Festo HGPL-B Series User manual

Translation of the original instructions
© 2020 all rights reserved to Festo SE & Co. KG
1 Applicable Documents
All available documents for the product èwww.festo.com/sp.
2 Safety
2.1 Safety Instructions
– Take into consideration the ambient conditions at the location of use.
– Only use the product in original status without unauthorised modifications.
– Observe labelling on the product.
– Store the product in a cool, dry, UV-protected and corrosion-protected envir-
onment. Ensure that storage times are kept to a minimum.
– Prior to mounting, installation and maintenance work: Switch off compressed
air supply and secure it from being switched back on.
– Observe tightening torques. Unless otherwise specified, the tolerance is
±20%.
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.
2.3 Training of qualified personnel
Installation, commissioning, maintenance and disassembly should only be con-
ducted by qualified personnel.
The specialized personnel must be familiar with the installation and operation of
electrical and pneumatic control systems.
3 Further information
– Accessories èwww.festo.com/catalogue.
– Spare parts èwww.festo.com/spareparts.
4 Service
Contact your regional Festo contact person if you have technical questions
èwww.festo.com.
5 Product overview
5.1 Function
Alternating pressurisation of the supply ports moves twopistons in the gripper
(double-acting).
The piston movement is transmitted mechanically to 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 gripper has integrated fixed flow restrictors. If the maximum gripper finger
weights and lengths are in compliance, external flow control is not required.
5.2 Product design
1Slot for position transmitter/prox-
imity switch
2Locating hole and thread for grip-
per finger mounting
3Centring sleeve (4x) for gripper fin-
ger mounting
4Gripper jaws
5Through-hole and female thread
for gripper mounting
6Lubrication nipple
7Lubrication nipple interface on the
gripper jaw side
8Slots for proximity sensors
9Supply port at side (open)
10 Supply port at side (close)
11 Centring sleeves (2x) for gripper
mounting
12 Bottom of gripper showing addi-
tional supply ports and lubrication
nipple interface
Fig. 1 Product design HGPL-B-14/25
Fig. 2 Product design HGPL-B-40/63
The supply ports on the bottom of the gripper are sealed with blanking plugs on
delivery.
6 Transport
Observe specifications on product weight and ambient conditions
è 14 Technical data.
8135674
HGPL-B
Parallel gripper
8135674
2020-05a
[8135676]
Operating instructions
Festo SE & Co. KG
Ruiter Straße 82
73734 Esslingen
Germany
[phone]
www.festo.com

7 Assembly
7.1 Preparing the gripper fingers
The gripper fingers are not included in the delivery.
Gripper finger blanks are available as accessories, "Gripper finger blank"
èwww.festo.com/catalogue.
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.
– Manufacture gripper fingers that are suitable for the payload and type of grip-
ping action.
7.2 Mounting the gripper fingers
1Gripper finger
2Screw
3Centring sleeve
4Locating hole and thread for grip-
per finger mounting
Fig. 3 Mounting the gripper fingers
• Position the gripper fingers with matching positioning elements on the locat-
ing holes of the gripper jaws and secure with screws. Observe table specifica-
tions.
Size 14 25 40 63
Locating hole @ for centring
sleeve (included in scope of
delivery)
[mm] 5H8 7H8 9H8 15H8
Screw M3 M5 M6 M10
Tightening torque [Nm] 1 5 8 40
Tab. 1 Gripper finger mounting
7.3 Mounting gripper
Mounting options for the gripper
Adapter kits are available for connecting the gripper to Festo handling compon-
ents èwww.festo.com/spareparts.
Through-hole with
adapter kit
Through-hole Female thread from
below
Tab. 2 Mounting options
Mounting with adapter kit
• Mount adapter kit. Follow assembly instructionsèwww.festo.com/sp.
Proximity sensor (optional)
If necessary, mount the proximity sensor before mounting the gripper.
When using proximity sensors for sensing the end position, take the following into
account:
• Interference from ferritic attachments (e.g.retaining screws made of ferritic
steel)
• Projecting proximity sensors, if applicable
• Cable outlet direction of the proximity sensors
• Sufficient space for the connection components
• When sensing from both end positions: use separate slots for the proximity
sensors.
1. For proximity sensor SME/SMT-10: glue the sensor rail into the slot for prox-
imity sensor. Follow assembly instructionsèwww.festo.com/sp.
2. Mount the proximity sensor.
Use of the supply ports on the bottom of the gripper
1. Unscrew the blanking plug on the bottom of the gripper
è 8.1 Pneumatic installation.
2. Seal the lateral supply ports at the side with blanking plugs
èwww.festo.com/catalogue.
