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INSTRUCTION
MODEL NPGT-Ｓ
Thin 2-jaw Parallel Gripper With Length
DANGER
・ This Instruction Manual has been prepared for intended use for
production engineers and maintenance persons who operate this
product. When the beginners use this product, be sure to receive the
guidance from skilled persons, sales agents, or us in advance.
・ Before installing, using, or maintaining this product, read carefully the
safety precautions given in this manual so as to understand them
completely. If you do not heed given instructions or safety
precautions, serious human accidents, death, or physical damage
may occur.
・ Store this manual with care in the specified place at hand, and reread
it as necessary for correct use of the product.
・ Please contact the sales agent if you have any uncertainty or doubt
about this manual.
MANUAL
Measuring Scale
MA1296YHG5
Version1.05 (20210513)
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Troubleshooting
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Summary of Contents for Kitagawa NPGT-S
- Page 1 MA1296YHG5 Version1.05 (20210513) INSTRUCTION MANUAL MODEL NPGT-Ｓ Thin 2-jaw Parallel Gripper With Length Measuring Scale DANGER ・ This Instruction Manual has been prepared for intended use for production engineers and maintenance persons who operate this product. When the beginners use this product, be sure to receive the guidance from skilled persons, sales agents, or us in advance.
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Page 3: Safety Alert Symbol
Preface This manual provides detailed information on the thin 2-jaw parallel gripper with the length measuring sensor (model NPGT-S) so that you can understand its performance and functions and use it safely and correctly. Before using this gripper, read this manual and the instruction manual of the thin 2-jaw parallel gripper (model NPGT) carefully to understand how to use the gripper correctly. -
Page 4: Warranty And Disclaimer
Kitagawa. Also, the use of parts other than Kitagawa’s genuine parts will void the warranty. -
Page 5: Table Of Contents
Contents 1. Structural Drawing and Parts List 1-1. Model indication 1-2. Structural drawing 1-3. Seal list 1-4. Parts list 2. Important Safety Precautions 3. Configuration 3-1. Line driver output 3-2. TTL output 4. Use 5. Handling of Lead Cable 5-1.Lead Cable Pull-out Direction 5-2. -
Page 6: Structural Drawing And Parts List
1. Structural Drawing and Parts List 1-1. Model indication The model indication is as follows: NPGT 08 S Length measuring Series Size sensor NPGT NBR seal Not equipped Equipped 1-2. Structural drawing Plunger Cover Master jaw Connector Body Rear cover Piston 1-3. -
Page 7: Parts List
1-4. Parts list ・NPGT08S Parts name Quantity No. Parts name Quantity 1 Body 200 Plunger fixing bolt 2 Rear cover 201 Cover fixing bolt 3 Plunger L（R） 1（1） 202 Shaft packing 4 Cover 203 Piston packing 5 Master jaw L（R） 1（1）... - Page 8 NPGT10S Parts name Quantity No. Parts name Quantity 1 Body 200 Plunger fixing bolt 2 Rear cover 201 Cover fixing bolt 3 Plunger L（R） 1（1） 202 Shaft packing 4 Cover 203 Piston packing 5 Master jaw L（R） 1（1） 204 O-ring 6 Piston 205 W seal 7 Collar...
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Page 9: Important Safety Precautions
Important Safety Precautions Important safety precautions that particularly you should know or follow are summarized below. Please read them before starting to use the product. Failure to follow the safety precautions below will result ！ DANGER in death or serious injuries. Be sure to turn off the main power supply when installing, checking, oiling, or replacing the gripper. - Page 10 Failure to follow the safety precautions below will DANGER result in death or serious injuries. Do not modify the gripper. ● Not only the gripper is damaged but also the gripper and fixed workpiece may fly out. If using the gripper as a workpiece fixture when the workpiece is drilled, deburred, welded, or modified additionally, confirm the specifications.
- Page 11 Failure to follow the safety precautions below will result DANGER in death or serious injuries. Use the gripper in accordance with the legal safety standards. ● Use the gripper in accordance with the legal safety standards defined by each country, such as installation safeguards safety covers.
