Hiwin XEG-16 User manual

www.hiwin.tw
User Manual
Electric Gripper
RoHS

INDUSTRIE 4.0 Best Partner
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Electro-Optical industry /
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Hospital / Rehabilitation centers /
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Technical Information Index
1. Precautions(Be sure to read before handling.) ....................................................................... 1
1.1 Safety Specifications ............................................................................................................ 1
1.2 Warning Sign Location & Description .................................................................................. 3
1.3 Warranty Coverage ................................................................................................................. 3
2. Electric Gripper ........................................................................................................ 4
2.1 Features ............................................................................................................ 4
2.2 Applic ations ..................................................................................................... 5
2.3 Specifications ....................................................................................................... 5
2.4 System Construction .......................................................................................... 6
2.5 Specification Illustration ............................................................................................. 7
2.6 Mounting Method .......................................................................................... 8
2.7 Maintenance ............................................................................................. 9
3. Electric Gripper Controller............................................................................................ 11
3.1 Controller Specifications .................................................................................................. 11
3.2 Names and Functions of Parts .......................................................................................... 11
3.3 I/O connector Illustration ................................................................................................... 12
3.4 Error Status/Identification Number Illustration .......................................................... 12
3.5 External Wiring Diagram ................................................................................................... 13
3.6 Operation Modes................................................................................................................. 13
3.7 Parameter Setting ............................................................................................................ 14
3.8 I/O Signal Setting ......................................................................................................... 17
3.9 Description of Motion Signal .............................................................................................. 22
4. Process for Model Selection ............................................................................................. 23
4.1 Example of Model Selection .......................................................................................... 23
4.2 Calculation of Gripping Force .................................................................................. 24
4.3 Confirmation of Gripping Force ..................................................................................... 25
4.4 Confirmation of Gripping Point and Overhang ....................................................... 27
4.5 Confirmation of Gripping Speed ................................................................................ 28
4.6 Allowable Load-Carrying Momentum ................................................................. 29
5. Dimensions .............................................................................................................. 30
6. Appendix ...................................................................................................................... 32
6.1 EC Declaration of Conformity .......................................................................................... 32
6.2 Certificate of Conformity for Directive 2011/65/EU (RoHS) ................................................. 33
6.3 Current Diagram (REGCDC103A1XE) .................................................................................. 34
6.4 Shipping Items ................................................................................................................. 35
6.5 Accessories Assembly Method .................................................................................... 36
6.6 Electric Gripper Inquiry Form ................................................................................................ 35
C02UE03-1711 I

1. Precautions(Be sure to read before handling.)
These safety instructions are intended to prevent hazardous situations and/or equipment damage. These
instructions indicate the level of potential hazard with the labels of “Danger,”“Warning”, or “Caution.”They
are all important notes for safety and must be followed in addition to International Standards (ISO/IEC)[Note 1],
Japanese Industrial Standards (JIS)[Note 2]and other safety regulations[Note 3].
[Note 1] ISO 10218: Robots and robotics devices - Safety requirement for industrial robots
IEC 60204-1: Safety of machinery – Electrical equipment of machine (Part1: General requirement)
[Note 2] JIS B 9960-1: Safety of machinery – Electrical equipment of machine (Part1: General requirement)
JIS B 8433 : Manipulating industrial robots - Safety
[Note 3] Labor Safety and Health Act ......etc.
◎This product is designed and manufactured as a component for using in general industrial machinery.
◎Please make sure to aquire the product specifications from the system designer or someone who has
sufficient knowledge and experience. In addition, please read the details of the“Technical Manual”
and “Software Operating Manual”carefully and take the educational training for related safety prior to
operating this product.
◎If the gripper is integrated in a system (machine, robot, etc.), the system needs to meet the regulations
and standards for safety measures. Check if the system satisfies the regulations and standards first. If so,
properly handle the product in accordance with the regulations and standards.
◎All situations are not covered by the “Danger”, “Warning”, and “Caution”safety signs. For more
details, be sure to read the instruction manuals thoroughly before operation.
◎Do not use the product outside specifications. It
may cause the product to fail, stop functioning or
sustain damage. It may also significantly reduce
the service life of the product.
◎If the machine will stop in the event of system
problem such as emergency stop or power
failure, design a safety circuit or other device to
prevent equipment damage or injury.
◎Do not use this product in a place exposed to
ignitable, inflammable or explosive substances.
It may explode or ignite, resulting in product
damage or injury. Hot swapping is forbidden.
◎Please follow the instruction manual when
wiring the product. For plug in/plug out of the
wire, connect to the terminal quickly and reliably.
◎Please do not use the product with water and oil
to avoid electric shock or fire.
◎Before supplying power and operating the
product, always check the operation area of the
Danger：Indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
Warning：Indicates a potentially hazardous situation which could result in death
or serious injury, if the equipment is operated incorrectly.
Caution：Indicates a potentially hazardous situation which may result in injury
and machine damage, if the equipment is operated incorrectly.
Danger
1.1 Safety Specifications
C02UE03-1711 1

