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Hiwin XEG-16 User Manual

Electric gripper
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Summary of Contents for Hiwin XEG-16

  • Page 1 RoHS Electric Gripper User Manual 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 •...

  • Page 3: Table Of Contents

    C02UE03-1711 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.)

    C02UE03-1711 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 C02UE03-1711 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

    C02UE03-1711 ◎ The actuator cables with the product are flexible, ◎ Use speed and parameters appropriate with the but do not store the cables in a movable cable product to avoid making a great impact to the duct that bends more than the specified bending jaws.

  • 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

    C02UE03-1711 Electric Gripper 2.1 Features S te p p e r Mo to r S i ng l e  A xis  R o b o t Gr i p p e r C o ntr o l le r XEG-Series •...

  • Page 9: Applications

    Glass or structures components Rubber Crystal Gripping in a Detection / Measurement narrow space Identification Shape measurement Deep holes Selection and alignment 2.3 Specifications XEG-16 XEG-32 XEG-64 Model Stroke[bothsides](mm) 16 ±0.5 32 ±0.5 64 ±0.5 25~50 60~150 180~450 GrippingForce(N) Motion 1~60...

  • Page 10: System Construction

    C02UE03-1711 2.4 System Construction Actuator Cable USB Cable PC + Software Electric Gripper Controller Power Cable I/O Cable (14 pins) Power Supply UpperController (DC 24V) [Note 1] Actuator cable length: 1.5 m (standard), 3 m, 5 m. [Note 2] I/O cable length: 1.5 m (standard), 3 m, 5 m or produced upon receipt of order. [Note 3] Communication cable length: 1.5 m (standard) [Note 4] Power supply plug only.

  • Page 11: Specification Illustration

    C02UE03-1711 2.5 Specification Illustration The model number of Electric Gripper series contains the type,size,other kinds of cable length or special order,etc.. XEG - 16 - C1 10 1 - W1 - S Code Item Illustration Type XEG： 2-finger type 16： total stroke is 16 mm Model 32：...

  • Page 12: Mounting Method

    A.Whenusingthethreadonthebody 定方向 Mounting Direction Recommended Effective 定位銷 Positioning pin Model Bolt tightening 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 Direction Mounting Direction XEG-32 M4x0.7P 1.2~1.6 定位銷 定位銷 XEG-64 M6x1P 4.6~5.2 B.Whenusingthethreadonthemountingplate tion...

  • Page 13: Maintenance

    2.7 Maintenance 注脂孔 手動調整部 手動調整部 手動調 2.7.1 Applying Grease to Single Axis Robot XEG-16 XEG-32,XEG-64 ◎ Apply proper amount of grease to the grease hole ◎ Turn off power supply after adjusting the gripper to 注脂孔 ( Ø2) of single axis robot with a grease supply device or the maximum opening position;...
  • Page 14 Lithium Soap Based Thickener M5x0.5P wear resistance, low friction resistance and Applicable Temperature(℃) 35~120 water resistance such as HIWIN G04 or other Dropping Point(℃) ＞225 lubricating grease with similar features. Penetration (0.1mm) 260-280 40℃...

  • Page 15: Electric Gripper Controller

    C02UE03-1711 Electric Gripper Controller 3.1 Controller Specifications Item Specifications Compatible Motor Stepper motor Compatible Encoder Optical rotary encoder Min. Setting Position (mm) 0.01 Number of Points 30 points ＋ original point 5 points: command point setting Input 1 points: command input Output 6 points: control output External I/O...

  • Page 16: I/O Connector Illustration

    C02UE03-1711 3.3 I/O connector Illustration B1 B2 B3 B4 B5 B6 B7 A1 A2 A3 A4 A5 A6 A7 Symbol Function Position data bit0 Position data bit1 Position data bit2 Input Position data bit3 Position data bit4 START Command input COM + Common ground( + ) BUSY...

  • Page 17: External Wiring Diagram

    C02UE03-1711 3.5 External Wiring Diagram 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 Green ALM-CODE1 ALM-CODE1 ALM-CODE2 ALM-CODE2 B4 Purple...

  • Page 18: Parameter Setting

    C02UE03-1711 3.7 Parameter Setting 3.7.1 Fast move • Movingwiththespecifiedmotionspeedtothetargetposition. Speed (mm/S) Motion speed 位置 (mm) Position (mm) Target position 目標位置 • Parameterssetting 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 according to the position and acceleration.
  • Page 19 C02UE03-1711 3.7.2 Unknown workpiece size gripping / identifying by position detection •  U sespecifiedgrippingspeedandgrippingforcetogripworkpiece fromtheinitialgrippingpositionuntilworkpieceisgrippedortheend ofgrippingpositionisreached. Speed(mm/S) Constant speed 等速度 Motion speed 位置 (mm) Position(mm) Gripping 夾持行程 stroke end of gripping Initial gripping 位置 結束夾持位置 Gripping force (%) Gripping force Position(mm) 位置...
  • Page 20 C02UE03-1711 3.7.3 Fast move gripping of known workpiece size • Movewiththespecifiedgrippingspeedfromtheinitialpositionto theinitialgrippingpositionfirstandgripworkpiecewiththespecified grippingspeedandgrippingforceinthegrippingstroke. Speed (mm/S) Motion speed Gripping speed Position (mm) 位置 (mm) Movement Gripping stroke 移動行程 夾持行程 distance Initail position Initial end of 始位置 開始夾 結束夾 gripping gripping 持位置 持位置...

