Slim Small Linear Gripper Instruction Manual Second Edition IAI America, Inc.
Please Read Before Use Thank you for purchasing our product. This Instruction Manual explains how to operate, the configuration of, how to maintain, etc. this product, and specifies the necessary information for the safe use of the product. Before using this product, be sure to read and understand the Instruction Manual to ensure your safety in the use of the product. In the CD included with the product, there are Instruction Manuals of our products.
Table of Contents Safety Guide ····················································································································· 1 Precautions in Handling···································································································· 7 Names of the Parts ···········································································································9 1.
14. Maintenance Inspection····························································································34 14.1 Inspection Items and Inspection Schedule ···································································· 34 11.2 Exterior cleaning ············································································································ 34 15. Appendix···················································································································35 15.
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 4 2 Operation Description Installation and Start Description (1) Installation of Robot Main Body and Controller, etc. Make sure to securely hold and fix the product (including the work part). A fall, drop or abnormal motion of the product may cause a damage or injury. Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.
No. 4 5 Operation Description Installation and Start Teaching Description (4) Safety Measures When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.
No. 6 4 Operation Description Trial Operation 7 Automatic Operation 8 Maintenance and Inspection Description After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation. When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation.
9 Operation Description Modification 10 Disposal No. Description Do not modify, disassemble, assemble or use of maintenance parts not specified based at your own discretion. In such case, the warranty is not applied. When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Precautions in Handling 1. Do not stand close to this product if you use a medical device such as a pacemaker. There is a high performance rare earth permanent magnet (neodymium magnet) used in the actuator. It may cause an error to the operation of medical devices such as a pacemaker. 2. Use the unit within the range of specified allowable load moment. If a load beyond the range is applied, it may shorten the product life. 3.
6. This product generates heat. The temperature may get high depending on how to install it. Watch out for a burn or injury. Make sure to follow the instructions below when installing. Install the unit on a material with high heat conductivity. To prevent a temperature rise on the unit, install it on a material such as metal, which possesses the characteristic of good heat conductivity.
Names of the Parts Frame Side yoke Fingers Cable WT (+24V) Driving Power Supply BK (0V) Cable bending radius 33mm or more With Position Sensor (Option) BR (+24V) BL (0V) BK (Detection signal) BR (+24V) BL (0V) BK (Detection signal) Cable for Position Sensor Cable bending radius 7mm or more Cable for Position Sensor Position Sensor Position Sensor Cable for Position Sensor 9
1. Product Check The standard configuration of this product is comprised of the following parts. Note : Check packed items with the packing list. If you find any fault with the product you have received, or any missing parts, contact us or our distributor. 1.1 Parts No. 1 Part Name Model Reference Refer to “How to read the model plate”, “How to read the model” Actuator Main Body Accessories 1.
2. Specifications Item No Position Sensor Open/Close Stroke With Position Sensor (Option) 6 (3 per side) mm Open/Close Operation Power is OFF : Close Power is ON : Open Maximum Open/Close Frequency 600 cycles/min Minimum Open Duration 0.05sec Continuous Operation Time 60sec or less Maximum Gripping Force*1 1 0.2N (0.1 0.2kgf) Positioning Accuracy Repeatability*2 0.1mm Static Load Moment*3 Ma : 0.02N•m Mb : 0.02N•m Mc : 0.04N•m Driving Voltage 24V DC 10% Driving Current 0.
*2 *3 It shows the positioning accuracy repeatability at the most closed finger point. It shows the static allowable load moment at the most closed finger point. Applying load more than this value will decrease the product life and also may cause a malfunction.
4. Installation and Storage/Preservation Environment 4.1 Installation Environment Do not use this product in the following environment. It is generally the environment where a worker can work without any protection gear. Also make sure to keep enough work space necessary for maintenance.
5. Transportation 5.1 Handling of the Packed Product Be careful not to hit or drop the product. Follow the instruction if there is any for the packaging condition. Do not step or sit on the package. Do not put any heavy thing that can deform the package, on it. 5.2 Handling of the Unpacked Product Grab the body part when holding the actuator. Do not carry the actuator by holding the cable, or do not move it by pulling the cable.
6. Attachment Mount the unit so the fingers comes down at the bottom. 6.1 Installation of Main Unit There are threaded holes prepared for attachment on the 3 surfaces of the main unit. Choose the suitable ones to install the unit. The effective thread depths differ for each attachment surface. Refer to the drawing to determine the screw length. For the installation of the unit, make sure that attachment surface is a machined surface or a surface with an equivalent accuracy.
Note : Some tapped holes for attachment are through holes. Do not attempt to use a long screw with the length more than the effective screw length of the hole. Doing so may damage the mechanical parts or electrical parts inside. The temperature of the unit gets very high in a continuous operation. To lessen the temperature rise of the unit, install it on a material such as metal that possesses high heat conductivity performance.
