Standard grippers HGP/HGD/HGR/HGW Micro grippers

Transcription

Standard grippers HGP/HGD/HGR/HGW
Micro grippers HGPM/HGWM
Whether it’s standard or
miniaturised objects – secure
gripping is guaranteed.
Info 116
Festo gripper technology:
Flexible handling and secure gripping by design
The standard and micro grippers integrate seamlessly into Festo’s
modular handling and assembly technology systems and service
portfolio. This includes not only 2D drawings and 3D models in 80 CAD
formats, but also a convenient selection software program for reliable
and fast planning and design.
Micro
2
Versatile
Integrated
Standard grippers HGP, HGD, HGR,
HGW – the first choice for a wide
range of applications
• Low-cost
• Parallel, 3-point, angle or radial
grippers
• Sizes 6 to 50 mm
• With seamless integration into the
modular handling and assembly
technology systems
Micro grippers HGPM/HGWM
Secure gripping of extremely small
workpieces in tight spaces.
Impressive technology
• Double-acting piston drive
• Self-centring
• Optional gripping action:
external/internal gripping
• Adaptable Hall sensors for the
smallest standard grippers and
integratable proximity sensors for
the remaining grippers
• Externally adaptable gripper fingers
• Wide range of options for mounting
on drive units
Highly cost-effective
Attractive cost price and extremely
long service life.
Compact
• Maximum service life with more
than 10 million switching cycles
• Quick and easy to assemble
• Compact and handy
• Optional stroke compensation
Highly flexible
The gripper fingers can be adapted
externally and there is a wide range of
options for mounting on drive units.
Highly specialised
Used in applications such as feeding
in the assembly of electronic or precision mechanical components. Ideal
for low weights and process forces
and where high precision is required.
Info 116 – Subject to change – 2006/03
Powerful gripping, long service life and diverse adaptation possibilities combined with excellent economy – the Festo gripper range addresses the needs of
both the designer and the buyer. Don’t take our word for it – see for yourself.
Advantages for designers
Advantages for purchasers
Standardised, application-oriented
design
•
•
•
•
Modular gripper system
• Simple, clearly defined interfaces
• Straightforward system
integration
• Solution from a single source
• Reduced logistics
Miniaturised series
• For handling the smallest
components
• For use in all industries
producing miniature components
• Favourable entry price
• Reduces unnecessary costs for
oversizing
2006/03 – Subject to change – Info 116
Reduced planning costs
General reduction in fitting space
High gripping forces – small size
Excellent precision and load
capacity
• Reduced ordering expenses
• Reduced follow-up costs through
long service life
• Favourable price/performance
ratio
3
Forces at the gripper
Basic principles
Calculation tools for determining gripping force
What is meant by gripping force?
Action = Reaction
The gripping force FG refers to the
gripping force per gripper jaw.
When selecting a gripper you need to
determine the gripping force required
to hold a workpiece of mass m [kg]
and move this workpiece at an
acceleration of a [m/s2].
FG Required gripping force [N] per
gripper jaw
How does the gripping force act in the case of 2-jaw grippers?
Parallel, radial and angle grippers
Mechanical locking
F G = m × (g+a) × S
Mechanical locking with V-gripper
1
2
1
FG =
m × (g+a)
× tan α × S
2
2
F G = m × (g+a) × tan α × S
Frictional locking
FG =
For angle and radial grippers,
gripping force FG must be converted
to gripping torque MG.
r, x Distance between the gripper
zero point and the gripping
point (lever arm)
Catalogue specifications:
“Gripping force as a function of
the lever arm”
MG = F G × r
m
Workpiece mass [kg]
g
Acceleration due to gravity
(≈ 10 m/s2) is required if acting
against the acceleration a
a
Acceleration [m/s2] arising from
the dynamic movement
S
Safety factor
α
Angle of V-gripper finger
µ
Coefficient of friction between
gripper finger and workpiece
m × (g+a)
× sin α × S
2×
How does the gripping force act in the case of 3-jaw grippers?
Three-point gripper
Mechanical locking
F G = m × (g+a) × S
Mechanical locking with V-gripper
FG =
m × (g+a)
× tan α × S
3
FG =
m × (g+a)
×S
3×
Frictional locking
4
Forces at the gripper
Basic principles
Max. acceleration values with different drive types
• In an emergency stop
• Shortly before the end position is
reached
Peak acceleration values occur:
Drive function
Max. acceleration
[m/s2]
Pneumatic
with fixed
cushioning
with adjustable
cushioning
with shock
absorber
Servopneumatic
50 … 300
10 … 300
10 … 300
5 … 15
Electrical
Axis with
toothed belt
Axis with spindle with linear
motor
0 … 15
0…6
0 … 30
Recommended safety factor
Recommended range
1
1.6
2
3
4
• High dynamic response
• Considerable variation in the friction
factor
• Considerable fluctuation of the
compressed air
• Considerable overlap of accelerations
(linear/rotary)
• Low dynamic response
• Controlled, static friction factor
• No fluctuation of the compressed air
in the system
Coefficient of friction µ
Gripper
pp finger
g
surface
ST
STl
AL
ALl
R
Workpiece surface
ST
STl
AL
ALl
R
0.25
0.15
0.35
0.20
0.50
0.35
0.21
0.49
0.28
0.70
0.20
0.12
0.28
0.16
0.40
0.50
0.30
0.70
0.40
1.00
0.15
0.09
0.21
0.12
0.30
ST
STl
AL
ALl
R
Steel
Lubricated steel
Aluminium
Lubricated aluminium
Rubber
Limits of this analysis
Eccentricity y of the centre of gravity of the mass referred to the gripping point
y
Graphs with grippers in the
catalogue
In the electronic catalogue
x
Calculation program in the electronic catalogue on CD-ROM
Optimum entry of
• Workpiece and gripper finger
geometry
• Direction of motion, dynamic
response
• Coefficient of friction, pressure,
temperature and safety factor
5
Parallel gripper
Selection aid
-H1)
Selection criteria/gripper types
Parallel gripper
HGPT
Note
The workpiece mass has been
calculated based on the gripping principle “Positive locking
with V-gripper” using the variable values specified below.
4:
– Parallel gripper
• Variable values:
–a
= 50 m/s2
– g + a = 60 m/s2
–α
= 45 °
– tan α = 1
– S and x Workpiece mass
2) Possible applications:
• Workpiece retention in case of
loss of compressed air
• As a single-acting gripper
• Acts to increase gripping force
Parallel gripper
HGPL
Workpiece mass1) [kg]
Up to 12 kg
S= 2
x = 40 mm
Gripping force (external gripping) [N] at 6 bar
F per gripper jaw
36 … 770
F total
72 … 1 540
Up to 9.7 kg
S= 2
x = 40 mm
80 … 605
160 … 1 210
Maximum permissible characteristic load values per gripper jaw
Fz
[N] 4 000
Mx [Nm] 140
My [Nm] 120
Mz [Nm] 80
2 500
125
80
100
Gripper finger length [mm]
Max. 180
Max. 135
3 … 16
40 … 80
≤ 0.04
≤ 0.03
Gripper stroke per gripper jaw [mm]
Repetition accuracy [mm]
Gripping force retention2), opening and closing
–
Proximity sensors/sensors for position sensing at the gripper
Advantages
Technical data and dimensions
Further information
6
– Sturdy T-slot
– Sealing air
– Integrated sensors
– Sturdy T-slot
– Adjustable opening stroke
Info 139
Info 139
Parallel gripper
Selection aid
Parallel gripper
HGPC
Precision parallel gripper
HGPP
Parallel gripper
HGP
Up to 1.05 kg
Up to 6.7 kg
Up to 3.4 kg
S= 3
x = 40 mm
S= 2
x = 40 mm
F per gripper jaw
22 … 63
40 … 415
F total
44 … 126
80 … 830
Micro-parallel gripper
HGPM
S= 3
x = 40 mm
Up to 0.17 kg
10 … 350
8 … 14
20 … 700
16 … 28
120
720
5
50
5
50
5
50
380
25
25
25
30
0.5
0.5
0.5
Max. 60
Max. 160
Max. 100
Max. 30
3…7
2 … 12.5
2 … 12.5
2…3
≤ 0.05
≤ 0.02
≤ 0.04
≤ 0.05
S= 3
x = 10 mm
–
–
Advantages
– Cost-effective
Info 154
– High precision thanks to gripper jaw
with ball bearing guide
– 3 positions can be sensed
– Dust-protected variant:
HGP-16/-25…-SSK
– Cost-effective
– Single-acting
– Compact
Info 157
12
60
7
Parallel gripper
Selection aid
-H1)
Swivel/gripper unit
HGDS
Note
4:
– Parallel gripper
–a
= 50 m/s2
– g + a = 60 m/s2
–α
= 45 °
– tan α = 1
– S and x Workpiece mass
2) Possible applications:
• Workpiece retention in case of
loss of compressed air
• As a single-acting gripper
• Acts to increase gripping force
Precision proportional parallel gripper
HGPPI
Up to 1.2 kg
S= 2
x = 40 mm
F per gripper jaw
26 … 65
F total
52 … 130
Up to 1 kg
S= 2
x = 40 mm
10 … 60 (adjustable)
20 … 120 (adjustable)
Fz
[N] 60
Mx [Nm] 8
My [Nm] 8
Mz [Nm] 8
70
3
3
3
Max. 70
Max. 70
2.5 … 7
Swivel angle
0 … 210°
0 … 10
Can be positioned freely and
independently
≤ 0.02
≤ 0.02
–
–
Absolute displacement encoder
Advantages
Further information
8
– Swivelling and gripping in one unit
– Compact
– Gripper jaws can be positioned
freely and independently
– High precision thanks to gripper
jaw with ball bearing guide
Info 135
Info 157
Three-point gripper
Selection aid
-H1)
Three-point gripper
HGD
Note
4:
– Three-point gripper
–a
= 50 m/s2
– g + a = 60 m/s2
–α
= 45 °
– tan α = 1
– S and r Workpiece mass
Three-point gripper
HGDT
Up to 3.8 kg
S= 3
x = 40 mm
F per gripper jaw
30 … 300
F total
90 … 900
Up to 12.7 kg
S= 2
x = 40 mm
70 … 550
210 … 1 650
Maximum permissible characteristic load values at the gripper jaw
Fz
[N] 170
Mx [Nm] 5
My [Nm] 8
Mz [Nm] 5
2 500
80
50
60
Max. 100
Max. 140
2.5 … 6
3 … 10
≤ 0.04
≤ 0.03
Gripping force retention
–
Advantages
Further information
– Simple, position-centred gripping
of perfectly round parts
– Sturdy T-slot
– Sealing air
26
Info 139
9
Radial gripper
Selection aid
-H1)
Radial gripper
HGR
Note
4:
– Radial grippers
–a
= 50 m/s2
– g + a = 60 m/s2
–α
= 45 °
– tan α = 1
– s and r Workpiece mass
Up to 1 kg
S= 3
r = 30 mm
Total gripping torque (external gripping) [Ncm] at 6 bar
13 … 500
Fz
[N] 80
Mx [Nm] 2
My [Nm] 10
Mz [Nm] 7
Max. 120
Gripping angle per gripper jaw [°]
–1 … +90
≤ 0.1
–
Advantages
– Linear axes can be avoided
Further information
10
36
Angle gripper
Selection aid
-H1)
Angle gripper
HGW
Note
4:
– Angle gripper
–a
= 50 m/s2
– g + a = 60 m/s2
–α
= 45 °
– tan α = 1
– S and r Workpiece mass
Micro-angle gripper
HGWM
Up to 2 kg
S= 3
r = 30 mm
Up to 0.2 kg
Total gripping torque (external gripping) [Ncm] at 6 bar
22 … 880
22 … 64
Fz
[N] 124
Mx [Nm] 5.7
My [Nm] 2.2
Mz [Nm] 3.6
20
0.4
0.4
0.4
S= 3
r = 20 mm
Max. 120
Max. 40
–3 … +18
–4 … +18
≤ 0.04
≤ 0.02
Gripping angle per gripper jaw [°]
–
–
–
Advantages
Further information
– Sturdy
– Cost-effective
– Compact
– Single-acting
48
72
11
Parallel grippers HGP
Key features
HGP-…-A-B-…
HGP-…-A-B-SSK
At a glance
• Self-centring
• Variable gripping action:
– External/internal
gripping
/
g pp g
• Versatility thanks to externally
adaptable gripper fingers
on drive units
• High gripping force and compact
size
• Max. repetition accuracy
• Gripping
pp g force retention
• Internal fixed flow control
• With protective dust cap for use in
dusty environments (protection
class IP54)
• Sensor technology:
– Adaptable proximity sensors on
the small grippers
– Integral
g proximity
p
y sensors for
medium and large grippers
Gripper selection software
www.festo.com/en/engineering
Mounting options for external gripper fingers (customer-specific)
1
2
3
4
2
Parallel gripper
External gripper fingers
Mounting screws
Centring pins
4
3
1
With protective dust cap
The sizes 16 and 25 can be adapted
for use in dusty environments. They
fulfil the requirements for protection
class IP54.
