Related Manuals for Festo EHPS LK Series
Summary of Contents for Festo EHPS LK Series
- Page 1 EHPS-...-LK Parallel gripper Instructions | Operat- 8107761 8107761 2019-08 [8107763]...
- Page 2 Translation of the original instructions ® IO-Link is a registered trademark of its respective trademark holder in certain countries. Festo — EHPS-...-LK — 2019-08...
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Page 3: Table Of Contents
Process Data IN......................18 9.7.1 Description "StatusWord"..................19 Device-specific parameters................... 19 Commissioning......................24 9.10 Datastorage........................24 9.11 System Commands....................... 24 9.12 Fault clearance IO-Link....................25 Maintenance........................ 28 10.1 Safety..........................28 10.2 Cleaning........................28 10.3 Lubrication........................28 Festo — EHPS-...-LK — 2019-08... - Page 4 Malfunctions........................ 28 11.1 Diagnostics........................28 11.2 Fault clearance......................30 11.3 Repair..........................31 Disassembly......................... 31 Disposal........................32 Technical data......................32 14.1 Technical data, general....................32 14.2 Characteristic curves..................... 33 Festo — EHPS-...-LK — 2019-08...
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Page 5: About This Document
About this document About this document Further applicable documents All available documents for the product è www.festo.com/pk. Product labelling Warning symbols on the product Symbol Meaning General warning indicator: The symbol means a hazardous area and that the operating instructions must be read and observed. -
Page 6: Training Of Qualified Personnel
Additional information – Accessories è www.festo.com/catalogue. Service Contact your regional Festo contact person if you have technical questions è www.festo.com. Product overview Function The gripper has an integrated motor. The gripper mechanism converts the rotary motion of the motor into a linear motion of the gripper jaws. -
Page 7: Design
Use gripper fingers that are as short and lightweight as possible. – Observe maximum length and weight è 14 Technical data. – Produce gripper fingers that are suitable for the payload and type of gripping action. Festo — EHPS-...-LK — 2019-08... -
Page 8: Mounting The Gripper Fingers
[H8] Centring hole for cent- [mm] ring pin [H8] Jaw width [mm] 0.05 0.05 0.05 ± ± ± Tightening torque [Nm] 1) Brace at gripper jaws Tab. 2 Gripper finger mounting, dimensions and tightening torque Festo — EHPS-...-LK — 2019-08... -
Page 9: Mounting The Gripper
Through-hole mounting and direct mounting Fig. 3 Through-hole mounting on the side, direct mounting underneath (also possible on the side) Mounting with adapter kit Adapter kits è www.festo.com/catalogue. Fig. 4 Mounting with adapter kit from underneath Festo — EHPS-...-LK — 2019-08... -
Page 10: Mounting Accessories
Use only proximity sensors approved for the product. Installation Electrical installation WARNING! Risk of injury due to electric shock • For the electric power supply, use only PELV or SELV circuits that ensure a reliable electric discon- nection from the mains network. Festo — EHPS-...-LK — 2019-08... -
Page 11: Commissioning
Sensor: supply voltage IO- blue Link communication 4 (BK) IO-Link Communication black 5 (GY) 0 V DC Actuator: supply voltage grey 1) Wire colour with use of connecting cables according to accessories è www.festo.com/catalogue Tab. 4 Pin allocation Commissioning Festo — EHPS-...-LK — 2019-08... -
Page 12: Processing
• The system must be fully assembled. • The electrical installation must be complete and checked. IO-Link Interface description • The associated device description file (IODD) è www.festo.com/sp • Detailed information on the IO-Link specification è www.io-link.com Festo — EHPS-...-LK — 2019-08... -
Page 13: General Information On The Io-Link
