Hiwin SEG-04 User manual

RoHS
www.hiwin.tw
User Manual
Integrated Electric Gripper
Original Instruction

INDUSTRIE 4.0 Best Partner
Multi-Axis Robot
Pick-and-Place / Assembly /
Array and Packaging / Semiconductor /
Electro-Optical Industry /
Automotive Industry / Food Industry
• Articulated Robot
• Delta Robot
• SCARA Robot
• Wafer Robot
• Electric Gripper
• Integrated Electric Gripper
• Rotary Joint
Single-Axis Robot
Precision / Semiconductor /
Medical / FPD
• KK, SK
• KS, KA
• KU, KE, KC
Torque Motor
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Machine Tools / Machinery Industry
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Linear Guideway
Automation / Semiconductor / Medical
• Ball Type--HG, EG, WE, MG, CG
• Quiet Type--QH, QE, QW, QR
• Other--RG, E2, PG, SE, RC
Bearing
Machine Tools / Robot
• Crossed Roller Bearing
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• Support Unit
DATORKER®Robot Reducer
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• WUT-PO Type
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AC Servo Motor & Drive
Semiconductor / Packaging Machine
/ SMT / Food Industry / LCD
• Drives--D1, D1-N, D2T/D2T-LM
• Motors--50W~2000W
Medical Equipment
Hospital / Rehabilitation Centers /
Nursing Homes
• Robotic Gait Training System
• Hygiene System
• Robotic Endoscope Holder
Linear Motor
Automated Transport /
AOI Application / Precision /
Semiconductor
• Iron-core Linear Motor
• Coreless Linear Motor
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• Planar Servo Motor
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• X-Y Stage
• Gantry Systems
Torque Motor &
Direct Drive Motor
Machine Tools
• Torque Motor--TMRW, TMRI Series
Inspection / Testing Equipment / Robot
• Direct Drive Motor--TMS, TMY, TMN Series

Contents
1. Precautions (be sure to read before use) ............................................................................... 1
1.1 Safety regulations ................................................................................................................ 1
1.2 Warning label location and description .................................................................................. 3
1.3 Warranty coverage ................................................................................................................. 4
2. Product characteristics ......................................................................................................... 5
2.1 Integrated electric gripper features ....................................................................................... 5
2.2 Application examples .................................................................................................... 6
2.3 Specification table .............................................................................................................. 6
2.4 System architecture diagram ............................................................................................... 7
2.5 Specification illustration ......................................................................................................... 8
2.6 Electric grippers mounting methods .................................................................................. 9
3. Control method ...................................................................................................................... 11
3.1 Input/output definitions and functional descriptions ............................................................... 11
3.2 Indicator functions ............................................................................................................. 11
3.3 External wiring instructions ............................................................................................... 12
3.4 Operation timing diagram .................................................................................................... 13
3.5 Error status descriptions (SEG-24 only)................................................................................... 13
3.6 Function descriptions (SEG-24 only) ....................................................................................... 14
3.7 NPN/PNP mode adjustment teaching ..................................................................................... 16
4. Dimension drawing ................................................................................................................ 18
4.1 SEG-04 outline drawing .................................................................................................. 18
4.2 SEG-24 outline drawing ................................................................................................... 18
4.3 STG-16 outline drawing ................................................................................................... 19
5. Safety certification ................................................................................................................ 20
6. Appendix ............................................................................................................................... 21
6.1 Shipping items ...................................................................................................................... 21
6.2 Robot arm language examples ....................................................................................... 21
6.3 Accessories installation methods ...................................................................................... 23
6.4 Finger design guide ................................................................................................................ 29
6.5 Electric gripper option selection requirements table ............................................................. 30
C11UE01-1907 I

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.
1.1 Safety regulations
1. Precautions (be sure to read before use)
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 acquire 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.
Danger
◎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
C11UE01-1907 1

