ELECTRIC GRIPPER USER'S MANUAL
Contents
1. Cable g 0 08 12 Se M Pw umg ine i SNC bo QI TT penna 0 010 0 010 4 2 01H7 o 2 01H7 o Effective depth 1 5 Effective depth 1 5 JB sl 3 m amp 3 H que 2 E EE 2 y on i Sk ES a EN E se E 2 o E bla LU 6 0 03 4 0 03 20 5 2 M3 effective depth 3 20 5 2 M3 efective depth 3 Fig 8 1 Note DRH ESG1 SS 2005 3N 5N have only two installation surfaces 16 Screw type 0 015 D 10H7 0 A S 2x4 U effective depth V For mounting Depth 3 Depth 3 p3H7 19 910 Depth 3 iy SB A e Mounting 2x4 U effective 2x4 U eitective depth V dot ara depth V For mounting For mounting Mounting surface Mounting surface Unit mm DRH ESG1 F S 20XX DRH ESG1 F S 28XX 17 Screw type TA 2x4 U effective depth V For mounting rom 9 919 Depth 3 2x4 U effective depth V For mountin2. 2x4 N effective LJ 2x2 N effective depth P depth P Lu For SD42 type Fig 13 Unit mm DRH ESG1 SD 20XX 4 801 DRH ESG1 SD 28XX 5 8012 DRH ESG1 SD 42XX 6 8015 Screw type 2x2 N effective depth P AMRAN Aks LAARA Unit mm 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 N WARNING Always ensure that the electric gripper control board and robot controller power has been turned OFF before connecting or disconnecting the electric gripper 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 CAUTION 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 e Do not let the cable flex at a si
3. DRH ESG1 FS 20XX SB ED 4 U effective depth V For mounting if oo Peer a 2x2 N effective depth P For mounting a finger Viewed from the direction of A Unit mm 0 3 0 01 DRH ESG1 FS 28XX DRH ESG1 FS 20XX 175 10 0 4 0 012 DRH ESG1 FS 28XX Model DRH ESG1 FS 20XX 135210 DRH ESG1 FS 28XX 33 Screw type FT SA A 4 U effective depth V For mounting RA 22 L J 4 U effective depth V For mounting BANA Al Lo JE 2x2 N effective depth P For mounting a finger 0 015 10H7 O Depth 3 Unit mm DRH ESG1 FT 20XX 3 001 DRH ESG1 FT 28XX 4 0 012 DRH ESG1 FT 20XX 175 10 DRH ESG1 FT 28XX 135 10 Model DRH ESG1 FT 20XX DRH ESG1 FT 28XX 34 RC8 CONTROLLER ELECTRIC GRIPPER USER S MANUAL First Edition August 2012 DENSO WAVE INCORPORATED 8P C 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 damag
4. Minimum setting N 30 15 30 45 2 Resolution N 1 0 5 1 1 5 Open close stroke mm 19 38 Max Rating mm sec 50 50 Minimum setting gt rame 20 10 20 10 D 76 Resolution ra ee 1 0 5 1 0 5 Low speed gripping mode max 96 50 50 S Repeatability m mm 0 01 0 01 Maximum mass 1 pair g 40 80 Allowable load N 1000 1300 5 Allowable pitching moment Nm 3 5 5 iE Allowable yawing moment N m 4 2 6 Allowable rolling moment N m 7 3 12 7 Max gripping point mm 30 30 Max overhang mm 20 20 Guide structure Linear guide Max gripping mass 96 kg 10 0 5 10 1 5 Operating temperature range PC 0 40 Operating humidity range RH35 90 Operating storage temperature C 10 60 Mass g 420 420 880 890 29 5 2x4 U effective depth VA External Dimensions Single Cam SS Q For mounting 2x4 U effective depth VB RA For mounting hole holes in the opposite also available lt a 5 lt a lt N DRH ESG1 SS 20XX 2x1 N Effective depth P For moumting a finger SC TE D Ts 12 5 Viewed from the direction of B Viewed from the direction of A 2x2 N effective depth P For mounting a finger
5. 4 Fig 18 1 31 Double Cam SD 4 U effective depth V 0 010 0 3H7 Depth 3 0 012 6H7 o Depth 3 4 U effective depth VA For mounting o u a E s N lo Viewed from the direction of B 2x4 N effective depth P For mounting a finger R RA Q 2x4 U effective depth VB For mounting hole ig Bas A holes in the opposite site also available 3 m a o Ji a B 3 em IN E e EISE i 1 gt nei 205 a N E ED Fig 19 DRH ESG1 SD 20XX 2x2 N effective depth P For mounting a finger Viewed from the direction of A SD 42 Unit mm 106 156 4 001 DRH ESG1 SD 28XX 126 226 5901 DRH ESG1 SD 42XX DRH ESG1 SD 20XX 17 0 36 3 60015 DRH ESG1 SD 28XX DRH ESG1 SD 42XX DRH ESG1 SD 20XX DRH ESG1 SD 28XX DRH ESG1 SD 42XX 32 Screw type FS c 3H7 Q 91 Depth 3 4 U effective depth V For mounting 4 U effective depth V For mounting TA TC
6. 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 e Do not touch the connectors or other parts power being supplied to the product It may result in electric shock or malfunction e 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 pacemaker wearers one meter away from the product The pacemaker may not work properly due to strong magnetic affection e 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 robo
7. 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 12 Pr face EE 1 2 FORSAFE USE ici as e ns i e ila id eate opc bd ieu da dues 2 2 1 CAUTION e tet ees c eee UR E ad E ae 3 24 1 General itin sn Mt Hn oq E Hi Rede lalla 3 2431 2 DES nag naa ge aa bagan a Aa A de ac d din NL em d egent 3 2 1 3 Operating Environment eee ener enn 3 2 1 4 Installation dedere re mures eae released 3 2 1 5 Operations edad ataca det teens 4 2 1 6 Maintenance and Inspection 4 2 2 WARNING ditta ideali e a e tec E mo ai a du 4 2 2 1 Operating Environment sise 4 2 2 2 Installation aldeidi ict bog I a nest ieee 5 2 2 3 Operation sica ta etat tut totes ta e s etd nali c s fest ee diced 6 2 2 4 Maintenance and Inspection nnne enntre nnen 6 2 2 5 Disposal REED 7 2 3 CAUTION ELM 7 ANE PS E o E nee Ont Ce den Ste eme deep T 7 Aal Workirig Environment ai mi pd at m Rd ERR RO ROG da 7 2 9 9 Fixing the Product tee nee ud e ne ei e gd 7 2 3 4 Operation ue nng a pe ber deem alada 8 2 3 5 Maintenance and Inspection 8 2 30 Storage En
