Slim Small Linear Gripper
Instruction Manual
Second Edition
IAI America, Inc.
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual explains how to operate, the configuration of, how to maintain, etc. this
product, and specifies the necessary information for the safe use of the product.
Before using this product, be sure to read and understand the Instruction Manual to ensure your
safety in the use of the product.
In the CD included with the product, there are Instruction Manuals of our products.
For a use of the products, print out or display on your personal computer the necessary pages of
the applicable Instruction Manuals.
After reading the Instruction Manuals, be sure to keep them in a convenient place easily accessible
to the personnel using this product.
This Instruction Manual is original.
This product is not to be used for any other purpose from what is noted in this Instruction
Manual. IAI shall not be liable whatsoever for any loss or damage arising from the result
of using the product for any other purpose from what is noted in the manual.
The information contained in this Instruction Manual is subject to change without notice
for the purpose of production improvement.
If you have any question or finding regarding the information contained in this Instruction
Manual, contact our customer center or our sales office near you.
Using or copying all or a part of this Instruction Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
[Important]
Table of Contents
Safety Guide ····················································································································· 1
Precautions in Handling····································································································
Names of the Parts ··········································································································· 9
1. Product Check ·········································································································· 10
1.1 Parts······························································································································· 10
1.2 How to read the model plate·························································································· 10
1.3 How to read the model··································································································· 10
2. Specifications············································································································ 11
3. Product Life···············································································································12
4. Installation and Storage/Preservation Environment·················································· 13
4.1 Installation Environment ································································································ 13
4.2 Storage and Preservation Environment········································································· 13
5. Transportation···········································································································14
5.1 Handling of the Packed Product ···················································································· 14
5.2 Handling of the Unpacked Product················································································ 14
5.3 Handling in Assembled Condition·················································································· 14
6. Attachment················································································································ 15
6.1 Installation of Main Unit ·································································································15
6.2 Installation of Finger Attachments·················································································· 17
6.3 Moving Direction and Attachment Orientation of Unit···················································· 18
6.4 Temperature Rises on Main Body and Finger······························································· 19
6.4.1 Temperature Rise from Ambient Temperature (Maximum Value) ····················· 19
6.4.2 Heat Release Effect by Heat Sink Application···················································20
7. Driving Circuit ···········································································································21
8. Operation ··················································································································22
9. Treatment of Cables ································································································· 23
10. Allowable Load Condition ·························································································26
10.1 Check Holding Force and Allowable Load Conditions··················································· 26
11. Cautions During Work Part Travel ············································································ 30
12. Removal of the Gripped Work Part···········································································32
13. Option ·······················································································································33
13.1 Position Sensor·············································································································· 33
7
14. Maintenance Inspection···························································································· 34
14.1 Inspection Items and Inspection Schedule···································································· 34
11.2 Exterior cleaning ············································································································ 34
15. Appendix···················································································································35
15.1 External Dimensions······································································································ 35
15.1.1 Normally Closed Type with No Position Sensor················································ 35
15.1.2 Normally Closed Type with Position Sensor (Option) ······································· 36
16. Warranty ···················································································································37
16.1 Warranty Period ············································································································· 37
16.2 Scope of Warranty ········································································································· 37
16.3 Honoring Warranty········································································································· 37
16.4 Limited Liability ·············································································································· 37
16.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.
and Applications············································································································· 38
16.6 Other Items Excluded from Warranty ············································································ 38
Change History··············································································································· 39
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
2 Transportation Consider well so that it is not bumped against anything or dropped
3 Storage and
Operation
Description
Selection
Preservation
Description
This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Do not use the product outside the specifications. Failure to do so may
considerably shorten
during the transportation.
Transport it using an appropriate transportation measure.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
The storage and preservation environment conforms to the installation
environment.
However, especially give consideration to the prevention of
condensation.
1
No.
Operation
Description
4 Installation
and Start
Description
(1) Installation of Robot Main Body and Controller, etc.
Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
(3) Grounding
Make sure to perform the grounding of type D (Former Type 3) for the
controller. The grounding operation should be performed to prevent an
electric shock or electrostatic charge, enhance the noise-resistance
ability and control the unnecessary electromagnetic radiation.
2
No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the
operation so that any third person can not operate the switches
carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
3
No.
Operation
Description
6 Trial
Operation
7 Automatic
Operation
8 Maintenance
and
Inspection
Description
After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
Before the automatic operation is started up, make sure that there is
nobody inside the safety protection fence.
Before the automatic operation is started up, make sure that all the
related peripheral machines are ready for the automatic operation and
there is no error indication.
