Festo HSW-x-AP Series User manual

(en) Operating
instructions
Handling module
HSP-...-AP/AS
8074323
2017-10b
[8074325]

HSP-...-AP/A S
Festo HSP-...-AP/AS 2017-10b
2
Original instructions
Symbols: Installation and commissioning may only be per
formed in accordance with these instructions by
technicians with appropriate qualifications.
Warning
Caution
Note
Environment
Accessories
English 3.........................................................................

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Handling module type HSP-...-AP/ASEnglish
Documentation on the product
For all available product documentation èwww.festo.com/pk
1 Operating parts and connections
1
2
3
4
5
7
8
9
6
aJaAaB
1Spring clamping element
2End stop with
– groove for proximity switch SMx-8...
– shock absorber type YSRW (...-AP)
– fixed stop with rubber buffer (...-AS)
3Adjusting screw for stroke setting
(y-direction)
4Link with path guide
5Adjusting screw for stroke setting
(z-direction)
6Cable bearing with end caps
(1 or 2 depending on size)
7Centre piece for path guide
(only with HSP-16-... and HSP-25-...)
8Sub-base with 4 through threaded holes
for fastening screws
9Stop strip
aJ Swivel lever
aA Cable binder support for supply cables
(1 or 2 depending on size)
aB Cross guide (guide carriage)
Fig. 1 Operating parts and connections type HSP-... (front view)

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2 Product overview
Basic design Variants
Types HSP-12-..., HSP-16-..., HSP-25-...
The handling module is supplied as stan
dard in sizes 12, 16, 25 ready fitted with
the following function elements:
– Sub-base with variable fitting and
fastening possibilities 8
– 2 adjustable guide links for path
control via roller bearing guide 4
– 2 linear guides arranged in cross-form
(cross guide) aB
– 2 stops in the end positions each with
a shock absorber (type ...-AS: with
rubber buffer) and a fastening rail for
proximity switches 2
Type HSP-...-AS
Handling module
without drive
Type HSP-...-AP
Handling module with
swivel module type
DSM-...
(double-acting,
pneumatic)
Options
Type HSP-...-...-SD
Handling module with protective cover
and side plates.
The design “SD” is recommended for
stand alone mode.
Type HSP-...-...-WR/WL
Handling module with cylinder
BWR-/BWL-HSP-... (see also the chapter
“Accessories”) for withdrawing the
swivel lever into a waiting position above
the
– right-hand end position: type ...-WR
– left-hand end position:type ...-WL

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Kits and accessories (see also the chapters “Fitting” and “Accessories”)
Fastening kit type HMB...
for fitting with angled pieces and sliding
blocks e.g. on profile columnns
Installation kit MKRP... (A)
– Flexible protective tube for moving tubing
– Cable support on the cross guide
– Adapter bracket for fastening e.g. on to a
sub-base or structure
– Cover profile for cable bearing in the
grooves of the sub-base or side plates
(A)
(B)
(C)
(D)
Proximity switch type SME/SMT-8-... (B)
for scanning end positions and waiting
positions (type HSP-...-...-WR/WL)
Adapter kit type HAPG-... (C) and in some
cases additional adapter plates (D)
for fastening add-on components (grippers,
swivel drive)
Instructions on fitting further accessories in
conjunction with Festo components are
summarized in the system manual “Handling
technology.”
For HSP-...-AP:
One-way flow control valves type GRLA-... (E)
for setting the positioning speed
(E)

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3 Method of operation and use
By means of the path guide 4and the cross
guide aB a movment in a vertical and horizon
tal direction is forced (y-z path). Spring
clamping elements fitted to the end stops 1
guarantee a high degree of repetition accu
racy in positioning.
Self-adjusting hydraulic shock absorbers 2
(only with type ...-AP) in the end positions
cushion the movement. The end positions can
be scanned with proximity switches of type
SME/SMT-8-.... The switching status of the
proximity switches can be observed through
the viewing window when the housing cover is
fitted on.
The stroke range for both end positions (receive and release positions) is set
separately:
– in the y-direction: via the adjusting screws in the links 3
– in the z-direction: via the stop screws on the vertical guide rail 5
Handling module type HSP-...has been designed for use in automated component
assembly in handling and fitting systems.
The HSP-... is particularly suitable for handling small parts at high speed, e.g.
when inserting, turning over or joining.
4 Transport and storage
STake the weight of the HSP-... into con
sideration. Depending on the size, the
basic design can weigh up to 8.2 kg.
SConsider the following recommendations
regarding storage:
Storage duration 48 months
Storage temperature + 20 °C
Fig. 2
z
y
Fig. 3