The technical data corresponds to the
data for parallel gripper HGP without
protective dust cap.
-H-
Note
• Machining
Grippers should always be used
with exhaust air flow control. They
are not suitable for the following, or
for similar applications:
• Aggressive media
12
• Grinding dust
• Welding spatter
Peripherals overview and type codes
Peripherals overview
HGP-06
System product for handling and assembly technology
2
1
HGP-10 … 35
6
5
4 3
Accessories
Type
Brief description
Page
1
Adaptable and integratable sensor technology, for sensing the piston position
23
For position sensor SMH-S1
23
For sensing the piston position
24
Allows the use of proximity sensors SME/SMT-10
23
25
Drive/gripper connections
www.festo.com
2
3
4
5
6
Position sensor
SMH-S1
Evaluation unit
SMH-AE1
Proximity sensor
SME/SMT-8
Bondable sensor rail
HGP-SL
Proximity sensor
SME/SMT-10
–
Type codes
HGP
—
16
—
A
—
B
—
G1
—
SSK
Type
HGP
Parallel gripper
Size
Position sensing
A
For proximity sensing
Generation
B
B series
G1
G2
Open
Closed
Protective dust cap
SSK
Protective dust cap
13
Technical data
Function
Double-acting
HGP-06-A, HGP-...-A-B
-N-T-
Variants
• With gripping force retention...
... open HGP-...-G1
... closed HGP-...-G2
• With protective dust cap
-WSize
6 … 35 mm
Spare_parts_service
Wearing parts kits
22
Stroke
4 … 25 mm
General technical data
Size
Design
Mode of operation
Gripper function
Number of gripper jaws
Max. applied load per
external gripper finger1)
Stroke per gripper jaw
Pneumatic connection
Repetition accuracy2)
Max. interchangeability
Max. operating frequency
Position sensing
Type
yp of mountingg
1)
2)
[N]
[mm]
[mm]
[mm]
[Hz]
HGP-…-A-B-…
6
10
Wedge-shaped
Double-acting
Parallel
2
0.1
Lever mechanism
HGP-…-A-B-SSK
16
20
25
35
0.4
0.6
0.8
1.2
2
3
5
6.5
M3
M5
≤ 0.04
0.2
4
With female thread and centring sleeve
–
Via through-holes and centring sleeve
7.5
Gx
12.5
25
35
0.2
Valid for unthrottled operation
End position drift under constant conditions of use with 100 consecutive strokes in the direction of movement of the gripper jaws
Operating and environmental conditions
Size
Min. operating
p
g
HGP-...-A/-B
pressure
HGP-...-G...
Max. operating
pressure
Operating medium
Ambient temperature
Corrosion resistance class CRC1)
1)
www.festo.com/en/
6
10
16
[bar]
[bar]
[bar]
2
5
8
[°C]
Filtered compressed air, lubricated or unlubricated
+5 ... +60
2
1
20
Corrosion resistance class 1 according to Festo standard 940 070
Components requiring low corrosion resistance. Transport and storage protection. Parts that do not have primarily decorative surface requirements, e.g. in internal areas that are not visible or behind covers.
Components requiring moderate corrosion resistance. Externally visible parts with primarily decorative surface requirements which are in direct contact with a normal industrial environment or media such as coolants
or lubricating agents
Weights [g]
Size
6
10
16
20
25
35
HGP-...-A
HGP-...-G1
HGP-...-G2
18
–
–
75
76
76
194
197
197
396
402
402
725
737
737
1 369
1 387
1 387
HGP-…-SSK
–
–
197
–
737
–
14
Technical data
Materials
Sectional view
2
3
1
Parallel gripper
6
10
1
Body
Hard anodised aluminium
2
Gripper jaw
3
–
Cover cap
Protective dust cap
SSK
Note on materials
Nickel-plated
aluminium
Nickel-plated
steel
Polyamide
–
–
16
20
25
35
–
Thermoplastic
vulcanizate
–
High-alloy steel
Thermoplastic
vulcanizate
Copper, PTFE and silicone-free
Gripping force [N] at 6 bar
Size
6
10
16
20
25
35
Gripping force per gripper jaw
Opening
Closing
10
10
22
17
70
80
120
115
185
170
375
350
Total gripping force
Opening
Closing
20
20
44
34
140
160
240
230
370
340
750
700
Characteristic load values per gripper jaw
The indicated permissible forces and
torques apply to a single gripper jaw.
The indicated values include the lever
arm, additional applied loads caused
Size
Max. permissible force FZ
Max. permissible torque MX
Max. permissible torque MY
Max. permissible torque MZ
[N]
[Nm]
[Nm]
[Nm]
by the workpiece or external gripper
fingers, as well as forces which occur
during movement.
The zero co-ordinate line (gripper jaw
guide) must be taken into consideration for the calculation of torques.
6
10
16
20
25
35
14
0.1
0.1
0.1
25
0.5
0.5
0.5
90
3.3
3.3
3.3
150
6
6
6
240
11
11
11
380
25
25
25
15
Technical data
Mass moment of inertia [kgm2x10-4]
for parallel grippers in relation to the
central axis, without external gripper
fingers, without load.
Size
6
10
16
20
25
35
HGP-...-A
HGP-...-G1
HGP-...-G2
0.01
–
–
0.08
0.08
0.08
0.47
0.47
0.47
1.49
1.52
1.49
3.83
3.92
3.84
12.70
12.83
12.73
Opening and closing times [ms] at 6 bar
without external gripper fingers
with external gripper fingers
The indicated opening and closing
times [ms] have been measured at
room temperature and 6 bar operating
pressure without external gripper
fingers.
Size
Without external gripper fingers
HGP-...-A
HGP-...-G1
HGP-...-G2
Opening
Closing
Opening
Closing
Opening
Closing
6
10
16
20
25
35
5
5
–
–
–
–
22
31
17
29
33
29
44
60
39
62
66
44
32
44
30
48
39
42
47
50
39
60
62
49
77
77
71
82
90
72
–
–
–
–
100
200
–
300
–
–
–
–
–
–
–
–
–
–
100
–
200
–
300
–
–
–
–
–
–
–
–
–
100
–
200
–
300
–
–
–
–
–
–
–
–
–
100
–
200
–
300
–
–
–
–
–
–
–
–
–
–
100
–
200
300
With external gripper fingers (as a function of applied load)
HGP
0.06 N
5
0.08 N
10
0.10 N
20
0.20 N
50
0.50 N
–
1.00 N
–
1.25 N
–
1.50 N
–
1.75 N
–
2.00 N
–
2.50 N
–
3.00 N
–
4.00 N
–
16
The grippers must be throttled for
greater applied loads. Opening and
closing times must then be adjusted
accordingly.
Technical data
Gripping force FGrip per gripper jaw as a function of operating pressure and lever arm x
External and internal gripping (closing and opening)
Gripping forces can be determined
with the following diagrams for the
various sizes in relation to operating
HGP-06-A1)
pressure and lever arm (distance from
the zero co-ordinate line shown
FGrip [N]
FGrip [N]
HGP-10-A-B
x [mm]
x [mm]
1)
opposite to the pressure point at
which the fingers grip the workpiece).
Due to the design, the opening and closing gripping forces for HGP-06-A are identical
HGP-20-A-B
FGrip [N]
FGrip [N]
HGP-16-A-B
x [mm]
x [mm]
HGP-35-A-B
FGrip [N]
FGrip [N]
HGP-25-A-B
x [mm]
x [mm]
Closing
Opening
17
Technical data
Spring force FSpring as a function of the gripper size and overall stroke length l
Gripper retention force, opening:
the spring forces FSpring of the parallel
gripper HGP-...-G1 can be determined
from the following graphs.
FSpring [N]
FSpring
l [mm]
Gripper retention force, closing:
the spring forces FSpring of the parallel
gripper HGP-...-G2 can be determined
from the following graphs.
FSpring [N]
FSpring
l [mm]
Determination of actual gripping forces for parallel grippers HGP-...-G1 and HGP-...-G2 depending upon the application
The parallel grippers with integrated
spring can be used as:
• single-acting grippers
• grippers with supplementary
gripping force and
• grippers with gripping force
retention
In order to calculate available
gripping forces FGr (per gripper jaw),
the gripping force FGrip) and spring
force (FSpring) must be combined
accordingly.
Application
Single-acting
The resulting gripping force FGr, conditional on the application, depends on
the gripping action (external/internal
gripping) and the gripper design
(with/without spring return). The
spring force is supplemented in
accordance with the design and
gripping action.
HGP
HGP-...-G1
HGP-...-G2
18
Opening
Closing
Opening
Closing
Opening
Closing
• Gripping with spring force:
FGr = FSpring
Supplementary gripping force
• Gripping with pressure and spring
force:
FGr = FGrip + FSpring
• Gripping with spring force:
FGr = FSpring
• Gripping with pressure force:
FGr = FGrip – FSpring
Pressurised (in gripping action)
Unpressurised
FGr = FGrip
FGr = FGrip
FGr = 0
FGr = 0
FGr = FSpring
FGr = 0
FGr = 0
FGr = FSpring
Technical data
Gripping force FGrip per gripper jaw at 6 bar as a function of lever arm x and eccentricity y
various sizes at 6 bar in relation to
eccentric application of force (distance
from the zero co-ordinate line shown
opposite to the pressure point at
which the fingers grip the workpiece)
and the maximum permissible offcentre point at which force is applied.
