Hiwin S Series User manual

www.hiwin.tw
S-Series and X-Series
Electric Grippers
UR Technical Manual Guide
Original Instruction
RoHS

INDUSTRIE 4.0 Best Partner
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Contents
1. General Product Introduction ..................................................................2
2. Warranty .................................................................................................3
3. Technical Info...........................................................................................4
3.1. Integrated parallel electric gripper S-series ................................................................4
3.2. Parallel electric gripper X-series.................................................................................5
4. S-Series Getting Started ...........................................................................6
4.1. What’s in the box? ....................................................................................................6
4.2. Mechanical mounting................................................................................................7
4.3. Electrical mounting ...................................................................................................9
4.4. Installing URCap ......................................................................................................10
4.5. Installation page......................................................................................................13
4.6. Program page..........................................................................................................20
5. 5. X-Series Getting Started .....................................................................24
5.1. What’s in the box? ..................................................................................................24
5.2. Mechanical mounting..............................................................................................28
5.3. Electric mounting ....................................................................................................33
5.4. Installing URCap ......................................................................................................37
5.5. Installation page......................................................................................................39
5.6. Program page..........................................................................................................43
5.7. Other special functions............................................................................................47
Appendix.1：Example program ........................................................................50
Appendix.2：Certification.................................................................................52

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1. General Product Introduction
HIWIN is a world leader in reliable and precise linear motion. We offer several plug-and-play solutions for
collaborative robots in automation. This manual describes the operation procedures of HIWIN’s parallel
electric gripper, the S-series and the X-series. HIWIN’s electric grippers are made with ball-screws and linear
guideways from HIWIN itself which allows us to offer our customers a reliable and high-quality gripping
solution at a reasonable price range.
The S-series Electric Grippers, S for Simple, includes two different models: SEG-24, with two fingers, and STG-
16 with three. This series is characterized by the simplicity of operation, possible thanks to the controller
integrated on the body of the gripper itself. Users can simply control this gripper with digital Input/Output
discrete signals, to open and close the gripper. For the SEG-24, it is also possible to set in advance the opening
and closing position of the gripper, with the intuitive buttons on the side of the gripper. For more information,
please refer to the following:
https://www.hiwin.tw/download/tech_doc/ee/Integrated_Electric_Gripper-(E).pdf
The X-series Electric Grippers, X for expert, includes five different models depending on the gripping stroke
and force required. This series is characterized by the flexibility of the control system possible thanks to the
second-generation gripper controller XEG-C2. Users can choose to run the gripper in position control with
the move function, for fast positioning, or to use force control with the grip function, to grasp object with a
pre-defined certain force, depending on the object. For more information, please refer to the following:
https://www.hiwin.tw/download/tech_doc/ee/Electric_Gripper-(E).pdf

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2. Warranty
The warranty period for the product is 12 months or 5 million operations (whichever comes first), but it
does not include any of the following causes of failure:
◎Beyond the operation method, operating environment and storage specifications defined in the
product manual.
◎The damage caused by installation place movement, change of working environment, or improper
transfer after being installed by a professional installer.
◎Product damaged due to collision or accident caused by improper operation or installation.
The following conditions are not covered by the warranty:
◎Product serial number or date of production(month and year) cannot be verified.
◎Gripper body and control components using non-HIWIN original products.
◎Adding or removing any element into/out the gripper or the controller.
◎Modifying the wire or the cables between the gripper body and the controller.
◎Any modification of the appearance of the gripper or controller; Removal of the components inside
the gripper or the controller. e.g., demolition of the outer covering, product drilling or cutting.
◎Damage caused by any natural disaster. i.e., fire, earthquake, tsunami, lightning, windstorms, floods
etc.
HIWIN does not provide any warranty or compensation to all the damage caused by above-mentioned
circumstances unless the user can prove that the product is defective.
For more information towards warranty terms and conditions, please contact the technician or the dealer
who you purchased with.

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3. Technical Information
3.1. Integrated parallel electric gripper S-series
[Note 1] This gripping force is measured at a gripping point (L) of 20mm with a gripping force accuracy of ±25%.
[Note 2] This gripping force is measured at a gripping point (L) of 20mm with a gripping force accuracy of ±30%.
[Note 3] Moving velocity is 45mm/s.
[Description 1] Gripping force is recommended to be 10 to 20 times the weight of gripped object.
[Description 2] High-speed movement or rotation after gripping requires the weight of object to be reduced.
[Description 3] Material, shape, grip area, etc. of gripping part will affect the maximum weight of gripped object, and the gripping
part required to be installed before gripping.