◎Do not expose the product to radiant heat
generated from a heat source, and use the
product within the ambient temperature range of
5℃to 45℃.
◎Use the product in humidity range of 35% to 85%
(without dew condensation).
◎Please use the product below altitude of 1000
meters.
◎Please use when environmental illumination is
greater than 500 lux.
◎Do not use the product in an atmosphere of
corrosive gases (sulfuric acid or hydrochloric
acid). Rust may form and reduce the structural
strength of the product.
◎Do not use the product in a place exposed to
dust, or iron powder. If dust enters the product
through small openings and gaps, the product
may suffer damage.
◎Please do not use the product near severe
vibration.
◎Please do not use the product near strong
electromagnetic waves, locations that may
generate high current, welding operations which
may generate electric arc, locations that may
generate interference due to static electricity to
avoid the abnormal operation of product.
◎Please mount the product and jaws with
adequate screw tightening torque.
◎Please do not approach or touch the product
while the product is operating.
◎When a person is accidentally caught into
the machine, please turn off the power supply
immediately or push the emergency stop button
of external safety loop device, and then adjust the
jaws position or remove the jaws manually for
disengagement.
◎Do not touch the connectors or exposed
terminals of the controller. Doing so may result
in electric shock.
◎Turn off the power to the product in the event
of power failure. Failure to do so may cause the
product to suddenly start moving when the power
is restored, resulting in injury or product damage.
◎If the product is generating heat, smoke, a
strange smell or continual noise, turn off power
immediately. Continuing to use the product may
result in product damage or fire.
◎If the product does not activate while gripping a
workpiece, please cut off the power immediately.
Remove the workpiece by adjusting the jaws
position or removing the jaws manually. After the
abnormal state is corrected restart the power.
◎Please do not grip live or hazardous objects.
◎Prevent load from applying force to one jaw
when gripping a workpiece.
◎When the product is activated, please do not
apply any external force on the gripper.
Caution
◎Do not hold moving parts of the product or its
cables during installation. It may result in injury.
◎Do not insert a finger or object in the openings in
the product. It may cause fire, electric shock, or
injury.
◎The motor generates a large amount of heat
during operation, and the product surface
temperature is high. Ensure this will not affect a
workpiece near the gripper.
Warning
equipment to ensure safety. When operating or
adjusting the gripper, be sure to observe safety
measures for the system.
◎Please do not disassemble, or modify the product
to avoid personal accident, electric shock, fire or
damage.
C02UE03-1711
2