8. SS 42 Unit mm 0 3 0 01 DRH ESG1 SS 28XX 0 3 0 01 DRH ESG1 SS 42XX DRH ESG1 SS 20XX 0 4 0 012 DRH ESG1 SS 28XX DRH ESG1 SS 42XX V VA VB W DRH ESG1 SS 20XX 61 DRH ESG1 SS 28XX 69 DRH ESG1 SS 42XX 7 5 8 10 72 30 Single Cam DRH ESG1 SS 2005 3N 5N 180 10 2 91H7 3 f Effective 1 5 2 M3 effective 3 12 For mounting E El ERAI p a VN MN Y L lai I J U I T EN J L i 1 B amp 3 ee 8 0 03 4 0 03 i 6 0 03 DES 1 A M a 19 Te T A 15 D oa lt 8 IN z EE bi n EN 2 M3 Effective 3 y q n H p For mounting 5 89 0 2 61 5 0 01 5 2 1H7 18 ony 10 5 Effective 1 5 Le AE 20 5 0 1 20 12 20 5 01 T A Viewed from the direction of B 2 M2 Effective 3 5 For mounting a finger Sere 2 5 2 5 PE 8 8 0
9. Take material quality of your installation bolts and flanges into consideration and decide tightening torque 13 3 4 2 Mounting surface T CAUTION 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 SS 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 14 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 2x4 U effective depth VA For mounting 2x4 U effective depth VB For mounting hole holes in opposite site also available Mounting surface o Zo g ES o 5 l lt 5 P bo St lt o a os ap an u 2 t P ha E x Fig 8 Unit mm DRH ESG1 SX 20XX DRH ESG1 SX 28XX DRH ESG1 SX 42XX 15 DRH ESG1 SS 2005 3N 5N
10. ding radius e 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 e 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 e 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 e Donotinsert a finger or object in the openings in the product It may cause fire electric shock or injury e 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 2 3 5 Maintenance and Inspection Never touch terminals while performing insulation resistance test Doing so may result in electric shock Do 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 e Not exposed to direct sunlight and moisture e Be dark cool and 30 cm higher or more than the floor surface to prevent occurrence of dew condensation e Be free from larg
11. e vibration and impact 2 3 7 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 Installation tap Finger rotation axis hole Positioning hole wu K Cali pst gt Tete ae ES Installation tap Finger Guide block Guide rail Linear guide Fig 1 Electric gripper connection cable Connector ped aping 3 2 1 Design of Fingers T CAUTION 3 2 Design 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 Allowable load Table 1 Single cam type Double cam type Screw type SS 20 SS 28 SS 42 SD 20 SD 28 SD 42 F 20 F 28 Allowable Pitching moment Allowable Yawing moment Allowable Rolling moment Max mass 1 pair Maximum gripping point Maximum overhang n mets ul Table 1 1 Note Choose as short and lightweight finger as possible Finger Smide de 10 3 3 Selection 3 3 1 Gri ing 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 force vs instruct
12. eration 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 T CAUTION 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 long time with the gripper holding a workpiece the slide may be negatively affected 23 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 Inspection Daily Inspection Daily at start of operation Visual inspection Check for correct operations Periodical Inspection Every six months after start of operation Grease supply Others As needed 3 6 2 Procedure for Visual Inspection Check the following for external inspecti
13. es resulting from the application of the information in this manual
14. 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 2 1 A 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 e f 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 Be sure to provide Class D grounding for the gripper and controller formerly Class 3 grounding Grounding resistance at 100 ohm or less Leakage current may cause electric shock or malfunction 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 e Do not use the product in a place where it may be exposed to water or oil droplets 2 1
15. g gilt NE AA SB 2x4 U effective depth V For mounting Mounting surface Mounting surface Mounting surface Depth 3 DRH ESG1 FT 20XX Fig 10 Unit mm DRH ESG1 FT 28XX 18 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 This 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 Using the positioning pin on the guide block may improve Guide rail installation accuracy and repeatability For further improvement of installation repeatability place a guide block Guide blok between a finger and guide rail as Positioning pin the figure 11 Fig 11 Installation Dimensions of Fingers Single cam type o dz 2x2 N effective depth P 2x1 N effective depth P L _J X N etrective dep DRH ESG1 SS 20XX 8 4 16 3 8 01 DRH ESG1 SS 2005 XN 1 5 8 9 1 580 DRH ESG1 SS 28XX 9 6 23 9 D 3801 DRH ESG1 SS 42XX 3 12 35 5 48 012 Double cam type
