Hiwin XEG Series User Manual
  1. Manuals
  2. Brands
  3. Hiwin Manuals
  4. Industrial Equipment
  5. XEG Series
  6. User manual

Hiwin XEG Series User Manual

Electric gripper
Hide thumbs
Table of Contents

Advertisement

Quick Links

Electric Gripper
User Manual
Original Instruction
RoHS
www.hiwin.tw

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the XEG Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Hiwin XEG Series

Summary of Contents for Hiwin XEG Series

  • Page 1 Electric Gripper User Manual Original Instruction RoHS www.hiwin.tw...
  • Page 2 INDUSTRIE 4.0 Best Partner Multi-Axis Robot Pick-and-Place / Assembly / Array and Packaging / Semiconductor / Electro-Optical Industry / Automotive Industry / Food Industry • Articulated Robot • Delta Robot • SCARA Robot • Wafer Robot • Electric Gripper • Integrated Electric Gripper •...

  • Page 3: Table Of Contents

    C02UE03-2007 Technical Information Index 1. Precautions(Be sure to read before handling.) ............... 1.1 Safety Specifications ......................1.2 Warning Sign Location & Description .................. 1.3 Warranty Coverage ......................... 2. Electric Gripper ......................2.1 F e a t u r e s ......................2.2 A p p l i c a t i o n s .....................

  • Page 4: Precautions(Be Sure To Read Before Handling.)

    C02UE03-2007 Precautions(Be sure to read before handling.) 1.1 Safety Specifications Indicates an imminently hazardous situation which, if not avoided, will Danger： result in death or serious injury. Indicates a potentially hazardous situation which could result in death Warning： or serious injury, if the equipment is operated incorrectly. Indicates a potentially hazardous situation which may result in injury Caution：...
  • Page 5 C02UE03-2007 equipment to ensure safety. When operating or ◎ Please do not disassemble, or modify the product adjusting the gripper, be sure to observe safety to avoid personal accident, electric shock, fire or measures for the system. damage. Warning ◎ Do not expose the product to radiant heat ◎...

  • Page 6: Warning Sign Location & Description

    C02UE03-2007 Caution ◎ Do not hold moving parts of the product or its ◎ Design the jaws to be lightweight and minimum cables during installation. It may result in injury. length. ◎ Do not insert a finger or object in the openings in ◎...

  • Page 7: Warranty Coverage

    ◎ Damage caused by any natural disaster. i.e., fire, earthquake, tsunami, lightning, windstorms, floods etc. HIWIN does not provide any warranty or compensation to all the damage caused by above-mentioned circumstances unless the user can prove that the product is defective.

  • Page 8: Electric Gripper

    C02UE03-2007 Electric Gripper 2.1 Features S te p p e r Mo to r S ing l e A xis R o b ot Gr i p p e r C o ntr o l l e r XEG-Series - The whole series adopts stepper motor with encoder, which has signal output such as status return, abnormal alarm and object identification.

  • Page 9: Applications

    C02UE03-2007 • Multi-point position control - I/O signal communication mode: 31 or 62 group of action mode can be stored; Serial communication mode: No limit for action group • Identifying by position detection - In I/O signal communication mode, provided 3 or 7 kinds of work object of the external size detection and identification;In serial communication mode, the number of work object is not limited and also the measurement size value can be fed back.

  • Page 10: Specifications

    C02UE03-2007 2.3 Specifications Model XEG-16 XEG-32 XEG-48 XEG-64 XEG-32-PR 16 ±0.5 32 ±0.5 48 ±0.5 64 ±0.5 32 ±0.5 Stroke [both sides] (mm) Gripping Force (N) 25~50 60~150 135~270 180~450 75~150 Motion 1~60 1~80 1~80 1~100 1~60 Speed (mm/s) Gripping [Note 2] 1~10 1~20 1~20...

  • Page 11: System Construction

    C02UE03-2007 2.4 System Construction • Communication method：I/O signal Actuator Cable Power Cable Power Supply Electric Gripper Controller (DC 24V) USB Cable I/O Cable (14 pins) Upper Controller (Self Prep.) PC (Self Prep.) + Software • Communication method：Serial Communication RS232 Actuator Cable Power Cable Power Supply Electric Gripper...
  • Page 12 [Note 6] The RS485 cable (RJ45) is an optional accessory. There are two specifications for the cable length, 0.5M and 5M, please specify when ordering. [Note 7] XEG Dynamic-Link Library (.dll) and user manual, please visit HIWIN official website to download. [Note 8] Please download the MODBUS manual from the HIWIN website.

