Festo EHPS LK Series Parts list manual

8107761
EHPS-...-LK
Parallel gripper
8107761
2019-08
[8107763]
Instructions| Operat-
ing

Translation of the original instructions
IO-Link® is a registered trademark of its respective trademark holder in certain countries.
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1 About this document................................................................................................... 5
1.1 Further applicable documents...................................................................................... 5
1.2 Product labelling.......................................................................................................... 5
2 Safety........................................................................................................................... 5
2.1 Safety instructions........................................................................................................ 5
2.2 Intended use................................................................................................................ 5
2.3 Training of qualified personnel..................................................................................... 6
3 Additional information................................................................................................ 6
4 Service..........................................................................................................................6
5 Product overview......................................................................................................... 6
5.1 Function....................................................................................................................... 6
5.2 Design........................................................................................................................... 7
6 Mounting..................................................................................................................... 7
6.1 Preparing the gripper fingers........................................................................................ 7
6.2 Mounting the gripper fingers........................................................................................ 8
6.3 Mounting the gripper.................................................................................................... 9
6.4 Mounting accessories................................................................................................... 10
7 Installation.................................................................................................................. 10
7.1 Electrical installation.................................................................................................... 10
8 Commissioning............................................................................................................ 11
8.1 Processing.................................................................................................................... 12
9 IO-Link Interface description....................................................................................... 12
9.1 General information on the IO-Link............................................................................... 13
9.2 General specification IO-Link........................................................................................ 13
9.3 Communication functions............................................................................................. 14
9.4 Identification parameters............................................................................................. 15
9.5 IO-Link Standard parameters and commands............................................................... 15
9.6 Process Data OUT......................................................................................................... 16
9.6.1 Use cases................................................................................................................17
9.7 Process Data IN............................................................................................................ 18
9.7.1 Description "StatusWord"......................................................................................19
9.8 Device-specific parameters........................................................................................... 19
9.9 Commissioning............................................................................................................. 24
9.10 Datastorage.................................................................................................................. 24
9.11 System Commands....................................................................................................... 24
9.12 Fault clearance IO-Link................................................................................................. 25
10 Maintenance................................................................................................................ 28
10.1 Safety............................................................................................................................ 28
10.2 Cleaning....................................................................................................................... 28
10.3 Lubrication................................................................................................................... 28
Table of contents

11 Malfunctions................................................................................................................ 28
11.1 Diagnostics....................................................................................................................28
11.2 Fault clearance.............................................................................................................. 30
11.3 Repair............................................................................................................................31
12 Disassembly.................................................................................................................31
13 Disposal........................................................................................................................32
14 Technical data.............................................................................................................. 32
14.1 Technical data, general..................................................................................................32
14.2 Characteristic curves..................................................................................................... 33
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1 About this document
1.1 Further applicable documents
All available documents for the product èwww.festo.com/pk.
1.2 Product labelling
Warning symbols on the product
Symbol Meaning
General warning indicator:
The symbol means a hazardous area and that the operating instructions must be read
and observed.
Tab. 1 Warning symbols on the product
2 Safety
2.1 Safety instructions
– Observe labelling on the product.
– Prior to assembly, installation and maintenance work: Switch off power supply, ensure that it is
off and secure it against being switched back on.
– Store the product in a cool, dry, UV-protected and corrosion-protected environment. Ensure that
storage times are kept to a minimum.
– Observe tightening torques. Unless otherwise specified, the tolerance is±20%.
– The occurrence of a failure could lead to unforeseeable movements if the gripper is connected
with the power supply. Only operate the gripper once protective measures have been taken
against mechanical threats to body parts.
– Contrary to specification IO-Link port class B without galvanic isolation between primary and sec-
ondary power supply. This can lead to malfunction or damage to the IO-Link Master and the con-
nected IO-Link devices and must be observed during wiring.
2.2 Intended use
The intended use of the product is to grip and hold payloads (workpieces) using custom-designed
gripper fingers attached by the customer.
The gripper fingers are not included in the delivery.
When not used as intended, the product-supported protection can be impaired.
About this document

2.3 Training of qualified personnel
Installation, commissioning, maintenance and disassembly should only be conducted by qualified per-
sonnel. The qualified personnel must be familiar with installation of electrical control systems.
3 Additional information
– Accessories èwww.festo.com/catalogue.
4 Service
Contact your regional Festo contact person if you have technical questions èwww.festo.com.