Make sure to perform the startup operation for the automatic operation,
out of the safety protection fence.
In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the
operation so that any third person can not operate the switches
carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
9 Modification Do not modify, disassemble, assemble or use of maintenance parts not
10 Disposal When the product becomes no longer usable or necessary, dispose of it
Operation
Description
Description
specified based at your own discretion.
In such case, the warranty is not applied.
properly as an industrial waste.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
5
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” “Notice” according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of Danger and Damage Symbol
This indicates an imminently hazardous situation which, if the
Danger
Warning
Caution
product is not handled correctly, will result in death or serious
injury.
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury.
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage.
Danger
Warning
Caution
Notice
This indicates lower possibility for the injury, but should be kept
to use this product properly.
Notice
6
Precautions in Handling
㪣
1. Do not stand close to this product if you use a medical device such as a
pacemaker.
There is a high performance rare earth permanent magnet (neodymium magnet) used in the
actuator. It may cause an error to the operation of medical devices such as a pacemaker.
2. Use the unit within the range of specified allowable load moment.
If a load beyond the range is applied, it may shorten the product life.
3. Keep the holding point of the work part at 20mm or less and the overhang at
10mm or less.
If the finger attachments are long and big or the weight is large, the inertial force at open and
close of the fingers become large and that may cause a drop of the performance or a
malfunction of the guide part.
Also, if the finger attachments are long, moment is applied to the fingers and that may cause a
drop of performance or a malfunction of the guide part.
Holding Point (L) 20mm or less
4. Install the fingers facing downwards.
Mounting the fingers in an orientation other than downwards may allow foreign object to get in
the unit from the openings, which may result in a bad operation of the fingers or malfunction of
the unit.
5. Do not have the fingers open continuously for more than 60sec. Use the unit
with the duty at 50% or less.
Use of the unit beyond the specified conditions may cause a malfunction of the unit such as
difficulty in opening the fingers, breakage or short of the inductors.
7
6. This product generates heat. The temperature may get high depending on how
to install it.
Watch out for a burn or injury.
Make sure to follow the instructions below when installing.
Install the unit on a material with high heat conductivity.
To prevent a temperature rise on the unit, install it on a material such as metal, which
possesses the characteristic of good heat conductivity. Installing the unit on a material with
insufficient heat conductivity may cause the unit to raise its temperature and may result in a
malfunction.
Do not use this product under conditions with bad heat radiation, such as fixing the unit
body on an insulation material or use the unit in a closed area which would not allow heat to
be released. Using this product in a condition with bad heat radiation may cause the unit to
raise its temperature and may result in a malfunction.
To block heat from being conducted to the work part, use a material with low heat
conductivity such as polyacetal for the finger attachments.
The heat of the unit is conducted from the fingers to the work part via the finger attachments.
(Reference)
When operated with duty 50%, the temperature rises in approximately 40C at the unit
attachment surface (side surface) and finger attachment surfaces.
[Refer to 6.4 Temperature Rises on Main Body and Finger]
8
Names of the Parts
Fingers
Frame
Cable
Side yoke
WT
(+24V)
(0V)
BK
Driving Power Supply
Cable bending radius 33mm or more
With Position Sensor (Option)
Position Sensor
Cable for Position Sensor
Position Sensor
BR
(+24V)
(0V)
BL
(Detection signal)
BK
BR
(+24V)
(0V)
BL
(Detection signal)
BK
Cable for Position Sensor
Cable bending radius
7mm or more
Cable for Position Sensor
9
r
1. Product Check
The standard configuration of this product is comprised of the following parts.
Note : Check packed items with the packing list. If you find any fault with the product you have
1.1 Parts
No. Part Name Model Reference
received, or any missing parts, contact us or our distributor.
1 Actuator Main Body
Accessories
2 Instruction Manual
3 Safety Guide
Refer to “How to read the model plate”,
“How to read the model”
1.2 How to read the model plate
Serial numbe
Model
MODEL RCLE-GR5L-6-PS
SERIAL No. 000090268
1.3 How to read the model
RCLE – GR5L – 6 – PS
<Series>
RCLE
<Type>
GR5L
<Option>
Not Specified : With no Position Sensor
PS : With Position Sensor
<Stroke>
6 : 6mm (3mm per side)
MADE IN JAPAN
10
2. Specifications
Item No Position Sensor With Position Sensor (Option)
Open/Close Stroke 6 (3 per side) mm
Open/Close Operation Power is OFF : Close Power is ON : Open
Maximum Open/Close Frequency 600 cycles/min
Minimum Open Duration 0.05sec
Continuous Operation Time 60sec or less
Maximum Gripping Force*1
Positioning Accuracy
Repeatability
Static Load Moment*3
Driving Voltage
Driving Current 0.5A
Rush Current 0.6A or less
Back EMF from Power ON to OFF
Operational Surrounding
Environment
Preservation Environment
Body Weight 0.16kg 0.18kg
*1 This is the holding force of the finger at 3mm on one side assuming the holding point is 0mm
and the overhang is 0mm. The holding force varies depending on the point on the stroke
where the fingers hold the work part. (It simply means the holding force varies depending on
the width of the work part.) The holding force will vary in 0.05N after 10,000,000 cycles of
open and close operation.