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5 Conditions of use
Please note
Incorrect handling can lead to malfunctioning.
SMake sure that the specifications in this chapter are always observed.
The product will then function correctly and safely.
SPlease comply with national and local
safety laws and regulations.
SPlease observe the prevailing ambient
conditions.
SCompare the maximum values in these
operating instructions with your actual
application (e.g. pressures, forces,
torques, temperatures, masses, speeds).
SRemove the packaging. The packaging is
intended for recycling. (exception: oiled
paper which must be disposed of).
SPlease observe the warnings and instructions:
– on the product
– in these operating instructions and
– for the type HSP-...-...WR/WL: in the operating instruction for the
BWR-/BWL-HSP-...
SUse the product in its original state. Unauthorized modification is not per
mitted.
SMake sure there is a supply of correctly
prepared compressed air.
SMaintain the selected medium for the
complete service life of the product.
Example: If non-lubricated compressed
air is used at the beginning, you should
always use non-lubricated compressed
air.
Fig. 4
[°C] [%] [mbar]
Fig. 5
LF-... LR-...

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SSlowly pressurize the complete system.
To do this use start-up valve type HEL-... /
HEM-....
SCheck to see if the following are
necessary:
a compensation reservoir type VZS-... a non-return valve type HGL-...
This will reduce fluctuations in the
pressure.
In this way you can prevent the work load
from sliding down if there is a sudden drop
in pressure.
6 Fitting
Please note
Note especially the following when fitting all the components:
‒ Screw connections must be fitted free of offset and mechanical tension.
‒ Screws must be fitted accurately (otherwise threads will be damaged).
‒ The specified torques must be observed.
‒ Contact surfaces must be clean (avoid leakage and contact faults).
Observe also the installation instructions supplied with modules and compo
nents ordered at a later stage.
Please note
For the type HSP-...-...WR/WL: Please observe the warnings and instructions in
the operating instruction for the BWR-/BWL-HSP-...
Fig. 6

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Fitting: Mechanical components
The HSP-... is supplied ready for fitting.
SIf necessary, remove the protective cover before fitting.
SFit first the add-on components and, in the case of the HSP-...-AS, the external
drive or after fastening make sure that there is sufficient free space for fitting
the components.
SMake sure that the fastening surface can support the weight of the HSP-....
SFit the HSP-... only onto a flat fixed surface.
Select one of the following fastening methods:
– Direct fastening via 4 through holes in the sub-base
[mm] HSP-12 HSP-16 HSP-24
H1 40 20 40
H2 40±0.2 100±0.2 100±0.2
@D1 6.3 6.3 6.3
L1 200±0.6 280±0.6 370±0.6
– Fastening via the side plates
(user-specific hole pattern).
– Fastening on the rear of the sub-base with
– sliding blocks type HMBN-5-M5
(Fig. 8) or
– fastening kit type HMBK-ND and
connecting bracket type HMBV-ND
(example: Fig. 9).
Fig. 7
D1
L1
H2 H1
Fig. 8

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Recommendation:
Fasten the HSP-... preferably in a vertical position with fastening kit type
HMBK-ND and connecting bracket type HMBV-ND on one or two profile columns.
Fig. 9
Please note
Note that two profile columns are necessary for stable fastening of the
HSP-25-....
SPlace the HSP-... so that you can easily reach the operating parts.
SMake sure that the HSP-... is fitted free of mechanical stress. Tighten the
fastening screws to an equal extent.
SMake sure there is sufficient space for connecting the power cables and
compressed air tubing.

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Fitting the add-on components:
Use adapter kit type HAPG-... with:
– Universal adapter for the relevant size
ofHSP-...(A).
– Two channels for the tubing bearing (B)
and the support for the cable binder (C).
The standard hole pattern of the universal
adapter (D) forms the interface to selected
Festo products, e.g. micro grippers.
SCheck to see if additional fastening el
ements and adapter plates (E) are neces
sary. An overview of this can be found in
the sales documentation for the HSP-... .
Please note
Natural resonance when the work load
vibrates can cause damage.
SPlace the mass centre of gravity of the
work load, therefore, as near as possible
to the axes of symmetry of the cross
guide.
Please note
Excessive forces and torques can damage
the drive and the mechanical components.
SMake sure that you observe the maxi
mum permitted values of the following
variables:
– force Fx, Fy, Fz
– torques Mx, Myand Mz
The reference point for forces and
torques is the centre of the cross guide
on the guide slide.
See chapter “Technical specifications.”
Fig. 10
(A)
(B)
(C)
(D)
(E)
Fig. 11