  • Page 13: Specification Illustration

    [Note 1] Left side connector of the actuator cable connects to the electric gripper, and right side connector of the actuator cable connects to the controller. [Note 2] XEG-W2 can support XEG-C1 and XEG-C2, please visit HIWIN official website to download. [Note 3] Please refer to HIWIN official website "TM quick installation guide".

  • Page 14: Mounting Method

    固定方向 固定方向 C02UE03-2007 2.6 Mounting Method 定位銷 定位銷 A. When using the thread on the body 定方向 Mounting Direction Recommended Effective 定位銷 Model Bolt tightening Positioning pin Positioning pin 定位銷 depth (mm) torque (N*m) Positioning pin Mounting 固定方向 XEG-16 M3x0.5P 0.6~0.8 固定方向...

  • Page 15: Maintenance

    注脂孔 ( Ø2) C02UE03-2007 夾具 注脂孔 ( Ø2) 2.7 Maintenance 注脂孔 手動調整部 手動調整部 手動調整部 2.7.1 Applying Grease to Single Axis Robot XEG-16 XEG-32, XEG-48, XEG-64 注脂孔 ( Ø2) 夾具 注脂孔 ( Ø2) ◎ Apply proper amount of grease to the grease hole ◎...
  • Page 16 Thickener Special calcium soap Lithium Soap Based M5x0.5P wear resistance, low friction resistance and Applicable -45~125 -35~120 water resistance such as HIWIN G04 or other Temperature(℃) lubricating grease with similar features. Dropping Point(℃) ＞210 ＞225 Penetration (0.1mm) 265-295...

  • Page 17: Electric Gripper Controller

    C02UE03-2007 Electric Gripper Controller 3.1 Controller Specifications Specifications Item XEG-C1 XEG-C2 Compatible Motor Stepper motor Compatible Encoder Optical rotary encoder Min. Setting Position (mm) 0.01 DC 24 ± 10% Power Supply (V) Total Current (A) 0.5A Operating Temperature Range (℃ ) 5 ~ 45 Operating Humidity Range (%) RH 35~85 (No condensing)
  • Page 18 C02UE03-2007 3.2.2 XEG-C2 Code Part Name Illustration 24V Power supply lamp (Green) Lights after 24V / 0V power input Error status lamp (Red) Lights after error status occurs [Note 1] 5V Power supply lamp (Green) Lights after USB cable is connected Emergency stop lamp (Red) Lights after emergency stop trigger Power terminal and Emergency...

  • Page 19: I/O Connector Illustration

    C02UE03-2007 [Note 4] The station number can be set up to 15 (1~F) at most, and station number 0 is Broadcast Mode, which is only used in specific situations. The station number cannot be repeated in a single serial network. After setting the station number, you have to power off and restart.
  • Page 20 C02UE03-2007 Symbol Function BUSY Executing command HOLD Gripping range check ALM-CODE1 Error status number output ALM-CODE2 CHK-CODE1 Identification number CHK-CODE2 COM - Common ground( - ) [Note 1] After the controller firmware version is V2.0.16(inclusive), when the pins of A6,A7 and B7 are connected to 0V,24V and 0V respectively, the firmware version update mode is entered, and the controller status abnormality indicator is displayed.

  • Page 21: Error Status/Identification Number Illustration

    C02UE03-2007 3.4 Error Status / Identification Number Illustration 3.4.1 XEG-C1 ALM-CODE1 ALM-CODE2 Error Status Position fault Over travel Original point fault CHK-CODE1 CHK-CODE2 Identification Workpiece 1 Workpiece 2 Workpiece 3 3.4.2 XEG-C2 ALM-CODE1 ALM-CODE2 Error Status Position fault Over travel Original point fault CHK-CODE1 CHK-CODE2...

  • Page 22: External Wiring Diagram

    C02UE03-2007 3.5 External Wiring Diagram 3.5.1 XEG-C1 No. Color XEG-C1 (NPN) XEG-C1 (PNP) Black Yellow Blue Gray A6 Light Blue START START A7 Brown Black COM+ COM+ B1 Brown LOAD LOAD DC24V DC24V BUSY BUSY B2 Orange HOLD HOLD ALM-CODE1 ALM-CODE1 Green ALM-CODE2...

  • Page 23: Description Of Motion Signal

    C02UE03-2007 3.6 Description of Motion Signal 3.6.1 XEG-C1 Input Signal Motion No. No.1 No.2 No.3 No.4 No.5 No.6 No.7 No.8 No.9 No.10 No.11 No.12 No.13 No.14 No.15 No.16 No.17 No.18 No.19 No.20 No.21 No.22 No.23 No.24 No.25 No.26 No.27 No.28 No.29 No.30 No.31...
  • Page 24 C02UE03-2007 3.6.2 XEG-C2 Input Signal Motion No. No.1 No.2 No.3 No.4 No.5 No.6 No.7 No.8 No.9 No.10 No.60 No.61 No.62 [Note 1] Motion No. is based on the combined input signal I1~I5 in binary format. (1: ON, 0: OFF) [Note 2] Motion No. 62 is preset to RESET.