◎The actuator cables with the product are flexible,
but do not store the cables in a movable cable
duct that bends more than the specified bending
radius. (Rb ≥ 63mm )
◎Do not scratch the actuator cables. Please
perform periodic inspections monthly. Scratching,
forcible bending, straining, winding, and pinching
may cause short circuit and insulation failure,
which results in electric shock and malfunction.
◎When the product is unusable and scrapped,
please follow the local waste disposal regulations
for handling.
◎When using this product, please wear safety
shoes or the related protective equipment.
◎The mounting face has holes and slots for
positioning. Make use of them if necessary.
◎Design the jaws to be lightweight and minimum
length.
◎Mass of a workpiece that the jaws can grip
greatly differs depending on the material quality,
shape, and gripping surface condition of the jaws.
◎Use speed and parameters appropriate with the
product to avoid making a great impact to the
jaws.
◎Please assure there is sufficient space for
maintenance and inspection, and perform
regular maintenance every six (6) months or after
activating the product 500,000 times.
◎Please perform maintenance of transmission
components in manual mode. After adjusting the
gripper to the maximum opening position, please
use the greasing device to replenish the grease
or apply the grease on the screw shaft and both
sides of groove.
◎The measured result of actual noise level for
product is 61.2 dB. (Conditions: distance from
the product is 1 meter, height from the ground is
1.6 meters, maximum speed is 80% operating). If
the noise level is over 80dB(A) during operation,
personal protective equipment is required.
1.2 Warning Sign Location & Description
The warning sign shown below will be on the product to ensure the proper and safe operation.
Danger for Hand Injury
Please do not Insert Hand
C02UE03-1711 3

The warranty period is 12 months, 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 damange caused by installation place movement, change of working environment, or improper
transter 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) can not 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.
1.3 Warranty Coverage
C02UE03-1711
4

2.1 Features
2. Electric Gripper
• Grippingforcecontrol
- The gripping force can be set by increments of 5% in the range of 40 to 100%.
- Gently apply gripping force to components that are susceptible to deformation or damage.
• Positioncontrol
- The position setting and measurement can be adjusted by a minimum value of 0.01mm.
- Gripping position will be checked by the HOLD signal output to verify if the gripper is in the set
range.
• Speedcontrol
- Motion speed can range from 1 to 100 mm/s by increments of 1 mm/s.
- Applies to fast tact times and low impacts.
• Multi-pointpositioncontrol
- Multiple positioning points can be set, 30 points and an original point.
• Identifyingbypositiondetection
- Capable of 3 kinds of work which reduces tact times and improves productivity.
GripperController
SingleAxisRobot
StepperMotor
XEG-Series
C02UE03-1711 5

2.2 Applications
2.3 Specifications
[Note 1] The weight of workpiece(kg) * accelaration 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.
Model XEG-16 XEG-32 XEG-64
Electric
gripper
Stroke[bothsides](mm)16 ±0.5 32 ±0.5 64 ±0.5
GrippingForce(N)25~50 60~150 180~450
Speed(mm/s)Motion 1~60 1~80 1~100
Gripping[Note2] 1~10 1~20 1~20
Repeatability(mm)±0.01 ±0.01 ±0.02
DriveDevice Single axis robot
GreaseSupplyofDriveDevice[Note3] 500,000 cycles or 6 months
Impact/VibrationResistance(m/s2)150 / 30
OperatingTemperatureRange(。C)5 ~ 45
OperatingHumidityRange(%)RH 35~85(No condensing)
IPClass IP20
Weight(kg)0.4 0.7 1.9
Controller
MotorType Stepper motor
MotorSize(mm) □20 □28 □42
PowerSupply(V)DC 24 ± 10%
TotalCurrent(A)2A MAX 2A MAX 3A MAX
Weight(Kg)0.15
Shell
structures
Electronic
components
Plastic or
Rubber
Glass or
Crystal
Measurement Gripping in a
narrow space
Detection /
Identification
Gripping of parts that are easily deformed or damaged.
Shape measurement Deep holes Selection and alignment
C02UE03-1711
6

2.4 System Construction
[Note 1] Actuator cable length: 1.5 m (standard), 3 m, 5 m.
[Note 2] I/O cable length: 1.5 m (standard), 3 m, 5 m or produced upon receipt of order.
[Note 3] Communication cable length: 1.5 m (standard)
[Note 4] Power supply plug only.
PLCUpperController
or
I/O Cable (14 pins)Power Cable
Power Supply
(DC 24V)
Actuator Cable USB Cable
Electric Gripper PC + Software Controller
C02UE03-1711 7