*2
Relation of Finger Stroke and Holding Force (reference)
Gripping Force [N]
Ma : 0.02N•m Mb : 0.02N•m Mc : 0.04N•m
Counter electromotive voltage : Approx. 40V
Counter electromotive current : Approx. 0.1A
Temperature 0 to 40C
Temperature 20 to 85%RH or less (non-condensing)
Temperature 0 to 40C
Temperature 20 to 85%RH or less (non-condensing)
Finger Stroke [mm]
10.2N (0.1 0.2kgf)
0.1mm
24V DC 10%
L= 0
L= 10
L= 20
11
*2 It shows the positioning accuracy repeatability at the most closed finger point.
*3 It shows the static allowable load moment at the most closed finger point. Applying load more
than this value will decrease the product life and also may cause a malfunction.
Static Load Moment in Ma, Mb and Mc Directions
Note : Even though there is a high performance rare earth permanent magnet (neodymium
magnet) used in the actuator, the structure of the actuator body is designed not to leak
out the magnetic force much on its surface.
Leaked Magnetic Flux Density at Each Part of Actuator (Reference)
Measurement Point
1 Top Surface of Finger 2 or less
2 Top Surface of Main Unit 3 or less
3 Side Surface of Main Unit 5 or less
4 Bottom Surface of Main Unit 7 or less
5 Surface of Side Yoke 7 or less
6 Side Surface of Side Yoke 7 or less
7 Top Surface of Side Yoke 7 or less
Leaked Magnetic
Flux Density [mT]
3. Product Life
The product life is 10,000,000 cycles of open and close operation (reference).
12
4. Installation and Storage/Preservation Environment
4.1 Installation Environment
Do not use this product in the following environment.
It is generally the environment where a worker can work without any protection gear.
Also make sure to keep enough work space necessary for maintenance.
Location exposed to radiant heat from a huge heat source such as the heat treatment
Location where the surrounding air temperature exceeds the range of 0 to 40C
Location where condensation occurs due to abrupt temperature changes
Location where relative humidity exceeds 85%RH
Location exposed to direct sunlight
Location exposed to corrosive gases or combustible gases
Location exposed to significant amount of dust, salt or iron powder (Outside of ordinary assembly
plant)
Location where water, oil (includes oil mist and cutting fluid) or chemical is splashed
Location where the product main body receives vibration or hit impact
When using the product in any of the locations specified below, provide a sufficient shield.
Location subject to electrostatic noise
Location where exposed to the influence of strong electric or magnetic field
Location where exposed to the influence of ultraviolet or radiant rays
4.2 Storage and Preservation Environment
In particular, when the machine is to be stored for a long time, pay close attention to environmental
conditions so that no dew condensation forms.
Unless specially specified, moisture absorbency protection is not included in the package when the
machine is delivered. In the case that the machine is to be stored and preserved in an environment
where dew condensation is anticipated, take the condensation preventive measures from outside of
the entire package, or directly after opening the package.
For storage and preservation temperature, the machine withstands temperatures up to 60°C for a
short time, but in the case of the storage and preservation period of 1 month or more, control the
temperature to 50°C or less.
Storage and preservation should be performed in the horizontal condition. In the case it is stored in
the packaged condition, follow the posture instruction if any displayed on the package.
13
5. Transportation
5.1 Handling of the Packed Product
Be careful not to hit or drop the product.
Follow the instruction if there is any for the packaging condition.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
5.2 Handling of the Unpacked Product
Grab the body part when holding the actuator. Do not carry the actuator by holding the cable, or
do not move it by pulling the cable.
Be careful not to hit or drop the product when transporting or installing it. Pay attention especially
to the fingers.
Do not give any excessive force to any of the sections in the actuator. Pay attention especially to
the fingers and the cable.
5.3 Handling in Assembled Condition
If it is out of the package, cover up the whole unit for protection and do not damage to it.
