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Hiwin S Series Technical Manual

Electric grippers
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S-Series and X-Series
Electric Grippers
UR Technical Manual Guide
Original Instruction
RoHS
www.hiwin.tw

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Summary of Contents for Hiwin S Series

  • Page 1 S-Series and X-Series Electric Grippers UR Technical Manual Guide Original Instruction RoHS www.hiwin.tw...
  • Page 2 RCV Series • RCH Series Ballscrew Linear Guideway Precision Ground / Rolled Automation / Semiconductor / Medical • Super S Series • Ball Type--HG, EG, WE, MG, CG • Super T Series • Quiet Type--QH, QE, QW, QR • Mini Roller •...

  • Page 3: Table Of Contents

    C26UE002-2109 Contents General Product Introduction ..............2 Warranty ....................3 Technical Info ................... 4 3.1. Integrated parallel electric gripper S-series ..............4 3.2. Parallel electric gripper X-series ................. 5 S-Series Getting Started ................6 4.1. What’s in the box? ....................6 4.2.

  • Page 4: General Product Introduction

    C26UE002-2109 1. General Product Introduction HIWIN is a world leader in reliable and precise linear motion. We offer several plug-and-play solutions for collaborative robots in automation. This manual describes the operation procedures of HIWIN’s parallel electric gripper, the S-series and the X-series. HIWIN’s electric grippers are made with ball-screws and linear guideways from HIWIN itself which allows us to offer our customers a reliable and high-quality gripping solution at a reasonable price range.

  • Page 5: Warranty

    ◎ 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 6: Technical Info

    C26UE002-2109 3. Technical Information 3.1. Integrated parallel electric gripper S-series [Note 1] This gripping force is measured at a gripping point (L) of 20mm with a gripping force accuracy of ±25%. [Note 2] This gripping force is measured at a gripping point (L) of 20mm with a gripping force accuracy of ±30%. [Note 3] Moving velocity is 45mm/s.

  • Page 7: Parallel Electric Gripper X-Series

    C26UE002-2109 3.2. Parallel electric gripper X-series [Note 1] The weight of workpiece(kg) * acceleration of gravity 9.81(m/s2) should be 1/10~1/20 of the gripping force(N).If the gripper holding a workpiece moves or turns with high-acceleration/ deceleration, choose the model with higher force allowance. [Note 2] Set the parameters and operation mode to avoid application of excessive impact force to the attachments (fingers) during operation.

  • Page 8: S-Series Getting Started

    C26UE002-2109 4. S-Series Getting Started 4.1. What’s in the box? Model: SEG-24-UR  1. Integrated electric gripper SEG-24-UR 2. UR Robot adapter set (ISO-9409-1-50-4-M6) 3. UR actuator cable 4. Accessory kit • Pin • Centering sleeve 5. Software • URCap (Download) Model: STG-16-UR ...

  • Page 9: Mechanical Mounting

    C26UE002-2109 4.2. Mechanical mounting Model: SEG-24-UR ...
  • Page 10 C26UE002-2109 Model: STG-16-UR ...

  • Page 11: Electrical Mounting

    C26UE002-2109 4.3. Electrical mounting The connector of cable (Robot side: 8 pins) Pin define Function Wire color Analog input Tool Pink output Blue POWER Black Tool White input Brown The connector of cable Gray (Gripper side: 6 pins) Pin define Function Wire color Brown...

  • Page 12: Installing Urcap

    C26UE002-2109 4.4. Installing URCap 1. Click here for free downloading of URCap, and save it to a USB stick. 2. Insert the USB with the URCaps file into the UR teach pendant. From the main menu, please select “Setup Robot”. 3.
  • Page 13 C26UE002-2109 4. Restart the robot when prompted. Note：The HIWIN URCaps requires Universal Robots Polyscope software version above 3.14 (CB-series) / 5.9 (e-series) or higher, and lower version may not function properly. 5. After successfully installing the URCaps, please follow the instruction to initialize UR Robot.
  • Page 14 C26UE002-2109 6. Set the controlled by “S-series Gripper”. (For CB-series and e-series) CB-series e-series...

