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
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
Rotary Table
Medical / Automotive Industry /
Machine Tools / Machinery Industry
• RAB Series
• RAS Series
• RCV Series
• RCH Series
Ballscrew
Precision Ground / Rolled
• Super S Series
• Super T Series
• Mini Roller
• Ecological & Economical
Lubrication Module E2
• Rotating Nut (R1)
• Energy-Saving & Thermal-
Controlling (Cool Type)
• Heavy Load Series (RD)
• Ball Spline
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
• Ballscrew Bearing
• Linear Bearing
• Support Unit
DATORKER®Robot Reducer
Robot / Automation Equipment /
Semiconductor Equipment / Machine Tools
• WUT-PO Type
• WUI-CO Type
• WTI-PH Type
• WTI-AH Type
AC Servo Motor & Drive
Semiconductor / Packaging Machine
/ SMT / Food Industry / LCD
• Drives--D1, D2T/D2T-LM, E1
• Motors--50W~2000W
Medical Equipment
Hospital / Rehabilitation Centers /
Nursing Homes
• Robotic Gait Training System
• Robotic Endoscope Holder
Linear Motor
Automated Transport /
AOI Application / Precision /
Semiconductor
• Iron-core Linear Motor
• Coreless Linear Motor
• Linear Turbo Motor LMT
• Planar Servo Motor
• Air Bearing Platform
• X-Y Stage
• Gantry Systems
Torque Motor &
Direct Drive Motor
Machine Tools
• Torque Motor--
TM-2/IM-2, TMRW Series
Inspection / Testing Equipment / Robot
• Direct Drive Motor--
DMS, DMY, DMN Series

1
C27UE001-2109
Contents
1. General Product Introduction ..................................................................2
2. Warranty .................................................................................................3
3. Technical Information ..............................................................................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 TM Plug&Play software package...............................................................10
4.5. TM Plug&Play components......................................................................................12
4.6. Function button descriptions...................................................................................15
5. X-Series Getting Started .........................................................................18
5.1. What’s in the box? ..................................................................................................18
5.2. Mechanical mounting..............................................................................................22
5.3. Electric mounting ....................................................................................................27
5.4. Installing TM Plug&Play software package ...............................................................31
5.5. TM Plug&Play component .......................................................................................34
Appendix.1：Example program ........................................................................41
Appendix.2：Certification.................................................................................43

2
C27UE001-2109
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

3
C27UE001-2109
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.

4
C27UE001-2109
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.

5
C27UE001-2109
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%,.

6
C27UE001-2109
4. S-Series Getting Started
4.1. What’s in the box?
Model: SEG-24-TM
1. Integrated electric gripper SEG-24-TM
2. TM Robot adapter set (ISO-9409-1-50-4-M6)
3. TM actuator cable
4. Accessory kit
• Pin
• Centering sleeve
5. Software
• TM Plug&Play Software Package (Download)
Model: STG-16-TM
1. Integrated electric gripper STG-16-TM
2. TM Robot adapter set (ISO-9409-1-50-4-M6)
3. TM actuator cable
4. Accessory kit
• Pin
• Centering sleeve
5. Software
•TM Plug&Play Software Package (Download)
Example:

7
C27UE001-2109
4.2. Mechanical mounting
Model: SEG-24-TM

8
C27UE001-2109
Model: STG-16-TM

9
C27UE001-2109
4.3. Electrical mounting
The connector of cable
(Gripper side: 6 pins)
1
2
1
1 The connector of cable
(Robot side: 8 pins)
0.5

10
C27UE001-2109
4.4. Installing TM Plug&Play software package
TM Plug&Play is an independent software package provided for the robot. For Plug&Play supported
items, the user does not need to write additional programs, and does not need to read the manuals of
both parties before integrating, only need to import the software package and can use in TMflow directly.
1. Click here (SEG) or here (STG) for free downloading of TM Plug&Play software package. After
downloaded the software package, place the folder with filename of TM_Export in the root directory
of the USB flash drive. The name of the USB flash drive must be TMROBOT. After inserted the USB
into the robot's control box, the software package can be exported/imported into the robot on the
robot system page.
TMROBOT flash drive schematic diagram
Import / Export page access window

