GMT GEZ-KA68440 User manual

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Use Manual
Motorized Low-Cost Gripper GEZ-KA68440
Use Manual
Motorized Gripper
GEZ-KA68440
Date: 15.03.2022

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Use Manual
Motorized Low-Cost Gripper GEZ-KA68440
In your own interest:
Please read the manual and keep it for future reference.
Please note and follow the safety notices.
Contact Manufacturer:
Wilhelm-Busch-Str. 4
26655 Westerstede
Germany
Tel: [phone]
Fax: [phone]
[email protected]

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Use Manual
Motorized Low-Cost Gripper GEZ-KA68440
Summary of the contents
1 General notices
1.1 Short Product description
1.2 Unpacking notices
1.2.1 Visual control
1.2.2 Unpacking
1.2.3 Content check
2. Warranty
2.1 Disclaimer of warranties
2.2 Warranty instructions
3. Safety notices
3.1 General notices
3.2 Indications and Safety Symbols
3.3 Safety declaration
3.4 Gripper Use Cautions
3.5 Precautions with product use environment
3.6 Product excluded use environment
3.7 Gripper Safety Warning Illustration
4. Technical Gripper Overview
4.1 Quick description
4.2 Technical Gripper Specifications
4.3 Drawing and Dimensions
5. Nanotec Linear Actuator
5.1 Linear Actuator technical data
5.2 Nanotec Linear Actuator Size and dimensions
5.3 Actuating Force / Power / Speed characteristics
6.
Limit switches “Hall Sensor” description
6.1 Limit switches supply voltage / evaluation
7.
Installation procedure and electrical sp ecifications
7.1 Installation procedure
7.2 Gripper operating supply voltage
7.3 Pin-outs
7.4 Precautions by the initial operation
8. Troubleshooting

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Use Manual
Motorized Low-Cost Gripper GEZ-KA68440
1. General notices
You will find in this manual all important Information about the installation, the put into the operation and the service of
your motorized Gripper unit. Furthermore, you will receive detailed information, important notices to your Safety as well
as help steps for troubleshooting by encountered Problems. The motorized positioning unit has been manufactured in
accordance with the actual valid Norms and Directives.
The motorized Low-Cost Gripper unit, as an uncompleted machine, should be taken in operation, first
after having asserted that the final machine, into which the incomplete positioning machine unit is to
be integrated, is in accordance with the provisions of the Directive 2600/42/EC.
1.1 Short product description
The motorized Low-Cost-Gripper is made of anodised aluminum. Such units are to be integrated into a general machine
or in professional laboratory applications and should not be used for other purposes. Pease note, that we are not in
charge for any damages caused by ignoring this warning important notice.
1.2 Unpacking notices
1.2.1 Visual Control
Before unpacking, please make sure that damages of the packing, that may have been caused by improper packing or
improper transport, didn't occur. If external damages or loose screws or components should be to be seen, please take a
picture as evidence and and inform us immediately.
1.2.2 Unpacking
Please, open carefully the packing under use of suitable tools. Please, provide that by using of tools, like knife or scissors,
thereby the contents of the packaging should not be damaged.
1.2.3 Content Check
Please, check the items contents and make sure that items part numbers and items designations are consistent with those
listed in the delivery note enclosed. In case of deviations and if any parts are missing, please inform us immediately.
2. Warranty
2.1 Disclaimer of warranties
Our Low-Cost Gripper unit was checked and inspected thoroughly and have left our workshop in safety-technical trouble-
free conditions. GMT Europe GmbH motorized grippers are warranted for a period of 1 full year from date of delivery, of
course for items to be free from defects in material and to meet all specifications that characterize them. The achievement
within the scope of guarantee is limited to items repair and re-adjustment, though defective or not to be compliant.
Please, keep the original packaging for an eventual later items return. Damages in transit on account of not
proper packaging of returns are excluded / the guarantee.
Our guarantee terms for provable material or processing defects amounts 1 full year from date of
delivery, Wear and tear parts are excluded / any warranty.
We are also not be liable for damages resulting / improper operation, alteration, improper assembly or
not taking account of the instructions and notes given and of the specifications data listed respectively
in this Use Manual. If a defect within the guarantee time appears, the manufacturer must be immediately
informed. No warranty is provided for self-executed repair or non-expert maintenance.