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.
Warning
◎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℃.
◎Please use product under ambient humidity
﹤85% without condensation.
◎Do not use product under corrosive gas or
corrosive chemical solution locations, to avoid
rust and other deterioration situation occurring.
◎Do not use product in dust or iron powder
environments.
◎Do not use products where violent collision and
vibration is possible.
◎Do not use products near strong electromagnetic
interference to avoid abnormal product
movements.
◎Install products and fixtures with appropriate
screw locking torque.
◎Do touch product when product in motion, to
avoid hand injury.
◎When a person is accidentally caught, please
immediately turn off power or implement external
safety circuit emergency stop button. and to
ensure Check power state, and manually adjust
gripper switch or remove fixture afterwards.
◎When power failure occurs during operation,
turn off power immediately to avoid sudden
movement after the resumption of power, which
may cause resulting in mechanical damage or
personal injury.
◎It abnormal heat, smoke, odor or persistent
noise occurs, please immediately turn off power
to avoid product damage or fire.
◎When product is holding workpiece and cannot
be activated, please immediately turn off power.
Manually adjust gripper switch or remove fixture
to remove workpiece. Wait for abnormal state to
be resolved before turning on power supply.
◎Do not use product grip live or dangerous
objects.
◎When gripping workpiece, avoid load on a single
gripper.
◎When product moves, avoid external force to the
gripper.
Caution
◎When installing product, please do not handle
action parts or wires, so as to avoid product
damage.
◎Do not put fingers or foreign matter into
openings of the product, to avoid electric shock,
personal injury, fire and other undesirable
circumstances.
◎The motor in operation will heat up, increasing
surface temperature of product . Please avoid
adversely affecting surrounding workpieces.
◎The bending radius of the wire in the actuator
cable is within specified range. (Rb ≥ 38 mm)
◎Cables of product cannot be damaged and should
be checked regularly. Damage to cable, excessive
bending, pulling, curling can lead to abnormal
function, cause fire or other undesirable
circumstances.
◎When product is discarded, it should be disposed
in accordance to local waste disposal regulations.
◎When using the product, please wear safety
shoes and other appropriate protective
equipment.
◎Product body and gripper end are provided with
positioning holes.
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2

1.2 Warning label location and description
The product will be labeled as shown below to ensure correct and safe operation.
Danger, do not insert
finger here
Danger, do not insert
finger here
◎Fixture should be designed to be light and short.
◎Fixture material, shape, clamping area and other
design characteristics will affect the maximum
workpiece weight.
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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) 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
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4

2.1 Integrated electric gripper features
2. Product characteristics
• Integrated control
- Controller is embedded inside gripper eliminating the need for additional mounting and can be
used directly with I/O control.
- Parameters can be set without computer, eliminating the need to edit program.
- LED lights for Power and Ready, clearly show gripper status.
- Compact design; small size, light weight.
• Easy operation
- Only need one set of I/O signals to control gripper on/off.
- Built-in Busy signal for immediate feedback gripper status.
•Function
- SEG-24 has function buttons that allow user to quickly adjust gripper travel and store clamping
point.
• High speed clamping
- SEG-04 open/close cycle time is 0.26 seconds, suitable for 3C industry high-speed pick and
place operations.
- SEG-24 Clamp has smart pick and place function, set to function keys that store clamping
point. It can move to clamping point at high-speed and automatically convert to slow clamping,
effectively reduce cycle time and increase efficiency.
- STG-16 is suitable for round object pick and place operations.
SEG-24SEG-04 STG-16
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2.3 Specification
Model SEG-04 SEG-24 STG-16
Category Item Unit Value
Motion specifications
Stroke per side mm 212 8
Gripping force N 8 [Note1] 35 [Note2] 40 [Note1]
Gripping speed mm/s 45 15(45) [Note3] 30
Repeatability mm ±0.1 ±0.1 ±0.1
Power specifications Operation voltage V 24±10% 24±10% 24±10%
Operation current A 0.5 0.5 0.5
Load
Load torque Mr N-m 2.6 11.76 7
Load torque Mp N-m 2.3 7.35 4.5
Load torque My N-m 2.3 7.35 4.5
Load strength F N 108.9 254.8 196
Hardware specifications
Weight kg 0.2 0.7 0.7
IP class - IP40 IP20 IP40
Cleanroom class - ISO Class 4 (Class 10) - -
Operation temperature °C 5-45 5-45 5-45
Operation humidity %RH < 85 < 85 < 85
Storage temperature °C 0-60 0-60 0-60
Total length mm 49 105.5 72.3
Total height mm 25 88 100
Total thickness mm 81 38 100
2.2 Application examples
• Gripper can be used for workpiece parts that are easily deformed, broken, or
susceptible to surface damage.
Light bulb Rubber and plastic resin Capacitor Glass test tube
Thin shell Elastoplastic material Electronic components Glass crystal products
Suitable for clamping in a narrow space Object column
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6