Fig. 6 Handshake General specification IO-Link Feature Specification Protocol IO-Link IO-Link, protocol version Device V 1.1 IO-Link, communication mode COM3 (230.4 kbaud) IO-Link, SIO mode support IO-Link, port class Device B IO-Link, number of ports Device 1 Festo — EHPS-...-LK — 2019-08... -
Page 14: Communication Functions
2) data currently used Tab. 5 General specification IO-Link Communication functions Feature Specification Preoperate M-sequence type _1_V, (8 Byte On-request Data) Operate M-sequence type _2_V, (8 Byte OUT; 6 Byte IN; 2 Byte On-request Data) Festo — EHPS-...-LK — 2019-08... -
Page 15: Identification Parameters
50/0x000032 333/0x014D 51/0x000033 333/0x014D Tab. 7 Identification parameters Index Sub index Name Value (example) Length Format [byte] 0x0010 "Vendor Name" Festo AG & Co. KG String 0x0011 "Vendor Text" www.festo.com String 0x0012 "Product Name" EHPS-16-A-LK String EHPS-20-A-LK EHPS-25-A-LK 0x0013 "Product ID"... -
Page 16: Process Data Out
MSB LSB MSB LSB … … … … … Process data "Gripping- "WorkpieceNo "GrippingPosi- "GrippingForce "GrippingTol- Mode" " tion" " erance" Index 0x0029 Sub index Data type UIntegerT8 UIntegerT16 UIntegerT8 Tab. 12 Process data OUT Festo — EHPS-...-LK — 2019-08... -
Page 17: Use Cases
"Open" (bit 56) With this command, the gripper moves the jaws to the outer position (opening). "Close" (bit 57) With this command, the gripper moves the jaws to the inner position (closing). Festo — EHPS-...-LK — 2019-08... -
Page 18: Process Data In
MSB LSB … … Process data "ErrorNumber" "ActualPosition" Value range 0 65535 0 max. jaw stroke … … – EHPS-16: 0 2150 … – EHPS-20: 0 2750 … – EHPS-25: 0 3350 … Index 0x0028 Festo — EHPS-...-LK — 2019-08... -
Page 19: Description "Statusword
Active if there is an error. The present errors can be viewed in the "ErrorNumber" and "ErrorMessage" parameters. Device-specific parameters Index Sub index Name Description Value (example) Lengt- Format [byte] 0x0018 "Application- Text to be StringT SpecificTag" defined by the user 0x0040 "StatusWord" 9.7 Process è Data IN Festo — EHPS-...-LK — 2019-08... - Page 20 … – EHPS-20: 0 2750 … – EHPS-25: 0 3350 … 0x0102 "WorkpieceNo" Workpiece num- 0 32 UIntegerT … ber of a work- piece set 0x0103 "GrippingMode" Driving mode – Invalid: 0 UIntegerT – Universal: Festo — EHPS-...-LK — 2019-08...
- Page 21 "GrippingMode" Description see Index: 0x0103 "GrippingForce" Description see Index: 0x0105 "GrippingPosi- Description see tion" Index: 0x0101 "GrippingToler- Description see ance" Index: 0x0104 1) Copy of the process data 2) Currently used data Tab. 16 Device-specific parameters Festo — EHPS-...-LK — 2019-08...
- Page 22 The gripping force can be adjusted in 4 different force levels. Since the gripping force is built up dynamically via the speed, a change in the gripping force setting also results in a change in speed. Festo — EHPS-...-LK — 2019-08...
- Page 23 EHPS-...-A-LK External gripping interchangeability [mm] ± ± ± Internal gripping interchangeability [mm] ± ± ± Tab. 23 Interchangeability Parameters "WorkpieceSet" In the gripper, 4 parameters can be defined for each of 32 different workpieces Festo — EHPS-...-LK — 2019-08...
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Page 24: Commissioning
A standard configuration is thus loaded into the parameters and the movement commands are released. [Close Gripper] With previous release, this com- 0x0002 mand can initiate a movement of the gripper jaws in the direction of "closing". Festo — EHPS-...-LK — 2019-08... -
Page 25: Fault Clearance Io-Link
0x010A Outside the spe- "Actuator under – Actuator – Check grip- (266) cification voltage during supply ping force, movement" unstable check power – Line resist- supply and ance peak load increased (faulty sup- ply cable) Festo — EHPS-...-LK — 2019-08... - Page 26 0x308 Outside the spe- "WorkpieceNo Incorrect value in Check the para- (776) cification not plausible" parameter meter "Work- "WorkpieceNo" pieceNo" Festo — EHPS-...-LK — 2019-08...