Calculation example
Recommended range
FGrip [N]
Procedure:
• Determine the intersection xy between lever arm x and eccentricity y
in the graph for HGP-16-A-B
• Draw an arc (with centre at origin)
through intersection xy
• Determine the intersection between
the arc and the X axis
• Read the gripping force
Result:
Gripping force = approx. 66 N
x [mm]
Given:
HGP-16-A-B
Lever arm x = 20 mm
Eccentricity y = 22 mm
To be found:
Gripping force at 6 bar
y [mm]
HGP-10-A-B
x [mm]
x [mm]
x [mm]
Recommended range
FGrip [N]
Recommended range
FGrip [N]
Recommended range
HGP-16-A-B
FGrip [N]
HGP-06-A
y [mm]
y [mm]
HGP-20-A
HGP-25-A-B
y [mm]
x [mm]
x [mm]
x [mm]
y [mm]
Recommended range
FGrip [N]
Recommended range
FGrip [N]
Recommended range
HGP-35-A-B
FGrip [N]
y [mm]
y [mm]
1 Closing
2 Opening
19
Technical data
Download CAD data www.festo.com/en/engineering
Dimensions
View A
HGP-06-A
HGP-10-A-B
HGP-16 ... 32-A-B
View A
1 Sensor slot for proximity
sensor SME/SMT-8 (not with
HGP-06-A).
Proximity sensors SME/SMT-10
can also be used in combination with the sensor strip
HGP-SL-... (can be glued into
place).
2 Compressed air connection,
opening
closing
4 Closed
5 Open
6 Centring sleeves ZBH
(2 included in scope of
delivery)
With protective dust cap HGP-…-SSK
4 Closed
5 Open
20
Technical data
Type
B1
B21)
B3
B4
B5
B6
B7
D1
∅
D2
D3
∅
H8/h7
D5
D6
∅
H8
EE
H1
H2
H3
H42)
±0.1
±0.5
±0.5
±0.5
–0.03 ±0.5
18
32
47
55.6
68.2
88
11
16
25
25
29
33
6
15.8
17.8
17.4
21
31
10
21.8
27.8
30.4
36
56
21
35.8
53.8
65.4
80
110
5.5
7
13
17.5
22
27
–
–
–
–
–
–
3.2
3.2
5.3
5.3
6.4
8.4
M3
M3
M4
M4
M6
M8
5
5
7
7
9
12
M2
M3
M4
M4
M5
M6
1.5
2
3
4
4
5
M3
M3
M3
M5
Gx
Gx
45.5
66
80
101
121
142
9.9
15
20
24.9
30
31.9
10.2
16
21.9
26.1
32.2
44.8
7.5
7.5
7.5
7.5
17.5
17.5
HGP-16-A-B-SSK
47
HGP-25-A-B-SSK
68.2
25
29
16.4
21
26.4
36
46.4
66
10
15
67
101
5.3
6.4
M4
M6
7
9
M4
M5
3
4
M3
Gx
83
20.5
126.8 31.5
21.9
32.2
7.5
17.5
Type
H5
H6
H7
H8
H9
H10
H11
L1
L2
L3
L6
L7
T1
T3
T4
T5
+0.1
+1
+0.5
–0.3
7
7
7
10.5
16.5
16.5
4
4
4
11.5
8.3
8.5
5.8
8
11
14
16
17
2.9
4
5.5
7
8
8.5
5
7.5
10
12.5
15
16
33
51
62.5
81
88.5
108.5
–
–
–
–
–
–
10
15.5
22
30
37
45
1.5
4.2
5.7
9
10.5
10.5
5
7
10
12
15
20
1.8
1.5
–
–
–
–
–
–
–
–
–
–
1.2
1.2
1.6
1.6
2.1
2.6
–
6
7.5
8
15
16
3.5
3.5
3.5
6
6.5
6.5
1.2
1.2
1.4
1.4
1.9
2.4
HGP-16-A-B-SSK
7
HGP-25-A-B-SSK
16.5
4
8.3
11
16
5.5
8
10
15
65.5
94.3
38.1
58.8
22
37
5.7
10.5
10
15
–
–
30
47
1.6
2.1
7.5
15
3.5
6.5
1.4
1.9
HGP-06-A
HGP-10-A-B
HGP-16-A-B
HGP-20-A-B
HGP-25-A-B
HGP-35-A-B
±0.2
HGP-06-A
HGP-10-A-B
HGP-16-A-B
HGP-20-A-B
HGP-25-A-B
HGP-35-A-B
1)
2)
–0.03
±0.1
Tolerance for centring hole: ±0.02
Tolerance for centring hole: –0.05
-H-
Note
Due to the distance H5 between the
two air connections on types
HGP-06/-10/-16 which measures
7 mm, only the following tube fittings
can be used
– QSM-M3-3
– QSML-M3-3
– QSMLL-M3-3
– CN-M3-PK-3
– LCN-M3-PK-3
www.festo.com
21
Technical data
Ordering data
Size
[mm]
Double-acting
Without compression spring
Part No. Type
Gripper retention force G1
Open
Part No. Type
Gripper retention force G2
Closed
Part No. Type
6
10
16
20
25
35
174 815
197 542
197 545
525 889
197 548
197 551
HGP-06-A
HGP-10-A-B
HGP-16-A-B
HGP-20-A-B
HGP-25-A-B
HGP-35-A-B
–
197 543
197 546
525 890
197 549
197 552
–
197 544
197 547
525 891
197 550
197 553
HGP-16-A-B-SSK
HGP-25-A-B-SSK
–
–
16
539 636
25
539 635
HGP-10-A-B-G1
HGP-16-A-B-G1
HGP-20-A-B-G1
HGP-25-A-B-G1
HGP-35-A-B-G1
HGP-10-A-B-G2
HGP-16-A-B-G2
HGP-20-A-B-G2
HGP-25-A-B-G2
HGP-35-A-B-G2
–
–
Ordering data – Wearing parts kits
Size
[mm]
Part No.
Type
6
10
16
20
25
32
378 516
397 376
397 377
397 378
397 397
397 380
HGP-06-A
HGP-10
HGP-16
HGP-20
HGP-25
HGP-35
22
Accessories
Sensor rail HGP-SL
can be glued into place
Material:
Wrought aluminium alloy
Dimensions and ordering data
For size
[mm]
L1
Weight
[g]
Part No.
Type
10
16
20
25
35
35
38
50
58
65
1.4
1.5
2.0
2.3
2.6
535 582
535 583
535 584
535 585
535 586
HGP-SL-10-10
HGP-SL-10-16
HGP-SL-10-20
HGP-SL-10-25
HGP-SL-10-35
For size
Weight
[g]
Part No.
Type
6
20
175 710
Technical data www.festo.com
SMH-S1-HGP06
1
6
170
7
175 708
175 709
SMH-AE1-PS3-M12
1
SMH-AE1-NS3-M12
6, 10
16, 20
25
35
1
189 652
186 717
150 927
189 653
ZBH-5
ZBH-7
ZBH-9
ZBH-12
Ordering data
Type
Position sensor SMH-S1
Evaluation unit SMH-AE1
Centring sleeve ZBH
1)
PU1)
10
Packaging unit quantity
23
Accessories
Ordering data – Proximity sensors for T-slot, magneto-resistive
Assemblyy
Switch
Electrical connection
output
Cable
M8 plug
Part No.
Type
yp
M12 plug
Cable length
[m]
SMT-8F-PS-24V-K2,5-OE
SMT-8F-NS-24V-K2,5-OE
SMT-8F-ZS-24V-K2,5-OE
SMT-8F-PS-24V-K0,3-M8D
SMT-8F-NS-24V-K0,3-M8D
SMT-8F-PS-24V-K0,3-M12
SMT-8-PS-K-LED-24-B
N/O contact
Insertable from
above
Insertable from
end,, flush with
the cylinder
profile
PNP
NPN
–
PNP
NPN
PNP
PNP
3-wire
3
–
–
2.5
5
2-wire
–
–
33-pin
p
–
–
2.5
0.3
3
–
3-wire
–
–
3-pin
–
0.3
2.5
525 898
525 909
525 908
525 899
525 910
525 900
175 436
–
3-pin
–
0.3
175 484
SMT-8-PS-S-LED-24-B
3-wire
–
–
7.5
525 911
SMT-8F-PO-24V-K7,5-OE
Cable length
[m]
Part No.
Type
yp
525 895
525 897
525 907
525 896
150 855
SME-8F-DS-24V-K2,5-OE
SME-8F-ZS-24V-K2,5-OE
SME-8F-DS-24V-K0,3-M8D
SME-8-K-LED-24
N/C contact
Insertable from
above
PNP
Ordering data – Proximity sensors for T-slot, magnetic reed
Assemblyy
Cable
M8 plug
N/O contact
Insertable from
above
Insertable from
end,
d flush
fl h with
ith
the cylinder
profile
3-wire
3
–
2-wire
–
3-wire
–
3-pin
–
2.5
5.0
2.5
0.3
2.5
–
3-pin
0.3
150 857
SME-8-S-LED-24
3-wire
–
7.5
160 251
SME-8-O-K-LED-24
Connection
Cable length
[m]
Part No.
Type
yp
2.5
5
2.5
5
159 420
159 421
159 428
159 429
SIM-M8-3GD-2,5-PU
SIM-M8-3GD-5-PU
SIM-M12-3GD-2,5-PU
SIM-M12-3GD-5-PU
2.5
5
2.5
5
159 422
159 423
159 430
159 431
SIM-M8-3WD-2,5-PU
SIM-M8-3WD-5-PU
SIM-M12-3WD-2,5-PU
SIM-M12-3WD-5-PU
N/C contact
Insertable from
end, flush with
the cylinder
profile
Ordering data – Plug sockets with cable
Assemblyy
Switch output
PNP
Straight plug socket
M8 union nut
M12 union nut
Angled plug socket
M8 union nut
M12 union nut
24
NPN
33-pin
p
33-pin
p
33-pin
p
33-pin
p
Accessories
Ordering data – Proximity sensors for C-slot, magneto-resistive
Assemblyy
Switch
output
Cable
M8 plug
Cable length
[m]
Connection
direction
Part No.
Type
yp
In-line
In-line
Lateral
In-line
525 915
525 916
526 675
173 220
173 218
SMT-10F-PS-24V-K2,5L-OE
SMT-10F-PS-24V-K0,3L-M8D
SMT-10F-PS-24V-K0,3Q-M8D
SMT-10-PS-SL-LED-24
SMT-10-PS-KL-LED-24
Cable length
[m]
Connection
direction
Part No.