2.5 Specification Illustration
[Note1] Left side connector of the actuator cable connects to the electric gripper, and right side connector
of the actuator cable connects to the controller.
[Note2] The actuator cable length recommended for three meters or more.
Code Item Illustration
A Type XEG：2-finger type
B Model
16：total stroke is 16 mm
32：total stroke is 32 mm
64：total stroke is 64 mm
C Controller C1：controller
DActuator Cable Length and
Connector Type [Note1]
10：1.5M (Standard)
1L：1.5M-Right Angle type
30：3.0M
3L：3.0M-Right Angle type
50：5.0M
5L：5.0M-Right Angle type
E I/O Cable Length
1：1.5 M (standard)
3：3 M
5：5 M
F Controller Setting Kit W1：software
G Note
S：special order
TM：TM Plug & Play Version [Note2]
The model number of Electric Gripper series contains the type,size,other kinds of cable length
or special order,etc..
XEG - 16 - C1 10 1 - W1 - S
A B C D E F G
1500 mm
3000 mm
3000 mm
5000 mm
1500 mm
5000 mm
10
30
1L
3L
50 5L
C02UE03-1711
8

A.Whenusingthethreadonthebody
B.Whenusingthethreadonthemountingplate
C.Whenusingthethreadonthebackofthebody
2.6 Mounting Method
Model Bolt
Recommended
tightening
torque (N*m)
Effective
depth (mm)
XEG-16 M3x0.5P 0.6~0.8 3.5
XEG-32 M4x0.7P 1.2~1.6 4.5
XEG-64 M6x1P 4.6~5.2 8
Model Bolt Recommended tightening
torque (N*m)
XEG-16 M2.5x0.45P 0.4~0.6
XEG-32 M3x0.5P 0.6~0.8
XEG-64 M5x0.8P 2.8~3.4
Model Bolt
Recommended
tightening
torque (N*m)
Effective
depth (mm)
XEG-16 M3x0.5P 0.6~0.8 8
XEG-32 M4x0.7P 1.2~1.6 10
XEG-64 M6x1P 4.6~5.2 12
Model Bolt
Recommended
tightening
torque (N*m)
Effective
depth (mm)
XEG-16 M3x0.5P 0.6~0.8 5
XEG-32 M3x0.5P 0.6~0.8 4
XEG-64 M4x0.7P 1.2~1.6 8
固定方向 固定方向
定位銷
固定方向
定位銷
定位銷
Mounting Direction
Positioning pin
Positioning pin
Positioning pin
Mounting
Direction
固定方向
定位銷
定位銷
Mounting
Direction
固定方向 固定方向
定位銷
固定方向
定位銷
定位銷
Mounting Direction
Positioning pin
Positioning pin
Positioning pin
Mounting
Direction
固定方向
定位銷
定位銷
Mounting
Direction
固定方向 固定方向
定位銷
固定方向
定位銷
定位銷
Mounting Direction
Positioning pin
Positioning pin
Positioning pin
Mounting
Direction
固定方向
定位銷
定位銷
Mounting
Direction
[Note 1] Do not drop or hit the gripper when mounting to avoid scratches and dents. It might cause the deterioration of accuracy
and operation failure.
[Note 2] Tighten the mounting screw of the products with the specified torque.
[Note 3] Tighten the mounting screw of the attachments (fingers) with the specified torque as below table.
[Note 4] The mounting face has holes and slots for positioning. Make use of them if necessary.
C02UE03-1711 9

XEG-16 XEG-32,XEG-64
◎Apply proper amount of grease to the grease hole
of single axis robot with a grease supply device or
on the surface of ball screws with brushes.
◎When mounting the fingers, a grease passage on
the fingers may be necessary.
◎Turn off power supply after adjusting the gripper to
the maximum opening position; or under the power
off condition, adjusting the gripper to the maximum
opening position manually after removing the bolt
on the manual adjustment part.
◎After removing the bolts on the dust cover, align the
nozzle of greasing device to the grease holes shown
in the figure below, and then proceed the lubrication
maintenance.
2.7 Maintenance
2.7.1 Applying Grease to Single Axis Robot
2.7.2 Greasing Device for Electric Gripper
Fingers
Grease passage
Grease hole (Ø2)
Grease hole (Ø2)
(Ø2)
(Ø2)
Manual
adjustment
Manual
adjustment Manual adjustment
注脂孔
手動調整部
夾具
注脂孔
手動調整部 手動調整部
注脂孔
Fingers
Grease passage
Grease hole (Ø2)
Grease hole
(Ø2)
(Ø2)
(Ø2)
Manual
adjustment Manual adjustment
Manual
adjustment
注脂孔
手動調整部
夾具
注脂孔
手動調整部 手動調整部
注脂孔
Fingers
Grease passage
Grease hole (Ø2)
Grease hole (Ø2)
(Ø2)
(Ø2)
Manual
adjustment
Manual
adjustment
Manual
adjustment
注脂孔
手動調整部
夾具
注脂孔
手動調整部 手動調整部
注脂孔
The greasing device for electric gripper includes grease gun, grease nozzle adaptor, grease
nozzle and lubricating grease which are available for customers to select based on their usage
requirements.
Ø6
(Ø1.8)
Ø6
20
Ø6
Ø6
120 11
PT 1/8
13
Ø6
5M5x0.5P
Ø4
25
5
M5x0.5P
M5x0.5P
M5x0.5P
25
5
25
5
140
注油嘴轉接管
注油嘴
Ø2
Grease nozzle Grease nozzle adaptor
C02UE03-1711
10