5 Product overview
5.1 Function
The gripper has an integrated motor. The gripper mechanism converts the rotary motion of the motor
into a linear motion of the gripper jaws.
The gripper jaws move towards one another (closing) or apart (opening). Gripper fingers are fastened
to the gripper jaws.
The payload can be gripped in 2 ways:
– on the external contour (external gripping) when closing
– on the internal contour (internal gripping) when opening
The parallel gripper is controlled via an IO-Link interface.
Additional information
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5.2 Design
1Gripper jaws
2Locating hole and thread for mounting the
gripper fingers
3Plug screw
4LED indicator (Error)
5LED indicator (Ready)
6Electrical connection
7Slot for proximity sensor
8Locating hole and thread for mounting the
gripper
Fig. 1 Product design
6 Mounting
6.1 Preparing the gripper fingers
Requirements for gripper fingers:
– Observe maximum permitted forces and torques on the gripper jaws è 14 Technical data.
– Use gripper fingers that are as short and lightweight as possible.
– Observe maximum length and weight è 14 Technical data.
– Produce gripper fingers that are suitable for the payload and type of gripping action.
Mounting
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6.2 Mounting the gripper fingers
AGripper finger
BCentring pin
CScrew
Fig. 2 Gripper finger mounting
1. Press centring pin or centring sleeve into locating holes in the gripper jaws.
2. Position the prepared gripper fingers on the gripper jaws and secure with 2 screws on each. Fix
gripper jaws in place during mounting and comply with tightening torque.
Size 16 20 25
Screw M4 M4 M5
Centring hole for cent-
ring sleeve [H8]
[mm] 7 7 9
Centring hole for cent-
ring pin [H8]
[mm] 3 4 4
Jaw width [mm] 10 ±0.05 12 ±0.05 15 ±0.05
Tightening torque1) [Nm] 2.9 2.9 5.9
1) Brace at gripper jaws
Tab. 2 Gripper finger mounting, dimensions and tightening torque
Mounting
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6.3 Mounting the gripper
Through-hole mounting and direct mounting
Fig. 3 Through-hole mounting on the side, direct mounting underneath (also possible on the side)
Mounting with adapter kit
Adapter kits èwww.festo.com/catalogue.
Fig. 4 Mounting with adapter kit from underneath
Mounting
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NOTICE!
Accumulation of heat results from cramped installation situation.
Material damage or malfunction.
• Mount the product with sufficient space for heat dissipation.
1. Press 2 centring sleeves into the locating holes of the gripper.
2. Use the centring sleeves to position the gripper on the connecting surface.
3. Select screws in accordance with the type of mounting.
4. Tighten screws with the associated tightening torque.
Size 16 20 25
Direct mounting
Screw M4 M4 M6
Max. screw-in depth [mm] 8 8 12
Centring hole [mm] 7 7 9
Tightening torque [Nm] 2.9 2.9 10
Through-hole mounting
Screw M3 M3 M4
Centring hole [mm] 7 7 9
Tightening torque [Nm] 1.2 1.2 2.9
Tab. 3 Mounting attachments and tightening torque
6.4 Mounting accessories
If required: use proximity sensor to sense the position of the gripper jaws in the slot.
Use only proximity sensors approved for the product.
7 Installation
7.1 Electrical installation
WARNING!
Risk of injury due to electric shock
• For the electric power supply, use only PELV or SELV circuits that ensure a reliable electric discon-
nection from the mains network.
Installation
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WARNING!
Risk of injury due to electric shock or burns.
The gripper does not offer any additional protection against unintended high currents in the supply
cables.
• The cross section of the supply cables should be designed to meet the maximum current value
that could occur in the event of a failure.
WARNING!
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
1. Switch off power to the controller and safeguard it from being switched on again unintentionally.
2. Use permissible connecting cable èwww.festo.com/catalogue.
3. Connect the parallel gripper to the controller at the connection plug.
DANGER!
Danger of crushing due to unexpectedly moving loads and unintentional movements.
Contrary to specification IO-Link port class B without galvanic isolation between primary and second-
ary power supply. This can lead to malfunction or damage of the IO-Link Master and the connected IO-
Link devices.
• Connect pin 3 (L-) and pin 5 (N24) externally to avoid compensating currents via the gripper.
• When installing further IO-Link devices on the master, note that the actuator supply can only be
switched off via pin 2 (P24).