14
6. Attachment
Mount the unit so the fingers comes down at the bottom.
6.1 Installation of Main Unit
There are threaded holes prepared for attachment on the 3 surfaces of the main unit. Choose the
suitable ones to install the unit.
The effective thread depths differ for each attachment surface. Refer to the drawing to determine
the screw length. For the installation of the unit, make sure that attachment surface is a machined
surface or a surface with an equivalent accuracy.
Bolts to be
used
When Attachment Surface is Steel When Attachment Surface is Aluminum
M3 154N•cm (15.8kgf•cm) 83N•cm (8.47kgf•cm)
4-M4, Depth 5
Tightening Torque
4-M3, Depth 5
(Same on Opposite Side)
6.5 6.5
13.5 26 13.5
40
53
197.6
16.6
4.5 4.5
34.6
25.6
30.6
15
Note :
Some tapped holes for attachment are through holes. Do not attempt to use a long screw
with the length more than the effective screw length of the hole. Doing so may damage the
mechanical parts or electrical parts inside.
The temperature of the unit gets very high in a continuous operation. To lessen the
temperature rise of the unit, install it on a material such as metal that possesses high heat
conductivity performance.
It may cause an extreme temperature rise on the unit, and may end up with a breakdown.
(Reference)
When operated with duty 50%, the temperature rises in approximately 40C at the unit
attachment surface (side surface) and finger attachment surfaces.
[Refer to 6.4 Temperature Rises on Main Body and Finger]
16
6.2 Installation of Finger Attachments
Bolts to be
used
When Attachment Surface is Steel When Attachment Surface is Aluminum
M3 154N•cm (15.8kgf•cm) 83N•cm (8.47kgf•cm)
Tightening Torque
24.5
4.6
9
522
34.6
14.6
25.6
2-M3, Depth 5 2-φ2H7 Reamed, Depth 2
Note :
When applying or removing the finger attachment to the finger, hold the finger attachment
with a tool such as a wrench to support it to tighten the attachment screws to avoid load or
stress applied to the guide part.
The heat of the unit is conducted from the fingers to the work part via the finger attachments.
To block heat from being conducted to the work part, use a material with low heat
conductivity such as polyacetal for the finger attachment.
(Reference)
When operated with duty 50%, the temperature rises in approximately 40C at the unit
attachment surface (side surface) and finger attachment surfaces.
[Refer to 6.4 Temperature Rises on Main Body and Finger]
17
㪣
Note :
Set the distance from the attachment surface of the finger attachment to the holding point (L)
equal or less than the value specified below.
Holding Point (L) 20mm or less
Attempt to have the finger attachments attached to the unit as small and light as possible. If
the finger attachments are long and big or the weight is large, the inertial force and the
bending moment at open and close of the fingers may cause a drop of the performance or a
malfunction of the guide part.
Each finger has a play of 1 to all of M
, Mb and Mc directions.
a
6.3 Moving Direction and Attachment Orientation of Unit
Pay attention to the movement direction and the attachment orientaion of the unit.
In case the moving direction of the unit is the same as the movements of the fingers and if the
acceleration is high and the inertial force exceeds the reaction force of the finger springs, the
fingers may move.
Reference of Acceleration Exceeding Spring Reaction Force (assuming total weight of left and right
finger attachments is 20g and work part is 10g)
When holding the work part, the acceleration of the finger movements may differ depending on the
weight of the finger attachments and that of the work part.
Finger Stroke Acceleration
0mm 0.8G
1mm 1.3G
2mm 1.8G
3mm 2.3G
18
6.4 Temperature Rises on Main Body and Finger
A
6.4.1 Temperature Rise from Ambient Temperature (Maximum Value)
The graph below shows the temperature rise (maximum value) from the ambient temperature for
each duty.
The measured points are as shown below:
Attachment Surface (Top)
Attachment Surface
(Upper side on side surface)
ttachment Surface
(Lower side on side surface)
Finger
Reference : Temperature Rise from Ambient Temperature (Maximum Value)
Ambient temperature at measurement : Approx. 25C
45
40
35
30
C]
°
25
20
15
Temperature [
10
5
0
0 10 20 30 40 50 60
Top
Upper side on side surface
Lower side on side surface
Finger
Duty [%]
Danger : This product generates heat. The temperature may get high depending on how it is
installed. Don't get burned or injured.
19
6.4.2 Heat Release Effect by Heat Sink Application
A
The graph below shows the temperature rise (maximum value) from the ambient temperature when
the unit is operated with 50% duty with 2 types of heat sinks applied on the attachment surface (top
surface).
