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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

    C27UE001-2109 Contents General Product Introduction ..............2 Warranty ....................3 Technical Information ................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

    C27UE001-2109 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 Information

    C27UE001-2109 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

    C27UE001-2109 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

    C27UE001-2109 4. S-Series Getting Started 4.1. What’s in the box?  Model: SEG-24-TM 1. Integrated electric gripper SEG-24-TM 2. TM Robot adapter set (ISO-9409-1-50-4-M6) 3. TM actuator cable 4. Accessory kit • Pin • Centering sleeve 5. Software • TM Plug&Play Software Package (Download) ...

  • Page 9: Mechanical Mounting

    C27UE001-2109 4.2. Mechanical mounting  Model: SEG-24-TM...
  • Page 10 C27UE001-2109  Model: STG-16-TM...

  • Page 11: Electrical Mounting

    C27UE001-2109 4.3. Electrical mounting The connector of cable (Robot side: 8 pins) The connector of cable (Gripper side: 6 pins)

  • Page 12: Installing Tm Plug&Play Software Package

    C27UE001-2109 4.4. Installing TM Plug&Play software package TM Plug&Play is an independent software package provided for the robot. For Plug&Play supported items, the user does not need to write additional programs, and does not need to read the manuals of both parties before integrating, only need to import the software package and can use in TMflow directly.
  • Page 13 TMflow. The user can use it directly after dragged from the left side. Robot setting page component CAUTION: HIWIN S-Series Gripper SET Component need use Command to communicate with robot. Please confirm whether the corresponding instruction set is enable and the corresponding Command will be added in the Command list.

  • Page 14: Tm Plug&Play Components

    C27UE001-2109 flow and execute once, and two Components are used in sequence (remember that HIWIN S-series grippers need to be executed with SET Component before can be used). In practical applications, the robot uses the FreeBot button, working with the buttons of end record gripper and point, to complete flow programming without TMflow control.
  • Page 15 C27UE001-2109 1. SET component needs use command to communicate with robot before using the gripper 2. For the SEG gripper, when the SET component is activated, the gripper will execute the RESET program. The gripper will move inward to confirm the origin position, and then open to the maximum stroke position.
  • Page 16 C27UE001-2109 RELEASE components:  1. The gripper will open outward to the maximum stroke. 2. If using the SEG gripper and finish function button setting, the gripper will move mode [Note1] to the FREE point. For the advanced FREE point setting of the SEG gripper, please refer to chapter [Note1] Motion speed of the move mode will faster than normal mode.

  • Page 17: Function Button Descriptions

    C27UE001-2109 4.6. Function button descriptions For more information about the function button descriptions and setup process of the electric gripper SEG-24, please refer to the following:...
  • Page 18 C27UE001-2109 Function button descriptions:  [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 19 C27UE001-2109 Setup process: ...

  • Page 20: X-Series Getting Started

    C27UE001-2109 5. X-Series Getting Started 5.1. What’s in the box?  Model: XEG-16-C25L1-TM 1. Electric gripper XEG-16 2. Electric gripper controller XEG-C2 3. TM Robot adapter set (ISO-9409-1-50-4-M6) 4. Cable • Actuator cable 5M-L • RS485 cable 1.5M (RS232 to RJ45) •...
  • Page 21 C27UE001-2109  Model: XEG-48-C25L1-TM 1. Electric gripper XEG-48 2. Electric gripper controller XEG-C2 3. TM Robot adapter set (ISO-9409-1-50-4-M6) 4. Cable • Actuator cable 5M-L • RS485 cable 1.5M (RS232 to RJ45) • I/O cable 1.5M • USB cable 1.5M 5.
  • Page 22 C27UE001-2109  Model: XEG-32PR-C25L1-TM 1. Electric gripper XEG-32-PR 2. Electric gripper controller XEG-C2 3. TM Robot adapter set (ISO-9409-1-50-4-M6) 4. Cable • Actuator cable 5M-L • RS485 cable 1.5M (RS232 to RJ45) • I/O cable 1.5M • USB cable 1.5M 5.
  • Page 23 C27UE001-2109 Example: ● Standard shipping items: 1. Electric gripper x 1 pcs 2. Electric gripper controller x 1 pcs 3. TM Robot adapter x 1 set 4. Actuator cable (5m-L ) x 1 pcs 5. RS485 cable (1.5m) x 1 pcs 6.

