Festo EHPS-16 Parts list manual

8083687
EHPS
Parallel gripper
8083687
2018-06
[8083689]
Instructions| Operat-
ing

Translation of the original instructions
2 Festo — EHPS — 2018-06

3Festo — EHPS — 2018-06
1 About this document................................................................................................... 4
1.1 Further applicable documents...................................................................................... 4
1.2 Product labelling.......................................................................................................... 4
2 Safety........................................................................................................................... 4
2.1 Safety instructions........................................................................................................ 4
2.2 Intended use................................................................................................................ 4
2.3 Training of specialised personnel................................................................................. 4
3 Additional information................................................................................................ 4
4 Service..........................................................................................................................4
5 Product overview......................................................................................................... 5
5.1 Function....................................................................................................................... 5
5.2 Design........................................................................................................................... 6
6 Mounting..................................................................................................................... 6
6.1 Preparing the gripper fingers........................................................................................ 6
6.2 Mounting the gripper fingers........................................................................................ 7
6.3 Mounting the gripper.................................................................................................... 8
6.4 Mounting accessories................................................................................................... 9
7 Installation.................................................................................................................. 9
7.1 Electrical installation.................................................................................................... 9
8 Commissioning............................................................................................................ 11
8.1 Preparation................................................................................................................... 11
8.2 Execution...................................................................................................................... 11
9 Maintenance................................................................................................................ 12
9.1 Safety............................................................................................................................ 12
9.2 Cleaning....................................................................................................................... 12
9.3 Lubrication................................................................................................................... 13
10 Malfunctions............................................................................................................... 13
10.1 Diagnostics................................................................................................................... 13
10.2 Fault clearance............................................................................................................. 14
10.3 Repair............................................................................................................................15
11 Disassembly................................................................................................................ 16
12 Disposal........................................................................................................................16
13 Technical data............................................................................................................. 16
13.1 Technical data, general................................................................................................. 16
13.2 Characteristic curves.................................................................................................... 18
Table of contents

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.
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.
2.3 Training of specialised 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.
About this document
Festo — EHPS — 2018-064