• Plug and play
- Connect Integrated electric gripper drive wires to power supply and host controller,
to begin using.
X
X
Y
Y
Z
Z
F
F
Mr
Mr
Mp
Mp
My
My
2.4 System architecture diagram
Upper controller
For example:
programmable logic controller PLC
robot controller RC
24V DC power supply
[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.
[Description 4] SEG-04 is light gripping force model, it is recommended to use elastic material for gripping part, such as
rubber, gifted glue, etc., to increase gripping friction, and avoid gripping objects from falling. For more
details, please refer to ch6.4 design guide of gripping section.
[Description 5] SEG-04 can only inside grip inside and the backlash is 0.5mm per side. Don’t grip at the backlash area.
C11UE01-1907 7

[Note 1] The sensor is an optional equipment. It doesn’t affect the function of gripper if the sensor is not
installed. According to the output mode (NPN, PNP type) of the gripper, the sensor with corresponding
output mode is provided.
[Note 2] For SEG-24 and STG-16.
[Note 3] Please refer to HIWIN official website "TM quick installation guide".
https://www.hiwin.tw/download/tech_doc/ee/TM_Plug&Play_Version.pdf
[Note 4] Please refer to HIWIN official website "UR+ Technical Manual Guide".
https://www.hiwin.tw/download/tech_doc/ee/UR_Plus_Technical_Manual_Guide.pdf
2.5 Specification illustration
SEG-04 - 10 - O P
A B C D
Code Item Description
A Type
SEG-04：total stroke is 4mm and two grippers type
SEG-24：total stroke is 24mm and two grippers type
STG-16：total stroke is 16mm and three grippers type
B
Actuator cable
length and connector
type
10：1 M - straight connector (standard)
1L：1 M - L type connector
30：3 M - straight connector
3L：3 M - L type connector
50：5 M - straight connector
5L：5 M - L type connector
C Sensor
None：none
O：2M-Normal Open (Note 1)
C：2M-Normal Close (Note 1)
D Note
None：NPN Type(standard)
P：PNP Type (Note2)
S：Customized order
TM：TM Plug & Play Version (Note 3)
UR：UR+ Solutions (Note 4)
The model number of integrated electric gripper series contains the type,size,other kinds of cable length
or special order,etc..
10 1L
30 3L
50 5L
Ø14.6
43
1000
(50)
Ø14.6
43
3000
(50)
Ø14.6
43
5000
(50)
27.6
38
Ø14.6
1000
(50)
27.6
38
Ø14.6
3000
(50)
27.6
38
Ø14.6
5000
(50)
Ø14.6
43
1000
(50)
Ø14.6
43
3000
(50)
Ø14.6
43
5000
(50)
27.6
38
Ø14.6
1000
(50)
27.6
38
Ø14.6
3000
(50)
27.6
38
Ø14.6
5000
(50)
Ø14.6
43
1000
(50)
Ø14.6
43
3000
(50)
Ø14.6
43
5000
(50)
27.6
38
Ø14.6
1000
(50)
27.6
38
Ø14.6
3000
(50)
27.6
38
Ø14.6
5000
(50)
Ø14.6
43
1000
(50)
Ø14.6
43
3000
(50)
Ø14.6
43
5000
(50)
27.6
38
Ø14.6
1000
(50)
27.6
38
Ø14.6
3000
(50)
27.6
38
Ø14.6
5000
(50)
Ø14.6
43
1000
(50)
Ø14.6
43
3000
(50)
Ø14.6
43
5000
(50)
27.6
38
Ø14.6
1000
(50)
27.6
38
Ø14.6
3000
(50)
27.6
38
Ø14.6
5000
(50)
Ø14.6
43
1000
(50)
Ø14.6
43
3000
(50)
Ø14.6
43
5000
(50)
27.6
38
Ø14.6
1000
(50)
27.6
38
Ø14.6
3000
(50)
27.6
38
Ø14.6
5000
(50)
C11UE01-1907
8