  • Page 21: I/O Signal Setting

    C02UE03-1711 3.8 I / O Signal Setting 3.8.1 I/O signal setting of original point return (Initial position must be established after turning on power.) •  M otiondescription:Movingfromtheinitialpositiontowardtheoriginal positionwithconstantspeedafterconfirmingtheoriginalpositionand auto-tune,itwillmovetothelocationof1mm.(1mmisthedistance betweentwogrippers) Operation SPEED 0 mm/s 運動模式 Input 10ms or more 以上...
  • Page 22 C02UE03-1711 3.8.2 I/O signal setting of fast move • Motiondescription:Movingwiththespecifiedmotionspeedtothe targetposition. SPEED Operation 運動模式 0 mm/s Input or more 10ms 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 23 C02UE03-1711 3.8.3 I/O signal setting of gripping irregular workpiece • Motiondescription:Usingthespecifiedgrippingspeedandgripping forcetogriptheworkpiecefromtheinitialgrippingpositionuntilthe workpieceisgrippedortheendofgrippingpositionisreached. SPEED Operation 運動模式 0 mm/s Input or more 10ms 以上 輸入訊號 signal START BUSY Output HOLD 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 24 C02UE03-1711 3.8.4 I/O signal setting of workpiece recognition or size detection • Motiondescription:Usingthespecifiedgrippingspeedandgripping forcetogriptheworkpiecefromtheinitialgrippingpositionuntilthe workpieceisgrippedortheendofgrippingpositionisreached. Operation SPEED 運動模式 0 mm/s Input or more 10ms 以上 輸入訊號 signal START BUSY HOLD Output signal 輸出訊號 CHECK 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 25 C02UE03-1711 3.8.5 I/O signal setting for fast move gripping of known workpiece size • Motiondescription:Aftermovingfastfromtheinitialpositiontothe grippingposition,usingthespecifiedgrippingforceandgrippingspeed togriptheworkpieceuntiltheendofgrippingpositionisreached. Operation SPEED 運動模式 0 mm/s Input or more 10ms 輸入訊號 以上 signal START BUSY HOLD Output 輸出訊號 signal ALARM CHECK [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 26: Description Of Motion Signal

    C02UE03-1711 3.9 Description of Motion Signal 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 [Note 1] Motion No.

  • Page 27: Process For Model Selection

    100%, the gripping force will all be 118N. • Step2:Confirmgrippingpoint&overhang(Section4-4) According to the cross point of gripping point L=35 and XEG-32 XEG-32 XEG-16 XEG-16 overhang H=0, the usage range of gripping force 100% can be acquired. Gripping force and speed range 夾持力與夾持速度臨界範圍...

  • Page 28: 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 C02UE03-1711 ワーク • Step4:Confirmexternalload(Section4.6) 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 29: Confirmation Of Gripping Force

    Settheworkpiecegrippingpoint(L)sothatitiswithintherangeshownin thefigurebelow. 夾持力:100% 夾持力:70% 夾持力:50% External gripping state Internal gripping state Gripper Gripper Workpiece Workpiece :Gripping force :Gripping force :Gripping point :Gripping point • XEG-16relationshipbetweengrippingforce&grippingpoint: 夾持點 L (mm) Gripping force: 100% Gripping force: 70% Gripping force: 50% Gripping point L(mm)
  • Page 30 C02UE03-1711 • 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:40% Gripping point L(mm) 夾持點 L (mm) • XEG-64 relationship between gripping force & gripping point: Gripping force: 100% Gripping force: 70% Gripping force: 40%...

  • Page 31: Confirmation Of Gripping Point And Overhang

    • Decidethegrippingpositionoftheworkpiecesothattheamountof overhang(H)stayswithintherangeshowninthefigurebelow. • Ifthegrippingpositionisoutofthelimit,itmayshortenthelife expectancyoftheelectricgripper. External gripping state Internal gripping state H:Overhang H:Overhang L:Gripping L:Gripping point point • XEG-16relationshipbetweengripping XEG-16 XEG-16 point&overhang: Gripping point L(mm) 夾持點 L(mm) • XEG-32relationshipbetweengripping XEG-32 XEG-32 point&overhang: Gripping point L(mm) 夾持點 L(mm) • XEG-64relationshipbetweengripping...