M12 plug (5-pin, A-coded) Pin1) Connection Identifier
1 (BN)
brown
+18VDC…+30VDC Sensor: Supply voltage for
IO-Linkcommunication
2 (WH)
white
+24VDC (±10%) Actuator: supply voltage
3 (BU)
blue
0VDC Sensor: supply voltage IO-
Link communication
4 (BK)
black
C/Q IO-Link Communication
5 (GY)
grey
0VDC Actuator: supply voltage
1) Wire colour with use of connecting cables according to accessories èwww.festo.com/catalogue
Tab. 4 Pin allocation
8 Commissioning
Commissioning
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8.1 Processing
DANGER!
Danger of crushing due to unexpectedly moving loads and unintentional movements.
Contrary to specification IO-Link port class B without galvanic isolation between primary and second-
ary power supply. This can lead to malfunction or damage of the IO-Link Master and the connected IO-
Link devices.
• Connect pin 3 (L-) and pin 5 (N24) externally to avoid compensating currents via the gripper.
• When installing further IO-Link devices on the master, note that the actuator supply can only be
switched off via pin 2 (P24).
WARNING!
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
NOTICE!
Material damage due to incorrect or incomplete installation.
The following conditions must be fulfilled for commissioning:
• The system must be fully assembled.
• The electrical installation must be complete and checked.
9 IO-Link Interface description
• The associated device description file (IODD) èwww.festo.com/sp
• Detailed information on the IO-Link specification èwww.io-link.com
IO-Link Interface description
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9.1 General information on the IO-Link
Data exchange
Fig. 5 Data exchange
Handshake
Data must be transferred between controller and gripper using the Handshake protocol. The data
receiver confirms data reception by setting a bit. Another command cannot be sent until the previous
data transfer has been completed.
Fig. 6 Handshake
9.2 General specification IO-Link
Feature Specification
Protocol IO-Link
IO-Link, protocol version Device V 1.1
IO-Link, communication mode COM3 (230.4 kbaud)
IO-Link, SIO mode support no
IO-Link, port class Device B
IO-Link, number of ports Device 1
IO-Link Interface description
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Feature Specification
IO-Link, process data width OUT [Bytes] 8
IO-Link, process data content OUT [bit] 16 "ControlWord"
8 "GrippingMode"
8 "WorkpieceNo"
16 "GrippingPosition"
8 "GrippingForce"
8 "GrippingTolerance"
IO-Link, process data width IN [Bytes] 6
IO-Link, process data content IN [bit] 16 "StatusWord"
16 "ErrorNumber"
16 "ActualPosition"
[Bytes] 32 "ApplicationSpecificTag"
[bit] 16 "StatusWord"1)
16 "ErrorNumber"1)
32 "CycleCounter"
16 "Temperature"
16 "ControlWord"1)
[Bytes] 64 "ErrorMessage"
IO-Link, service data content IN
[bit] 16 "ErrorCount"
16 "ActualPosition"1)
16 "GrippingPosition"2)
8 "WorkpieceNo"2)
8 "GrippingMode"2)
8 "GrippingTolerance"2)
8 "GrippingForce"2)
40 "WorkpieceSet"
IO-Link, min. cycle time [ms] 5
IO-Link, data memory required [Kbyte] < 0.5
1) Copy of the process data
2) data currently used
Tab. 5 General specification IO-Link
9.3 Communication functions
Feature Specification
Preoperate M-sequence type _1_V, (8 Byte On-request Data)
Operate M-sequence type _2_V, (8 Byte OUT; 6 Byte IN; 2
Byte On-request Data)
IO-Link Interface description
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Feature Specification
ISDU supported
Data Storage supported
Block Parameterization supported
Tab. 6 Communication functions
9.4 Identification parameters
EHPS-...-A-LK Device ID [dec/hex] Vendor ID [dec/hex]
16 49/0x000031 333/0x014D
20 50/0x000032 333/0x014D
25 51/0x000033 333/0x014D
Tab. 7 Identification parameters
Index Sub index Name Value (example) Length
[byte]
Format
0x0010 0 "Vendor Name" Festo AG & Co. KG 64 String
0x0011 0 "Vendor Text" www.festo.com 64 String
0x0012 0 "Product Name" EHPS-16-A-LK
EHPS-20-A-LK
EHPS-25-A-LK
64 String
0x0013 0 "Product ID" 8103809
8103810
8103811
64 String
0x0014 0 "Product Text" parallel gripper 64 String
0x0015 0 "Serial Number" KNP00002 16 String
0x0016 0 "Hardware Revision" REV01 64 String
0x0017 0 "Firmware Revision" V1.0.0 64 String
Tab. 8 Identification parameters
9.5 IO-Link Standard parameters and commands
Index Sub index Name Value Length
[byte]
Format
0x0020 0 "ErrorCount" Example: 123456 16 UIntegerT
Tab. 9 IO-Link Standard parameters and commands
IO-Link Interface description
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9.6 Process Data OUT
The gripper can only be controlled with the cyclically transmitted process data. A maximum of 1 bit
only may be set in the "ControlWord".