11
C27UE001-2109
Import component
2. After imported the software package, the imported software package needs to be enabled in the
Robot Setting page. After enabled, the software package imported in each project will be added to
the left side of TMflow. The user can use it directly after dragged from the left side.
Robot setting page component
CAUTION:
HIWIN S-Series Gripper SET Component need use Command to communicate
with robot. Please confirm whether the corresponding instruction set is enable
and the corresponding Command will be added in the Command list.
3. The robot provides a simpler process programming method for the gripper-type software package.
On the robot setting page, click the Gripper Button to set the job triggered by the Gripper Button at
the robot end. The concept is when clicking the Gripper Button, a set of Component is added in the

12
C27UE001-2109
flow and execute once, and two Components are used in sequence (remember that HIWIN S-series
grippers need to be executed with SET Component before can be used). In practical applications, the
robot uses the FreeBot button, working with the buttons of end record gripper and point, to
complete flow programming without TMflow control.
Gripper setting page to enter the window
Gripper button setting page
4.5. TM Plug&Play components
HIWIN SEG gripper and STG gripper have three components: SET, RELEASE, GRIP components. The
following are the components introduction and setting.
SET component:

13
C27UE001-2109
1. SET component needs use command to communicate with robot before using the gripper
2. For the SEG gripper, when the SET component is activated, the gripper will execute the RESET
program. The gripper will move inward to confirm the origin position, and then open to the
maximum stroke position.
3. If RESRT has been manually executed after power-on, it will not be executed RESET again after
activating the SET component.
4. The STG gripper will not execute RESET when the SET component is activated.
SET component of the SEG gripper SET component of the STG gripper

14
C27UE001-2109
RELEASE components:
1. The gripper will open outward to the maximum stroke.
2. If using the SEG gripper and finish function button setting, the gripper will move mode [Note1] to
the FREE point. For the advanced FREE point setting of the SEG gripper, please refer to chapter
4.6
[Note1] Motion speed of the move mode will faster than normal mode.
RELEASE component of
the SEG gripper
RELEASE component of
the STG gripper
GRIP components:
1. The gripper will close inward to the minimum stroke.
2. If using the SEG gripper and finish function button setting, the gripper will grip mode [Note1] to
the GRIP point. For the advanced GRIP point setting of the SEG gripper, please refer to chapter 4.6
[Note1] Gripping workpiece with fast close and slow grasp.
GRIP component of the SEG gripper GRIP component of the STG gripper

15
C27UE001-2109
4.6. Function button descriptions
For more information about the function button descriptions and setup process of the electric gripper
SEG-24, please refer to the following:

16
C27UE001-2109
Function button descriptions:
[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:

17
C27UE001-2109
Setup process:

18
C27UE001-2109
5. X-Series Getting Started
5.1. What’s in the box?
Model: XEG-16-C25L1-TM
1. Electric gripper XEG-16
2. Electric gripper controller XEG-C2
3. TM Robot adapter set (ISO-9409-1-50-4-M6)
4. Cable
• Actuator cable 5M-L
• RS485 cable 1.5M (RS232 to RJ45)
• I/O cable 1.5M
• USB cable 1.5M
5. Accessory kit
• Power plug
• Pin
• Greasing nozzle/tubing
6. Software
• TM Plug&Play Software Package (download)
Model: XEG-32-C25L1-TM
1. Electric gripper XEG-32
2. Electric gripper controller XEG-C2
3. TM Robot adapter set (ISO-9409-1-50-4-M6)
4. Cable
• Actuator cable 5M-L
• RS485 cable 1.5M (RS232 to RJ45)
• I/O cable 1.5M
• USB cable 1.5M
5. Accessory kit
• Power plug
• Pin
• Greasing nozzle/tubing
6. Software
• TM Plug&Play Software Package (download)