  • Page 32: Confirmation Of Gripping Speed

    C02UE03-1711 4.5 Confirmation of Gripping Speed • Setthegrippingspeedandgrippingforce(%)withintherangeshownin thefigurebelow. • Pleaseverifyifthehigh-speedmovementcausesexcessivevibrationor resonance,whichmayleadtoabnormalfunction. • XEG-16relationshipbetweengripping XEG-16 XEG-16 speed&grippingforce: 把持力と把持 Gripping force 速度の実現可 與夾持 and speed range 界範圍 能領域 Gripping speed (mm/s) 夾持速度 (mm/s) 把持速度 (mm/s) • XEG-32relationshipbetweengripping XEG-32 XEG-32 speed&grippingforce: Gripping force and speed range Gripping force and speed range 力與夾持速度臨界範圍...

  • Page 33: Allowable Load-Carrying Momentum

    Static allowable moment M(N-m) Formula Allowable load F(N)= L (m) Assume a static load of f=10 (N) is operating which applies pitch moment to L=20 (mm) form the XEG-16. Can it be used? Example 1.66 > 10 (external force) Allowable load F(N)= 0.020...

  • Page 34: Dimensions

    C02UE03-1711 Dimensions 5.1 Model of XEG-16 ◎ XEG-16 Connector Standard type Ø2 X3DP 2-M3X0.5PX5DP +0.02 (41.8) ◎ XEG-16 Connector (6.15) 83.5 18.5 Standard type Stroke:0~16 Ø2 X3DP 2-M3X0.5PX5DP +0.02 (41.8) (6.15) 83.5 Right-angle type 18.5 (32.3) Stroke:0~16 2-Ø2 +0.02 X2.5DP 39.5...
  • Page 35 C02UE03-1711 5.3 Model of XEG-64 +0.02 6-M3X0.5PX8DP 2-Ø3 X3DP ◎ XEG-64 Connector (10) Standard type 21.5 21.5 (27.5) 23.6 Stroke:0~64 Right-angle type +0.02 2-Ø5 X4DP (31.8) 94.5 64.5 4-Ø5 THRU, M6X1PX12DP +0.02 94.5 2-Ø5 X4DP 54.5 4-M6X1PX8DP 5.4 Model of XEG-C1 4-Ø3.5 THRU, Ø6.5 X 3.5 DP 2-Ø4.5 THRU...

  • Page 36: Appendix

    C02UE03-1711 Appendix 6.1 EC Declaration of Conformity...

  • Page 37: Certificate Of Conformity For Directive 2011/65/Eu (Rohs)

    C02UE03-1711 6.2 Certificate of Conformity for Directive 2011/65/EU (RoHS)

  • Page 38: Current Diagram (Regcdc103A1Xe)

    C02UE03-1711 6.3 Current Diagram (REGCDC103A1XE) Controller ● Upper Controller ● or PLC I/O Cable ● PC+Software ● USB Cable ● Electric Gripper ● Actuator Cable ● DC24V Power Supply (DC24V) ● Power Cable ● Name Illustration Power supply lamp (Green) Error status lamp (Red) 24V/0V Power supply terminal...

  • Page 39: Shipping Items

    C02UE03-1711 6.4 Shipping Items • • XEG-16、32 XEG-64 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. Accessory kit •...

  • Page 40: Accessories Assembly Method

    C02UE03-1711 6.5 Accessories Assembly Method • XEG-16 adapter assembling on RA605 robot arm XEG16&RA605 assembly flow chart XEG16-RA605 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 41 C02UE03-1711 • XEG-32 adapter assembling on RA605 robot arm XEG32&RA605 assembly flow chart XEG32-RA605 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) Bolt (M4X0.5PX6L SUS) Spring washer (Ø4 SUS)
  • Page 42 C02UE03-1711 • XEG-64 adapter assembling on RA620 robot arm XEG64&RA620 assembly flow chart XEG64-RA620 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) Spring washer (Ø6 SUS) Bolt (M6X1PX10L SUS) Spring washer (Ø6 SUS)
  • Page 43 C02UE03-1711 6.6 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 44 3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade Act" and relevant regulations. Any export of restricted products should be approved by competent authorities in accordance with relevant laws, and shall not be used to manufacture or develop the nuclear, biochemical, missile and other military weapons.
  • Page 45 HIWIN TECHNOLOGIES CORP. No. 7, Jingke Road, Taichung Precision Machinery Park, Taichung 40852, Taiwan Tel: +886-4-23594510 Fax: +886-4-23594420 www.hiwin.tw Original Instructions business@hiwin.tw Subsidiaries & R&D Centers HIWIN GmbH HIWIN Schweiz GmbH HIWIN KOREA OFFENBURG, GERMANY JONA, SWITZERLAND SUWON, KOREA www.hiwin.de www.hiwin.ch...

This manual is also suitable for:

Xeg-32Xeg-64

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