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3.2. Parallel electric gripper X-series
[Note 1] The weight of workpiece(kg) * acceleration of gravity 9.81(m/s2) should be 1/10~1/20 of the gripping force(N).If the
gripper holding a workpiece moves or turns with high-acceleration/ deceleration, choose the model with higher force allowance.
[Note 2] Set the parameters and operation mode to avoid application of excessive impact force to the attachments (fingers) during
operation.
[Note 3] Apply proper amount of grease to the grease hole of single axis robot by a grease supply device or on the surface of ball
screws with brushes.
[Note 4] Mass of a workpiece that the attachments (fingers) can grip greatly differs depending on the material quality, shape, and
gripping surface condition of the attachments (fingers). Design the attachments (fingers) to be lightweight and minimum length.
[Note 5] The gripping force of the specification sheet is measured at a speed of 2mm/s and a gripping point (L) of 20mm. The
accuracy of the maximum gripping force is XEG-16：±30%, XEG-32：±16.6%, XEG-48：±15%, XEG-64：±13.3%, XEG-32-PR：±20%,.

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4. S-Series Getting Started
4.1. What’s in the box?
Model: SEG-24-UR
1. Integrated electric gripper SEG-24-UR
2. UR Robot adapter set (ISO-9409-1-50-4-M6)
3. UR actuator cable
4. Accessory kit
• Pin
• Centering sleeve
5. Software
• URCap (Download)
Model: STG-16-UR
1. Integrated electric gripper STG-16-UR
2. UR Robot adapter set (ISO-9409-1-50-4-M6)
3. UR actuator cable
4. Accessory kit
• Pin
• Centering sleeve
5. Software
• URCap (Download)
Example:
1
1 Integrated electric gripper
UR Robot adapter set
1
2
UR actuator cable
1
3

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4.2. Mechanical mounting
Model: SEG-24-UR

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Model: STG-16-UR

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4.3. Electrical mounting
No. Pin define Function Wire color
1 AI3 Analog
input
NC
2 AI2 NC
3 TO1 Tool
output
Pink
4 TO0 Blue
5 POWER 24V Black
6 TI1 Tool
input
White
7 TI0 Brown
8 GND 0V Gray
No. Pin define Function Wire color
1 IN1 Ready Brown
2 IN2 O/C White
3 OUT1 Busy Blue
4 VCC 24V Black
5 GND 0V Gray
6 OUT2 Alarm Pink
The connector of cable
(Gripper side: 6 pins)
1
2
1
1 The connector of cable (Robot side: 8 pins)

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4.4. Installing URCap
1. Click here for free downloading of URCap, and save it to a USB stick.
2. Insert the USB with the URCaps file into the UR teach pendant. From the main menu, please select
“Setup Robot”.
3. Click “+” on the button side of page to open the URCap file.

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4. Restart the robot when prompted.
5. After successfully installing the URCaps, please follow the instruction to initialize UR Robot.
Note
：
The HIWIN URCaps requires Universal Robots Polyscope software version above
3.14 (CB-series) / 5.9 (e-series) or higher, and lower version may not function properly.

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6. Set the controlled by “S-series Gripper”. (For CB-series and e-series)
CB-series
e-series

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4.5. Installation page
1. Click the “Enable Gripper” to initialize the center point of gripper under installation page. When
“Enable Gripper” button is clicked for the first time of SEG-24, electric gripper will perform a reset
action to confirm origin and then open to outside.
CB-series
e-series

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2. To make sure the gripper function well before programming, please click “” or
“” button to manually move gripper.
CB-series
e-series

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3. For more information about the function button descriptions and setup process of the electric
gripper SEG-24, please refer to the following:
CB-series

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e-series

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Function button descriptions (SEG-24 only)
[Description 1] This function button can be used only when gripper Ready = OFF.
[Description 2] After re-connected to power, reset must be executed first (press GRIP and FREE at the same
time). Then, the function button can be used to move the gripper. Or the Ready light would sparkle 5 times
rapidly to warn the user.
[Description 3] The distance between gripping center point and release point shall not be less than 1mm.
[Description 4] To set tolerance point (M), user simply sets one of the points, system will automatically
produce the center point(G) as mirror point and find the second tolerance point( ).
[Description 5] The distance between tolerance point and second tolerance point is called "tolerance band
(n)".
[Description 6] If user does not set tolerance point, the system default tolerance point is G ±0.5mm.
[Description 7] Taking grip gripper inward, fast outward movement as an example, the timing chart is as
follows: