassemble the components relating to the basic structure of the product or its performance and function Doing so may result in injury electric shock fire etc e Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Doing so may result in fire 22 1 WARNING 2 2 1 Operating Environmen Do not use the product under direct sunlight or ultraviolet ray Do not expose the product to radiant heat generated from a heat source Use the product within the ambient temperature range of 0 C to 40 C e Use the product in the place havi
15. ioning etc confirm that the motor of the electric gripper is turned off beforehand Failure to do so may result in injury If the product is generating heat smoke or a strange smell turn off the power immediately Continuing to use the product may result in product damage or fire If any of the internal protective alarms function of the product has actuated turn the electric gripper power off immediately Continuing to use the product may result in product damage or injury due to malfunction Once the power supply is cut off investigate and remove the cause and then turn on the power again 2 2 4 Maintenance and Inspection Before conducting maintenance inspection parts replacement or other operations on the product completely shut down the power supply At this time take the following measures 1 Display a sign that reads WORK IN PROGRESS DO NOT TURN ON POWER at a conspicuous place in order to prevent a person other than the operator from accidentally turning on the power while the operation is working 2 When two or more operators are to perform maintenance inspection together always call out every time the power is turned on off or a moving part is moved in order to ensure safety e Perform inspection or maintenance work with a thorough understanding of the specific tasks Insufficient maintenance inspection by the user may result in reduction of service life of the moving parts and malfunction If any abnormalities a
16. ls for the electric gripper electric gripper control board and electric gripper command 115 the user s responsibility to verify and determine the compatibility of this product with the user s system and to use them properly e After reading the catalog operation manual and other materials be sure to keep them in a convenient place easily accessible to the personnel using this product e The danger warning and caution directions in this Safety Precautions do not cover every possible case Please read the catalog and operation manual for the given device particularly for descriptions unique to it to ensure its safe and proper handling e lf the electric gripper is used integrated into a system machine robot etc the system must satisfy regulations and standards for safety measures First check whether the system satisfies the relevant regulations and standards and if so handle the product properly in accordance with the regulations and standards The electric gripper is an end effector for the robot system When you design and or assemble an electric gripper be sure to satisfy all requirements and conditions written in ISO 10218 2 e When you design and or assemble an electric gripper you must comply with the stipulation of 15010218 2 End effectors shall be designed and constructed so that the loss or change of energy supply e g electrical hydraulic pneumatic vacuum Supply does not cause release of the load that w
17. n C connection is used Emergency stop circuit prepared by customer Communication interface flange A option is required 24 VDC power supply prepared by customer 23 35 Trial Run and Adjustment 3 5 1 Setting Operation Mode All parameters operating modes and point data are set with the electric gripper screen of the teach pendant Refer to the Electric Gripper Control Board Operation Manual or Electric Gripper command Instruction Manual for specific details on how to perform operation Set parameters and operation mode not to impact excessively on or apply moment to the fingers while in operation The product may be damaged or its service life may be shortened 3 5 2 Operating with electric gripper command All point operations can be performed individually with the electric gripper command Refer to the Electric Gripper command Instruction Manual 3 5 3 Removing a Workpiece Self lock function is not available in single cam type SS The fingers can be moved by hand while the power is off The screw type FT FS and double cam type SD have a reduction gear system and therefore fingers cannot be moved by hand Therefore if removing workpieces when turning OFF the power do so by removing the fingers Do not attempt to remove the workpiece or open between the fingers forcibly The gripper may be damaged Remove the workpiece while the gripper is not in use for long time If the gripper is left unused for l
18. ng humidity range of 35 to 85 without dew condensation e Do not use the product in an atmosphere of corrosive gases sulfuric acid or hydrochloric acid Rust may form and reduce the structural strength of the product Do not use the product in a place exposed to dust iron powder If dust enters the product through small openings and gaps the product may suffer damage Do use the product in a place where it may come in contact with water droplets cutting oil cleansing liquid organic solvent and operating oil If expected sufficiently protect the product with a cover or panel Since the product has not been designed with waterproof water droplets or other liquid may enter the product resulting in product damage e Do not install the product in a place subject to large vibration or impact 9 8 m s2 Doing so may result in the malfunctioning of the product e Do not use the product in the place where high magnetic field may cause electromagnetic interference Failure to do so may result in malfunction e Do not use the product in the places where large current or high magnetic field is present welding or other operations are performed that cause arc discharge subject to electrostatic noise and with potential exposure to radiation Failure to do so may result in malfunction 2 2 2 Installation gt Provide an emergency stop device in a readily accessible position so the device can 2 2 3 be actuated immediately