A. When using the screw holes on underside of gripper body
B. When using front through holes of gripper body
2.6 Electric gripper mounting methods
Type Screw M Recommended locking torque (N*m) Maximum locking depth SL (mm)
SEG-04 M3x0.5P 0.6~0.8 3
SEG-24 M3x0.5P 0.6~0.8 8
STG-16 M6x1P 4.6~5.2 6
固定方向
固定方向 固定方向
固定方向 固定方向
固定方向
定位銷
定位銷
定位銷
同心軸環
SEG-04
SEG-04 SEG-04
SEG-24
固定方向
固定方向
固定方向
固定方向 固定方向
固定方向
定位銷
定位銷
定位銷
同心軸環
SEG-04
SEG-04
SEG-04
SEG-24
Mounting direction
Mounting direction
Mounting direction
Mounting direction
Mounting direction
Mounting direction
Mounting direction
Mounting direction Mounting direction Mounting direction
Locating pins
Concentric collar
Mounting direction
Locating pin
STG-16
120°
Ø56
Locating pins
Locating pins
STG-16
120°
Ø56
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C. When using screw holes on the back of gripper body
Type Screw M Recommended locking torque T (N*m) Maximum locking depth SL (mm)
SEG-04 M4x0.7P 1.2~1.6 6
STG-16 M5x0.8P 2.8~3.4 5
固定方向
固定方向
固定方向
固定方向 固定方向
固定方向
定位銷
定位銷
定位銷
同心軸環
SEG-04
SEG-04
SEG-04
SEG-24
Mounting direction
Mounting direction
Mounting direction
Mounting direction
Locating pin Locating pins
Type Screw M Recommended locking torque T (N*m)
SEG-04 M3x0.5P 0.6~0.8
STG-16 M5x0.8P 2.8~3.4
30
STG-16
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10

3.1 Input/output definitions and functional descriptions
3. Control method
• SEG-04, STG-16 I/O control:2IN/1OUT • SEG-24 I/O control:2IN/2OUT
Signal input
IN1 IN2 Function
OFF OFF None
ON OFF Open
ON ON Close
Signal input
IN1 IN2 Function
OFF OFF None
ON OFF Open
ON ON Close
Signal output
Pin Function
OUT1 Busy
Signal output
Pin Function
OUT1 Busy
OUT2 Alarm
3.2 Indicator functions
Color Function Description
Green Power indicator On when power is connected
Blue Status indicator On when IN1(Ready)=ON
[Description 1] when IN1(Ready)=ON of SEG-24, electric gripper will perform a reset action to confirm origin and then
open to outside.
[Description 2] The OUT1(busy) signal is ON when electric gripper action is executed. The OUT1(busy) signal is OFF after
the action is completed.
SEG-24SEG-04 STG-16
Power indicator
Power indicator
Power indicator
Status indicator
Status indicator
Status indicator
C11UE01-1907 11

Pin definition
Pin Color I/O Function
1 White IN1 Ready
2 Brown IN2 DIR (O/C)
3 Green OUT1 Busy
4 Yellow VCC 24V/0.5A
5 Blue GND 0V
6 Red OUT2 Alarm [Note 1]
7 Black --- Shielding
3.3 External wiring instructions
SEG-04
NPN Type
IN1
IN2
OUT1
VCC
GND
Ready
DIR
24V
0V
Busy Load Alarm
Busy
24V
0V
OUT1
IN2
NPN Type
SEG-24
GND
VCC
OUT2 Load
PNP Type
IN1 Ready
DIR
Alarm
Busy
0V
24V
OUT1
IN2
VCC
GND
OUT2 Load
IN1 Ready
DIR
[Note 1] SEG-24 only.
Busy
24V
0V
OUT1
IN2
NPN Type
STG-16
GND
VCC Load
PNP Type
IN1 Ready
DIR
Busy
24V
0V
OUT1
IN2
GND
VCC
Load
IN1 Ready
DIR
12
3
4
5
6
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12