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 by a higher-order controller using digital signals.
Product overview
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5.2 Design
1Gripper jaws
2Locating hole and thread for gripper finger
mounting
3Plug screw
4LED indicator (Error)
5LED indicator (Ready)
6Electrical connection
7Slot for proximity sensor
8Rotary switch for adjusting the gripping
force
9Locating hole and thread for mounting
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 13 Technical data.
– Use gripper fingers that are as short and lightweight as possible.
– Observe maximum length and weight è 13 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 6
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.
Ready
Error
Force
Removescrew
toaccess
unlockfunction
1
2
3
4
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7.
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.
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.
Installation
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WARNING!
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
Fig. 5 Electrical connection
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 parallel gripper at the connection6 to the controller.
M12 plug (5-pin, A-coded) Pin1) Connection Designation
1 (BN)
brown
+24VDC (±10%) Nominal operating voltage
2 (WH)
white
Input 1 Open gripper jaws
3 (BU)
blue
0V –
4 (BK)
black
Input 2 Close gripper jaws
5 (GY)
grey
n.c. Not connected
1) Wire colour with use of connecting cables according to accessories èwww.festo.com/catalogue
Tab. 4 Pin allocation
Installation
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8 Commissioning
8.1 Preparation
Setting the gripping force
8Rotary switch for gripping force
Fig. 6 Setting the gripping force
• Set the required gripping force using the rotary switch 3.
– Position 1 = 50% of gripping force
– Position 2 = 70% of gripping force
– Position 3 = 85% of gripping force
– Position 4 = 100% of gripping force
8.2 Execution
WARNING!
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
Activation (opening/closing) of the gripper is via commands from a higher-order controller to the digit-
al inputs (Pin2 and Pin4). In this case, the gripper is edge-triggered and moves on detection of a pos-
itive edge. As soon as a high signal level is detected, travel to the stop is executed. Please ensure that,
once travel is complete, the corresponding signal is reset again before transmitting a signal in the
opposite direction. Pause times of at least 10ms must be observed between cancelling the signal and
the next command.
Commissioning
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If a signal remains at the high signal level until the next travel, this can prevent unintended travel
being initiated in the event of a cable break.
Fig. 7
1. Switch on the power supply.
ÄThe "Ready" LED lights up green.
2. Opening the gripper jaws:
– Apply a rising edge (0è1) at Pin2 and
– 0 signal at Pin4.
Pin allocation for connection6 è Tab. 4 Pin allocation
3. Approach the workpiece to be gripped.
4. Closing the gripper jaws:
– Apply a rising edge (0è1) at Pin4 and
– 0 signal at Pin2.
5. Execute a test run. During the test, check that the workpiece is gripped properly.
9 Maintenance
9.1 Safety
WARNING!
Danger of crushing due to unexpectedly fast-moving loads and unintentional movements.
• Remove the payload.
• Switch off power to the product.
• Safeguard the power supply from being switched on again unintentionally.
9.2 Cleaning
• Clean the outside of the product with a soft cloth. Do not use aggressive cleaning agents.
Maintenance
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9.3 Lubrication
Interval Maintenance work
After 5 million switching cycles Grease the guide of the gripper jaws. Permissible
lubricating grease èwww.festo.com/spareparts.
Tab. 5
Cut the lubrication interval by half if one of the following applies:
• High thermal stress
• Heavy contamination
• Proximity of grease-dissolving liquids or vapours
10 Malfunctions
10.1 Diagnostics
LED Meaning
"Ready" LED
lights up green
Nominal operating voltage at connection 3 Pin1is 24VDC±10%.
"Ready" LED does
not light up
Nominal operating voltage is switched off.
"Error" LED lights
up red
Nominal operating voltage at connection 3 Pin1 is outside the valid
range.
"Error" LED
flashes red
Device error
Tab. 6 LED indicator
Malfunctions
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10.2 Fault clearance
WARNING!
Danger of crushing due to unexpectedly fast-moving loads and unintentional movements.
• Remove the payload.
• Switch off power to the product.
• Safeguard the power supply from being switched on again unintentionally.
WARNING!
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
Fault description Cause Remedy
Gripping point of gripper fingers
is too far outwards.
Move gripping point inwards.
Sufficient force cannot be
applied.
Increase travel path. Minimum
travelè 13 Technical data.
Gripper does not hold payload
firmly.
Payload is too heavy. Select a larger gripper.
Slots are dirty. Clean and grease the slots.Gripper fingers do not move uni-
formly. Gripper jaws are distorted. Rectify distortion.
Jamming due to excessive
speed of the gripper fingers
Resolve jamming
è Resolve mechanical jamming
of gripper jaws.
Connection interruption
between gripper and activation
Check connecting cable.
Gripper fingers do not
open/close.
Gripper is faulty. Replace gripper.
Lack of lubrication Lubricate gripper
è 9.3 Lubrication.
Squeaking noises
Payload is too great. Observe permissible values
è 13 Technical data.
Tab. 7
Malfunctions
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Resolve mechanical jamming of gripper jaws
3Plug screw
Fig. 8 Resolve jamming of gripper jaws
1. Remove the plug screw.
2. Rotate the worm shaft underneath using the hex wrench until the jamming is resolved:
– Anti-clockwise (external gripping)
– Clockwise (internal gripping)
3. Retighten plug screw è Tab. 8.
Size 16 20 25
Hex wrench ß1.5 ß1.5 ß2
Tightening torque for
plug screw
[Nm] 0.6 0.6 2.8
Tab. 8
10.3 Repair
Send product to the Festo repair service for repair.
Malfunctions
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11 Disassembly
WARNING!
Danger of crushing due to unexpectedly fast-moving loads and unintentional movements.
• Remove the payload.
• Switch off power to the product.
• Safeguard the power supply from being switched on again unintentionally.
12 Disposal
ENVIRONMENT!
Send the packaging and product for environmentally sound recycling in accordance with the current
regulations èwww.festo.com/sp.
13 Technical data
13.1 Technical data, general
Size 16 20 25
Design Electric parallel gripper
Mounting position Any
Minimum travel [mm] 0.5
Mass moment of inertia [kg
cm²]
0.78 2.02 5.24
Max. load per gripper
finger
[g] 100 150 230
Max. permissible
length of gripper finger
[mm] 80 100 120
Repetition accuracy [mm] £0.03 £0.01 £0.01
Max. interchangeability [mm] £0.02
Nominal operating
voltageDC
[VDC] 24±10%
Max. current consump-
tion
[A] 1 2
Switching level [V] +18…+28 (1 signal)
–3…+8 (0 signal)
Max. cable length [m] 30 (including gripper cable)
Degree of protection IP40
Relative humidity [%] 0…95 (at 25C non-condensing)
Disassembly
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Size 16 20 25
Ambient
temperature1)
[°C] +5…+60
Storage temperature [°C] –20…+60
CE marking (declara-
tion of conformity)
To EU EMC Directive2) 3)
In accordance with EU RoHS Directive
Electrical safety In accordance with standard EN 61010-1:2010
Weight [g] 296 532 904
Materials
Housing Aluminium
Cover Polymer
Gripper jaws, bearings,
plugs, screws
Steel
O-ring NBR
Max. force (static) and max. torque (static)
FZ[N] 200 325 450
MX[Nm] 7 13 28
MY[Nm] 4.4 8 16
MZ[Nm] 7 13 28
1) Max. housing temperature = ambient temperature +35K
2) Only when using the connecting cable from Festo
3) Max. length of connecting cable (including gripper cable): 30m
Tab. 9 Technical data
Technical data
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13.2 Characteristic curves
Lever arm x
Vertical Horizontal
Tab. 10 Alignment of lever arm x
Technical data
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Gripping force FH as a function of lever arm x and rotary switch position è 8.1 Preparation.
Position 1
Position 2
Position 3
Position 4
Fig. 9 EHPS-16 external gripping, lever arm vertical
Position 1
Position 2
Position 3
Position 4
Fig. 10 EHPS-16 internal gripping, lever arm vertical
Technical data
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Position 1
Position 2
Position 3
Position 4
Fig. 11 EHPS-16 external gripping, lever arm horizontal
Position 1
Position 2
Position 3
Position 4
Fig. 12 EHPS-16 internal gripping, lever arm horizontal
Technical data
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