  • Page 25: Operation Modes

    C02UE03-2007 3.7 Operation Modes Speed 速度 Speed 速度 Position 位置 Speed 速度 Mode Speed Direction Function Diagram Stroke 行程 Speed 速度 Position 位置 Position 位置 Speed 速度 Stroke 行程 Speed 速度 Position 位置 Stroke 行程 Stroke 行程 Acceleration & Absolute Speed Position 速度...

  • Page 26: Parameter Setting

    C02UE03-2007 3.8 Parameter Setting 3.8.1 Fast move • Moving with the specified motion speed to the target position. Speed (mm/S) Motion speed 位置 (mm) Position (mm) Target position 目標位置 • Parameters setting Item Description Move position Move to the target position. Move speed Transfer speed to the target position.[Note 1] [Note 1] If the move speed is excess of the allowance, the system will set the fastest speed...
  • Page 27 C02UE03-2007 3.8.2 Unknown workpiece size gripping / identifying by position detection • Use specified gripping speed and gripping force to grip workpiece from the initial gripping position until workpiece is gripped or the end of gripping position is reached. Speed(mm/S) Constant speed 等速度...
  • Page 28 C02UE03-2007 3.8.3 Fast move gripping of known workpiece size • Move with the specified gripping speed from the initial position to the initial gripping position first and grip workpiece with the specified gripping speed and gripping force in the gripping stroke. Speed (mm/S) Motion speed Gripping speed...

  • Page 29: I/O Signal Setting

    C02UE03-2007 3.9 I / O Signal Setting 3.9.1 I/O signal setting of original point return (Initial position must be established after turning on power.) • Motion description: Moving from the initial position toward the original position with constant speed after confirming the original position and complete the gripping force model, it will move to the maximum travel position.
  • Page 30 C02UE03-2007 3.9.2 I/O signal setting of fast move • Motion description: Moving with the specified motion speed to the target position. SPEED Operation 運動模式 0 mm/s Input 10ms or more 以上 輸入訊號 signal START BUSY Output 輸出訊號 signal ALARM [Description 1] It is necessary that the timing of opening the input signal START is to be the time of opening the input signal IN afterward.
  • Page 31 C02UE03-2007 3.9.3 I/O signal setting of gripping irregular workpiece • Motion description: Using the specified gripping speed and gripping force to grip the workpiece from the initial gripping position until the workpiece is gripped or the end of gripping position is reached. SPEED Operation 運動模式...
  • Page 32 C02UE03-2007 3.9.4 I/O signal setting of workpiece recognition or size detection • Motion description: Using the specified gripping speed and gripping force to grip the workpiece from the initial gripping position until the workpiece is gripped or the end of gripping position is reached. Operation SPEED 運動模式...
  • Page 33 C02UE03-2007 3.9.5 I/O signal setting for fast move gripping of known workpiece size • Motion description: After moving fast from the initial position to the gripping position, using the specified gripping force and gripping speed to grip the workpiece until the end of gripping position is reached. Operation SPEED 運動模式...

  • Page 34: Process For Model Selection

    C02UE03-2007 Process for Model Selection 4.1 Example of Model Selection If the weight of gripped workpiece is 0.3kg, distance of gripping point is 35mm, gripping speed is 5mm/s and pitch moment (Mp) of a static load f =10 (N) is applied on the gripping point. What is the model to be selected? 夾持力:100% 夾持力:70% 夾持力:40%...

  • Page 35: Calculation Of Gripping Force

    7.72 モーメントM(N-m) 許容荷重F(N) = = 220 > 10 (外部負荷) L(m) 0.035 指 μF μF C02UE03-2007 ワーク • Step 4: Confirm external load (Section 4.6) 靜態容許力矩 M(N-m) 7.72 容許荷重F(N) = = 220 > 10 (外力) L(m) 0.035 According to Section 4.6, the pitch moment (Mp) of XEG-32 is 7.72 (N-m). Based on the following calculation result, the allowable external load that can be withstood is 220(N).