Heat Sink
ttachment Surface
(Upper side on side surface)
Attachment Surface
(Lower side on side surface)
Finger
Reference data : Temperature Rise from Ambient Temperature (Maximum Value)
Ambient temperature at measurement : Approx. 25C
Heat Sink
Heat Sink
Dimensions Material
Aluminum
60 60 5
150 85 10
Note : Even if a heat sink is attached on the top of the unit, the temperature on the fingers
Anodized
Surface
Aluminum
Polished
surface
would not decrease much. To block heat from being conducted to the work part, use a
material with low heat conductivity such as polyacetal for the finger attachments. The
heat of the unit is conducted from the fingers to the work part via the finger
attachments.
Approx. 22C Approx. 26C Approx. 25C Approx. 36C
Approx. 17C Approx. 23C Approx. 22C Approx. 34C
Attachment
Surface
(Upper side on
side surface)
Attachment
Surface
(Lower side on
side surface)
Finger
20
7. Driving Circuit
Follow the example of the driver circuit shown below to apply the diode, relay and circuit protector
(or fuse) to the cable ends and connect to the 24V DC power supply. To protect the gripper, make
sure to apply the circuit protector (or fuse). Please prepare the diode, relay and circuit protector (or
fuse) separately from the product.
The cable length should be approximately 1m. It is bare wire on one end.
24V 0V
Circuit
Protector
or Fuse
Chuck-Open Detection Switch
Chuck-Close Detection Switch
Relay
BR BL
Chuck
WT BK
BR BL
(1) Selection of the Circuit Protector or Fuse
Select ones with the following performance:
Rated Current : 2A
Transient Characteristics : Should cut the power within 3sec at 200% of rated current
Select from a high-speed type or a transient type if a circuit
protector is used.
(2) Relay
Select ones that satisfy the following conditions:
Select solid state relays when open and close operation is frequently conducted.
Output rated load voltage : 24V DC 10%
Output load current : 1A or less
(Reference) G3FD-X102SN DC5-24 manufactured by OMRON is available.
(3) Diode
Counter EMF is generated when turning the power OFF from being ON to close the fingers of
the gripper from being open. Select a diode that is able to cut the voltage caused by the
counter EMF.
Counter electromotive voltage : Approx. 40V
Counter electromotive current : Approx. 0.1A
(Reference) D1N60 manufactured by Shindengen Electric Manufacturing is available.
21
8. Operation
This gripper opens the chuck when the power is ON and closes it with the springs when the power
is turned OFF.
Chuck Close Open Close Open Close Open Close
ON ON ON
Power supply
OFF OFF OFF OFF
Opening the chuck just before holding the work shortens the time that the power is conducted, thus
enables to save the power consumption.
It also prevents the product temperature to rise.
Chuck Close Open Close (Hold) Open Close Open Close (Hold) Open
ON ON ON ON
Power supply
OFF OFF OFF OFF
22
9. Treatment of Cables
When constructing the application system, make sure to lay out each cable and connect them
correctly otherwise it may cause unexpected troubles such as cable breakage or contact failure.
Described below are the things that are prohibited to be done regarding the treatment of cables.
Do not cut and extend, shorten or rejoin the cables.
Have a sufficient radius for bending to avoid stress being applied to one place. [For the bending
radius, refer to the name of each part.]
Steel Strap
(Piano Wire)
• Do not let the cable bend, kink or twist.
Do not pull the cable with a strong force.
Do not let the cable receive a turning force at a single point.
Tie them up softly.
23
Do not pinch, drop a heavy object onto or cut the cable.
When fixing the cable, provide a moderate slack and do not tension it too tight.
Do not use spiral tube in any
position where cables are bent
frequently.
Separate the I/O line, communication line and power line from each other.
Do not put them in the same duct.
Power Line
I/O Line
(Flat Cable, etc.)
Duct
If using a cable track, make sure to use robot cables so the cables do not get twisted or
entangled inside the cable track or flexible tube, and also make the cables free to avoid the
cables getting tied. (Make sure the cables do not get pulled when being bent.) [For the bending
radius, refer to the name of each part.]
24
The occupied volume rate for the cables, etc., inside the cable track should be 60% or less.
Cable Track
Cable
Warning :
When the cable is connected or disconnected, make sure to turn OFF the power to the
controller. When the cable is connected or disconnected with the controller power turned ON, it
might cause a malfunction of the actuator and result in a serious injury or damage to the
machinery.
When the connector connection is not correct, it would be dangerous because of a malfunction
of the actuator. Make sure to confirm that the connector is connected correctly.
