Festo EHMD-40-RE-GP Manual

Festo Ikke kategoriseret EHMD-40-RE-GP

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Side 1/5

EHMD-40-RE-...

Rotary gripper module

Festo SE & Co. KG

Ruiter Straße 82

73734 Esslingen

Deutschland

+49 711 347-0

www.festo.com

Operating instructions

8170303

2022-02b

[8170305]

Translation of the original instructions

1 Applicable documents

All available documents for the product

è www.festo.com/sp.

2 Safety

2.1 General safety instructions

–Only use the product in original status without unauthorised modifications.

–Only use the product if it is in perfect technical condition.

–Observe labelling on the product.

–Store the product in a cool, dry environment protected from UV and corrosion.

Keep storage times short.

–Before working on the product, switch off the power supply and secure it

against being switched on again.

–Observe the tightening torques. Unless otherwise specified, the tolerance is

± 20%.

2.2 Intended use

The intended use of the product is to grip, hold and rotate payloads, e.g. work-

pieces.

2.3 Foreseeable misuse

Do not grip the payload in the "Open" direction of movement.

Fig. 1: Impermissible gripping

2.4 Training of qualified personnel

Work on the product may only be carried out by qualified personnel who can

evaluate the work and detect dangers. The qualified personnel have skills and

experience in dealing with electropneumatic (open-loop) control technology.

3 Additional information

–Accessories è www.festo.com/catalogue.

4 Product overview

4.1 Function

Fig. 2: Functional principle of rotating

and gripping

"Rotate" gripper movement

"Close" jaw movement

"Open" jaw movement

Fig. 3: Gripping force via spring

deflection

Gripping force position

Gripping position

End position open

Additional path of gripping force

Lever arm to payload

The product is a combined rotating and gripping module.

–Electric rotary drive EHMD-...-RE:

The rotary movement of the stepper motor is transmitted directly to the gripper

via the motor shaft and can be freely positioned. The stepper motor incre-

mental encoder can be used for closed loop control and outputs a zero pulse

for homing per gripper revolution. The zero pulse ZP of the encoder and the

longitudinal axis of the gripper are factory-aligned parallel to the mounting

surface.

–Electric gripper drive EHMD-...-GE/-GE-16:

The rotary movement of the stepper motor is transferred to the gripper jaws

via a mechanism and can be freely positioned. The stepper motor incremental

encoder can be used for closed loop control. A defined gripping force can be

generated in closed loop control with servo drives with torque limitation. A

defined gripping force can be generated in positioning mode by a spring in

the gripper drive with servo drives without torque limitation. After the gripper

fingers are in contact with the workpiece, the gripper drive is moved further

by a defined distance sforce and the spring is tensioned. If the power supply is

interrupted, the gripping force may drop to the residual gripping force.

–Pneumatic gripper drive EHMD-…-GP:

The linear movement of the pneumatic cylinder is transferred to the gripper

jaws via a mechanism. Two positions on the pneumatic cylinder can be moni-

tored with proximity switches. If the compressed air supply fails, the gripping

force is not maintained. Gripping force can be backed up, e.g. by an uninter-

ruptable compressed air supply.

4.2 Product design

Product overview EHMD-40-RE-...

1 2 3 4 5 6

7 8

10 11 12

Fig. 4: Product design EHMD-40-RE-GP/-GE/-GE-16

Pneumatic gripper drive

Pneumatic port

Slot for sensor

Electrical connection: motor and

encoder

Electric gripper drive with

encoder

Electric rotary drive with encoder

Warning: hot surface

Product labelling

Rotating short-stroke gripper

Gripper jaw with bottom guide

Rotating long-stroke gripper

Gripper jaw with lateral guide

Produkt Specifikationer

Mærke:	Festo
Kategori:	Ikke kategoriseret
Model:	EHMD-40-RE-GP

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