Type
yp
3-pin
–
0.3
2.55
In-line
In-line
3-pin
–
0.3
2.5
In-line
525 914
525 913
526 672
173 212
173 210
SME-10F-DS-24V-K0,3L-M8D
SME-10F-DS-24V-K2,5L-OE
SME-10F-ZS-24V-K2,5L-OE
SME-10-SL-LED-24
SME-10-KL-LED-24
Connection
Cable length
[m]
Part No.
Type
yp
N/O contact
Insertable from
above
PNP
3-wire
–
–
33-pin
p
2.5
0.33
Insertable from
end
PNP
–
3-wire
3-pin
–
0.3
2.5
Ordering data – Proximity sensors for C-slot, magnetic reed
Assemblyy
Cable
M8 plug
N/O contact
Insertable from
above
Insertable from
end
–
3-wire
2-wire
–
3-wire
Assemblyy
Switch output
PNP
M8 union nut
Angled plug socket
M8 union nut
NPN
33-pin
p
2.5
5
159 420
159 421
SIM-M8-3GD-2,5-PU
SIM-M8-3GD-5-PU
33-pin
p
2.5
5
159 422
159 423
SIM-M8-3WD-2,5-PU
SIM-M8-3WD-5-PU
25
Three-point grippers HGD
Key features
At a glance
• Self-centring
gripping
/
g pp g
on drive units
• Maximum precision
• High holding force
– Adaptable
p
pproximityy sensors on
the small grippers
– Integral proximity sensors for
1 Three-point gripper
2 External gripper fingers
3 Mounting screws
3
2
1
-H-
Note
26
• Machining
• Aggressive
media
• Grinding dust
• Welding spatter
HGD-16
2
1
HGD-32/-50
4
3
2
Accessories
Type
Brief description
Page
1
34
34
34
www.festo.com
2
3
4
Position sensor
SMH-S1
Evaluation unit
SMH-AE1
Proximity sensor
SME/SMT-8
–
Type codes
HGD
—
16
—
A
Type
HGD
Three-point gripper
Size
Position sensing
A
27
Technical data
Function
Double-acting
-W-
www.festo.com/en/
Spare_parts_service
Wearing parts kits
33
-N-T-
Size
16 … 50 mm
Stroke
5 … 12 mm
Size
Design
Mode of operation
Gripper function
Max. applied load per
external gripper finger1)
Stroke
per gripper jaw
smallest gripping ∅ 2)
largest gripping ∅ 2)
Position sensing
Type of mounting
1)
2)
3)
[N]
[mm]
[mm]
[mm]
[mm]
[mm]
[Hz]
16
32
50
Lever mechanism
Double-acting
3-point
3
0.08
0.3
0.75
2.5
3.9
23
33.2
28
41
M3
M5
≤ 0.04
0.2
4
With female thread and locating hole
6
50
62
Gx
Concentric to the central shaft
Min. operating pressure
Max. operating pressure
Operating medium
Ambient temperature
1)
[bar]
[bar]
[°C]
2
8
+5 ... +60
2
Weights [g]
Size
16
32
50
HGD
110
300
985
28
Technical data
Materials
Sectional view
2
Three-point gripper
1
2
3
–
3
1
Body
Gripper jaw
Cover cap
Note on materials
Nickel-plated aluminium
High-alloy steel, nickel plated
Polyacetate
Size
16
32
50
Opening
Closing
40
30
137
120
323
293
Opening
Closing
120
90
410
360
970
880
Characteristic load values at the gripper jaws
Static forces and torques relate to
additional applied loads caused by
Size
[N]
[Nm]
[Nm]
[Nm]
the workpiece or external gripper
during handling. The zero co-ordinate
line (gripper jaws point of rotation)
must be taken into consideration for
the calculation of torques.
16
32
50
34
0.5
0.8
0.5
90
1.6
2.8
1.9
173
4.7
8.1
5.3
29
Technical data
for three-point grippers in relation to
the central axis, without external
gripper fingers, without load.
Size
16
32
50
HGD
0.14
0.79
6.10
With external gripper fingers
fingers.
Size
HGD
Opening
Closing
With external gripper fingers (as a function of applied load)
HGD
0.08 N
0.11 N
0.15 N
0.30 N
0.50 N
0.75 N
1.00 N
1.50 N
2.00 N
30
accordingly.
16
32
50
5
5
10
10
10
10
5
10
20
50
–
–
–
–
–
–
–
–
–
100
200
300
–
–
–
–
–
–
–
–
100
200
300
Technical data
Gripping force F per gripper as a function of operating pressure and the lever arm x
Gripping forces
Gripping torques can be determined
External gripping (closing)
the zero co-ordinate line shown above
to the pressure point at which the
external fingers grip the workpiece).
Internal gripping (opening)
F [N]
F [N]
HGD-16-A
x [mm]
x [mm]
F [N]
F [N]
HGD-32-A
x [mm]
x [mm]
31
Technical data
Gripping force F per gripper as a function of operating pressure and the lever arm x
F [N]
F [N]
HGD-50-A
x [mm]
32
x [mm]
Technical data
Dimensions
Size 16
Size 32/50
Size 16/32/50
1 Sensor slot for proximity sensor
SME/SMT-8 (not with HGD-16-A)
closing
opening
4 Drilled hole for locating pin
(locating pins not included in
scope of delivery)
5 Centring hole
(user configured)
Size
B1
[mm]
–0.02
B2
6
10
14
13
13
25
Size
H3
H4
16
32
50
D1
D2
∅
H8
D3
D4
∅
D5
∅
D6
∅
D7
D8
∅
H1
H2
M3
M5
Gx
3
4
5
M3
M3
M5
3.2
3.7
6
30
45
70
21
32.4
49.4
M3
M3
M5
3 H7
20+0.02/+0.05
30+0.02/+0.05
60
78
107.5
46
62
83.5
H7
H8
H9
H10
H11
H13
L1
L2
L4
T1
–0.02/–0.05
16
32
50
[mm]
B3
7
8
12
H5
H6
+1
32.6
44
56
8
10
16
±0.02
4.5
6.5
7
3
3.5
5
6
6.5
10
21
22.5
34
12
16
22
11
11.8
16
4.5
8
9
2
3
4
19
36
54
Ordering data
Size
Double-acting
Size
[mm]
Part No.
Type
[mm]
Part No.
Type
16
32
50
174 819
161 837
161 838
HGD-16-A
HGD-32-A
HGD-50-A
16
32
50
378 535
125 694
125 695
HGD-16-A
HGD-32-A
HGD-50-A
L3
11.5
19
30
–0.5
17.5
24.6
37
20
28.5
43
4
4
6
33
Accessories
Ordering data
Type
Weight
[g]
Part No.
Type
16
30
175 713
SMH-S1-HGD16
1
16
170
7
175 708
175 709
SMH-AE1-PS3-M12
1
SMH-AE1-NS3-M12
1)
PU1)
For size
Assemblyy
Switch
output
Cable
M8 plug
Part No.
Type
yp
M12 plug
Cable length
[m]
SMT-8-PS-K-LED-24-B
N/O contact
Insertable from
above
Insertable from
end,, flush with
the cylinder
profile
PNP
NPN
–
PNP
NPN
PNP
PNP
3-wire
3
–
–
2.5
5
2-wire
–
–
33-pin
p
–
–
2.5
0.3
3
–
3-wire
–
–
3-pin
–
0.3
2.5
525 898
525 909
525 908
525 899
525 910
525 900
175 436
–
3-pin
–
0.3
175 484
SMT-8-PS-S-LED-24-B
3-wire
–
–
7.5
525 911
Cable length
[m]
Part No.
Type
yp
525 895
525 897
525 907
525 896
150 855
SME-8-K-LED-24
N/C contact
Insertable from
above
PNP
Assemblyy
Cable
M8 plug
N/O contact
Insertable from
above
Insertable from
end,
d flush
fl h with
ith
the cylinder
profile
3-wire
3
–
2-wire
–
3-wire
–
3-pin
–
2.5
5.0
2.5
0.3
2.5
–
3-pin
0.3
150 857
SME-8-S-LED-24
3-wire
–
7.5
160 251
SME-8-O-K-LED-24
N/C contact
Insertable from
end, flush with
the cylinder
profile
34
Accessories
Assemblyy
Switch output
PNP
M8 union nut
M12 union nut
Angled plug socket
M8 union nut
M12 union nut
Connection
Cable length
[m]
Part No.
Type
yp
2.5
5
2.5
5
159 420
159 421
159 428
159 429
SIM-M8-3GD-2,5-PU
SIM-M8-3GD-5-PU
SIM-M12-3GD-2,5-PU
SIM-M12-3GD-5-PU
2.5
5
2.5
5
159 422
159 423
159 430
159 431
SIM-M8-3WD-2,5-PU
SIM-M8-3WD-5-PU
SIM-M12-3WD-2,5-PU
SIM-M12-3WD-5-PU
NPN
33-pin
p
33-pin
p
33-pin
p
33-pin
p
35
Radial grippers HGR
Key features
At a glance
• Self-centring
gripping
/
g pp g
on drive units
• Constant gripping torque over the
entire angle
g range
g
• 180° opening angle
the small grippers
– Integral
g proximity
p
y sensors for
1
2
3
4
2
Radial gripper
External gripper finger
Mounting screws
Centring pins
4
3
-H-
Note
grippers should always be used
withG exhaust air flow control. They
36
1
• Machining
• Aggressive
media
• Grinding dust
• Welding spatter
Radial grippers HGR
HGP-10
2
1
HGP-16 … 40
4
3
Accessories
Type
Brief description
Page
1
45
45
45
www.festo.com
2
3
4
Position sensor
SMH-S1
Evaluation unit
SMH-AE1
Proximity sensor
SME/SMT-8
–
Type codes
HGR
—
16
—
A
Type
HGR
Radial gripper
Size
Position sensing
A
37
Radial grippers HGR
Technical data
-W-
Function
Double-acting
www.festo.com/en/
Spare_parts_service
Wearing parts kits
44
-N-
Size
10 … 40 mm
Size
10
Design
Mode of operation
Gripper function
Opening angle
Position sensing
Type of mounting
Rack and pinion
Double-acting
Radial
2
180
M3
≤ 0.1
0.2
4
With female thread and centring hole
1)
[°]
[mm]
[mm]
[Hz]
16
25
32
M5
Gx
40
Operating medium
Ambient temperature
1)
[bar]
[bar]
[°C]
2
8
+5 ... +60
2
p [bar]
Min. operating pressure p as a function of temperature range t
The required minimum operating pressure may vary depending on the temperature range of the device
t [°C]
Weights [g]
Size
10
16
25
32
40
HGR
39
110
250
420
710
38
Radial grippers HGR
Technical data
Materials
Sectional view
3
Radial gripper
2
1
2
3
–
Body
Gripper jaw
Cover cap
Note on materials
Polyacetate
1
Total gripping torque [Ncm] at 6 bar, with external gripper fingers
External gripping
Internal gripping
Size
10
16
25
32
40
Total gripping torque
Opening
Closing
15
13
56
50
195
160
360
300
600
500
Size
[N]
[Nm]
[Nm]
[Nm]
10
16
25
32
40
14
0.1
0.5
0.4
25
0.3
1.5
1
39
0.6
3
2
55
1
4.7
3.2
83
1.9
9.9
6.7
39
Radial grippers HGR
Technical data
for radial grippers in relation to the
Size
10
16
25
32
40
HGR
0.03
0.14
0.62
1.45
3.58
fingers.
accordingly.