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Fitting an external drive for type HSP-...-AS:
Please note
SUse a drive with constant drive speed
without impact loading.
SMake sure that you observe the maxi
mum permitted values of the following
variables:
– axial radial force Fyand Fz
– drive speed My
The reference point for forces and
torques is the centre of the shaft.
See chapter “Technical specifications.”
The drive speed is transmitted via a drive shaft with ball bearings. The external
drive can be fastened to the rear of the sub-base.
Fastening the drive HSP-12-AS HSP-16-AS HSP-25-AS
(A) Fastening holes (4x) M4 M4 M5
(B) Shaft with feather key
as per DIN 6885
A2x2x12 A2x3x18 A2x4x25
(C) Centring fit @45 f8 @ 60 f8 @ 70 f8
Fig. 12
(A)
(B)
(C)

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Static adjustment of the end positions:
SRemove the protective cover of the
handling module.
SExhaust the drive.
Setting the Z-stroke:
1. Loosen the locking nut of the stop
screw (A).
2. Use a hexagon socket screw key to turn
the stop screw at the same time with
counter force against the locking screw
unti the receive position (B) is reached.
3. Tighten the locking screw (tightening
torque: 1 Nm).
4. Repeat the procedure for setting the
release position.
Setting the Y-stroke:
Warning
Sudden movements of the actuators when they are under pressure during the
setting of the y-stroke can cause injuries and loose link parts can damage the
HSP-... .
SExhaust the drive before you loosen the fastening screws of the link parts.
SAfter setting the Y-stroke: Make sure that the fastening screws of the link
parts are screwed tight.
In this way you will avoid injury to human beings and damage to the device.
Please note
Loosen only the fastening screws of both link parts.
The fastening screws of the centre piece 7between the link parts on HSP-16-...
and HSP-25-... must not be loosened.
Fig. 13
(B)
(A)

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5. Loosen the fastening screws (C) of the
right-hand and left-hand link parts just
enough to enable the link parts to be
shifted.
6. Turn the adjusting screws (D) until the link
parts have reached the desired receive or
release position.
If side plates are fitted, you can set the
adjusting screws with a hexagon socket
screw key through the holes in the side
plates.
Alignment free of offset:
7. Press the link parts down vertically
against the aluminium stop strip (E) of the
horizontal guide rail, while you tighten the
fastening screw of the link parts (tighten
ing torque: 6 Nm).
SCarry out a manual check of the following
after each adjustment (without pressuriz
ing the drive):
– Has the desired end position been
reached?
– Are the link parts aligned without
offset?
SIn order to do this, swing the moveable
mass into the end positions.
– by hand or
– with a hexagon socket screw key on
the drive (Fig. 16).
SWhen doing this, check that the double
rollers run smoothly in the path guide.
SIf necessary, correct the alignment of the
link parts.
Fig. 14
(D)
(C)
Fig. 15 (E)
Fig. 16

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Fitting: Pneumatic components
Connecting the drive for type HSP-...-AP:
SUse one-way flow control valves of type
GRLA-... for setting the swivel speed. The
speed will be reduced by the throttling of
the exhaust air.
SScrew in both one-way flow control valves
on the drive.
SConnect the tubing of the drive.
Connecting the add-on components:
Installation kit MKRP-.. (see chapter “Accessories”) enables the tubing and cables
to be grouped together in a flexible installation tube. The installation tube is fas
tened to the cross guide with the support, and e.g. to the sub-base or the struc
ture with the adapter bracket. The installation tube may be filled to max. 70 %.
Make sure that the moving pneumatic tubing
and electric cables are laid correctly (example
Fig. 18):
SLay the cables and tubing upwards along
the vertical guide rail.
SFasten the cables and tubing with cable
binders
– on the support of the universal adapter
(A) or pass them through the two cable
channels of the universal adapter (B).
– on the cable binder support (C) on the
cross guide.
SPass the cables and tubing through the
holes in the sub-base (E) or use protective
tubing (D).
Fig. 17
Fig. 18
(A)
(B)
(C)
(D)
(E)

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Fitting: Electric components
Use proximity switches SME/SMT-8 for
scanning the end positions:
1. Remove the protective cover of the
handling module.
2. Make sure that the shock absorbers are
screwed in completely (only type ...-AP; as
supplied from the factory).
3. Push the proximity switch into the groove
of the sensor rail (A).
The electric proximity switches are trig
gered by magnets in the stop screws (B).
4. Fasten the proximity switches in the end
positions. Subsequent adjustment of the
shock absorbers is not necessary.
Please note
The cables of the proximity switches must not lie in the working range of the
handling module.
SClamp the cables in the groove of the side plates (D) and the sub-base.
SSecure the cables with the aid of the cover profile (C) of the installation kit
(cut to size).
SPaass the cables back through the through hole in the sub-base (E).
Fig. 19
(A)
(B)
(D)
(E)
(C)