- Page 12 Failure to follow the safety precautions below will WARNING result in death or serious injuries. Do not operate the machine after drinking alcohol or taking medicine. ● Impaired judgment or operation mistake may cause serious hazards. Medicine Alcohol Do not wear clothing or accessories such as a necktie, necklace, etc. which are easy to be caught in.
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Page 13: Configuration
Configuration Body of NPGT-S Line driver output TTL output Cable with interpolator Cable with interpolator MSK1000-030ST01 MSK1000-050DT01 Counter Output cable LT20A-101C CK-T210 RS232C Pulse counter Output cable... -
Page 14: Line Driver Output
3-1 Line driver output Cable with interpolator MSK1000-050DT01 Output connector: 10214-52A2PL manufactured by 3M (MDR connector receptacle) Output cable (CK-T210) Output Connec Signal Twisted Wire color pair ① Blue ① Yellow Specification ② Orange Item Specification ② Gray Resolution 0.5μm N.C. -
Page 15: Ttl Output
3-2 TTL output Cable with interpolator MSK1000-030ST01 Interpolation box (Thickness T=21) Specification Item Specification Resolution 0.5μm Min. phase difference 200ns Output A/B phase/alarm, TTL Supply voltage 5V±5%, -5V±5% Operating temperature range 0~40℃ Storage temperature range -10~50℃ Counter LT20A-101C Length measuring unit input I/O connector I/O connector common RS232C interface... -
Page 16: Use
This product supplies pneumatic pressure to the unit to move the jaws in the open or close direction for gripping the conveyed workpiece and transfers the conveyed workpiece up to any location. After transfer, the jaws are moved in the close or open direction for removing the conveyed workpiece. - Page 17 ● Do not modify the gripper. Using the modified product could cause unexpected accidents. Kitagawa shall not be held liable for human accidents, death, damage, or loss that occurred due to the modification. ● If using the gripper as a workpiece fixture when the workpiece is drilled, deburred, welded, or modified additionally, confirm the specifications.
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Page 18: Handling Of Lead Cable
5. Handling of Lead Cable 5-1. Lead Cable Pull-out Direction At shipment of the product, the lead cable is horizontally pulled out and fixed obliquely downward toward the bottom of the gripper body so that it does not interfere with the joints that will be attached to the air supply ports. -
Page 19: Fixing Of Lead Cable
Turning direction when changing lead cable pull-out direction Air joint (To be prepared by the customer) At shipment Adjustable range (90°counterclockwise) 5-2. Fixing of Lead Cable The lead cable coming out from the gripper body is not a robot cable. Bending, twisting, or pulling the lead cable repeatedly may break the cable, resulting in failure. - Page 20 Precautions ● When using the product, prevent the lead cable coming out from the gripper body from being repeatedly bent, twisted, or pulled as far as possible. ● Fix the lead cable coming out from the gripper body so that it is routed with the minimum bend radius of 50 mm or more.
- Page 21 [Example 2] Attaching a stay to the fixing adapter of the gripper body (prepared by the customer) and fixing the connector of the lead cable to the stay using cable ties Connector Cable tie to fix the connector Stay (To be prepared by the customer) Lead cable R = 50 or more...
- Page 22 [Example 3] Attaching a stay to the fixing adapter of the gripper body (prepared by the customer) and fixing the connector of the lead cable to the stay using cable ties Cable tie Adapter to fix the connector (To be prepared by the customer) Connector Stay...
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Page 23: How To Use Length Measuring Function
6. How to Use Length Measuring Function Output: A/B phase incremental When using the function, turn on the power and then perform presetting. 7. Precautions With Regard to Installation Precautions ● Do not pass the lead cables and connection cables together with the power wire through the same duct. -
Page 24: Troubleshooting
Troubleshooting 8-1. Problems and countermeasures Check the following, and take corrective actions. Symptom Cause Corrective actions Gripper internal part is broken. Replace the gripper with a new one. Disassemble, and correct the seized part with an oilstone, Slideways get seized. or replace the gripper with a new one. - Page 25 9. Others 9-1. Standards and directives to which the gripper conforms This product conforms to the following standards and directives: ・ Machinery Directive:2006/42/EC Annex I ・ EN ISO 12100:2010 ・ FCC Par15 Subpart B Class A Digital Device ・ ICES-003 Class A Digital Device ・...