Size
10
16
25
32
40
HGR
Opening
Closing
5
5
40
45
95
80
85
75
105
100
With external gripper fingers 41
40
Radial grippers HGR
Technical data
J [kgm2x10-4]
J [kgm2x10–4]
Opening and closing times t as a function of gripper finger mass moment of inertia J
HGR-10-A
HGR-16-A
t [s]
t [s]
HGR-32-A
J [kgm2x10-4]
J [kgm2x10-4]
HGR-25-A
t [s]
t [s]
J [kgm2x10-4]
HGR-40-A
t [s]
41
Radial grippers HGR
Technical data
Gripping force F per gripper as a function of operating pressure and the lever arm r
Gripping forces
the zero co-ordinate line shown oppo-
site to the pressure point at which the
F [N]
F [N]
HGR-10-A
r [mm]
r [mm]
F [N]
F [N]
HGR-16-A
r [mm]
42
r [mm]
Radial grippers HGR
Technical data
F [N]
F [N]
HGR-25-A
r [mm]
r [mm]
F [N]
F [N]
HGR-32-A
r [mm]
r [mm]
F [N]
F [N]
HGR-40-A
r [mm]
r [mm]
43
Radial grippers HGR
Technical data
Dimensions
View A
HGR-10-A
View A
HGR-16 ... 40-A
View A
sensor SME/SMT-8
(not with HGR-10-A)
Size
B1
[mm]
closing
B2
opening
(2 included in scope of delivery)
B3
B4
B5
B6
D2
D3
∅
H8/h7
D4
∅
+0.1
D5
∅
D6
∅
H8
EE
H1
H2
2.5
2.5
3.3
5.1
6.4
M2.5
M3
M4
M5
M6
2
2
3
4
5
M3
M3
M5
Gx
Gx
60.8
88.2
107.2
128.5
140
34.5
53.2
63.5
75
80.5
L4
L5
L6
T1
±0.02
+0.1
10.5
16
20
22
30
12
18.5
24
26
34
2
–
–
–
–
1.2
1.2
1.6
2.1
2.6
±0.02
10
16
25
32
40
24
33.4
44
51
59
15
16
25
29
33
11
16
19.2
22.8
27.6
10.5
15.5
18.6
21.4
25.8
5
6
8
10
12
0.5
1
1
1
1
M3
M3
M4
M6
M8
5
5
7
9
12
Size
H7
H8
H9
H10
H11
H12
L1
L2
[mm]
–0.3
10
16
25
32
40
6.25 14.75 49.3 27.5
7
20
73.7 53.7
10.25 23.95 87.7 65.5
14
29 101.9 74.5
14
33.2 112.5 75.5
14
19
29.5
38
49
2
5.5
8.75
9.5
11
Ordering data
Size
Double-acting
Size
[mm]
Part No.
Type
[mm]
Part No.
Type
10
16
25
32
40
174 817
161 829
161 830
161 831
161 832
HGR-10-A
HGR-16-A
HGR-25-A
HGR-32-A
HGR-40-A
10
16
25
32
40
378 522
125 668
125 669
125 670
125 671
HGR-10-A
HGR-16-A
HGR-25-A
HGR-32-A
HGR-40-A
44
±0.05
–0.05
±0.2
12.3
7.5
7.5
11
17.5
12.5
17.5
20.8
27.5
29.7
L3
+0.01/+0.03
6.5
10
13
14
20
H3
H4
H5
16
8.8
8
23 12.25
8
24.7 14.3 10.5
25
20
14
47
8
16
T2
12.3
7
7
10
15
T3
T4
+1
+0.5
–
7
8
15
16
3.5
4.5
6.5
6.5
6.5
H6
4
4
5.25
7
8
T5
1.2
1.2
1.4
1.9
2.4
Radial grippers HGR
Accessories
Ordering data
Type
PU1)
For size
Weight
[g]
Part No.
Type
10
20
175 712
SMH-S1-HGR10
1
10
170
7
175 708
175 709
SMH-AE1-PS3-M12
1
SMH-AE1-NS3-M12
10, 16
25
32
40
1
189 652
186 717
150 927
189 653
ZBH-5
ZBH-7
ZBH-9
ZBH-12
Centring sleeve ZBH
1)
10
Assemblyy
Switch
output
Cable
M8 plug
Part No.
Type
yp
M12 plug
Cable length
[m]
SMT-8-PS-K-LED-24-B
N/O contact
Insertable from
above
Insertable from
end,, flush with
the cylinder
profile
PNP
NPN
–
PNP
NPN
PNP
PNP
3-wire
3
–
–
2.5
5
2-wire
–
–
33-pin
p
–
–
2.5
0.3
3
–
3-wire
–
–
3-pin
–
0.3
2.5
525 898
525 909
525 908
525 899
525 910
525 900
175 436
–
3-pin
–
0.3
175 484
SMT-8-PS-S-LED-24-B
3-wire
–
–
7.5
525 911
N/C contact
Insertable from
above
PNP
45
Radial grippers HGR
Accessories
Assemblyy
Cable
M8 plug
Cable length
[m]
Part No.
Type
yp
525 895
525 897
525 907
525 896
150 855
SME-8-K-LED-24
N/O contact
Insertable from
above
Insertable from
end,
d flush
fl h with
ith
the cylinder
profile
3-wire
3
–
2-wire
–
3-wire
–
3-pin
–
2.5
5.0
2.5
0.3
2.5
–
3-pin
0.3
150 857
SME-8-S-LED-24
3-wire
–
7.5
160 251
SME-8-O-K-LED-24
Connection
Cable length
[m]
Part No.
Type
yp
2.5
5
2.5
5
159 420
159 421
159 428
159 429
SIM-M8-3GD-2,5-PU
SIM-M8-3GD-5-PU
SIM-M12-3GD-2,5-PU
SIM-M12-3GD-5-PU
2.5
5
2.5
5
159 422
159 423
159 430
159 431
SIM-M8-3WD-2,5-PU
SIM-M8-3WD-5-PU
SIM-M12-3WD-2,5-PU
SIM-M12-3WD-5-PU
N/C contact
Insertable from
end, flush with
the cylinder
profile
Assemblyy
Switch output
PNP
M8 union nut
M12 union nut
Angled plug socket
M8 union nut
M12 union nut
46
NPN
33-pin
p
33-pin
p
33-pin
p
33-pin
p
Radial grippers HGR
Everything from a single source
Flexible combinations
47
Angle grippers HGW
Key features
At a glance
• Self-centring
gripping
/
g pp g
on drive units
• Constant gripping torque over the
entire angle
g range
g
• 40° opening angle
the small grippers
– Integral
g proximity
p
y sensors for
1
2
3
4
Angle gripper
External gripper fingers
Mounting screws
Centring pins
2
4
3
1
-H-
Note
48
• Machining
• Aggressive
media
• Grinding dust
• Welding spatter
Angle grippers HGW
HGW-10
2
1
HGW-16 … 40
4
3
Accessories
Type
Brief description
Page
1
57
57
57
www.festo.com
2
3
4
Position sensor
SMH-S1
Evaluation unit
SMH-AE1
Proximity sensor
SME/SMT-8
–
Type codes
HGW
—
16
—
A
Type
HGW
Angle gripper
Size
Position sensing
A
49
Angle grippers HGW
Technical data
-W-
Function
Double-acting
www.festo.com/en/
Spare_parts_service
Wearing parts kits
56
-N-
Size
10 … 40 mm
Size
10
Design
Mode of operation
Gripper function
Opening angle
Position sensing
Type of mounting
Lever mechanism
Double-acting
Angle
2
40
M3
≤ 0.04
0.2
4
With female thread and centring hole
1)
[°]
[mm]
[mm]
[Hz]
16
25
32
M5
Gx
40
Operating medium
Ambient temperature
1)
[bar]
[bar]
[°C]
2
8
+5 ... +60
2
Weights [g]
Size
10
16
25
32
40
HGW
39
100
250
420
720
50
Angle grippers HGW
Technical data
Materials
Sectional view
Angle gripper
2
1
2
3
–
3
Body
Gripper jaw
Cover cap
Note on materials
Nickel-plated tool steel
Polyacetate
1
Total gripping torque [Ncm] at 6 bar, with external gripper fingers
External gripping
Internal gripping
Size
10
16
25
32
40
Opening
Closing
25
22
120
106
360
320
680
600
965
880
Size
[N]
[Nm]
[Nm]
[Nm]
10
16
25
32
40
16
0.3
0.1
0.2
31
0.9
0.3
0.5
54
1.7
0.6
1.1
74
3
1
1.8
124
5.7
2.2
3.6
51
Angle grippers HGW
Technical data
for angle grippers in relation to the
Size
10
16
25
32
40
HGW
0.03
0.13
0.60
1.48
3.54
fingers.
Size
HGW
Opening
Closing
accordingly.
10
16
25
32
40
5
5
25
30
50
40
50
40
60
50
With external gripper fingers 53
52
Angle grippers HGW
Technical data
J [kgm2x10-4]
J [kgm2x10-4]
Opening and closing times t as a function of gripper finger mass moment of inertia J
HGW-10-A
HGW-16-A
t [s]
HGW-32-A
J [kgm2x10-4]
J [kgm2x10–4]
HGW-25-A
t [s]
t [s]
t [s]
J [kgm2x10-4]
HGW-40-A
t [s]
53
Angle grippers HGW
Technical data
Gripping forces
the zero co-ordinate line shown oppo-
site to the pressure point at which the
F [N]
F [N]
HGW-10-A
r [mm]
r [mm]
F [N]
F [N]
HGW-16-A
r [mm]
54
r [mm]
Angle grippers HGW
Technical data
F [N]
F [N]
HGW-25-A
r [mm]
r [mm]
F [N]
F [N]
HGW-32A
r [mm]
r [mm]
F [N]
F [N]
HGW-40A
r [mm]
r [mm]
55
Angle grippers HGW
Technical data
Dimensions
View A
HGW-10-A
HGW-16 ... 40-A
View A
sensor SME/SMT-8
(not with HGW-10-A)
Size
B1
[mm]
closing
B2
B3
B4
±0.02 ±0.02
24
33.4
44
51
59
15
16
25
29
33
17
24
32
37
42
9.75
13
18
20.5
23.5
Size
H6
H7
H8
H9
5.5
8
10
12
15
H10
±0.05
10.75
13.7
18.7
22
25.5
D3
∅
H8/h7
D4
∅
+0.1
D5
∅
H8
D6
∅
EE
H1
H2
H3
H4
H5
M3
M3
M4
M6
M8
5
5
7
9
12
2.5
2.5
3.3
5.1
6.4
2
2.5
3
3
4
2.2
3.2
3.2
4.3
5.3
M3
M3
M5
Gx
Gx
56.3
81
100
116
129
34.5
53.2
63.5
73
79.5
16
23
24.7
25
47
8.8
12.25
14.3
20
8
7
9
11
13
14
L1
L2
L4
L6
T1
T2
T3
T4
T5
±0.02
+0.1
+1
+0.5
2
–
–
–
–
1.2
1.2
1.6
2.1
2.6
–
7
8
15
16
3.5
4.5
6.5
6.5
6.5
L3
–0.05
44.8
65.5
80.7
92.5
103
27.5
52.3
65
72
74
12.3
7.5
7.5
11
17.5
–0.01/–0.02
10
16
25
32
40
3.5
4.5
5.5
6.5
7
Ordering data
Size
Double-acting
Size
[mm]
Part No.