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7 Commissioning
Complete system
SSlowly pressurize the complete system. This will prevent uncontrolled
movements from occurring. For slow start-up pressurization, use start-up valve
type HEL-... orHEM-....
SMake sure that the conditions of use for the setting procedure are identical
with those in continuous operation. Otherwise there is a danger of the
handling module becoming overloaded.
Individual unit
Warning
SMake sure that:
‒ nobody can place his/her hand in the positioning range of the handling
module
‒ there are no objects in the path of the moveable mass
‒ there is no tubing in the path.
Protect the area e.g. by means of a cover or screen.
Please note
HSP-...-AP:
SHandle the shock absorbers with care so that the thread, the piston rod and
the outer cylinder are not damaged.
SMake sure that the shock absorbers are screwed in completely and locked
(assupplied from the factory). If the shock absorbers are not screwed in
completely, the cushioning effect will be considerably reduced (reduced
cushioning stroke).
Please note
HSP-...-AS with an electromotor:
Moving to the fixed stop (2in fig. 1) generates sudden loadings in the drive
chain. This can lead e.g. to gear damage.
SCarry out reference travel against the fixed stops only with low energy. The
rubber buffers in the fixed stops are only to reduce noise.

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Please note
For the type HSP-...-...WR/WL: Please observe the warnings and instructions in
the operating instruction for the BWR-/BWL-HSP-...
SPressurize the add-on components. If necessary, carry out a separate test run
to check that the add-on components are functioning correctly.
Add-on components Tests
Without work load – Correct assignment of the compressed air
connections
– Gripping speed
– Function of the proximity switches
With work load – Reliable holding of the work load
SPressurize the drive in one of the following ways as desired:
–slow pressurization of one side
– simultaneous pressurization of both sides with subsequent exhausting of
one side.
Please note
Swivel module DSM-... for HSP-...-AP may only be commissioned in unmodified
state as at delivery and with protective cap.
Please note
SStart first of all a test run at reduced operating speed.
SAccelerate in steps until the operating speed is reached. For this speed,
please refer to the calculations for your application.
SInterrupt the test run if:
‒ there is a metallic knocking of the stop screws
‒ the double rollers do not run smoothly in the path guide
‒ the end positions are not reached
‒ the work load falls down.
For eliminating faults, please refer to the information in chapter 12.

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Test run
1. Tighten the two upstream one-way flow
control valves
– at first completely
– then loosen approximately one turn.
2. Make sure that the operating conditions
lie within the permitted ranges.
Please note
The permitted kinetic impact force at the
end stop applies for certain mass-speed
combinations. It must not be exceeded.
SMake sure that the permitted values for
the positioning time as a factor of the
work load are observed (chapter
“Characteristic curves”).
3. During the test run check:
– that the proximity switches are functioning correctly
– that the work load is held safely
– the positioning time as a factor of the work load
– the adjustment of the end positions.
4. When adjusting the end positions, observe the instructions in the chapter
“Fitting.”
Warning
Sudden movements of the actuators when they are under pressure during the
setting of the y-stroke can cause injuries and loose link parts can damage the
HSP-....
SExhaust the drive before you loosen the fastening screws of the link parts.
SAfter setting the y-stroke: Make sure that the fastening screws of the link
parts are screwed tight.
In this way you will avoid injury to human beings and damage to the device.
Fig. 20
Fig. 21

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5. Open up the one-way flow control valves slowly again until the desired
positioning speed is reached.
6. Make sure that the pulse time does not drop below the minimum permitted
time.
Definition
Pulse time tt= positioning time t + dwell time te
t: Time which the HSP-... requires in order to move from the receive position to
the release position and back. (permitted values see chapter “Characteristic
curves”).
te:Time during which the HSP-... remains in the receive position and release
position.
Type HSP-12-... HSP-16-... HSP-25-...
Minimum permitted pulse time tt[s] 0.6 0.8 1
The HSP-... should reach the end position safely, but not strike hard against it.
Striking too hard causes the device to bounce back out of the end stop.
Please note
The tendency to vibrate increases if the speed at the start of cushioning is high.
The complete cycle time increases due to the reverberation time.
SSet the drive below the max. permitted speed at the start of cushioning. You
can then increase the end position accuracy.
When all corrections have been undertaken:
Please note
Before exhausting:
SMake sure that the gripper is not holding a work load.
In this way you can prevent a mass from sliding down when the device is
exhausted.
7. Conclude the test run. Exhaust the drive and the add-on components.