  • Page 36: Confirmation Of Gripping Force

    內徑夾持狀態 外徑夾持狀態 C02UE03-2007 4.3 Confirmation of Gripping Force 夾爪 夾爪 • Gripping force (F) shown in the figure below is the thrust of one jaw, when both 夾具 夾具 jaws are in full contact with the workpiece as shown in the figure below. •...
  • Page 37 C02UE03-2007 • XEG-32 relationship between gripping force & gripping point: 夾持點 L (mm) Gripping force: 100% Gripping force: 70% Gripping force: 40% 夾持力:100% 夾持力:70% 夾持力:50% Gripping point L(mm) • XEG-48 relationship between gripping force & gripping point: 夾持點 L (mm) Gripping force: 100% Gripping force: 70% Gripping force: 50%...
  • Page 38 C02UE03-2007 夾持點 L (mm) • XEG-64 relationship between gripping force & gripping point: Gripping force: 100% Gripping force: 70% Gripping force: 40% 夾持力:100% 夾持力:70% 夾持力:50% Gripping point L (mm) • XEG-32-PR relationship between gripping force & gripping point: 夾持點 L (mm) Gripping force: 100% Gripping force: 70% Gripping force: 50%...

  • Page 39: Confirmation Of Gripping Point And Overhang

    H:外懸臂 H:外懸臂 C02UE03-2007 L:夾持點 L:夾持點 4.4 Confirmation of Gripping Point and Overhang 夾持點 L(mm) Gripping point L(mm) • Decide the gripping position of the workpiece so that the amount of overhang (H) XEG-32 XEG-32 stays within the range shown in the figure below. •...

  • Page 40: Confirmation Of Gripping Speed

    夾持速度 (mm/s) 把持速度 (mm/s) Gripping speed (mm/s) C02UE03-2007 XEG-32 XEG-32 4.5 Confirmation of Gripping Speed • Set the gripping speed and gripping force (%) within the range shown in the figure 持力與夾持速度臨界範圍 below. Gripping force and speed range Gripping force and speed range 把持力と把持速度の実現可能領域...

  • Page 41: Allowable Load-Carrying Momentum

    C02UE03-2007 4.6 Allowable Load-Carrying Momentum Allowable Moment Allowable Load Model F (N) Mp (N-m) My (N-m) Mr (N-m) XEG-16 167.7 1.66 1.66 6.40 XEG-32 430.7 7.72 7.72 20.37 XEG-48 610.4 13.03 13.03 34.34 XEG-64 763.0 20.36 20.36 42.93 XEG-32-PR 430.7 7.72 7.72 20.37...

  • Page 42: Dimensions

    C02UE03-2007 Dimensions • Model of XEG-16 +0.02 2-M3X0.5PX5DP Ø 2 X3DP ◎ XEG-16 Connector Standard type (11) 83.5 18.5 (41.8) Stroke:0~16 Right-angle type +0.02 2- Ø 2 X2.5DP 39.5 (32.3) 27.5 4- Ø 2.5 THRU, M3X0.5PX8DP +0.02 2- Ø 2 X2.5DP 39.5 4-M3X0.5PX3.5DP...
  • Page 43 C02UE03-2007 • Model of XEG-48 35.5 12.75 +0.02 4-M3X0.5PX8DP 2-Ø3 X3DP (11) ◎ XEG-48 Connector Standard type 21.5 21.5 Stroke:0~48 (41.8) Right-angle type (32.3) 81.5 +0.02 2-Ø5 X4DP 4-Ø5 THRU, 51.5 M6X1PX12DP 81.5 +0.02 2-Ø5 X4DP 4-M6X1PX8DP 41.5 • Model of XEG-64 +0.02 2- Ø...
  • Page 44 C02UE03-2007 • Model of XEG-32-PR +0.02 4-M3X0.5X5DP Ø 3 X3DP 158 (STROKE : 32) 126 (STROKE : 0) +0.02 X3DP ( Ø 16) -0.00 19.5 (54) ◎ XEG-32-PR Connector Standard type 28.5 64.5 (41.8) Ø 3 +0.02 X3DP Right-angle type (32.8) +0.02 X2.5DP...