  • Page 24: Mechanical Mounting

    C27UE001-2109 5.2. Mechanical mounting  Model: XEG-16-TM...
  • Page 25 C27UE001-2109  Model: XEG-32-TM...
  • Page 26 C27UE001-2109  Model: XEG-48-TM...
  • Page 27 C27UE001-2109  Model: XEG-64-TM...
  • Page 28 C27UE001-2109  Model: XEG-32-PR-TM...

  • Page 29: Electric Mounting

    C27UE001-2109 5.3. Electric mounting  System construction:...
  • Page 30 C27UE001-2109 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 31 C27UE001-2109 RS485 cable (RJ45 to DB9F) [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 32 (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 33: Installing Tm Plug&Play Software Package

    C27UE001-2109 5.4. Installing TM Plug&Play software package TM Plug&Play is an independent software package provided for the robot. For Plug&Play supported items, the user does not need to write additional programs, and does not need to read the manuals of both parties before integrating, only need to import the software package and can use in TMflow directly.
  • Page 34 TMflow. The user can use it directly after dragged from the left side. Robot setting page component CAUTION: HIWIN X-Series Gripper Connect Component need use Command to communicate with robot. Please confirm whether the corresponding instruction set is enable and the corresponding Command will be added in the Command list.
  • Page 35 The concept is when clicking the Gripper Button, a set of Component is added in the flow and execute once, and two Components are used in sequence (remember that HIWIN X-series grippers need to be executed with Connect Component before can be used). In practical applications, the robot uses the FreeBot button, working with the buttons of end record gripper and point, to complete flow programming without TMflow control.

  • Page 36: Tm Plug&Play Component

    C27UE001-2109 5.5. TM Plug&Play component HIWIN X-Series gripper have four components: CONNECT, MOVE, GRIP and GetPosition components. The following are the components introduction and setting. CONNECT component:  1. CONNECT component needs use command to communicate with robot before using the gripper 2.
  • Page 37 C27UE001-2109 4. Set up: Gripper station: 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. Gripper model: The gripper model including XEG-16, XEG-32, XEG-32-PR, XEG-48 and XEG-64. ...
  • Page 38 C27UE001-2109 MOVE component:  1. The gripper will move with specified motion speed to the target position. MOVE component of the X-series gripper 2. Set up: Gripper station: The station number can be set up to 15 (1~F) at most, and station number ...
  • Page 39 C27UE001-2109 Table 1 The parameter setting range of X-series grippers Gripper Moving Moving Gripping Gripping Gripping Model position speed stroke speed force XEG-16 0~16 (mm) 1~60 (mm/s) 1~16 (mm) 1~10 (mm/s) 50~100% XEG-32 0~32 (mm) 1~80 (mm/s) 1~32 (mm) 1~20 (mm/s) 40~100% XEG-32-PR 0~32 (mm)
  • Page 40 C27UE001-2109 4. Set up: In normal grip mode:  Gripper station: The station number can be set up to 15 (1~F) at most.  Gripper station:  0 : The gripper will clamp inwards to the end side. 1 : The gripper will clamp outwards to the end side. Gripper station: 1~15 Grip direction: OPEN / CLOSE [Note] The gripper will clamp...
  • Page 41 C27UE001-2109 Gripping speed: Different models have different setting values, the gripping speed range is  1~20 mm/s, please refer to Table 1 for details. Gripping force: Different models have different setting values, the gripping force range is  40~100%, please refer to Table 1 for details. Advanced Grip speed: 1~20 mm/s (see Table1)
  • Page 42 C27UE001-2109 GetPosition component:  1. Get the current position of the gripper, which can be used for object size identification or detection. GetPosition component of the X-series gripper 2. Set up: Gripper station: The station number can be set up to 15 (1~F) at most. ...

  • Page 43: Appendix.1：Example Program

    C27UE001-2109 Appendix.1：Example program To set up the HIWIN Electric gripper with TM robot, a quick example is provided as below. SEG gripper:  STG gripper: ...
  • Page 44 C27UE001-2109 X-series gripper: ...

  • Page 45: Appendix.2：Certification

    C27UE001-2109 Appendix.2：Certification Declarations of conformity with the following directives and standards are available on request.
  • Page 46 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 47 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 C27UE001-2109 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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