Model no. Dimensions
GT-PT1/8-M5
Model no. Dimensions Lubricating Type
GNZ-L-M5 Minimized grease hole
GNZ-C-M5
Nipple
(M3 Thread)
Ø6
(Ø1.8)
Ø6
20
Ø6
Ø6
120 11
PT 1/8
13
Ø6
5M5x0.5P
Ø4
25
5
M5x0.5P
M5x0.5P
M5x0.5P
25
5
25
5
140
注油嘴轉接管
注油嘴
Ø2
Grease HIWIN G04
Color Cream
Base Oil Lipid/PAO
Thickener Lithium Soap Based
Applicable Temperature(℃)35~120
Dropping Point(℃)＞225
Penetration (0.1mm) 260-280
Viscosity(cst) 40℃25
100℃6
4 ball test (ASTM D2266) 418 m
It is recommended that lubricating
grease used for the electric gripper have high
wear resistance, low friction resistance and
water resistance such as HIWIN G04 or other
lubricating grease with similar features.
• GreaseGun(OptionalItem)
• GreaseNozzleAdaptor(StandardItem)
• GreaseNozzle(StandardItem)
• LubricatingGreaseforElectric
Gripper(OptionalItem)
Model
no. GN-80M GN-400C
Dimen-
sions
Spec.
1. Working pressure: 15 MPa
2. Output: 0.5~0.6 c.c./Stroke
3. Weight: 520 g(grease excluded)
4. Grease reload: 70 g flexible tube or 120 ml bulk loading
1. Working pressure: 15 MPa
2. Output: 0.8~0.9 c.c./Stroke
3. Weight: 1150 g (grease excluded)
4. Grease reload: 14 o.z. cartridge pipe or 400 ml bulk loading
222
(108) 320
(108) (20)
Ø10
彎管注油嘴
Ø10
彎管注油嘴
(20)
Nozzle Nozzle
Ø6
(Ø1.8)
Ø6
20
Ø6
Ø6
120 11
PT 1/8
13
Ø6
5M5x0.5P
Ø4
25
5
M5x0.5P
M5x0.5P
M5x0.5P
25
5
25
5
140
注油嘴轉接管
注油嘴
Ø2
Ø6
(Ø1.8)
Ø6
20
Ø6
Ø6
120 11
PT 1/8
13
Ø6
5M5x0.5P
Ø4
25
5
M5x0.5P
M5x0.5P
M5x0.5P
25
5
25
5
140
注油嘴轉接管
注油嘴
Ø2
C02UE03-1711 11