3. For adjusting the mounting plate/adapter kit: observe the dimensional draw-
ings in the catalogue.
4. During assembly: insert appropriately sized O-rings between gripper and
mounting plate at both supply ports.
Mounting the gripper
• Position grippers with matching positioning elements on the locating holes of
the mounting surface and fasten with screws. Observe table specifications.
Size 14 25 40 63
Locating hole @ for centring
sleeve (included in scope of
delivery)
[mm] 9H8 15H8
Mounting at through-hole
Screw M4 M5 M8 M10
Tightening torque [Nm] 2.5 5 20 40
Mounting on female thread from below
Screw M5 M6 M10 M12
Tightening torque [Nm] 5 8 40 68
Tab. 3 Gripper mounting
HGPL-B-14
To ensure that proximity switches function correctly:
Set a distance of at least 10mm from ferritic parts (e.g.mounting plate) at the
bottom of the gripper.
7.4 Mounting stroke reduction kit (optional)
The stroke reduction kit HGPL-HRis available as an accessory to reduce the open-
ing stroke for external gripping èwww.festo.com/catalogue.
1Lock nut
2Setting screw
3Retaining screw (4x)
4Plate for stroke reduction
Fig. 4 Stroke reduction kit HGPL-HR
1. Fasten stroke reduction to the gripper with fourscrews on the gripper.
Observe table specifications.
2. Set the opening stroke with the setting screw.
3. Tighten the lock nut.
Size 14 25 40 63
Retaining screw M3 M5 M6 M8
Tightening torque [Nm] 1 5 8 20
Setting screw M6 M8 M12 M14
Tightening torque of lock nut [Nm] 2 4 10 16
Tab. 4 Mounting the stroke reduction
The cushioning component in the setting screw is available as a spare part
èwww.festo.com/spareparts.

8 Installation
8.1 Pneumatic installation
NOTICE!
Loss of function due to contamination in the connections.
• Keep ports and tubing lines free from dirt particles and foreign matter.
The use of a check valve prevents the payload from dropping in the event of a
sudden pressure drop.
The use of a one-way flow control valve also permits adjustment of the opening
and closing time.
• Connect the compressed air supply to the supply ports.
Note the gripper type and gripping method (external/internal gripping).
Gripping typeFunction Supply ports
external gripping internal gripping
Gripping
side
Bottom
Releasing
side
Bottom
Tab. 5 Supply ports HGPL-B-14/25
Gripping typeFunction Supply ports
external gripping internal gripping
Gripping
side
Bottom
Releasing
side
Bottom
Tab. 6 Supply ports HGPL-B-40/63
8.2 Electrical installation
• Connect the proximity sensor.
Follow assembly instructions èwww.festo.com/sp.
9 Commissioning
WARNING!
Danger of crushing.
The gripper fingers could move unintentionally and crush body parts.
• Do not reach into the movement range.
1. Pressurise gripper slowly.
2. Set the opening and closing time with an upstream one-way flow control
valve: screw in the flow control screw completely and then unscrew it one
turn.
3. Perform a test run without payload.
Check the following:
– Allocation of supply ports
– Reliable function of the proximity sensors (if installed)
– Stop noise of the piston: the piston stop must be soft, that means not
audibly hard or metallic.
Piston stop Insight/conclusion
soft The gripper speed is correct or can be increased.
With upstream one-way flow control valve: unscrew the flow
control screw slightly.
èThe gripper speed increases.
hard/metallic The gripper speed is too high. With an upstream one-way flow
control valve: screw in the flow control screw until the piston
stop is no longer audibly hard or metallic.
èThe gripper speed is reduced.
Tab. 7 Piston stop
4. Perform a test run with payload.
ÄThe gripper must hold the payload securely.
5. After successful test runs:
– Remove payload or lock to prevent it from falling.
– Exhaust the grippers.
10 Maintenance
10.1 Safety
WARNING!
Risk of injury due to unexpected movement of the gripper fingers or falling pay-
load.
• Before exhausting: remove the payload at the gripper.
• Disconnect gripper from the compressed air supply.
10.2 Mounting lubrication nipple
The lubrication nipple can be mounted on the top or bottom of the gripper.
The procedure is the same for mounting the lubrication nipple at the bottom of
the gripper.
1Threaded pin M5
2Lubrication nipple
Fig. 5 Mount the lubrication nipple (shown: top of gripper)
1. Unscrew the threaded pin on the top of the gripper (gripper jaw side) or on
the bottom of the gripper.