  • Page 15: Installation Page

    C26UE002-2109 4.5. Installation page 1. Click the “Enable Gripper” to initialize the center point of gripper under installation page. When “Enable Gripper” button is clicked for the first time of SEG-24, electric gripper will perform a reset action to confirm origin and then open to outside. CB-series e-series...
  • Page 16 C26UE002-2109 2. To make sure the gripper function well before programming, please click “ ” or “ ” button to manually move gripper. CB-series e-series...
  • Page 17 C26UE002-2109 3. For more information about the function button descriptions and setup process of the electric gripper SEG-24, please refer to the following: CB-series ...
  • Page 18 C26UE002-2109 e-series ...
  • Page 19 C26UE002-2109...
  • Page 20 C26UE002-2109 Function button descriptions (SEG-24 only)  [Description 1] This function button can be used only when gripper Ready = OFF. [Description 2] After re-connected to power, reset must be executed first (press GRIP and FREE at the same time). Then, the function button can be used to move the gripper. Or the Ready light would sparkle 5 times rapidly to warn the user.
  • Page 21 C26UE002-2109 Setup process (SEG-24 only) ...

  • Page 22: Program Page

    C26UE002-2109 4.6. Program page 1. Please go to Program→Structure→URCaps to insert “S-series Gripper” under robot program. Undefined function will be labeled as yellow.
  • Page 23 C26UE002-2109 2. Set “Enable Gripper” to confirm the central point of gripper. Normally, it happen when the first time supply the power. Also, the total payload of the robot arm end can be set when the gripper is in any state. For example, total payload of the robot arm end is 1 kg before the gripper clamping, and it can be changed to 1.5 kg after clamping.
  • Page 24 C26UE002-2109 3. Set grip and release stroke through “ ” or “ ” shape button. CB-series ...
  • Page 25 C26UE002-2109 e-series ...

  • Page 26: X-Series Getting Started

    C26UE002-2109 5. X-Series Getting Started 5.1. What’s in the box? Model: XEG-16-C25L1-UR  1. Electric gripper XEG-16 2. Electric gripper controller XEG-C2 3. UR Robot adapter set (ISO-9409-1-50-4-M6) 4. Cable • Actuator cable 5M-L • RS485 cable 1.5M (USB to RJ45) •...
  • Page 27 C26UE002-2109 Model: XEG-48-C25L1-UR  1. Electric gripper XEG-48 2. Electric gripper controller XEG-C2 3. UR Robot adapter set (ISO-9409-1-50-4-M6) 4. Cable • Actuator cable 5M-L • RS485 cable 1.5M (USB to RJ45) • I/O cable 1.5M • USB cable 1.5M 5.
  • Page 28 C26UE002-2109 Model: XEG-32PR-C25L1-UR  1. Electric gripper XEG-32-PR 2. Electric gripper controller XEG-C2 3. UR Robot adapter set (ISO-9409-1-50-4-M6) 4. Cable • Actuator cable 5M-L • RS485 cable 1.5M (USB to RJ45) • I/O cable 1.5M • USB cable 1.5M 5.
  • Page 29 C26UE002-2109 Example: UR Robot adapter set Actuator cable Electric gripper RS485 cable Electric gripper controller (USB-to-RJ45) Power Plug Actuator cable...

  • Page 30: Mechanical Mounting

    C26UE002-2109 5.2. Mechanical mounting Model: XEG-16-UR ...
  • Page 31 C26UE002-2109 Model: XEG-32-UR ...
  • Page 32 C26UE002-2109 Model: XEG-48-UR ...
  • Page 33 C26UE002-2109 Model: XEG-64-UR ...
  • Page 34 C26UE002-2109 Model: XEG-32-PR-UR ...

  • Page 35: Electric Mounting

    C26UE002-2109 Electric mounting 5.3. System construction: ...
  • Page 36 C26UE002-2109 Names and function of XEG-C2  [Note 1] The display mode of the ALM indicator in each abnormal state is as follows: [Note 2] The description and wiring diagram of the power connector are as follows. When EMG + and EMG- are disconnected, the emergency stop function is activated (Servo off), and the electric gripper stops immediately.
  • Page 37 C26UE002-2109 RS485 cable (USB to RJ45) [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 38 (120Ω) between the two signal wires. The system wiring is as follows: [Note 6] In order to reduce signal interference, please ground the controller's locking surface and avoid the signal cable approaching the high-voltage circuit. [Note 7] XEG-C2 controller firmware update information, please refer to the following: https://www.hiwin.tw/download/tech_doc/ee/XEG-C2_firmware_update_user_manual-(E).pdf...