ON
OFF
Close
Open
ON
OFF
IN1 (Ready)
OUT1 (Busy)
Close Open
IN2 (DIR)
IN1 (Ready)
IN2 (DIR)
OUT1 (Busy)
ON
Close
ON
OFF
Open
OFF
Reset Close Open
3.4 Operation timing diagram
3.5 Error status descriptions (SEG-24 only)
• SEG-04, STG-16
• SEG-24
Mode Abnormal / Gripping Judgment
(Incident occurred)
Exclude Abnormal / Gripping Judgment
(Recommended)
RESET
An alarm occurs after the RESET operation
is competed.
(RESET must be executed first)
Please confirm whether the design of the
gripper’s finger exceeds origin of the
slider. If not, please check for foreign object
within the range of route of the gripper.
Move An alarm occurs after the movement
towards the free point.
Please check for foreign object within the
range of route the gripper.
Grip
[Abnormal]
Execute the grip motion and the stop
position is not within the range of tolerance
band (n).
Please check for foreign object outside the
range of the gripper's tolerance band route.
[Grip confirmation]
Execute the grip motion and the stop
position is at second tolerance point (
Μ
)。
Provide the user to determine whether the
target object is indeed gripped within the
range of tolerance.
After the GRIP point and the FREE point are set completely and Ready=ON, please refer to the table below:
C11UE01-1907 13

[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(M).
[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:
Panel Press button Mode Short press Long press
Jog button (inward) Move inward 1 mm Move inward
continuously
Jog button
(outward) Move outward 1 mm Move outward
continuously
Memory button Gripping center
point (G)
Tolerance
(G+n or G-n)
Memory button Release point (F) Clear all storage
points
3.6 Function button descriptions (SEG-24 only)
ON
OFF
ON
Open
OFF
Close
FF
G
MM
Motion mode 15 mm/s
45 mm/s
OUT1(Busy)
IN2(DIR)
IN1(Ready)
0
Tolerance
band
M
Move mode Grip mode
C11UE01-1907
14

1. Press and at the same time to execute Reset.
2. Press for 3 sec. to clear all stored points (depends on user's requirements to setup).
3. Use jog buttons or to move gripper to gripping center point and press to save button.
Ready indicator blinks 1 times when saved successfully.
4. Use jog buttons or to adjust gripping travel range, press 3 sec. to save tolerance point.
Ready indicator blinks 3 times when saved successfully (depends on user's requirements to
setup).
5. Use jog buttons or to move gripper to release point and press to save. Ready indicator
blinks 1 times when saved successfully.
[Explanation 1] Be sure to perform Reset during the period of setting and power restarting.
[Explanation 2] When gripping center point and release point are not set or setting is not
complete, full travel is gripped.
• Setup process
• Setup steps
Ready OFF
Reset
Clear all stored points
Gripping center
Tolerance point
Release point
Ready ON
Press at the same time
3 Sec.
3 Sec.
Be sure to perform Reset after powering up
Depends on user's requirements to setup
Depends on user's requirements to setup
LED Blue
Blinks 1 times
LED Blue
Blinks1 times
LED Blue
Blinks 3 times
LED Blue
Blinks 3 times
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Step Image Description
1Please unscrew the two hexalobular screw
(1) at the side of the electric gripper.
2 Flip open the electric gripper rear cover (2).
3Electric gripper is preset to NPN mode
(switch down).
4
User can adjust the electric gripper to
PNP mode (switch up) according to the
requirement.
(1)
(1)
(2)
3.7 NPN/PNP Mode Adjustment Teaching
SEG-24 electric gripper is set default to NPN mode at the factory. If user required PNP mode, please
follow the steps below to adjust them.
↑: PNP-Up
↓: NPN-Down
↑: PNP-Up
↓: NPN-Down
• SEG-24
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STG-16 electric gripper is set default to NPN mode at the factory. If user required PNP mode, please
follow the steps below to adjust them.
Step Image Description
1
Please unscrew the four Phillips screws
(1) at the end of the electric gripper, and flip
open the electric gripper rear cover (2).
2Electric gripper is preset to NPN mode
(switch right).
3
User can adjust the electric gripper to
PNP mode (switch left) according to the
requirement.
• STG-16
→: NPN-Right
←: PNP-Left
→: NPN-Right
←: PNP-Left
(1) (2)
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