2. Screw in the included lubrication nipple (tightening torque: 0.7Nm).
After the lubrication process (as required):
1. Unscrew and remove lubrication nipple.
2. Screw in threaded pin until it is flush.
10.3 Clean product
• Clean the outside of the product with a soft cloth as required. Cleaning agents
include all non-abrasive media.
10.4 Lubricating guide elements
The maintenance interval depends on the ambient temperature when using the
gripper.
Ambient temper-
ature
Maintenance
interval
Maintenance work
>20…60°C every 2million switch-
ing cycles
³5…20°C every 5million switch-
ing cycles
On the mounted lubrication nipple on the top or
bottom of the gripper: lubricate the guide ele-
ments.
In the delivery status the access holes are sealed
with threaded pins
è 10.2 Mounting lubrication nipple.
Approved lubricant è 14 Technical data.
Tab. 8 Maintenance interval and maintenance work
Information on spare parts and accessories èwww.festo.com/spareparts.

11 Malfunctions
11.1 Fault clearance
Malfunction Possible cause Remedy
Insufficient operating
pressure.
Increase operating pressure, observe max. per-
mitted value.
Pressure point of grip-
per fingers is too far
outwards.
Move pressure point inwards.
Gripper does not hold
payload firmly
Payload is too heavy. Select a larger gripper.
No compressed air. Check supply ports.Gripper does not
open/close Gripper is faulty. Replace wearing parts
èwww.festo.com/spareparts or replace gripper
è 11.2 Repair.
Proximity sensor is
incorrectly adjusted.
Check and adjust position of the proximity
sensor.
Assembly instructions èwww.festo.com/sp.
Proximity sensor does
not indicate gripper
status
Connecting cable is
disconnected.
Replace connecting cable/proximity sensor.
Assembly instructions èwww.festo.com/sp.
Tab. 9 Fault clearance
11.2 Repair
Send the product to the Festo repair service for repair.
12 Disassembly
WARNING!
Risk of injury due to unexpected movement of the gripper fingers or falling pay-
load.
• Before exhausting: remove the payload at the gripper.
• Disconnect gripper from the compressed air supply.
1. Disconnect gripper from the compressed air supply.
2. Remove supply ports and retaining screws.
13 Disposal
ENVIRONMENT!
Send the packaging and product for environmentally sound recycling in accord-
ance with the current regulations èwww.festo.com/sp.
14 Technical data
Size 14 25 40 63
Mode of operation double-acting
Mounting position any
Ambient temperature [°C] +5…+60
Product weight (type-
dependent)
[kg] 0.31…0.72 1.1…2.2 2.6…5.4 10.5…18.1
Operating medium Compressed air to ISO8573-1:2010 [7:4:4]
oiled1) or unoiled
Operating pressure [MPa] 0.3…0.8
[psi] 43.5…116
[bar] 3…8
Pneumatic connection (on side) M5 GÁ
Tightening torque [Nm] 5 5.8
Pneumatic connection (underneath) M3 M5 GÁ
Tightening torque [Nm] 1 5 5.8
Stroke per gripper jaw (type-
dependent)
[mm] 20/40/60/80 20/40/60/-
80/100
60/100/150
Gripping force depending on size, operating pressure setting, lever
arm on gripper finger and type of gripping action
èwww.festo.com/catalogue
Max. operating frequency [Hz] < 1
Repetition accuracy [mm] < 0.03
Interchangeability [mm] < 0.2
Rotational symmetry [mm] £ 0.2
Approved lubricant Molycote BR 2 Plus
Gripper fingers (not in scope of delivery)
Max. length/lever arm2) [mm] 70 105 135 175
Max. weight per gripper fin-
ger3)
[g] 80 250 420 940
Size 14 25 40 63
Characteristic load values at the gripper jaw
The specified permissible forces and torques refer to
one gripper jaw.
The values include the lever arm of the gripper fingers,
additional weight forces caused by the payload (work-
piece) and/or by the gripper fingers and acceleration
forces occurring during the movement.
To calculate the torques, take into account the 0-posi-
tion of the coordinate system (guide of the gripper
jaws).
Max. force Fz static [N] 500 1500 2500 9000
Max. torque Mx static [Nm] 35 100 125 300
Max. torque My static [Nm] 35 60 80 200
Max. torque Mz static [Nm] 35 70 100 250
Materials
Housing Anodised aluminium
Gripper jaws Steel, hardened
Seals NBR, polyurethane
1) When using oiled compressed air, a changeover to unoiled compressed air is not permitted.
2) The values apply to centric gripping. For eccentric gripping èwww.festo.com/catalogue.
3) for unrestricted operation
Tab. 10 Technical data