Type
[mm]
Part No.
Type
10
16
25
32
40
174 818
161 833
161 834
161 835
161 836
HGW-10-A
HGW-16-A
HGW-25-A
HGW-32-A
HGW-40-A
10
16
25
32
40
378 527
125 680
125 681
125 682
125 683
HGW-10-A
HGW-16-A
HGW-25-A
HGW-32-A
HGW-40-A
56
5.75
7.5
8.8
11
12
H11
(2 included in scope of delivery)
D2
–0.02/–0.05
10
16
25
32
40
[mm]
B5
opening
14
19
29.5
38
49
2
5.5
8.75
9.5
11
3
4
5
6
8
7
10
14
17
21
12.3
7
7
10
15
1.2
1.2
1.4
1.9
2.4
Angle grippers HGW
Accessories
Ordering data
Type
PU1)
For size
Weight
[g]
Part No.
Type
10
20
175 711
SMH-S1-HGW10
1
10
170
7
175 708
175 709
SMH-AE1-PS3-M12
1
SMH-AE1-NS3-M12
10, 16
25
32
40
1
189 652
186 717
150 927
189 653
ZBH-5
ZBH-7
ZBH-9
ZBH-12
Centring sleeve ZBH
1)
10
Assemblyy
Switch
output
Cable
M8 plug
Part No.
Type
yp
M12 plug
Cable length
[m]
SMT-8-PS-K-LED-24-B
N/O contact
Insertable from
above
Insertable from
end,, flush with
the cylinder
profile
PNP
NPN
–
PNP
NPN
PNP
PNP
3-wire
3
–
–
2.5
5
2-wire
–
–
33-pin
p
–
–
2.5
0.3
3
–
3-wire
–
–
3-pin
–
0.3
2.5
525 898
525 909
525 908
525 899
525 910
525 900
175 436
–
3-pin
–
0.3
175 484
SMT-8-PS-S-LED-24-B
3-wire
–
–
7.5
525 911
N/C contact
Insertable from
above
PNP
57
Angle grippers HGW
Accessories
Assemblyy
Cable
M8 plug
Cable length
[m]
Part No.
Type
yp
525 895
525 897
525 907
525 896
150 855
SME-8-K-LED-24
N/O contact
Insertable from
above
Insertable from
end,
d flush
fl h with
ith
the cylinder
profile
3-wire
3
–
2-wire
–
3-wire
–
3-pin
–
2.5
5.0
2.5
0.3
2.5
–
3-pin
0.3
150 857
SME-8-S-LED-24
3-wire
–
7.5
160 251
SME-8-O-K-LED-24
Connection
Cable length
[m]
Part No.
Type
yp
2.5
5
2.5
5
159 420
159 421
159 428
159 429
SIM-M8-3GD-2,5-PU
SIM-M8-3GD-5-PU
SIM-M12-3GD-2,5-PU
SIM-M12-3GD-5-PU
2.5
5
2.5
5
159 422
159 423
159 430
159 431
SIM-M8-3WD-2,5-PU
SIM-M8-3WD-5-PU
SIM-M12-3WD-2,5-PU
SIM-M12-3WD-5-PU
N/C contact
Insertable from
end, flush with
the cylinder
profile
Assemblyy
Switch output
PNP
M8 union nut
M12 union nut
Angled plug socket
M8 union nut
M12 union nut
58
NPN
33-pin
p
33-pin
p
33-pin
p
33-pin
p
Angle grippers HGW
59
Parallel grippers HGPM, micro
Key features
G6:
G8:
G9:
with
stroke compensation
with
clamping spigot
with
flange mounting
At a glance
• Compact, handy design
• With open or closed gripper jaws
adaptable
p
ggripper
pp fingers
g
• Wide range of options for attaching
drive units
• With stroke compensation after
installation
• Mounting options:
– Clamping
p g spigot
pg
– Flange mounting
1 Parallel gripper
3 Mounting screws
3
2
1
-H-
• Machining
• Grinding dust
Note
Grippers are not suitable for the following, or for similar applications:
60
• Welding spatter
Key features
Mounting options
With through-holes
g
With set screw
Direct air supply
With through-holes,
g
, screws and
retaining nuts
With flange mounting, screws and dowel pins
Direct air supply
Integrated air supply
Page
Drives
Grippers
Adapters
Basic mounting components
Installation components
Axes
Motors
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61
Type codes
HGPM
—
12
—
EO
—
G8
Type
HGPM
Parallel gripper
Size
Gripper jaw position
EO
EZ
Open
Closed
Mounting options
G6
G8
G9
62
With stroke compensation
With clamping spigot
With flange mounting
Technical data
Function
Single-acting
with open gripper jaws
HGPM-...-EO-G...
-N-T-
Size
8 … 12 mm
G6:
G8:
G9:
with
stroke compensation
with
clamping spigot
with
flange mounting
Stroke
4 … 6 mm
with closed gripper jaws
HGWM-...-EZ-G...
Size
8
Constructional design
Mode of operation
Gripper function
Max. applied load per external gripper finger1)
Resettingg force2)
Gripper jaws open
Gripper jaws closed
Stroke per gripper jaw
Repetition accuracy3) 4)
Centring precision4)
Position sensing
Type
yp of mountingg
HGPM-...-E...-G6
HGPM-...-E...-G8
HGPM-...-E...-G9
Wedge-shaped drive
Single-acting
Parallel
2
0.05
0.15
1.5
5
2
6.5
2
3
M3
< 0.05
0.4
4
< ∅ 0.15 (valid only for HGPM-...-G8 and HGPM-...-G9)
Without
Via through-holes
Clamped
With female thread and locating hole
1)
2)
3)
4)
[N]
[N]
[N]
[mm]
[mm]
[mm]
[Hz]
[mm]
12
Spring resetting force between the jaws
The indicated values are only valid when gripping with compressed air, not with spring force
Operating medium
Ambient temperature
1)
[bar]
[bar]
[°C]
4
8
Filtered compressed air, lubricated or unlubricated (grade of filtration 40µm)
+5 ... +60
1
Components requiring low corrosion resistance. Transport and storage protection. Parts that do not have primarily decorative surface requirements, e.g. in internal areas that are not visible or behind covers
Weights [g]
Size
8
12
19
11
18
62
41
62
63
Technical data
Materials
Sectional view
2
Parallel gripper
1
2
3
–
3
1
Body
Gripper jaw
Cover cap
Material note
Anodised aluminium
Stainless steel
Polyacetate
Size
8
HGPM-…EO-…
HGPM-…EZ-…
12
HGPM-…EO-…
HGPM-…EZ-…
Opening
Closing
–
8
8
–
–
13.5
17.5
–
Opening
Closing
–
16
16
–
–
27
35
–
Characteristic load values per gripper jaw
The indicated values include the lever
arm, additional applied loads caused
Size
64
[N]
[Nm]
[Nm]
[Nm]
by the workpiece or external gripper
during movement.
The zero co-ordinate line (gripper jaw
8
12
10
0.15
0.15
0.15
30
0.5
0.5
0.5
guide slot) must be taken into
consideration for the calculation of
torques.
Technical data
for parallel grippers in relation to the
Size
8
12
0.00922
0.00573
0.01712
0.06674
0.04252
0.07939
room temperature and 6 bar operating pressure with vertically mounted
gripper and without external gripper
fingers. Load is increased if external
gripper fingers are attached. This
means that kinetic energy is also
Size
HGPM-…EO-…
HGPM-…EZ-…
Opening
Closing
Opening
Closing
increased, as this is determined by
gripper finger weight and velocity. If
permissible kinetic energy is exceeded, various parts of the gripper
may be damaged. This occurs when
the applied load reaches the endposition and the cushioning is only
8
12
4.9
2.3
1.9
4.1
11
3.7
3
8.3
able to partially convert the kinetic
energy into potential energy and heat
energy. It thus becomes apparent that
the indicated max. permissible
applied load due to the external
gripper fingers must be checked and
maintained.
Gripper jaw backlash
With parallel grippers, backlash
occurs between the gripper jaws and
the guide element due to the plainbearing guide. The backlash values
listed in the table have been
Size
Gripper jaw backlash sz
Gripper jaw angular backlash ax, ay
8
[mm]
[°]
calculated based upon the traditional
accumulative tolerance method and
usually do not occur with mounted
grippers.
12
< 0.03
< 0.5
65
Technical data
Spring displacement forces [N]
Theoretical actuating force due to
stroke compensation for design
variant with stroke compensation.
Size
8
12
Spring displacement forces F1
4
6
10
23
Gripping force FGrip per gripper jaw as a function of operating pressure and lever arm x
Gripping forces related to operating
pressure and lever arm can be determined for the various sizes using the
following graphs.
EO = External gripping (closing)
EZ = Internal gripping (opening)
HGPM-08-EZ-...
FGrip [N]
FGrip [N]
HGPM-08-EO-...
x
x [mm]
FGrip [N]
HGPM-12-EZ-...
FGrip [N]
HGPM-12-EO-...
x [mm]
66
x [mm]
x [mm]
Technical data
y
Gripping force FGrip per gripper jaw at 6 bar as a function of lever arm x and eccentricity y
Gripping forces at 6 bar dependent
upon eccentric application of force
and the maximum permissible off-
centre point of force application can
be determined for the various sizes
using the following graphs.
x
Calculation example
HGPM-08-EO-...
Recommended range
FGrip [N]
Procedure:
• Determine the intersection xy between lever arm x and eccentricity y
in the graph for HGPM-12-EZ
• Draw an arc (with centre at origin)
through intersection xy
• Determine the intersection between
the arc and the X axis
• Read the gripping force
Result:
Gripping force = approx. 15 N
x [mm]
Given:
HGPM-12-EZ-...
Lever arm x = 10 mm
Eccentricity y = 11 mm
To be found:
Gripping force at 6 bar
y [mm]
HGPM-08-EZ-...
Recommended range
FGrip [N]
x [mm]
FGrip [N]
x [mm]
Recommended range
y [mm]
y [mm]
HGPM-12-EO-...
HGPM-12-EZ-...