- Page 26 MA1289YHG3 Version1.03(20210220) INSTRUCTION MANUAL MODEL NPGT Thin 2-jaw Parallel Gripper DANGER ・ This Instruction Manual has been prepared for intended use for production engineers and maintenance persons who operate this product. When the beginners use this product, be sure to receive the guidance from skilled persons, sales agents, or us in advance.
- Page 28 Preface This manual provides detailed information on the thin 2-jaw parallel gripper (model NPGT) so that you can understand its performance and functions and use it safely and correctly. Before using this gripper, read this manual carefully to understand how to use the gripper correctly.
- Page 29 Kitagawa. Also, the use of parts other than Kitagawa’s genuine parts will void the warranty.
-
Page 30: Contact Address In Case Of Trouble 9. Others
Contents 1. Structural Drawing and Parts List 1-1. Model indication 1-2. Structural drawing 1-3. Seal list 1-4. Parts list 2. Important Safety Precautions 3. Specifications 3-1. Specification table 3-2. Gripping force 4. Use 5. Design of Jaws 5-1. Designing jaws to be installed on the gripper 6. -
Page 31: Structural Drawing And Parts List
1. Structural Drawing and Parts List 1-1. Model indication The model indication is as follows: NPGT 08 S Length measuring Series Size sensor NPGT NBR seal Not equipped Equipped * For the gripper equipped with the length measuring sensor, see also the separately provided instruction manual for it. -
Page 32: Parts List
1-4. Parts list NPGT08 Parts name Quantity No. Parts name Quantity 1 Body 200 Plunger fixing bolt 2 Rear cover 201 Cover fixing bolt 3 Plunger L（R） 1（1） 202 Shaft packing 4 Cover 203 Piston packing 5 Master jaw L（R） 1（1）... - Page 33 NPGT10 Parts name Quantity No. Parts name Quantity 1 Body 200 Plunger fixing bolt 2 Rear cover 201 Cover fixing bolt 3 Plunger L（R） 1（1） 202 Shaft packing 4 Cover 203 Piston packing 5 Master jaw L（R） 1（1） 204 O-ring 6 Piston 205 Seal washer 7 Pipe...
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Page 34: Important Safety Precautions
Important Safety Precautions Important safety precautions that particularly you should know or follow are summarized below. Please read them before starting to use the product. Failure to follow the safety precautions below will result ！ DANGER in death or serious injuries. Be sure to turn off the main power supply when installing, checking, oiling, or replacing the gripper. - Page 35 Failure to follow the safety precautions below will result DANGER in death or serious injuries. Do not modify the gripper. ● Not only the gripper is damaged but also the gripper and fixed workpiece may fly out. If using the gripper as a workpiece fixture when the workpiece is drilled, deburred, welded, or modified additionally, confirm the specifications.
- Page 36 Failure to follow the safety precautions below will result DANGER in death or serious injuries. Use the gripper in accordance with the legal safety standards. ● Use the gripper in accordance with the legal safety standards defined by each country, such as installation safeguards safety covers.
- Page 37 Failure to follow the safety precautions below will WARNING result in death or serious injuries. Do not operate the machine after drinking alcohol or taking medicine. ● Impaired judgment or operation mistake may cause serious hazards. Medicine Alcohol Do not wear clothing or accessories such as a necktie, necklace, etc. which are easy to be caught in.
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Page 38: Specifications
Specifications 3-1. Specification table (Standard gripping force) NPGT Model 08（S） 10（S） Fluid used Air pressure Operating air pressure 0.2～0.8 (MPa) Ambient temperature 5～60 (℃) range Jaw stroke in diameter 16.6 20.8 (mm) Cylinder internal volume 31.5 60.1 (reciprocation) ±0.008 Repeatability (mm) Body Mass 0.79... -
Page 39: Gripping Force
3-2. Gripping force ① Standard for selecting a model Perform the following calculation and select the model that provides a gripping force exceeding the calculation result, though a gripping force varies depending on the shapes of jaws created by the customer and conveyed workpiece or the friction coefficient. - Page 40 ■NPGT08（S） ■NPGT10（S） 1600 1400 1200 1000 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 90 100 110 120 把持点までの距離 L(mm) 把持点までの距離 L(mm) Distance up to grip point L (mm) Distance up to grip point L (mm) ●...