19. o not perform dielectric strength test because DC power is supplied with the product 2 3 6 Storage Environmen The environment in which the gripper is stored must be Not exposed to direct sunlight and moisture Be dark cool and 30 cm higher or more than the floor surface to prevent occurrence of dew condensation from large vibration and impact 2 3 Disposal When the product no longer becomes usable or necessary dispose of it properly as an industrial waste 3 Handling Instructions and Precautions 3 1 Names of the Parts Connector Finger rotation axis hole Positioning hole Installation tap Finger Guide block Guide rail Linear guide Fig 1 Electric gripper connection cable Connector 10 3 2 1 Design of Fingers e Mount fingers not to exceed the allowable in the tables 1 and 1 1 e Observe the limits of the mass gripping point between finger installation surface and gripping point L and overhang H in the tables 1 and 1 1 Table 1 load 1000 epino Allowable Rolling moment EE Allowable pitching moment Pro Table 1 1 Note Choose as short and lightweight finger as possible 11 3 3 Selection 3 3 1 Gripping Force vs Instruction Value Gripping force can be adjusted freely according to instruction value Refer to figures 4 to 6 Gripping force N Gripping force N Gripping forc
20. ong time with the gripper holding a workpiece the slide may be negatively affected 24 3 6 Maintenance and Inspection Daily and periodic inspections are essential to making sure your gripper will operate safely and efficiently 3 6 1 Inspection Timings and Items Daily Inspection Daily at start of operation 1 4 operations Periodical Every SIX months after start Grease supply Inspection of operation Others External cleansing 3 6 2 Procedure for Visual Inspection Check the following for external inspection Inspection point What to be inspected Troubleshooting Installation bolts are not loose If you find the loose installation Fingers are firmly attached bolts tighten them by applying the specified torque and take measures Electric gripper to prevent loosening Connectors are surely connected If there are flaws and or scratches There are no flaws on the electric hand connection There are no scratches on the cable replace it and eliminate the moving parts cause Electric gripper connection cable 3 6 3 Conducting Operation Chec Check for abnormal noise vibration and smooth operation If any abnormalities are detected stop the operation immediately 25 3 6 4 Reapplication of Grease t Warning Apply proper amount of grease to the prescribed points on the gripper Electric devices such as a stepping motor or rotary encoder exist in the gripper Accidental application of grease
21. ould result in a hazardous condition When practicable power can be supplied to end effectors for troubleshooting without applying motive energy to the robot actuator s Do not use the product for the following applications 1 Medical equipment used to maintain control or otherwise affect human life or physical health 2 Mechanisms and machinery designed for the purpose of moving or transporting people 3 Important safety parts of machinery This product has not been planned or designed for applications requiring high levels of safety Use of this product in such applications may jeopardize the safety of human life 21 CAUTION 2 1 1 General Do not use the product outside the specifications Using the product outside the specifications may cause it to fail stop functioning or sustain damage It may also significantly reduce the service life of the product 2 1 2 Design the machine will stop in the case of system machine robot etc problem such as emergency stop or power failure design a safety circuit or other device that will prevent equipment damage or injury e avoid falling a work piece that the electric gripper holds when the loss of power supply to the robot design a circuit so that the power supply for the electric gripper is maintained or design fingers so that it does not drop a work piece f you require an electric gripper that equips a function to keep holding a work piece grip force pleas
22. r connection cable If connected or disconnected with the power ON the electric gripper may malfunction resulting in possible damage to the unit and or physical injury Before connecting the motor cable check for scratches on the cable and bent connector pins Be sure to use the supplied motor cable Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length The highly flexible electric gripper connection cable is used for connecting between the gripper and the controller When connecting the electric gripper connection cable be sure to observe the followings not let the cable flex at a single point to minimize the curvature Do not let the cable get tangled or kinked Do not pull the cable with a strong force e When fixing the cable provide a moderate slack and do not tension it too tight e Do not scratch the cable Be sure to fix the cable coming out of the electric gripper 22 3 4 4 System Configuration Electric gripper connection cable C connection 0 2 m connection 1 m connection 4 m 6 m C connection 4 m 6 m Electric gripper Notes 1 Support is only possible for 5 ms Series robots A communication cable flange spec A option is s required 2 For VS Series robots when connection is used Signal Ww Lines and Air Piping option is required whe