16. industrial machinery 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 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 manuals for the electric gripper electric gripper control board and electric gripper command It is the user s responsibility to verify and determine the compatibility of this product with the user s system and to use them properly 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 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 If 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 Please note that this electric gripper does not apply to miniature robots e Donotuse the product for the
17. ion value for single cam type Gripping force vs instruction value Instruction value 90 Fig 4 for single cam type 50 60 70 80 90 Instruction value Fig 4 1 100 11 Gripping force N Gripping force vs instruction value for double cam type Instruction value Fig 5 TY CAUTION 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 Gripping force vs instruction value for screw type 30 40 50 60 70 80 90 Instruction value Fig 6 12 CAUTION 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 de
18. ipper 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 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 are detected stop the operation immediately 2 2 5 Disposal Do not throw the product into fire The product may burst or generate toxic gases 2 3 AN CAUTION 2 3 1 General e If 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 faci
19. lity 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 Environment 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 Product e When handling the product wear protective gloves protective goggles safety shoes or other necessary gear to ensure safety e Protect the product from excessive impact load such as bumping or throwing e Do not step onto the package or place on the package a heavy object that allows the load concentrate e After unpacking the product do not carry by holding cables or connectors e 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 ben
20. ngle point to minimize the curvature e Do not let the cable get tangled or kinked e 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 21 3 4 4 System Configuration Electric gripper connection cable Note 1 Note 2 C connection 0 2 m B connection 1 m A connection 4 m 6 m B C connection 4 m 6 m CL Electric gripper Notes 1 Support is only possible for VS Series robots A communication cable flange spec A option is required 2 For VS Series robots when B connection is used Signal Lines and Air Piping option is Pa required when C connection is used a Communication interface Robot flange A option is required Teaching pendant option wy Emergency stop circuit prepared by customer 24 VDC power supply prepared by customer 22 3 5 Trial Run and Adjustment 3 5 1 Setting Operation Model 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 A WARNING Set parameters and operation mode not to impact excessively on or apply moment to the fingers while in op
21. o 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 25 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 26 Applying Grease to the Ball Screws D For easier application of grease open Cover fixing screw the guide block first Unscrews and remove the cover 8 Apply proper amount of grease on the surface of ball screws with fingers Screw the cover at recommended torque level Cover fixing screw size and recommended tightening torque Recommended tightening torque N m DRH ESG1 FX 20XX 0 55 0 70 DRH ESG1 FX 28XX 1 157 1 55 Fig 17 3 6 5 Cleaning Outside of the Gripper A 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 elec
22. on Inspection point What to be inspected Installation bolts are not loose Electric gripper Fingers are firmly attached External cleansing Troubleshooting If you find the loose installation bolts tighten them by applying the specified torque and take measures to prevent loosening Connectors are surely connected There are no flaws There are no scratches on the moving parts Electric gripper connection cable 3 6 3 Conducting Operation Check If there are flaws and or scratches on the electric hand connection cable replace it and eliminate the cause Check for abnormal noise vibration and smooth operation If any abnormalities are detected stop the operation immediately 24 3 6 4 Reapplication of Grease 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 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 als
