Festo EHMD-40-RE-GP Handleiding
Festo
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EHMD-40-RE-GP
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EHMD-40-RE-...
Rotary gripper module
Festo SE & Co. KG
Ruiter Straße 82
73734 Esslingen
Deutschland
+49 711 347-0
www.festo.com
Operating instructions
8170303
2022-02b
[8170305]
Translation of the original instructions
© 2022 all rights reserved to Festo SE & Co. KG
1
Applicable documents
All available documents for the product
è
www.festo.com/sp.
2 Safety
2.1 General safety instructions
–
Only use the product in original status without unauthorised modifications.
–Only use the product if it is in perfect technical condition.
–
Observe labelling on the product.
–
Store the product in a cool, dry environment protected from UV and corrosion.
Keep storage times short.
–
Before working on the product, switch off the power supply and secure it
against being switched on again.
–Observe the tightening torques. Unless otherwise specified, the tolerance is
± 20%.
2.2
Intended use
The intended use of the product is to grip, hold and rotate payloads, e.g. work-
pieces.
2.3 Foreseeable misuse
Do not grip the payload in the "Open" direction of movement.
Fig. 1:
Impermissible gripping
2.4 Training of qualified personnel
Work on the product may only be carried out by qualified personnel who can
evaluate the work and detect dangers. The qualified personnel have skills and
experience in dealing with electropneumatic (open-loop) control technology.
3 Additional information
–Accessories
è
www.festo.com/catalogue.
4 Product overview
4.1 Function
1
2
3
2
3
1
3
Fig. 2:
Functional principle of rotating
and gripping
1
"Rotate" gripper movement
2
"Close" jaw movement
3
"Open" jaw movement
1
2
3
4
5
3
2
Fig. 3:
Gripping force via spring
deflection
1
Gripping force position
2
Gripping position
3
End position open
4
Additional path of gripping force
5
Lever arm to payload
The product is a combined rotating and gripping module.
–Electric rotary drive EHMD-...-RE:
The rotary movement of the stepper motor is transmitted directly to the gripper
via the motor shaft and can be freely positioned. The stepper motor incre-
mental encoder can be used for closed loop control and outputs a zero pulse
for homing per gripper revolution. The zero pulse ZP of the encoder and the
longitudinal axis of the gripper are factory-aligned parallel to the mounting
surface.
–
Electric gripper drive EHMD-...-GE/-GE-16:
The rotary movement of the stepper motor is transferred to the gripper jaws
via a mechanism and can be freely positioned. The stepper motor incremental
encoder can be used for closed loop control. A defined gripping force can be
generated in closed loop control with servo drives with torque limitation. A
defined gripping force can be generated in positioning mode by a spring in
the gripper drive with servo drives without torque limitation. After the gripper
fingers are in contact with the workpiece, the gripper drive is moved further
by a defined distance s
force
and the spring is tensioned. If the power supply is
interrupted, the gripping force may drop to the residual gripping force.
–
Pneumatic gripper drive EHMD-…-GP:
The linear movement of the pneumatic cylinder is transferred to the gripper
jaws via a mechanism. Two positions on the pneumatic cylinder can be moni-
tored with proximity switches. If the compressed air supply fails, the gripping
force is not maintained. Gripping force can be backed up, e.g. by an uninter-
ruptable compressed air supply.
4.2 Product design
Product overview EHMD-40-RE-...
1 2 3 4 5 6
9
7 8
10 11 12
Fig. 4:
Product design EHMD-40-RE-GP/-GE/-GE-16
1
Pneumatic gripper drive
2
Pneumatic port
3
Slot for sensor
4
Electrical connection: motor and
encoder
5
Electric gripper drive with
encoder
6
Electric rotary drive with encoder
7
Warning: hot surface
8
Product labelling
9
Rotating short-stroke gripper
10
Gripper jaw with bottom guide
11
Rotating long-stroke gripper
12
Gripper jaw with lateral guide
5 Mounting
Loss of function of the gripper jaw movement
Retaining screws that are too long for the gripper finger attachment cause the
gripper jaws to jam.
•
Observe the maximum screw-in depth.
Loss of function of the rotary movement
Loosening the clamping screw on the gripper results in loss of referencing or can
lead to failure of the gripper drive during continuing operation.
•
Do not loosen the clamping screw on the gripper.
Fig. 5: Clamping screw on the gripper.
5.1 Mounting gripper fingers on EHMD-...-GE/-GP
Included accessories
–
4x M3 x 12 screws
–4x ZBH-5 centring sleeves
1
2
4
5
3
Fig. 6: Mounting gripper fingers
directly, showing gripper jaw
blank BUB-HGPT
1
Gripper jaw with threaded holes and
centring holes
2
Centring sleeve
3
Through-hole with centring hole
4
Gripper fingers
5
Retaining screw
1.
Position the centring sleeves in the centring holes .2 3
2.
Apply medium-strength screw locking compound to the threads of the
retaining screws .5
3.
Position the gripper fingers on the gripper jaws .4 1
4.
Tighten the retaining screws .5
Observe the maximum tightening torque and screw-in depth.