23. r mounting Depth 3 a N Depth 3 A SA Q n 2x4 U effective depth V d cm For mounting L For mounting MH lt o HHS H o tl Mounting surface Mounting surface Fig 9 Unit mm ww swx 12 5 eo so e em 27 a a o DRH ESG1 F S 20XX DRH ESG1 F S 28XX 30 15 20 16 84 40 110 40 40 5 12 28 28 36 M5 7 5 55 18 Screw 10H7 2 01 5 2x4 U effective Depth 3 2x4 U effective depth V For mounting NH m HHE p Pr Q 3 E gt Fig 10 Unit we 58 y 2 12 2 oo 76 27 27 4 24 9 e DRH ESG1 FT 28XX 30 15 16 52 40 110 40 40 5 28 12 28 36 M5 7 5 55 19 Installing the Fingers T CAUTION e When installing and uninstalling the fingers surely support them to prevent applying excessive force to or impacting on the guide block e his may cause damage to the parts in the product The tapped holes used for installing the fingers are through holes Therefore never use long screws exceeding the effective thread length They may damage the product Fig 11 nstallation Dimensions of Fingers Single cam type Positioning pin Using the positioning pin on
24. re detected stop the operation immediately 2 2 5 Disposal Do not throw the product into fire The product may burst or generate toxic gases 23 l CAUTION 2 3 1 General f you are planning to use the product under a condition or environment not specified in the catalogs or operation manual or in an application requiring strict safety such as aircraft facility combustion system entertainment machine clean room safety device or other equipment having significant impact on human life or property design operating ranges with ample margins from the ratings and design specifications or provide sufficient safety measures such as fail safes Whatever you do always consult us e Always use the cable supplied with the product for connection between the electric gripper and electric gripper control board e Use DENSO WAVE genuine products for main components such as electric gripper electric gripper control board 2 3 2 Working Environmen e Provide sufficient space when performing maintenance and inspection safely e Do not bring a floppy disk or other magnetic media within one meter of the product The magnetic field generated by the magnet may destroy the data in the floppy disk etc 2 3 3 Fixing the Produc When handling the product wear protective gloves protective goggles safety shoes or other necessary gear to ensure safety Protect the product from excessive impact load such as bumping or throwing Do no
25. t step onto the package or place on the package a heavy object that allows the load concentrate After unpacking the product do not carry by holding cables or connectors The electric gripper connection cables supplied with the product are flexible but do not store the cables in a movable cable duct cable bearer etc that bends more than the specified bending radius Do not scratch the electric gripper connection cable Scratching forcible bending straining winding and pinching may cause short circuit and insulation failure which results in electric shock and malfunction The workpiece gripping force will be lost if an emergency stop condition or power failure occurs Take measures to prevent workpieces from dropping at such times 2 3 4 Operation 2 3 9 Turn on the power to individual equipment one by one starting from the equipment at the highest level in the system hierarchy Failure to do so may cause the product to start suddenly resulting in injury or product damage Do not insert a finger or object in the openings in the product It may cause fire electric shock or injury The motor incorporated into the product generates a large amount of heat during operation and the product surface temperature is high Take care not to affect the workpiece or other objects around the gripper Maintenance and Inspection Never touch terminals while performing insulation resistance test Doing so may result in electric shock D
26. terial quality shape and gripping surface condition of the fingers 3 4 Installation 3 4 1 Installation Bolts e Surely fix the product by use of the four installation taps in each mounting surface e Material of installation tap is aluminum Applying excessive high torque to the installation bolts may cause damage to the taps and loose bolt This may lead to personal injuries Apply proper torque to the bolts and take measures to prevent loose bolt e Installation taps on the guide block are pass through holes If a bolt that is deep enough to be inserted beyond the effective depth of hole of the electric gripper is used it may reach to the guide rail This may cause damage to the parts in the product Never use any bolt that is longer than the effective depth of hole of the electric gripper The effective depths of the installation taps are distinct from each mounting surfaces Please refer to Mounting surfaces and fixing taps which starts from the next page Installation bolt Recommended tightening torque N m ap M3 0 55 0 70 SX 28 1161 55 Mounting plate SX 42 2 65 3 20 FX 20 1 15 1 55 Electric gripper 2 65 3 20 Le Fig 7 Effective depth of hole Recommended tightening torque in the table above is generally used one Take material quality of your installation bolts and flanges into consideration and decide tightening torque 14 3 4 2 Mounting surface
27. the guide block may improve installation accuracy and repeatability For further improvement installation repeatability place a guide block between a finger and guide rail as the figure 11 Fig 12 For 5542 type Unit mm 10 _ 2 PDrH Escr ss2005an 15 5 78 s 25 5 15_ 2 965239 6 43 15 5 2 3 ade 12 055 65 55 v4 5 8 3 20 Double cam type G 2x4 N effective For SD42 type Fig 13 Unit mm Mode KE 2 0 200 2 one 106 156 9446 46 225 5 22 3 1707383 75 v e 8 5 Screw type H G 2x2 N effective depth P Fig 14 Unit mm 2 1055205 48 275 5 2 2 mele 0 510 8 14 348 78 2 3 4 3 Connecting the Electric Gripper Connection Cable Refer to the Electric Gripper Control Board Operation Manual for details on connecting the electric gripper and electric gripper control board Always ensure that the electric gripper control board and robot controller power has been turned OFF before connecting or disconnecting the electric grippe
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