- Page 27 0x400 Failure "Gripper – Gripper is – Restoring (1024) blocked" difficult to the free move movement of – The travel the gripper path of the – Service Festo grab is AG & Co. KG impaired Festo — EHPS-...-LK — 2019-08...
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Page 28: Maintenance
www.festo.com/spareparts. è Tab. 26 Cut the lubrication interval by half if one of the following applies: • High thermal stress • Heavy contamination • Proximity of grease-dissolving liquids or vapours Malfunctions 11.1 Diagnostics Festo — EHPS-...-LK — 2019-08... - Page 29 – IO-Link Communication: active – Actuator supply voltage: connected – "ErrorNumber" and "ErrorCode" is output Flashes – IO-Link Supply voltage: connected green – IO-Link Communication: active – Actuator supply voltage: connected Tab. 27 LED display Festo — EHPS-...-LK — 2019-08...
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Page 30: Fault Clearance
IO-Link Check master. unit Gripper is faulty. Replace gripper. Squeaking noises Lack of lubrication Lubricate gripper 10.3 Lubrication. è Payload is too great. Observe permissible values 14 Technical data. è Tab. 28 Festo — EHPS-...-LK — 2019-08... -
Page 31: Repair
ß Tightening torque for [Nm] plug screw Tab. 29 Tightening torques 11.3 Repair Send product to the Festo repair service for repair. Disassembly WARNING! Danger of crushing due to unexpectedly fast-moving loads and unintentional movements. • Remove the payload. •... -
Page 32: Disposal
0 … 95 (at 25 C non-condensing) Ambient [°C] +5 … +60 temperature Storage temperature [°C] 20 … +60 – CE marking (declara- As per EU EMC Directive 2) 3) tion of conformity) Electrical safety In accordance with standard EN 61010-1:2010 Weight Festo — EHPS-...-LK — 2019-08... -
Page 33: Characteristic Curves
Max. force (static) and max. torque (static) [Nm] [Nm] [Nm] 1) Max. housing temperature = ambient temperature +35 K 2) Only when using the connecting cable from Festo 3) Max. length of connecting cable (including gripper cable): 20 m Tab. 30 Technical data 14.2 Characteristic curves... - Page 34 Power class 4 Fig. 8 EHPS-16 external gripping, lever arm vertical Power class 1 Power class 3 Power class 2 Power class 4 Fig. 9 EHPS-16 internal gripping, lever arm vertical Festo — EHPS-...-LK — 2019-08...
- Page 35 Power class 4 Fig. 10 EHPS-16 external gripping, lever arm horizontal Power class 1 Power class 3 Power class 2 Power class 4 Fig. 11 EHPS-16 internal gripping, lever arm horizontal Festo — EHPS-...-LK — 2019-08...
- Page 36 Power class 4 Fig. 12 EHPS-20 external gripping, lever arm vertical Power class 1 Power class 3 Power class 2 Power class 4 Fig. 13 EHPS-20 internal gripping, lever arm vertical Festo — EHPS-...-LK — 2019-08...
- Page 37 Power class 4 Fig. 14 EHPS-20 external gripping, lever arm horizontal Power class 1 Power class 3 Power class 2 Power class 4 Fig. 15 EHPS-20 internal gripping, lever arm horizontal Festo — EHPS-...-LK — 2019-08...
- Page 38 Power class 4 Fig. 16 EHPS-25 external gripping, lever arm vertical Power class 1 Power class 3 Power class 2 Power class 4 Fig. 17 EHPS-25 internal gripping, lever arm vertical Festo — EHPS-...-LK — 2019-08...
- Page 39 Power class 4 Fig. 18 EHPS-25 external gripping, lever arm horizontal Power class 1 Power class 3 Power class 2 Power class 4 Fig. 19 EHPS-25 internal gripping, lever arm horizontal Festo — EHPS-...-LK — 2019-08...
- Page 40 Copyright: Festo AG & Co. KG Ruiter Straße 82 73734 Esslingen Germany Reproduction, distribution or sale of this document or communic- Phone: ation of its contents to others without express authorization is +49 711 347-0 prohibited. Offenders will be liable for damages. All rights...
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