3.1 Controller Specifications
3.2 Names and Functions of Parts
3. Electric Gripper Controller
Item Specifications
Compatible Motor Stepper motor
Compatible Encoder Optical rotary encoder
Min. Setting Position (mm) 0.01
Number of Points 30 points ＋original point
External I/O
Input 5 points: command point setting
1 points: command input
Output 6 points: control output
LED indicator
Power supply lamp (PWR: green)
Error status lamp (ALM: red)
Serial Communication RS232
Power Supply (V) DC 24 ±10%
Total Current (A) 3A MAX
Operating Temperature Range (°C) 5 ~ 45
Operating Humidity Range (%) RH 35~85 (No condensing)
Insulation Resistance (MΩ) 10 (DC500V)
Weight (Kg) 0.15
Name Illustration
PWR Power supply lamp (Green)
ALM Error status lamp (Red)
24V/0V Power supply terminal
CN1 Actuator terminal
CN2 Communication terminal
CN3 I/O connector
CN3
CN2
CN1
DC 24V
I/O電纜線
USB傳輸線
驅控電纜線
電源線
I/O Cable
USB Cable
Actuator Cable
Power Cable
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3.3 I/O connector Illustration
3.4 Error Status / Identification Number Illustration
No. I/O Symbol Function
A1
Input
IN0 Position data bit0
A2 IN1 Position data bit1
A3 IN2 Position data bit2
A4 IN3 Position data bit3
A5 IN4 Position data bit4
A6 START Command input
A7 COM+Common ground(+)
B1
output
BUSY Executing command
B2 HOLD Gripping range check
B3 ALM-CODE1
Error status number
B4 ALM-CODE2
B5 CHK-CODE1
Identification number
B6 CHK-CODE2
B7 COM-Common ground(-)
A1 A2 A3 A4 A5 A6 A7
B1 B2 B3 B4 B5 B6 B7
CODE1 CODE2 Error status Identification
0 0 - -
1 0 Position fault Workpiece 1
0 1 Over travel Workpiece 2
1 1 Original point fault Workpiece 3
C02UE03-1711 13

3.5 External Wiring Diagram
3.6 Operation Modes
Mode Speed Direction Function Diagram
Movement Acceleration&
deceleration
Absolute
position Fast motion
Gripping
Constant speed
Relative
position
Gripping unknown
shape of workpiece
Acceleration&
deceleration
Gripping of workpiece
with fast tact and low
impact
Detection
Constant speed
Relative
position
Judgment of
acceptability of
gripping size
Acceleration&
deceleration
Identification Constant speed Relative
position
Identification of
gripping size
速度
位置
速度
行程
行程
速度
速度
合格
範圍
夾持量
速度
上/下限值 下/上限值
種類A 種類B 種類C
NG NG
行程末端
位置
位置
位置
位置
速度
位置
行程 夾持量
Speed
Position
Stroke
Stroke
Qual.
Gripping position
limit 1
limit 2
Sort1 Sort2 Sort3
NGNG
Stroke
end
Stroke
Gripping position
Speed
Speed
Speed
Speed
Speed
Position
Position
Position
Position
Position
速度
位置
速度
行程
行程
速度
速度
合格
範圍
夾持量
速度
上/下限值 下/上限值
種類A 種類B 種類C
NG NG
行程末端
位置
位置
位置
位置
速度
位置
行程 夾持量
Speed
Position
Stroke
Stroke
Qual.
Gripping position
limit 1 limit 2
Sort1 Sort2 Sort3
NGNG
Stroke
end
Stroke
Gripping position
Speed
Speed
Speed
Speed
Speed
Position
Position
Position
Position
Position
速度
位置
速度
行程
行程
速度
速度
合格
範圍
夾持量
速度
上/下限值 下/上限值
種類A 種類B 種類C
NG NG
行程末端
位置
位置
位置
位置
速度
位置
行程 夾持量
Speed
Position
Stroke
Stroke
Qual.
Gripping position
limit 1
limit 2
Sort1 Sort2 Sort3
NGNG
Stroke
end
Stroke
Gripping position
Speed
Speed
Speed
Speed
Speed
Position
Position
Position
Position
Position
IN0
IN1
IN2
IN3
IN4
START
COM+
BUSY
HOLD
ALM-CODE1
ALM-CODE2
CHK-CODE1
CHK-CODE2
COM-
A1
A2
A3
A4
A5
A6
A7
B1
B2
B3
B4
B5
B6
B7
LOAD
DC24V
CN3
IN0
IN1
IN2
IN3
IN4
START
COM+
BUSY
A1
A2
A3
A4
A5
A6
A7
B1
B2
B3
B4
B5
B6
B7
CN3
XEG-C1 (NPN) XEG-C1 (PNP)
HOLD
ALM-CODE1
ALM-CODE2
CHK-CODE1
CHK-CODE2
COM-
+-
LOAD
DC24V
-+
No. Color
A1 Black
A2 Red
A3 Yellow
A4 Blue
A5 Gray
A6
Light Blue
A7
Brown
/Black
B1 Brown
B2 Orange
B3 Green
B4 Purple
B5 White
B6
Light Green
B7
White
/Black
速度
位置
速度
行程
行程
速度
速度
合格
範圍
夾持量
速度
上/下限值 下/上限值
種類A 種類B 種類C
NG NG
行程末端
位置
位置
位置
位置
速度
位置
行程 夾持量
Speed
Position
Stroke
Stroke
Qual.
Gripping position
limit 1 limit 2
Sort1 Sort2 Sort3
NGNG
Stroke end
Stroke
Gripping position
Speed
Speed
Speed
Speed
Speed
Position
Position
Position
Position
Position
速度
位置
速度
行程
行程
速度
速度
合格
範圍
夾持量
速度
上/下限值 下/上限值
種類A 種類B 種類C
NG NG
行程末端
位置
位置
位置
位置
速度
位置
行程 夾持量
Speed
Position
Stroke
Stroke
Qual.
Gripping position
limit 1 limit 2
Sort1 Sort2 Sort3
NGNG
Stroke end
Stroke
Gripping position
Speed
Speed
Speed
Speed
Speed
Position
Position
Position
Position
Position
C02UE03-1711
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3.7 Parameter Setting
3.7.1 Fast move
• Movingwiththespecifiedmotionspeedtothetargetposition.
• Parameterssetting
Item Description
Move position Move to the target position.
Move speed Transfer speed to the target position.[Note 1]
[Note 1] If the move speed is excess of the allowance, the system will set the fastest speed
according to the position and acceleration.
速度 (mm/S)
位置 (mm)
移動速度
目標位置
Speed (mm/S)
Position (mm)
Motion speed
Target position
C02UE03-1711 15