25
10. Allowable Load Condition
10.1 Check Holding Force and Allowable Load Conditions
Follow the steps below:
Step 1: Check the necessary holding force and the weight of
the work part
Step 2: Check the allowable vertical load of the fingers and
allowable moment
Step 1: Check the necessary holding force and the weight of the
work part
In ordinary work part movement
Necessary holding force 10 to 20 times the weight of the work part
Work part weight 1/10 to 1/20 or less of the holding force
As the calculation below shows, the weight of the work part capable to hold gets bigger as the
coefficient of friction gets larger. However, for safety reasons, have the holding force 10 to 20
times more than the work part weight regardless of the coefficient of friction.
(Calculation Example) Here, figure out the necessary holding force when gripping the work part
with the friction force.
(1) In ordinary travel
F : Gripping Force [N]……Total value of the pressing force of each finger
W : Work part weight [kgf]
: Coefficient of static friction between finger attachments and work part
m : Work part mass [kg]
g : Acceleration of gravity [ 9.8m/s
The condition when the work part is held firmly and work part would not drop is:
W
F
The necessary holding force in ordinary travel considering a recommended safety factor
of 2 is:
F
Assuming the coefficient of friction is 0.1 to 0.2:
F
(2) When large acceleration or impact is applied during work part movement.
It will apply bigger inertial forces to the work part as well as gravity. In such a case,
consider more holding force and a larger safety factor.
When large acceleration/deceleration or impact is applied
Necessary holding force 30 to 50 times the weight of the work part
Work part weight 1/30 to 1/50 or less of the holding force
g
mg
F
g
m
2 (Safety Margin)
m
0.1 to 0.2
2 (10 to 20) m
2
]
FF
Coefficient of
Friction [μ]
W [mg]
26
Step 2: Check the allowable vertical load of the fingers and allowable moment
Table 1. Allowable load and allowable moment on the fingers
Allowable load in the vertical direction [N]
F
zmax
Allowable Load Moment [Nm]
M
M
amax
M
bmax
cmax
12 0.02 0.02 0.04
Check the vertical load and the load moments applied to the fingers. Do not exceed the
allowable range of F
, Ma, Mb and Mc.
z
The values shown are the static allowable load and static allowable load moments that
may be applied to each finger. Also, the allowable moment is the value the load is applied
only in one direction. If the load is applied in two directions, divide the specified values in
half.
Ma = Mla + M
Mla, M
oa
oa
Ma = M
oc
Finger
L
G
Reaction force
L
C
against work part hold
F
X
F
Y
F
Z
Mb = Mlb + M
Mlb, M
ob
Work Part
ob
H
C
H
G
Finger Attachment
Holding Point
Center of gravity for finger
attachment and work part
FX : External force in X direction applied to finger attachment [N]
: External force in Y direction applied to finger attachment [N]
F
Y
F
: External force in Z direction applied to finger attachment [N]
Z
: Distance from finger attachment surface to holding point
L
G
H
G
L
: Distance from finger attachment surface to center of finger
C
H
C
(holding point) [m]
: Distance from finger center to holding point (overhang) [m]
attachment gravity [m]
: Distance from finger center to center of finger attachment
gravity [m]
Mla : Moment in Ma direction generated on fingers by holding
force [Nm]
Mlb : Moment in Mb direction generated on fingers by holding
force [Nm]
MOa : Moment in Ma direction generated on fingers by external
force [Nm]
MOb : Moment in Mb direction generated on fingers by external
force [Nm]
MOc : Moment in Mc direction generated on fingers by external
force [Nm]
Ma : All the moments in Ma direction generated on fingers [Nm]
Mb : All the moments in Mb direction generated on fingers [Nm]
Mc : All the moments in Mc direction generated on fingers [Nm]
27
Consider the value shown below as the upper limit for L
will give extreme moment to the finger slide part and internal mechanism, which could
badly influence to the product life.
Figure 2. Upper Limit of 2-Finger Gripper Holding Point L
25
20
(mm)
G
15
10
5
Overhang Amount H
0
0 5 10 15 20 25
(1) Moment generated on fingers by holding force
1) Moment in M
M
Ia
2) Moment in M
M
Ib
direction [MIa]
a
1.5F
L
G
2
direction [MIb]
b
1.5F
H
G
㧳
㧳
2
The maximum holding force is 1 0.2N described in “2. Performance”. The maximum
holding force is indicated at the finger when the holding point is 0mm and overhang
distance is 0mm. Holding force varies depending on the stroke. [Refer to 2. Performance]
GHG
Holding Point LG (mm)
. Use beyond the limited range
and Overhang HG
G
28
(2) Moment generated on fingers by external force
When applying the gripper to Orthogonal, Articulated or other actuator and moving straight
or turning, there is an external force other than holding force applied to the work part and
finger attachments.