FGrip [N]
x [mm]
y [mm]
x [mm]
Recommended range
FGrip [N]
Recommended range
y [mm]
EO = External gripping (closing)
EZ = Internal gripping (opening)
67
Technical data
Dimensions
With stroke compensation – HGPM-...-E...-G6
HGPM-...-EO-G6
HGPM-...-EZ-G6
1
2
3
4
5
6
Compressed air connection
Stroke compensation
Closed
Open (initial position)
Closed (initial position)
Open
With clamping spigot – HGPM-...-E...-G8
Installation example
1 Compressed air connection
7 O-ring:
HGPM-08: 6x1
HGPM-12: 10x1
(Not included in the scope of
delivery)
8 Threaded pin M3x3 DIN 913
(Not included in scope of
delivery)
With flange mounting – HGPM-...-E...-G9
68
Technical data
Type
HGPM-08-EO-G6
HGPM-08-EZ-G6
HGPM-12-EO-G6
HGPM-12-EZ-G6
HGPM-08-EO-G8
HGPM-08-EZ-G8
HGPM-12-EO-G8
HGPM-12-EZ-G8
HGPM-08-EO-G9
HGPM-08-EZ-G9
HGPM-12-EO-G9
HGPM-12-EZ-G9
Type
HGPM-08-EO-G6
HGPM-08-EZ-G6
HGPM-12-EO-G6
HGPM-12-EZ-G6
HGPM-08-EO-G8
HGPM-08-EZ-G8
HGPM-12-EO-G8
HGPM-12-EZ-G8
HGPM-08-EO-G9
HGPM-08-EZ-G9
HGPM-12-EO-G9
HGPM-12-EZ-G9
Type
HGPM-08-EO-G6
HGPM-08-EZ-G6
HGPM-12-EO-G6
HGPM-12-EZ-G6
HGPM-08-EO-G8
HGPM-08-EZ-G8
HGPM-12-EO-G8
HGPM-12-EZ-G8
HGPM-08-EO-G9
HGPM-08-EZ-G9
HGPM-12-EO-G9
HGPM-12-EZ-G9
1)
B1
B2
B3
B4
B5
B6
B7
±0.3
±0.3
+0.05/+0.02
+0.19/–0.23
±0.1
D1
D2
∅
D3
∅
24 ±0.1
±0 1
15 ±0.25
±0 25
22
26
3
2 75
2.75
62
6.2
M3
3 4 +0.2
3.4
+0 2
22
35 ±0.1
±0 1
24 ±0.25
±0 25
33
39
4
4
9
M3
4 5 +0.2
4.5
+0 2
33
–
–
22
26
3
2 75
2.75
62
6.2
M3
–
22
–
–
33
39
4
4
9
M3
–
33
17 ±0.02
±0 02
17 ±0.1
±0 1
22
26
3
2 75
2.75
62
6.2
M3
3 F8
22
27 ±0.02
±0 02
27 ±0.1
±0 1
33
39
4
4
9
M3
3 F8
33
H2
H3
H4
H5
D4
∅
±0.1
D5
∅
–
15 ±0.5
±0 5
–
D6
D7
∅
+0.1
D8
∅
+0.1
H1
±0.3
M2 5
M2.5
–
–
44 2
44.2
2 +0.1/–0.3
+0 1/ 0 3
–
22 –0.3
03
31 9 +0.8/–0.65
31.9
+0 8/ 0 65
22 ±0.5
±0 5
M3
–
–
63
3 +0.2/–0.3
+0 2/ 0 3
–
29 –0.3
03
46 65 +0.8/–0.7
46.65
+0 8/ 0 7
66
6.6
10 h8
M2 5
M2.5
8
10
27 2
27.2
1 4 –0.1
1.4
01
5
12 ±0.1
±0 1
26 4 +0.2/–0.25
26.4
+0 2/ 0 25
10 6
10.6
15 h8
M3
12
15
41
1 4 –0.1
1.4
01
7 ±0.1
±0 1
18 ±0.1
±0 1
40 15 +0.2/–0.25
40.15
+0 2/ 0 25
–
–
M2 5
M2.5
–
–
27 2
27.2
3 ±0.2
±0 2
–
–
26 4 +0.2/–0.25
26.4
+0 2/ 0 25
–
–
M3
–
–
41
5 ±0.2
±0 2
–
–
40 15 +0.2/–0.25
40.15
+0 2/ 0 25
T1
T21)
T3
W
ß1
H6
H7
L1
L2
L3
+0.7/–0.2
±0.3
+0.1/–0.3
–0.1
±0.1
0 ... 5
95
9.5
14 3
14.3
5
12
3 –0.2
02
4
08
0.8
–
57
5.7
0 ... 8
12 5
12.5
20 35
20.35
7
18
4 –0.2
02
6
1
–
75
7.5
–
–
–
5
12
–
4
08
0.8
8°
–
–
–
–
7
18
–
6
1
8°
–
–
–
–
5
12
min 6
min.
4
08
0.8
–
–
–
–
–
7
18
min 6
min.
6
1
–
–
Do not exceed max. thread screw-in depth
69
Technical data and accessories
Ordering data
Single-acting
Gripper
pp jjaws open
p
Gripper
pp jjaws closed
Size
[mm]
Mounting options
Part No. Type
Part No. Type
Part No. Type
8
12
8
12
197 559
197 565
197 562
197 568
197 560
197 566
197 563
197 569
197 561
197 567
197 564
197 570
HGPM-08-EO-G6
HGPM-12-EO-G6
HGPM-08-EZ-G6
HGPM-12-EZ-G6
HGPM-08-EO-G8
HGPM-12-EO-G8
HGPM-08-EZ-G8
HGPM-12-EZ-G8
HGPM-08-EO-G9
HGPM-12-EO-G9
HGPM-08-EZ-G9
HGPM-12-EZ-G9
Accessories
For parallel grippers with clamping flange
Adapter kits A08 and A12
In combination with semi-rotary drives DRQD-6 to 12
www.festo.com
Adapter kits for drive/gripper combinations
www.festo.com
70
Micro parallel grippers HGPM
71
Angle grippers HGWM, micro
Key features
G6:
G7:
G8:
with
stroke compensation
with
male thread
with
clamping spigot
At a glance
• Compact, handy design
• With open or closed gripper jaws
adaptable
p
ggripper
pp fingers
g
• Wide range of options for attaching
drive units
• With stroke compensation after
installation
• Mounting options:
– Clamping
p g spigot
pg
– Male thread
1 Angle gripper
3 Mounting screws
3
1
2
-H-
• Machining
• Grinding dust
Note
Grippers are not suitable for the following, or for similar applications:
72
• Welding spatter
Key features
Mounting options
With through-holes
g
With through-holes,
g
, screws and
retaining nuts
With set screw
Direct air supply
With male thread and lock nut
Page
Drives
Grippers
Adapters
Basic mounting components
Installation components
Axes
Motors
www.festo.com
www.festo.com
www.festo.com
www.festo.com
www.festo.com
www.festo.com
www.festo.com
73
Type codes
HGWM
—
12
—
EO
—
G8
Type
HGWM
Angle gripper
Size
Gripper jaw position
EO
EZ
Open
Closed
Mounting options
G6
G7
G8
74
With male thread
Technical data
Function
Single-acting
with open gripper jaws
HGWM-...-EO-G...
-N-
Size
8 … 12 mm
with closed gripper jaws
HGWM-...-EZ-G...
Size
Constructional design
Mode of operation
Gripper function
Opening
p
g angle
g (±2°)
( ) Gripper
pp jjaws
Open
open
Closed
Gripper
pp jjaws
Open
closed
Closed
Spring resetting
Gripper jaws
torque
open
q 1)
Gripper jaws
closed
Repetition accuracy2) 3)
Position sensing
Type
yp of mountingg
HGWM-...-E...-G6
HGWM-...-E...-G7
HGWM-...-E...-G8
1)
2)
3)
G6:
G7:
G8:
with
stroke compensation
with
male thread
with
clamping spigot
8
12
[°]
[°]
[°]
[°]
[Ncm]
Wedge-shaped drive
Single-acting
Angle
2
20
4
14
4
0.5
18.5
3.5
14
4
1.3
[Ncm]
0.55
1.5
[mm]
[Hz]
M3
< 0.02
4
Without
With internally threaded cap screws
With lock nut
Clamped
Spring resetting force between the gripper jaws
The indicated values are only valid when gripping with compressed air, not with spring force
Operating medium
Ambient temperature
1)
[bar]
[bar]
[°C]
2
8
Filtered compressed air, lubricated or unlubricated (grade of filtration 40µm)
+5 ... +60
2
Weights [g]
Size
8
12
With male thread
23
14
13
75
52
45
75
Technical data
Materials
Sectional view
3
Angle gripper
1
2
3
–
2
Body
Gripper jaw
Cover cap
Note on materials
Stainless steel
Stainless steel
Polyacetate
1
Total gripping torque [Ncm] at 6 bar
Size
Opening
Closing
8
HGPM-…EO-…
HGPM-…EZ-…
12
HGPM-…EO-…
HGPM-…EZ-…
–
22
24
–
–
64
76
–
Size
76
[N]
[Ncm]
[Ncm]
[Ncm]
8
12
7
20
20
20
20
40
40
40
Technical data
Applied load [N] and mass moment of inertia [kgm2x10-4] per external gripper finger
Size
8
12
Applied load Fz11)
Mass moment of inertia Jx1)
< 0.04
< 0.025
< 0.1
< 0.056
1)
Mass moment of inertia [kgm2x10–4]
for angle grippers in relation to the
central axis without external gripper
fingers.
Size
8
12
With male thread
0.00705
0.00315
0.00252
0.0421
0.0267
0.02154
room temperature and 6 bar operating pressure with vertically mounted
Size
HGPM-…EO-…
HGPM-…EZ-…
Opening
Closing
Opening
Closing
gripper and without external gripper
fingers. Load is increased if external
gripper fingers are attached. This
means that kinetic energy is also
8
12
2.7
1.2
1
2.5
3.7
1.8
1.7
2.8
increased, as this is determined by
gripper finger mass moment of inertia
and angular velocity.
77
Technical data
Gripper jaw backlash
With angle grippers, backlash occurs
between the gripper jaws and the
guide element due to the plain-bearing guide. The backlash values listed
Size
Gripper jaw backlash sz
Gripper jaw angular backlash ax, ay
8
[mm]
[°]
in the table have been calculated
based upon the traditional accumulative tolerance method and usually do
not occur with mounted grippers.
12
< 0.03
< 0.5
Spring displacement forces [N]
Theoretical actuating force due to
stroke compensation for design
variant with stroke compensation.