  • Page 45: Safety Certification

    C02UE03-2007 • Model of XEG-C2 A (2:1) (60.5) TURN LEFT:OFF TURN RIGHT:ON 2-Ø4.5 Safety Certification CE Compliance Machinery Directives 2006/42/EC Low Voltage Directives (LVD) 2014/35/EU EN ISO 12100:2010 Safety of Machinery EN 60204-1:2006+AC:2010 EN 61000-6-2:2005 Electromagnetic Compatibility Directives (EMC) EN 61000-6-4:2007+A1:2011 Hazardous Substances Restriction Directives (RoHS 2) 2011/65/EU (2015/863)

  • Page 46: Appendix

    C02UE03-2007 Appendix 7.1 Current Diagram (REGCDC103A2XE) Controller ● Upper Controller ● or PLC I/O Cable ● PC+ Software (XEG-W1) ● or XEG.dll USB Cable ● Electric Gripper ● Actuator Cable ● DC24V Power Supply (DC24V) ● Power Cable ● Name Illustration Power supply lamp (Green) Error status lamp (Red)

  • Page 47: Shipping Items

    C02UE03-2007 7.2 Shipping Items • • XEG-48, XEG-64, XEG-32-PR XEG-16, 32 Product label Product label • • Standard shipping items: Product label: 1. Electric gripper 2. Electric gripper controller 3. Cable • Actuator cable • I/O cable • USB cable 4.

  • Page 48: Accessories Assembly Method

    C02UE03-2007 7.3 Accessories Assembly Method • XEG-16 adapter assembling on 605/610 robot arm XEG-16 & 605/610 assembly flow chart XEG-16 & 605/610 adapter kits Items Parts Amount Positioning pin (Ø5X8L) XEG16-605 Robot arm adapter Spring washer (Ø5 SUS) Bolt (M5X0.8PX8L SUS) Positioning pin (Ø5X8L) Gripper adapter Positioning pin (Ø2X4.4L)
  • Page 49 C02UE03-2007 • XEG-32 adapter assembling on 605/610 robot arm XEG-32 & 605/610 assembly flow chart XEG-32 & 605/610 adapter kits Items Parts Amount Positioning pin (Ø5X8L) XEG32-605 Robot arm adapter Spring washer (Ø5 SUS) Bolt (M5X0.8PX8L SUS) Positioning pin (Ø5X8L) Gripper adapter Positioning pin (Ø3X4L) Spring washer (Ø4 SUS)
  • Page 50 C02UE03-2007 • XEG-48, XEG-64 adapter assembling on 605/610 robot arm XEG-48, XEG-64 & 605/610 assembly flow chart XEG-48, XEG-64 & 605/610 adapter kits Items Parts Amount Positioning pin (Ø5X8L) XEG64-605 Robot arm adapter Spring washer (Ø5 SUS) Bolt (M5X0.8PX8L SUS) Positioning pin (Ø5X8L) Gripper adapter Positioning pin (Ø5X8L)
  • Page 51 C02UE03-2007 • XEG-48, XEG-64 adapter assembling on 620 robot arm XEG-48, XEG-64 & 620 assembly flow chart XEG-48, XEG-64 & 620 adapter kits Items Parts Amount Positioning pin (Ø6X5.8L) XEG64-620 Robot arm adapter Spring washer (Ø6 SUS) Bolt (M6X1PX10L SUS) Positioning pin (Ø6X5.8L) Gripper adapter Positioning pin (Ø5X8L)

  • Page 52: Attachments (Fingers) Suggested Design

    C02UE03-2007 7.4 Attachments (Fingers) Suggested Design If the finger part is made of metal material, such as steel or aluminum. It is recommended to add elastic material such as rubber or casting polyurethane to the finger part. This not only increase the friction of the gripping but also obtain more precise gripping force.

  • Page 53: Electric Gripper Inquiry Form

    C02UE03-2007 7.5 Electric Gripper Inquiry Form Customer Date Country Telephone E-Mail Fax. Address Stroke (mm) Workpiece weight (kg) Cycle time (s) Workpiece material Repeatability (mm) Gripping force (N) Gripping speed (mm/s) Workpiece volume Connector type of gripper side: □ Standard □ Right-angle type Actuator cable: □...
  • Page 54 3. HIWIN website for patented product directory: http://www.hiwin.tw/Products/Products_patents.aspx 4. HIWIN will not sell or export products or processes restricted under the “Foreign Trade Act” or related regulations. Export of restricted products should be approved by proper authorities in accordance with relevant laws and shall not be used to manufacture or develop nuclear, biochemical, missiles or other weapons.
  • Page 55 Mega-Fabs Motion Systems, Ltd. CHICAGO, U.S.A. SINGAPORE HAIFA, ISRAEL www.hiwin.com www.hiwin.sg www.mega-fabs.com info@hiwin.com info@hiwin.sg info@mega-fabs.com HIWIN Srl BRUGHERIO, ITALY www.hiwin.it info@hiwin.it Copyright © HIWIN Technologies Corp. ©2020 FORM C02UE03-2007 The specifications in this catalog are subject to change without notification. (PRINTED IN TAIWAN)

This manual is also suitable for:

Xeg-16Xeg-32Xeg-48Xeg-64Xeg-32-pr

Table of Contents