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Page 41: Use
● Do not modify the gripper. Using the modified product could cause unexpected accidents. Kitagawa shall not be held liable for human accidents, death, damage, or loss that occurred due to the modification. ●... -
Page 42: Design Of Jaws
5. Design of Jaws 5-1. Designing jaws to be installed on the gripper When designing jaws to be installed on the gripper, form the installation face to the master jaw as shown below. Jaw fixing bolt （To be prepared by the customer）... -
Page 43: Installation
Installation 6-1. Installing the gripper ① Front face installation Gripper fixing bolt Install the gripper body using the （To be prepared by the four fixing bolt holes and two customer） positioning pin holes. The gripper fixing adapter, gripper Gripper fixing adapter fixing bolts, （To be prepared by the and positioning pins are to be... - Page 44 ③ Side face installation Install the gripper body using the two fixing bolt holes and two positioning pin holes. The gripper fixing adapter, gripper fixing bolts, and positioning pins are to be prepared by the customer. Gripper fixing adapter （To be prepared by the customer） Positioning pin （To be prepared by the customer）...
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Page 45: Installing The Jaws
6-2. Installing the jaws Install the jaws using the two Jaw fixing bolt mounting bolt holes and the （To be prepared by the customer） supplied positioning bushings. The jaws and jaw fixing bolts are to be prepared by the customer. （To be prepared by the customer）... -
Page 46: Connecting The Air Piping
6-3. Connecting the air piping The air pressure supply ports to open and close the gripper jaws are provided on the side face and rear face of the body. When using the supply port on the side face of the body, connect the air piping directly. -
Page 47: Installing The Switches
6-4. Installing the switches Use reed switches of the following models. 項目 無接点 2線式 無接点 2線式 Noncontact 2-wire system Noncontact 2-wire system Model 型式 D-M9B D-M9BV Lead wire pull-out shape リード線取出し形状 Straight ストレート L-shaped L字 L-shaped short L字ショート ストレート Straight L-shaped L字 * Using reed switches not shown below may lead to unstable response. - Page 48 ② Installing the proximity switch Proximity switch bracket Proximity switch bracket Proximity switch Fixing bolt Fixing bolt Proximity switch ● Installation procedure for the close end side ① Move the master jaws to the close end positions, respectively. ② Install the proximity switch using the proximity switch bracket. ③...
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Page 49: Maintenance And Checking
Manufacturer Klueber Lubrication: Whole world Whole Kluberpaste 46 MR 401 world Kitagawa genuine grease (Kitagawa sales CHUCK GREASE PRO agents in each country) ② Supplying method ① Remove the fine pitch setscrew (M6 x 6 P = 0.75) on the side face of the body. - Page 50 ③ Safety information on grease and antitrust oil Applicable range ・ Specified grease ・ Antirust agent applied to the product at the delivery First-aid treatment ・ Aspiration: In case of much aspiration, go to a place where there is fresh air, and cover your body with a blanket to keep your body warm.
- Page 51 7-4. Disassembly Disassembly procedure By referring to the parts list on page 5, disassemble the product through the procedure below: ① Stop the air pressure supplied to the gripper and disconnect the air piping. ② Remove the gripper from the robot or the loader. ③...
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Page 52: Troubleshooting
Troubleshooting 8-1. Problems and countermeasures Check the following, and take corrective actions. Symptom Cause Corrective actions Gripper internal part is broken. Replace the gripper with a new one. Disassemble, and correct the seized part with an oilstone, Slideways get seized. or replace the gripper with a new one. -
Page 53: Standards And Directives To Which The Gripper Conforms
9. Others 9-1. Standards and directives to which the gripper conforms This product conforms to the following standards and directives: ・ Machinery Directive:2006/42/EC Annex I ・ EN ISO 12100:2010 9-2. Disposal of gripper Dispose of this unit in accordance with the laws and regulations of your country. - Page 55 The products herein are controlled under Japanese Foreign Exchange and Foreign Trade Control Act. In the event of importing and/or exporting the products, you are obliged to consult KITAGAWA as well as your government for the related regul ation prior to any transaction.
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