Size
8
12
4
6
10
23
78
Technical data
Application example
79
Technical data
Dimensions
With stroke compensation – HGWM-...-E...-G6
HGWM-...-EO-G6
HGWM-...-EZ-G6
2 Stroke compensation
With male thread – HGWM-...-E...-G7
HGWM-...-EO-G7
HGWM-...-EZ-G7
With clamping spigot – HGWM-...-E...-G8
HGWM-...-EO-G8
HGWM-...-EZ-G8
Installation example
3 O-ring:
HGWM-08: 6x1
HGWM-12: 10x1
delivery)
4 Threaded pin M3x3 DIN 913
delivery)
80
Technical data
Type
HGWM-08-EO-G6
HGWM-08-EZ-G6
HGWM-12-EO-G6
HGWM-12-EZ-G6
HGWM-08-EO-G7
HGWM-08-EZ-G7
HGWM-12-EO-G7
HGWM-12-EZ-G7
HGWM-08-EO-G8
HGWM-08-EZ-G8
HGWM-12-EO-G8
HGWM-12-EZ-G8
Type
HGWM-08-EO-G6
HGWM-08-EZ-G6
HGWM-12-EO-G6
HGWM-12-EZ-G6
HGWM-08-EO-G7
HGWM-08-EZ-G7
HGWM-12-EO-G7
HGWM-12-EZ-G7
HGWM-08-EO-G8
HGWM-08-EZ-G8
HGWM-12-EO-G8
HGWM-12-EZ-G8
Type
B1
B2
B5
D1
D2
∅
+0.1
D3
∅
+0.1
D4
∅
D5
∅
D6
±0.1
±0.25
24
15
55
5.5
11 8
11.8
5 ±0.02
±0 02
M3
34
3.4
12
8 –0.02/–0.05
0 02/ 0 05
15 ±0.5
±0 5
M2
35
24
85
8.5
18 2
18.2
7 5 –0.05
7.5
0 05
M3
45
4.5
18
11 –0.02/–0.05
0 02/ 0 05
22 ±0.5
±0 5
M3
–
–
55
5.5
11 8
11.8
5 ±0.02
±0 02
M3
–
12
M10x1
–
M2
–
–
85
8.5
18 2
18.2
7 5 –0.05
7.5
0 05
M3
–
18
M15x1 5
M15x1.5
–
M3
–
–
55
5.5
11 8
11.8
5 ±0.02
±0 02
M3
–
12
6 6 –0.03
6.6
0 03
10 h8
M2
–
–
85
8.5
18 2
18.2
7 5 –0.05
7.5
0 05
M3
–
18
10 6 –0.03
10.6
0 03
15 h8
M3
D7
∅
+0.1
D8
H1
H4
H5
H8
H9
+0.1
+0.25
–
–
54
47 ±0.3
±0 3
5 ±0.2
±0 2
22–0.3
03
16
0 ... 5 +0.6/–0.3
+0 6/ 0 3
2
43
4.3
10
–
–
77 5
77.5
67 ±0.3
±0 3
75
7.5
29–0.3
03
24
0 ... 8 +0.6/–0.3
+0 6/ 0 3
3
65
6.5
15
–
–
37
32 +0.3/–0.2
+0 3/ 0 2
5 ±0.2
±0 2
12
16
11
2
43
4.3
10
–
–
55 5
55.5
48 +0.3/–0.2
+0 3/ 0 2
75
7.5
18
24
16
3
65
6.5
15
8
10
37
32 +0.3/–0.2
+0 3/ 0 2
5 ±0.2
±0 2
12
16
1 4 –0.1
1.4
01
2
43
4.3
10
12
15
55 5
55.5
48 +0.3/–0.2
+0 3/ 0 2
75
7.5
18
24
1 4 –0.1
1.4
01
3
65
6.5
15
H11
L1
L2
T1
ß1
–0.02
–0.2
H10
B3
B4
±0.3
H2
1)
H6
H7
+0.1
±0.3
HGWM-08-EO-G6
HGWM-08-EZ-G6
HGWM-12-EO-G6
HGWM-12-EZ-G6
HGWM-08-EO-G7
HGWM-08-EZ-G7
HGWM-12-EO-G7
HGWM-12-EZ-G7
HGWM-08-EO-G8
HGWM-08-EZ-G8
HGWM-12-EO-G8
HGWM-12-EZ-G8
H3
32 4 ±0.6
32.4
±0 6
95
9.5
14 2 –0.2
14.2
02
4
3
47 ±0.6
±0 6
12 5
12.5
20 2 –0.2
20.2
02
6
4
–
–
–
4
–
–
–
–
6
–
5
–
4 5 –0.05
4.5
0 05
4
–
7
–
6 5 –0.05
6.5
0 05
6
–
+0.1
T21)
W1
W2
W3
±2°
±2°
±2°
3.4 ±0.2
–
5.9
–
3.4 ±0.2
–
5.9
–
3.4 ±0.2
–
5.9
–
20°
14°
18.5°
14°
20°
14°
18.5°
14°
20°
14°
18.5°
14°
4°
–
57
5.7
3.5°
4°
–
75
7.5
4°
–
12
3.5°
4°
–
19
4°
8°
–
3.5°
4°
8°
–
Do not exceed max. thread screw-in depth
81
Technical data and accessories
Ordering data
Single-acting
Gripper
pp jjaws open
p
Gripper
pp jjaws closed
Size
[mm]
Mounting options
Part No. Type
With male thread
Part No. Type
Part No. Type
8
12
8
12
185 693
185 699
185 696
185 702
185 694
185 700
185 697
185 703
185 695
185 701
185 698
185 704
HGWM-08-EO-G6
HGWM-12-EO-G6
HGWM-08-EZ-G6
HGWM-12-EZ-G6
HGWM-08-EO-G7
HGWM-12-EO-G7
HGWM-08-EZ-G7
HGWM-12-EZ-G7
HGWM-08-EO-G8
HGWM-12-EO-G8
HGWM-08-EZ-G8
HGWM-12-EZ-G8
Accessories
For angle grippers with clamping flange
Adapter kits A08 and A12
In combination with semi-rotary drives DRQD-6 to 12
www.festo.com
Adapter kits for drive/gripper combinations
www.festo.com
82
What must be observed when using Festo components?
Specified limit values for technical
data and any specific instructions
must be adhered to by the user in
order to ensure recommended operating conditions.
When pneumatic components are
used, the user shall ensure that they
are operated using correctly prepared
compressed air without aggressive
media.
When Festo components are used in
safety-oriented applications, the user
shall ensure that all applicable
national and local safety laws and
regulations, for example the machine
directive, together with the relevant
references to standards are observed.
Unauthorised conversions or modifications to products and systems from
Festo involve a safety risk and are
thus not permissible.
Festo does not accept any liability for
resulting damages.
You should contact Festo’s advisors if
one of the following apply to your
application:
• The ambient conditions and conditions of use or the operating medium differ from the specified
technical data.
• The product is to perform a safety
function.
• A risk or safety analysis is required.
• You are unsure about the product’s
suitability for use in the planned
application.
• You are unsure about the product’s
suitability for use in safety-oriented
applications.
All technical data applies at the time
of going to print.
All texts, representations, illustrations
and drawings included in this catalogue are the intellectual property of
Festo AG & Co. KG, and are protected
by copyright law.
All rights reserved, including translation rights. No part of this publication
may be reproduced or transmitted in
any form or by any means, electronic,
mechanical, photocopying or otherwise, without the prior written permission of Festo AG & Co. KG. All
technical data subject to change
according to technical update.
83
Products and services – everything from a single source
Products incorporating new ideas are
created when enthusiasm for technology and efficiency come together.
Tailor-made service goes without
saying when the customer is the focus
of attention.
Pneumatic and electrical drives
Valves and valve terminals
Compressed air preparation
•
•
•
•
• Standard valves
• Universal and applicationoptimised valves
• Manually and mechanically
actuated valves
• Shut-off, pressure control and flow
control valves
• Proportional valves
• Safety valves
•
•
•
•
•
•
•
•
•
Pneumatic cylinders
Semi-rotary drives
Handling modules
Servopneumatic positioning
systems
• Electromechanical drives
• Positioning controllers and
controllers
Service unit combinations
Filter regulators
Filters
Pressure regulators
Lubricators
On-off and soft-start valves
Dryers
Pressure amplifiers
Accessories for compressed air
preparation
Fieldbus systems/
electrical peripherals
• Fieldbus Direct
• Installation system CP/CPI
• Modular electrical terminal CPX
Components
Customer-specific solutions
Modules
Industry-specific solutions
Systems
Services from Festo to increase your productivity – across the entire value creation sequence
< Engineering – for greater speed in
the development process
•
•
•
•
•
CAD models
14 engineering tools
Digital catalogue
FluidDRAW®
More than 1,000 technical
consultants and project engineers
worldwide
• Technical hotlines
84
< Supply chain – for greater speed in
the procurement process
•
•
•
•
E-commerce and online shop
Online order tracking
Euro special manufacturing service
Logistics optimisation
Gripping and vacuum technology
Sensors and monitoring units
Controllers/bus systems
Accessories
•
•
•
•
•
•
•
•
•
•
•
•
• Pneumatic and electropneumatic
controllers
• Programmable logic controllers
• Fieldbus systems and accessories
• Timers/counters
• Software for visualisation and data
acquisition
• Display and operating units
•
•
•
•
•
•
•
Vacuum generators
Vacuum grippers
Vacuum security valves
Vacuum accessories
Standard grippers
Micro grippers
Precision grippers
Heavy-duty grippers
Proximity sensors
Pressure and flow sensors
Display and operating units
Inductive and optical proximity
sensors
• Displacement encoders for
positioning cylinders
• Optical orientation detection and
quality inspection
Pipes
Tubing
Pipe connectors and fittings
Electrical connection technology
Silencers
Reservoirs
Air guns
All in all, 100% product and service quality
A customer-oriented range with unlimited flexibility:
Components combine to produce ready-to-install modules and
systems. Included in this are special designs – since at Festo, most
industry-specific products and customer-specific solutions are based
on the 23,000 plus catalogue products. Combined with the services
for the entire value creation sequence, the end result is unbeatable
economy.
< Assembly – for greater speed in the
assembly/commissioning process
•
•
•
•
Prepack
Preassembly
Turnkey pneumatics
Handling solutions
< Operation – for greater speed in the
operational process
• Spare parts service
• Energy saving service
• Compressed air consumption
analysis
• Compressed air quality analysis
• Customer service
85
Aspects of quality
Quality can be viewed from a number of aspects. A short virtual tour of the Research and Development
department, the Production department or the Customer Service Centre speaks more than a thousand words.
3D engineering and simulation
>
Innovation quality
Production quality
Let’s look at some of the figures:
Your interest is quality and economy –
therefore we place considerable value
on:
• 6.5% of turnover
• 2,800 patents with 100 new
applications every year
• 3D engineering and simulation
• 10,600 employees worldwide
• Each and every one of them a
lateral thinker
86
• Minimum production tolerances
• Ultra-modern, proprietary production methods
• Core competencies in production
• Defined quality standards across
the entire production chain
• Strict quality assurance systems: on
that you can depend.
Price quality
Range quality
Didactic quality
More service for less money. Many of
the new and further developments in
the Festo product range have one
thing in common: they are technically
superior and more attractively priced
than their predecessor product.
Examples are to be found in all product segments: among the drives,
valves, valve terminals; among the
service units, and among the range of
accessories.
For individual solutions. Festo offers
components as industry-specific catalogue products as well as standardsbased and highly individual special
designs. Ready-to-install combinations of these components play an
integral part in the Festo product portfolio as modules or systems. Incidentally, an increasing number of components can be individually configured
as modular products.
To complement the products and services for automation, Festo Didactic
offers exceptionally efficient training
hardware, learning software and seminars of the highest quality. Optimally
tailored to your value creation
sequence.
In short – training in practical applications for practical application.
87

Standard grippers HGP/HGD/HGR/HGW Micro grippers

Transcription

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