Bit 63 62 61 60 59 58 57 56
Process data "ControlWord"
Data content "Rese-
tError"
–––––"Close" "Open"
Decimal 32768 –––––512 256
Index 0x0029
Sub index 1
Data type UIntegerT16
Tab. 10 Process data OUT
Bit 55 54 53 52 51 50 49 48
Process data "ControlWord"
Data content "Find-
NewEnd-
Posi-
tions"
–––"Teach-
Grip-
pingPos-
ition"
"Reset-
Direc-
tion-
Flag"
"Store" "Latch-
Data"
Decimal 128 –––8 4 2 1
Index 0x0029
Sub index 1
Data type UIntegerT16
Tab. 11 Process data OUT
Bit 47…40 39…32 31…16 15…8 7…0
Meaning MSB…LSB MSB…LSB MSB…LSB MSB…LSB MSB…LSB
Process data "Gripping-
Mode"
"WorkpieceNo
"
"GrippingPosi-
tion"
"GrippingForce
"
"GrippingTol-
erance"
Index 0x0029
Sub index 2 3 4 5 6
Data type UIntegerT8 UIntegerT16 UIntegerT8
Tab. 12 Process data OUT
IO-Link Interface description
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9.6.1 Use cases
"LatchData" (bit 48)
– "WorkpieceNo = 0"
With this command, the transferred process data are accepted as an active data set.
–"WorkpieceNo > 0"
This command accepts the data stored in the "WorkpieceSet" as an active data set.
"Store" (bit 49)
– "WorkpieceNo = 0"
This command is not possible for the "WorkpieceSet= 0" è"ErrorNumber": 776
–"WorkpieceNo > 0"
Specific data ("GrippingMode", "GrippingPosition", "GrippingTolerance", "GrippingForce") for
different workpieces can be stored in the "WorkpieceSet". The data set accepted with
"LatchData"is transferred to the corresponding parameters during execution by "Store".
"ResetDirectionFlag" (bit 50)
The gripper stores the last travelled direction. After the "Close" command, the "Open" command
must follow and vice versa. If, for example, it is necessary to move the jaws in the same direction when
changing a workpiece, the "DirectionOpenFlag" or "DirectionCloseFlag" direction flag can be reset via
the "ResetDirectionFlag" command. Then a movement in the previous direction is possible again.
"TeachGrippingPosition" (bit 51)
– "WorkpieceNo = 0"
This command is not possible for the "WorkpieceSet= 0".
–"WorkpieceNo > 0"
The stored parameter"GrippingPosition" in the "WorkpieceSet" can be written by this command.
The "ActualPosition" value on execution of "TeachGrippingPosition" is transferred to the "Grip-
pingPosition" parameter of the selected "WorkpieceSet".
Reaching of this gripping position can be checked in the "StatusWord" with the "GrippedPosition-
Flag" marker.
"FindNewEndPositions" (bit 55)
If required (for example in the case of reduced installation space), the end positions can be redefined
with this command so that the desired layers are returned with the "ClosedPositionFlag" and "Opene-
dPositionFlag"flags in the "StatusWord".
This command "FindNewEndPositions" moves the gripper open-close and open again. From the open
position, the gripper moves exclusively closed-open. The minimum and maximum values approached
in this way are transferred to the internal memory as new end positions.
The positions are reset by executing the command again, whereby the gripper can again move its max-
imum stroke without a previous stop.
"Open" (bit 56)
With this command, the gripper moves the jaws to the outer position (opening).
"Close" (bit 57)
With this command, the gripper moves the jaws to the inner position (closing).
IO-Link Interface description
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"ResetError" (bit 63)
With this command, safety-relevant errors can be acknowledged and the gripper can be switched back
to operational status.