External force applied to the work part and finger attachments [F
, FY and FZ]
X
Calculate the external force below for the three directions X, Y and Z applied to the work
part and finger attachments based on the usage condition and sum up the numbers.
a)Weights of the work part and finger attachments
F = mg m : Weights of the work part and finger attachments,
g : Gravitational acceleration
b) Inertial force when gripper is moving straight
F = ma a : Acceleration when moving
c) Centrifugal force when gripper is turned
F = mr
2
r : Radius of turn, : Angular velocity
Make sure that F
is below F
Z
, the allowable load in vertical direction shown in Table 1.
Zmax
Moment generated on the fingers by an external force
Calculate the moment in each direction by the external forces F
1) Moment in M
M
LCFX
Oa
direction [MOa]
a
, FY and FZ.
X
2) Moment in M
HCFX
M
Ob
direction [MOb]
b
3) Moment in M
M
LCFY HCFZ
Oc
direction [MOc]
c
(3) All the moments in each direction applied to the fingers
MIa MOa, Mb MIb MOb, Mc MOc
M
a
Confirm the calculated number is below the value for the allowable load moment shown in
Table 1.
Note : Even if the finger attachments are within the allowable range, attempt to have them as
small and light
as possible. If the fingers are long and large or the weight is high, it may
cause a drop in performance or badly influence the guide part due to the moment
caused by the impact due to gripping the work part.
29
11. Cautions During Work Part Travel
By applying a strong force or impact other than the holding force to the fingers during a work
part travel, it may cause the fingers to be off the correct position, to be loosened or malfunction.
Please be careful not to apply force or impact during travel.
Set the holding point as close as possible to the center of gravity of the work part. If it is far,
the moment due to gravity may make the work part orientation unstable.
Center of gravity
of the work part
Holding Point
Unstable
Keep clearance to the work part in the directions it gets gripped. Also, have enough
adjustment so the work part is gripped at the center and the load cannot be focused only on
one finger.
No clearance, load not balanced With sufficient clearance
Do not attempt to have such operations that insert the work part into a pocket or pull it out
from a pocket while the work part is being held with the gripper.
30
Press-fitting not permitted Pulling out press-fitted
work part not permitted
Do not attempt to push the work part to the side while it is held with the gripper.
Pushing not permitted
When inserting the work part into a pocket, have enough clearance considering variants in
the position. Also have enough adjustment to center the work part. (Be careful not to hit the
work part during the inserting operation.)
With sufficient clearance
No clearance,
load to be impacted
Not centered
31
12. Removal of the Gripped Work Part
This gripper possesses a structure to keep the work part holding force with springs even when the
power is shutdown.
When the held work part is necessary to be removed while the power is OFF, move the fingers to
the opening direction and remove the work part.
Note :
When the held work part is necessary to be removed while the power is off, move the fingers
to the opening direction and remove the work part. Pulling off the work part forcefully may
cause damage to the gripper unit.
Remove the work part when the machine is kept being stopped for a long while. Leaving it for
a long time while holding the work part may badly influence the gripper such as a drop in the
performance.
32
13. Option
13.1 Position Sensor
Example of using the position sensor Sensor Wiring List
Position Sensor
<Detection of Close, Hold and Open>
B sensor turns ON while the power is OFF (fingers are closed) and A turns ON when the power is
ON (fingers are fully open).
Both sensors A and B are ON while the work part is being held.
Thus, only the B sensor turns ON when a failure is occurs in holding the work part.
Closed End Open End
Stroke on one side : 3mm
Position Sensor
Finger Attachment
BR
BL
BK
BR
BL
BK
Wire Color Signal Name
BR
BL 0V
BK Detection Signal
* Since there are 2 sensor units
to be used, there will be 2
codes for each signal in the
harness.
24V
[mm]
Finger Stroke
Combinations of signals
Finger Position
Closed End OFF ON
Middle ON ON
Open End ON OFF
Sensor Output
A B
33
14. Maintenance Inspection
To use the actuator in a good condition for a long term, it is recommended to have daily inspections
and also regular inspections.
14.1 Inspection Items and Inspection Schedule
The standard maintenance inspection schedule is as described below.
The calculation is conducted under the condition that there are 8 working hours per day. Have
inspections more frequently if the operation frequency is high for night and day continuous
operation, etc.