3.7.2 Unknown workpiece size gripping / identifying by position detection
• Usespecifiedgrippingspeedandgrippingforcetogripworkpiece
fromtheinitialgrippingpositionuntilworkpieceisgrippedortheend
ofgrippingpositionisreached.
• Parameterssetting
Item Description
Direction The relative position is required, set “open”or “close”.
Gripping stroke From the initial gripping position to the end of gripping position.
Gripping speed Constant speed to the end of gripping position.[ref. ch4-5]
Gripping force The setting range differs depending on the electric gripper type.
[ref. ch4-3]
速度
等速度
夾持速度
推力 (%)
夾持推力
夾持行程
開始夾持位置 結束夾持位置
Constant speed
Gripping force (%)
Gripping force
Gripping
stroke
Initial gripping end of gripping
(mm/S)
位置 (mm)
位置 (mm)
Speed(mm/S)
Position(mm)
Position(mm)
Motion speed
C02UE03-1711
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3.7.3 Fast move gripping of known workpiece size
• Movewiththespecifiedgrippingspeedfromtheinitialpositionto
theinitialgrippingpositionfirstandgripworkpiecewiththespecified
grippingspeedandgrippingforceinthegrippingstroke.
• Parameterssetting
Item Description
Direction The relative position is required, set “open”or “close”.
Move position From the initial position to the initial gripping position.
Move speed Transfer speed to the initial gripping position. [Note 1]
Gripping stroke From the initial gripping position to the end of gripping position.
Gripping speed Constant speed to the end of gripping position.[ref. ch4-5]
Gripping force The setting range differs depending on the electric gripper type.
[ref. ch4-3]
[Note 1] If the move speed is excess of the allowance, the system will set the
fastest speed according to the position and acceleration.
速度 (mm/S)
位置 (mm)
移動速度
夾持速度
推力 (%)
位置 (mm)
夾持推力
移動行程 夾持行程
起始位置 開始夾
持位置
結束夾
持位置
Gripping speed
Gripping force
Gripping force (%)
Initial
gripping
Position (mm)
Position (mm)
Motion speed
Speed (mm/S)
Initail position
Movement
distance Gripping stroke
end of
gripping
C02UE03-1711 17