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2.2 Warranty instructions
●Within a warranty period, if any following listed failures occur, our company will be in charge for the repair.
●The product is warranted for one year and is started / the product delivery date to the designated delivery location.
●If any mention listed below occurs, it will not be covered under warranty:
1. The damage caused by using the product in any unspecified environments or methods.
2. The damage caused by unauthorized modifications or repairs.
3. The damage caused by natural disasters or misuses.
4. The damage caused after the purchase due to the careless uses or motions.
5. The malfunctions or damage caused by unauthorized connections with the other machines.
6. The malfunctions or damage caused by the violations of precautions and instructions.
3. Safety notices
3.1 General notices
Please, read carefully the safety precautions to secure the starting operation and take in consideration of the cautions
listed and described respectively below in order to prevent unit using personal / being injured. The assembly, the
electrical connecting, the adjustment and the putting into operation of all motorized Grippers / our product range must
be carried only out by qualified personnel, a specialist or a trained person for such using.
Qualified personnel are aware of the valid standards, directives, statutes and injuries prevention regulations to be used,
that imperative must be considered in such work with motorized Grippers.
The operator is obligated to ensure a proper training and instruct the persons in charge for the assembly, removal, putting
into operation and maintenance or repair of such delivered unit.
3.2 Indications and Safety Symbols
Please consider the important note, Info and warning symbols used by the instructions text and those pasted
onto the Low-Cost-Linear-Gripper.
Warning against risk
of Slipping / falling
and electric shock
-Warning
-Danger
-Caution
-Note / Info
Warning
against
burning
Warning
against hand
and crushing
injuries
Info

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3.3 Safety declaration
Our Low-Cost Gripper units have been designed and manufactured in accordance with the current technical standards. It
is not permitted to carry out any changes without prior consultation with our technical support.
Handling the gripper unit without a take in consideration of the instructions that are noticed with
warning and caution symbols may result in serious injuries.
For personal injuries and material damages which result / modifications which are not written
approved by the manufacturer, we do not accept any liability for them. For installation and use of
the unit, please take account of the instructions mentioned in this operation use manual.
Moreover, are valid the general technical safety- and accident prevention-related regulations
mentioned.
3.4 Gripper Use Cautions
3.5 Precautions with product use environment
●For safe installations and operations, please follow the electrical safety instructions. Do not use it in any explosive,
flammable, corrosive, humid environments or wet conditions nor near to such materials. The use
environment must not contain any corrosive, inflammable or explosive gas, oil mist
dust indoors or water. Otherwise, there would be risks of fire and electric shocks.
CAUTION: A violation may result in serious personal injuries or product damage.
3.6 Product excluded use environment
3.7 Gripper Safety Warning Illustration
Warning
Crushing and hand
cuts due to the edges
and spaces in the
gripper
Warning burning
hazard Hot motor
surfaces
Housing of Linear
Actuator
“stepper motor with fine
screw” and pre-loaded ball
cage guides
The motorized Low-Cost Gripper delivered is not provided to be used in following application environments:
●Vacuum room
●Clean room
●Environment with radiation
●
A
eronautics and space
I
nfo

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4. Technical Gripper overview
4.1 Quick description
The Low-Cost-Linear-Gripper, made of black anodised aluminum, is characterized by an integrated of a Nanotec
Linear-Actuator LSA201S06-A-TDBA-102 composed of two-phase hybrid stepper motor equipped with a fine
screw and ball cage guides. The pre-loaded ball cage guides, each with 90 precision balls, allow smooth
positioning motion with minimal pitching and yawing. Further 2 limit switches with “Infineon Hall Sensors
TLE4905L”, are available. electrical connecting take place by
4.2 Technical Gripper specifications
Designation Data
Stroke per Jaw 6 mm
Fine screw pitch 1 mm
Motor shaft backlash* ± 50 µm
Resolution 5 µm / step
Repeatability 5 µm
Gripping Force 23 N max.
Velocity 40 mm/s max.
Motor voltage 24 V max.
Stepper motor phase current 0,6 A
Own Weight 0,2 Kg
Working Temperature -10º - 50º C
Dimensions B x H x T 55,3 mm x 73,25 mm x 36 mm
*: adjustable at the motor

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4.3 Drawing and dimensions

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5. Nanotec Linear Actuator
The Low-Cost Gripper is equipped with Nanotec Linear Actuator LSA201S06-A-TDBA-102 with the following technical
data:
5.1 Linear Actuator technical data
Temperature rise Max. 80°C (motor standstill, for 2 phase energized
Ambient Temperature - 10 ~ 50ºC [14ºF ~ 122ºF]
Insulation resistance 100 MΩ(under normal temperature and humidity
Insulation class B 130ºC [266ºF]
Dielectric strength 500 V for 1 Min. (between motor coils and motor case)
Ambient humidity max 85% ( No Condensation)
5.2 Nanotec Linear Actuator Size and dimensions
5.3 Actuating Force / Power / Speed characteristics
The characteristics of the actuating force / Output power and speed characteristics are shown in the Nanotec
drafted graphics enclosed in the appendix