Type -GE/-GP
Screw M3
Max. screw-in depth into the gripper jaw [mm] 8.3
Max. tightening torque [Nm] 1.2
Centring sleeve ZBH-5
Centring hole and centring hole tolerance [mm] 5
H9
Tab. 1:
Information for mounting components
5.2
Mounting gripper fingers on EHMD-...-GE-16
Included accessories
–
4x ZBH-5 centring sleeves
1
2
3
4
5
Fig. 7:
Mounting gripper fingers
directly
1
Gripper jaw with threaded holes and
centring holes
2
Centring sleeve
3
Through-hole with centring hole
4
Retaining screw
5
Gripper fingers
1. Position the centring sleeves in the centring holes .2 3
2. Apply medium-strength screw locking compound to the threads of the
retaining screws .4
3. Position the gripper fingers on the gripper jaws .5 1
4.
Tighten the retaining screws .4
Observe the maximum tightening torque and screw-in depth.
Type -GE-16
Screw M3
Max. screw-in depth into the gripper jaw [mm] 4.6
Max. tightening torque [Nm] 1.2
Centring sleeve ZBH-5
Centring hole and centring hole tolerance [mm] 5
H9
Tab. 2:
Information for mounting components
5.3
Mounting gripper fingers on EHMD-40-RE-GE-16 with bracket
Included accessories
–2x brackets
–
8x M3 x 6 countersunk screws
1
2
3
4
5
Fig. 8: Mounting gripper fingers with
brackets
1
Gripper jaw with threaded holes and
centring holes
2
Through-hole with recess
3
Retaining screw
4
Bracket
5
Gripper fingers
1.
Apply medium-strength screw locking compound to the threads of the
retaining screws .3
2.
Position the gripper fingers on the brackets .5 4
3.
Tighten the retaining screws .3
4.
Position the brackets on the gripper jaws .4 1
5.
Tighten the retaining screws .3
Observe the maximum tightening torque and screw-in depth.
Type -GE-16
Countersunk screw M3 x 6
Max. screw-in depth into the gripper jaw [mm] 4.6
Max. tightening torque [Nm] 1.2
Tab. 3:
Information for mounting components
5.4 Mounting rotary gripper module
1 2
Fig. 9:
Dovetail mount, example
mounting EHAM-E20-40-Z
1
Rotary gripper module EHMD with
dovetail profile
2
Mounting EHAM-E20-... with dovetail
profile
Additional information on the dovetail mounting Instruction manual,è
è
www.festo.com/sp.
5.5
Mounting proximity switches
1
2
3
Fig. 10:
Mounting proximity switches
1
Proximity switch
2
Profile groove
3
Pneumatic cylinder
Additional information on mounting the proximity switch Instruction manual,è
è
www.festo.com/sp.
6 Installation
6.1 Installation, pneumatic
Overview of the pneumatic control with regulation of force and speed
Backing up gripping force
Ensure that the gripping force is maintained if the compressed air supply fails,
e.g. use an uninterruptible compressed air supply.
Rotating gripper
Do not rotate the gripper if the pneumatic cylinder is pressurised in the opening
direction.
•
Before rotating the gripper, depressurise the open gripper, e.g. use a 3/5-way
valve with exhausted normal position.
• Or before rotation pressurise the pneumatic cylinder in the closing direction.
1
2
3
4
Fig. 11: Pneumatic actuation
1
Pneumatic cylinder, double-
acting
2
External throttle valves
3
External 5/3 valve with
exhausted normal position
4
External pressure regulator
Connecting pneumatic gripper drive EHMD-...-GP
1
2
3
4
5
Fig. 12:
Pneumatic ports on the
EHMD-...-GP
1
Pneumatic cylinder, double-acting
2
Rotating angle fitting QS-4 with inte-
grated fixed flow restrictor
3
"Open gripper" supply port
4
"Close gripper" supply port
5
Plastic tubing with 4 mm outer
Æ
6.2 Installation, electrical
EMC-compliant installation
A non-EMC-compliant installation can lead to signal interference on the encoder
cable, motor cable or communication cables.
Safe reference potential at the power supply of the servo drive
Use PELV circuits in accordance with EN 60204-1 for the electrical power supply.
The secondary reference potential of the PELV power pack for the servo drive must
be connected to the protective conductor system.
Fig. 13:
Connecting the secondary reference potential of the PELV power pack
1
2
3
4
Fig. 14:
System overview of the electrical interfaces, example EHMD-40-RE-GE
1
Rotary gripper module EHMD
2
Motor cable NEBM-F1W31-...
3
Motor cable NEBM-SF1W31-...
4
Servo drive
Connecting NEBM-F1W31-... motor cable
1
2
4
5
3
Fig.15
1.
Place the screwdriver in a cover groove and turn .1 2
2.
Push the unlocked cover up .3
3.
Press the motor cable plug into the electrical connection until it clicks into
place .4
4.
Push the cover down until it clicks .5
Electrical connection of motor and encoder
Plug, 31-pin Pin Function Description
EHMD-…-GP EHMD-…-GE
EHMD-…-GE-16
1 I Encoder for rotation
2 B
3 A
4 I – Encoder for gripper
5 B
6 A
7 Shielding Shielding
8 +5 V DC – Encoder for gripper
9 +5 V DC Encoder for rotation
10 Shielding Shielding
11 Phase B Motor rotation
12
13 Phase A
14
15 Phase B – Motor gripper
16 Phase A
17 Phase A/
18 Phase B/
19 Phase A/ Motor rotation
20
21 Phase B/
22
23 Shielding Shielding
24 GND Encoder
25 Shielding Shielding
26 A/ – Encoder for gripper
27 B/
28 I/
29 A/ Encoder for rotation
30 B/
31 I/
Tab. 4:
Pin allocation
Product specificaties
| Merk: | Festo |
| Categorie: | Niet gecategoriseerd |
| Model: | EHMD-40-RE-GP |
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