Individual errors cannot be reset by the user. The reset is then performed automatically as soon as the
specified operating conditions are met again.
9.7 Process Data IN
The gripper transmits data cyclically. This allows the gripping process to be monitored.
Bit 47 46 45 44 43 42 41 40
Process data "StatusWord"
Data content "Error" "Direc-
tion-
Close-
Flag"
"Direc-
tionOpe-
nFlag"
"Latch-
DataOk"
"Undefi-
nedPosi-
tion-
Flag"
"Closed-
Position-
Flag"
"Grippe-
dPosi-
tion-
Flag"
"Opene-
dPosi-
tion-
Flag"
Value range 0…65535
Index 0x0028
Data type UIntegerT16
Tab. 13 Process data IN
Bit 39 38 37 36 35 34 33 32
Process data "StatusWord"
Data content –"Ready" ––––––
Value range 0…65535
Index 0x0028
Data type UIntegerT16
Tab. 14 Process data IN
Bit 31 …16 15 …0
Meaning MSB…LSB MSB…LSB
Process data "ErrorNumber" "ActualPosition"
Value range 0…65535 0…max. jaw stroke
– EHPS-16: 0…2150
– EHPS-20: 0…2750
– EHPS-25: 0…3350
Index 0x0028
IO-Link Interface description
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Bit 31 …16 15 …0
Data type UIntegerT16
Tab. 15 Process data IN
9.7.1 Description "StatusWord"
"Ready" (bit 38)
Active as soon as the gripper is raised. It can also be used to check a byte swap.
"OpenedPositionFlag" (bit 40)
Active when the open position is reached. In the case of a previous redefinition of the end position,
the bit always becomes active when the gripper has reached this stored position or is further opened.
"GrippedPositionFlag" (bit 41)
Active, if the gripper is in the taught-in or predefined gripper position, taking into account the pre-
defined tolerances.
"ClosedPositionFlag" (bit 42)
Active when the gripper has reached the closed position. In the case of a previous redefinition of the
end position, the bit always becomes active when the gripper has reached this stored position or is
further closed.
"UndefinedPositionFlag" (bit 43)
Active if the gripper is in an undefined position.
"LatchDataOk" (bit 44)
Active as soon as the transmitted data has been transferred from the gripper.
"DirectionOpenFlag" (bit 45)
This bit is a direction flag and becomes active if the last run command was from the "Open" master.
"DirectionCloseFlag" (bit 46)
This bit is a direction flag and becomes active if the last run command was from the "Close" master.
"Error" (bit 47)
Active if there is an error. The present errors can be viewed in the "ErrorNumber" and "ErrorMessage"
parameters.
9.8 Device-specific parameters
Index Sub index Name Description Value (example) Lengt-
h
[byte]
Format
0x0018 "Application-
SpecificTag"
Text to be
defined by the
user
*** 32 StringT
0x0040 "StatusWord"1) è 9.7 Process
Data IN
IO-Link Interface description
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Index Sub index Name Description Value (example) Lengt-
h
[byte]
Format
0x0041 "ErrorNumber"1) è 9.7 Process
Data IN
0x0042 "CycleCounter" Counter for grip-
ping cycles
0…429496729-
5
4 UIntegerT
32
0x0043 "Temperature" Gripper temper-
ature in °C
If the gripper
<temperature is
0 °C, 0 is output.
0…65535 2 UIntegerT
16
0x0044 "ControlWord"1) è 9.6 Process
Data OUT
0x0045 "ErrorMessage" Outputs an error
description.
64 StringT
0x0046 "ErrorCount" Counter of error
messages
è 9.12 Fault
clearance IO-
Link
2 UIntegerT
16
0x0100 "ActualPosition
"1)
è 9.7 Process
Data IN
0x0101 "GrippingPosi-
tion"2)
Gripper position
e.g. for checking
the workpiece
dimensions
0…nominal
stroke
(+tolerance)
– EHPS-16:
0…2150
– EHPS-20:
0…2750
– EHPS-25:
0…3350
2 UIntegerT
16
0x0102 "WorkpieceNo"
1)
Workpiece num-
ber of a work-
piece set
0…32 1 UIntegerT
8
0x0103 "GrippingMode"
2)
Driving mode – Invalid: 0
– Universal:
100
1 UIntegerT
8
IO-Link Interface description
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