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Limit switches description
7.1 Installation procedure
1. Please make sure there is no flash, dust, or dent on the installation surface.
2. Please put the product on the installation surface.
3. The screw holes should be aligned with the ones located on the installation surface.
4. It is suggested to use the screws according to the compliance of the standard specifications.
5. Use a torque wrench to tighten screws.
6. Make sure that the power is OFF before servicing the motorized Gripper
7. Do not touch the motorized Gripper during servicing
8. Never wire the cable, when it is connected to Gripper
●Please note that in connection with the motion controller intended to be used for
driving the Gripper, the Hall-effect limit switches voltage level evaluation
pre-supposes Pull–up resistors.
●The DC supply voltage Vcc for the used Hall sensors should be 24VDC
●The max. output Current of Hall sensor used is given with 100 mA @ a switching
voltage level of 24 V DC
Hall Sensor logic
7.Installation procedure and electrical sp
ecifications
The Hall-Effect-limit-switches “Unipolar Infineon Hall Sensor TLE4905L” the Low-Cost Line
Gripper is equipped with, are configured as normally closed “NC” and have NPN-Collector-Output
Info
6.1 Limit switches supply voltage / evaluation
Info
Infineon Block diagram
Unipolar Infineon Hall Sensor TLE4905L
Infinieon graphic
Hall Sensor TLE4905L
Info

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9. Never touch the connector pins while power is ON
7.2 Gripper operating supply voltage
Please note:
With refer to the low voltage directive, the maximum motor supply voltage in
connection with the Motion Controller / driver to be used for driving the motorized
Gripper should strictly not exceed 24 V DC.
7.3 Pin-Outs
PinassignmentGEZ‐KA68440V1.4
   
 ConnectionCablecolor
MotorAYellow
 A/Grey
 BPink
 B/Blue
   
EndswitchSignal1(closed)Green
 Signal2(open)Brown
 GroundWhite
 +24VRed
7.4 Precautions by the initial operation
●If any unusual sounds and vibrations arise during operations after insert of the Low-Cost-Gripper, please immediately
stop the machine.
CAUTION: A violation may result in personal injuries or product damage.
●For tightening screws, please use a torque wrench corresponds to specifications of the screws.
CAUTION: A violation may cause loosening.
●Please do not allow the setting of machine speed to excess the maximum default speed, and avoid extreme changes
of the setting and parameters.
CAUTION: A violation may result in personal injuries or product damage.
●If any malfunctions or damage arise, please do not continue the use.
●Please make sure the wiring and connections of electric equipment are secured and the parameters are set correctly.
CAUTION: A violation may cause fire, electric shocks, personal injuries or product damage.
●The product is designed and planned to be operated horizontally.

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CAUTION: If the product is used in otherwise directions, it will reduce the life and increase the probability of
malfunctions.
●Do not apply any inappropriate forces on or strike the product to prevent damage and deterioration of its specifications.
CAUTION: A violation may cause a deterioration of technical specifications indicated in the data sheet.
●In order to avoid a function inefficiency, please do not turn off the travel stroke limitation sensors during the operation.
CAUTION: A violation may result in personal injuries or product damage.
●If any screw holes do not fit or need additional screw holes, please contact our sales persons and do not handle it by
self to guarantee the specifications given and the warranties.
CAUTION: A violation may cause damage on product and deterioration of its technical specifications.
●All of the accessories and parts of the product are not water-proof or dust-proof; please do not directly use in oil misty,
dusty or humid environments.
CAUTION: A violation may cause damage on product and the precision unable to match the specifications
marked in the data sheet.
8. Troubleshooting
●If the Gripper or mechanisms are hit by the external forces, please check whether the properties of the fine screw of the
linear actuator and the guiding are in normal.
●Please do not arbitrarily adjust the position of both left and right limits to prevent the collisions and the loss
of warranties.
●The wires and receptacles of the limit switches must be secured to prevent loosening.
●Do not arbitrarily loosen the couplings and transmission structures to guarantee the precision and
warranties. ●If any unusual noises or vibrations occur in operations, for safety, please turn off the power first
immediately. ●Do not mount or dismount the Gripper or parts onto the fingers “linear parts to be moved” during
servicing.
●Do not touch the Gripper during servicing and do not put any parts or your hands between the fingers of the “linear part
in motion” and the Gripper body. Otherwise serious hands injuries and product damage may occur.
Info