23. pending on the material quality shape and gripping surface condition of the fingers 3 4 Installation 3 4 1 Installation Bolts 1 WARNING 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 from the next page Mounting surfaces and fixing taps which starts Installation bolt Effective m depth of hole YY UU Fig 7 Mounting plate Electric gripper Recommended tightening torque N m 0 55 0 70 SS 2005 SX 28 M4 1 15 1 55 SX 42 M5 2 65 3 20 FX 20 M4 1 157 1 55 FX 28 2 65 3 20 N CAUTION Recommended tightening torque in the table above is generally used one
24. per 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 time 2 FORSAFE 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 and other safety rules Indicates an imminently hazardous situation which if not avoided DANGER MM 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 CAUTION injury and machine damage if the equipment is operated wrongly 1 ISO 10218 Manipulating industrial robots safety This product is designed and manufactured as a component for use in general
25. spection 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 e Do not hold the moving parts of the product or its cables during installation It may result in injury 2 2 3 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 positioning 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 gr
26. t 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 6 Maintenance and Inspection e fthe 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 e 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 2 2 A WARNING 2 2 1 Operating Environmen e Do not use the product under direct sunlight or ultraviolet ray e Do not expose the product to radiant heat generated from a heat source e Use the product within the ambient temperature range of 0 C to 40 C e Use the product in the place having humidity range of 35 to 85 without dew condensation e Donotuse the product in an atmosphere of corrosive gases sulfuric acid or hydrochloric acid Rust may form and reduce the structural strength of the product e Donotuse 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 e Do not
27. tric gripper too strongly to prevent dust from entering the electric gripper through small openings and gaps 27 4 Specifications Cam type Double SS 2005 SS 2005 3N 5N N 22 40 3 1 5 1 50 34 13 5 Resolution N 1 0 22 1 0 45 1 0 03 1 0 05 1 0 5 Open close stroke mm 14 3 23 5 3 2 5 Max Rating mm sec 100 100 100 60 45 mm sec 76 mm sec SD 28 Max continuous rating force Minimum setting 96 N 30 6 6 Gripping 0 9 15 30 15 Min setting 20 20 20 20 20 20 20 12 20 9 Resolution 1 1 1 1 1 1 1 1 1 0 6 1 0 45 Constant speed move and grip 50 50 50 50 50 50 max Repeatability mm 2 D o A Max mass 1 pair g Allowable load N Allowable pitching i moment N m Allowable yawing moment Allowable rolling moment Max gripping point mm 20 N m N m Max overhang mm 20 Guide structure Linear guide 10 10 0 03 0 05 C 0 40 Max gripping mass kg 10 0 5 10 1 5 Operating temperature range Operating humidity range RH35 90 Operating storage temperature Mass e 90 C 10 60 28 Screw type Screw type FS 20 FT 20 FS 28 FT 28 Max continuous rating N 50 150 D amp
28. 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 Donotuse 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 22 Installation Provide an emergency stop device in a readily accessible position so the device can be actuated immediately upon occurrence of a dangerous situation during operation Lack of such device in an appropriate position may result in injury gt 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 in
29. vironment aa 8 2 3 7 Disposal isan aia ad aaa aa daa a da alia AAA 8 3 Handling Instructions and Precautions ss 9 3 1 Names of the Parts niente at to te tiat te da 9 2 2 A t et e emt et area ette nai Ka etas 10 3 215 Design of FINGEMS is oio oio b n t peti nb n f Daten eld b e peto st 10 Da ie et gesti e Ee Re eere ed eu ag ud SANA uev tete to at is 11 3 3 1 Gripping Force vs Instruction Value nense ns 11 9 4 Installation t aid im ttn Rus 13 3 4 1 Installation BONS 52 een er ene imei MM 13 3 4 2 Mounting surface eem eerie inei ee e kang ete etie din e 14 3 4 3 Connecting the Electric Gripper Connection Cable 21 3 4 4 System Configuration cece nre et oi A a A 22 35 rial Run and Adjustment e otc pde E ar Ra Re HR RA ROUTERS 23 3 5 1 Setting Operation Mode 23 3 5 2 Operating with electric gripper command 23 3 5 8 Removing a Workpiece su 23 3 6 Maintenance and Inspection 24 3 6 1 Inspection Timings and Items 24 3 6 2 Procedure for Visual Inspection ennenen 24 3 6 3 Conducting Operation Check ss 24 3 6 4 R application of Grease ete names Addis 25 3 6 5 Cleaning Outside of the Gripper a anana eaaa anana renane 27 4 SpecifICaltloris cde Her einer dem p tu cet iata iei dert oin ten 28 5 External Dimensions eic eee is 30 1 Preface Thank you for purchasing our DRH ESG1 Series Electric Grip
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