Visual inspection
At startup inspection
1 month after start of operation
6 months after start of operation
1 year after start of operation
Every 6 months thereafter
Every year thereafter
For the visual inspection, check the appearance following items.
Main Body Looseness of attachment screws
Cables
Overall Abnormal noise, vibration
Note : Do not dismantle the unit or cut the cables. Please contact us if it is considered
necessary to dismantle the unit for such reasons as a failure in operation.
The warranty to the operation and failure will be voided if a dismantlement or cable cut
is confirmed on the unit.
Existence of damage and condition of
cable connections
14.2 Exterior cleaning
Please have cleaning of the external body at any time.
When cleaning, wipe with a soft cloth to remove dust and dirt.
To avoid dust getting inside the unit from small gaps, do not attempt to have compressed air
blown on the unit body.
Do not apply petroleum solvent since it may damage the resin or painted surfaces.
When it is extremely dirty, have neutral detergent applied on a soft cloth, and wipe off the dirt
firmly.
34
15. Appendix
15.1 External Dimensions
15.1.1 Normally Closed Type with No Position Sensor
4-M3, Depth 5
±0.3
25.6
16.6
3
8
±0.1
19
+0.2
20.8 When closed
0
+1.6
27.2 When open
0
2-φ2H7 Reamed, Depth 2
14.6
3.5
10.5
13.1
40
26
9
7
5
±0.1
53
47
±0.1
2-M3, Depth 5
4.5
±0.5
30
24.5
34.6
(4.6)
4-M3, Depth 5
12.8
or less
°
1
* Play of finger
4
4-M3, Depth 5
26
±0.1
10.5
819
±0.1
35
15.1.2 Normally Closed Type with Position Sensor (Option)
4-M3, Depth 5
±0.3
25.6
16.6
(1.4)
8
±0.1
19
+0.2
20.8 When closed
0
+1.6
27.2 When open
0
2-φ2H7 Reamed, Depth 2
14.6
3
3.5
10.5
13.1
9
7
5
±0.1
40
53
47
±0.1
26
2-M3, Depth 5
4.5
±0.5
30
24.5
34.6
(4.6)
4-M3, Depth 5
12.8
(1.7)
1
* Play of finger
or less
°
2-M3, Depth 5
4
36.3
±0.1
10.5
26
(3.6) (16.6)
8
36
16. Warranty
16.1 Warranty Period
One of the following periods, whichever is shorter:
18 months after shipment from our factory
12 months after delivery to a specified location
2,500 operational hours
16.2 Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products
covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our
authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an
appropriate purpose under the conditions and environment of use specified in the instruction
manual and catalog.
(4) The breakdown or problem in question was caused by a specification defect or problem, or by
the poor quality of our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology
available at the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or
maintenance
Note that the warranty only covers our product as delivered and that any secondary loss arising
from a breakdown of our product is excluded from the scope of warranty.
16.3 Honoring Warranty
As a rule, the product must be brought to us for repair under warranty.
16.4 Limited Liability
[1] We shall assume no liability for any special damage, consequential loss or passive loss such
as a loss of expected profit arising from or in connection with our product.
[2] We shall not be liable for any program or control method created by the customer to operate
our product or for the result of such program or control method.
37
16.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
(1) If our product is combined with another product or any system, device, etc., used by the
customer, the customer must first check the applicable standards, regulations and/or rules.
The customer is also responsible for confirming that such combination with our product
conforms to the applicable standards, etc. In such a case we will not be liable for the
conformance of our product with the applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications
specified below, which require a high level of safety. Accordingly, as a rule our product cannot
be used in these applications. Contact us if you must use our product for any of these
applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a
vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or
environment that differs from what is specified in the catalog or instruction manual.
16.6 Other Items Excluded from Warranty
The price of the product delivered to you does not include expenses associated with programming,
the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases
even during the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
38
Change History
Revision Date Description of Revision
2011.08
2011.09
First edition
Second edition
“Caution” changed to “Caution in Handling”
P.12 Specifications Open/Close Operation
Normally closed, open when it is ON
Power is OFF : Close Power is ON : Open
P.23 8. Control Logic 8. Operation Change in stated contents
P.20 6.4 Temperature Rises on Main Body and Finger Attachments
6.4 Temperature Rises on Main Body and Finger
39
Manual No.: ME3710-2A (September 2011)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
Head Office: 2690 W, 237th Street Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle Suite 108 Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2011. Sep. IAI Corporation. All rights reserved.
11.09.000
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