  • Page 39: Installing Urcap

    C26UE002-2109 5.4. Installing URCap 1. Click here for free downloading of URCap, and save it to a USB stick. 2. Insert the USB with the URCaps file into the UR teach pendant. From the main menu, please select “Setup Robot”. 3.
  • Page 40 C26UE002-2109 4. Restart the robot when prompted. Note：The HIWIN URCaps requires Universal Robots Polyscope software version above 3.14 (CB-series) / 5.9 (e-series) or higher, and lower version may not function properly. 5. After successfully installing the URCaps, please follow the instruction to initialize UR Robot.

  • Page 41: Installation Page

    C26UE002-2109 5.5. Installation page Here are some detailed description under setting and action page for CB-series. Setting page:  Choose correspond gripper station, gripper type and connect. Busy：The busy signal happens when gripper is moving.  Pos：The position signal happens when gripper executes MOVE command and ...
  • Page 42 C26UE002-2109 Action page:  Move: move with position control, used to move the gripper quickly.  Set position and speed, then click Execute to run the MOVE action. The maximum value of parameters sliders will be set automatically according to the gripper type in setting page. Grip: move with force control, used to grip objects.
  • Page 43 C26UE002-2109 Here are some detailed description under setting and action page for e-series. Setting page:  Choose correspond gripper station, gripper type and connect. Busy：The busy signal happens when gripper is executing the program.  Pos：The pos signal happens when gripper executes MOVE command and moves to ...
  • Page 44 C26UE002-2109 Set position and speed, then click Execute to run the MOVE action. The maximum value of parameters sliders will be set automatically according to the gripper type in setting page. Grip: moving with force control, used to grip objects. ...

  • Page 45: Program Page

    C26UE002-2109 5.6. Program page 1. Please go to Program→Structure→URCaps to insert “X-series Gripper” under robot program. Undefined function will be labeled as yellow.
  • Page 46 C26UE002-2109 2. Set “Connect” to initialize gripper. Also, the total payload of the robot arm end can be set when the gripper is in any state. For example, total payload of the robot arm end is 1 kg before the gripper clamping, and it can be changed to 1.5 kg after clamping.
  • Page 47 C26UE002-2109 3. Set “Grip” to move with force control (for gripping). CB-series  e-series ...
  • Page 48 C26UE002-2109 4. Set “Move” to move quickly (for releasing or positioning). CB-series  e-series ...

  • Page 49: Other Special Functions

    C26UE002-2109 5.7. Other special functions Different functions related to position feedback, connect, idle, position, alarm and hold signal are provided. The user can use it depending on the application. The position feedback can be used to check what the current position of the gripper is. The busy signal is on when gripper is executing the program. The position signal is on when gripper executes MOVE command and moves to position exactly.
  • Page 50 C26UE002-2109...
  • Page 51 C26UE002-2109 The following example shows the gripper position in a message window when the gripper grips an object.

  • Page 52: Appendix.1：Example Program

    C26UE002-2109 Appendix.1：Example program To set up the HIWIN Electric gripper with Universal Robot, a quick example is provided as below. Universal Robot model：UR5 with CB3.0 Software version：Polyscope version above 3.14 URCap version: URCap 2.0 Gripper type：SEG-24 SEG ReadyOn → Initialize the center point of gripper under installation page. Normally, it happens when the first time supply the power.
  • Page 53 C26UE002-2109 Universal Robot model：UR5 with CB3.0 Software version：Polyscope version above 3.14 URCap version: URCap 2.0 Gripper type：XEG-16 XEG Connect → Connect to the correct station number and model of the gripper. If the gripper is connected successfully, the origin reset will be executed, otherwise an error warning will appear. XEG Grip inside →...

  • Page 54: Appendix.2：Certification

    C26UE002-2109 Appendix.2：Certification Declarations of conformity with the following directives and standards are available on request.
  • Page 55 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 56 HAIFA, ISRAEL www.hiwin.us www.hiwin.fr www.mega-fabs.com info@hiwin.com info@hiwin.de info@mega-fabs.com HIWIN Srl HIWIN SINGAPORE BRUGHERIO, ITALY SINGAPORE www.hiwin.it www.hiwin.sg info@hiwin.it info@hiwin.sg Copyright © HIWIN Technologies Corp. ©2021 FORM C26UE002-2109 The specifications in this catalog are subject to change without notification. (PRINTED IN TAIWAN)

This manual is also suitable for:

X seriesSeg-24Stg-16Xeg-16Xeg-32Xeg-48 ... Show all

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