6.2 Installation of Finger Attachments Tightening Torque When Attachment Surface is Aluminum M3 154N•cm (15.8kgf•cm) 83N•cm (8.47kgf•cm) 4.6 34.6 When Attachment Surface is Steel 24.5 Bolts to be used 9 2 14.6 5 2-M3, Depth 5 25.6 2 2-φ2H7 Reamed, Depth 2 Note : When applying or removing the finger attachment to the finger, hold the finger attachment with a tool such as a wrench to support it to tighten the attachment screws to avoid load or stress applied to the guide part.
Note : Set the distance from the attachment surface of the finger attachment to the holding point (L) equal or less than the value specified below. Holding Point (L) 20mm or less 㪣 Attempt to have the finger attachments attached to the unit as small and light as possible. If the finger attachments are long and big or the weight is large, the inertial force and the bending moment at open and close of the fingers may cause a drop of the performance or a malfunction of the guide part.
6.4 Temperature Rises on Main Body and Finger 6.4.1 Temperature Rise from Ambient Temperature (Maximum Value) The graph below shows the temperature rise (maximum value) from the ambient temperature for each duty. The measured points are as shown below: Attachment Surface (Top) Attachment Surface (Upper side on side surface) Attachment Surface (Lower side on side surface) Finger Reference : Temperature Rise from Ambient Temperature (Maximum Value) Ambient temperature at measurement : Approx.
6.4.2 Heat Release Effect by Heat Sink Application The graph below shows the temperature rise (maximum value) from the ambient temperature when the unit is operated with 50% duty with 2 types of heat sinks applied on the attachment surface (top surface). Heat Sink Attachment Surface (Upper side on side surface) Attachment Surface (Lower side on side surface) Finger Reference data : Temperature Rise from Ambient Temperature (Maximum Value) Ambient temperature at measurement : Approx.
7. Driving Circuit Follow the example of the driver circuit shown below to apply the diode, relay and circuit protector (or fuse) to the cable ends and connect to the 24V DC power supply. To protect the gripper, make sure to apply the circuit protector (or fuse). Please prepare the diode, relay and circuit protector (or fuse) separately from the product. The cable length should be approximately 1m. It is bare wire on one end.
8. Operation This gripper opens the chuck when the power is ON and closes it with the springs when the power is turned OFF. Chuck Close Open ON Close Open ON Close Open ON Close Power supply OFF OFF OFF OFF Opening the chuck just before holding the work shortens the time that the power is conducted, thus enables to save the power consumption. It also prevents the product temperature to rise.
9. Treatment of Cables When constructing the application system, make sure to lay out each cable and connect them correctly otherwise it may cause unexpected troubles such as cable breakage or contact failure. Described below are the things that are prohibited to be done regarding the treatment of cables. Do not cut and extend, shorten or rejoin the cables. Have a sufficient radius for bending to avoid stress being applied to one place. [For the bending radius, refer to the name of each part.
Do not pinch, drop a heavy object onto or cut the cable. When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use spiral tube in any position where cables are bent frequently. Separate the I/O line, communication line and power line from each other. Do not put them in the same duct. Power Line Duct I/O Line (Flat Cable, etc.
The occupied volume rate for the cables, etc., inside the cable track should be 60% or less. Cable Track Cable Warning : When the cable is connected or disconnected, make sure to turn OFF the power to the controller. When the cable is connected or disconnected with the controller power turned ON, it might cause a malfunction of the actuator and result in a serious injury or damage to the machinery.
10. Allowable Load Condition 10.
Step 2: Check the allowable vertical load of the fingers and allowable moment Table 1. Allowable load and allowable moment on the fingers Allowable Load Moment [Nm] Allowable load in the vertical direction [N] Fzmax Mamax Mbmax Mcmax 12 0.02 0.02 0.04 Check the vertical load and the load moments applied to the fingers. Do not exceed the allowable range of Fz, Ma, Mb and Mc. The values shown are the static allowable load and static allowable load moments that may be applied to each finger.
Consider the value shown below as the upper limit for LGHG. Use beyond the limited range will give extreme moment to the finger slide part and internal mechanism, which could badly influence to the product life. Figure 2. Upper Limit of 2-Finger Gripper Holding Point LG and Overhang HG Overhang Amount HG (mm) 25 20 15 10 5 0 0 5 10 15 20 25 Holding Point LG (mm) (1) Moment generated on fingers by holding force 1) Moment in Ma direction [MIa] 1.5F㧳 MIa LG 2 2) Moment in Mb direction [MIb] 1.
(2) Moment generated on fingers by external force When applying the gripper to Orthogonal, Articulated or other actuator and moving straight or turning, there is an external force other than holding force applied to the work part and finger attachments. External force applied to the work part and finger attachments [FX, FY and FZ] Calculate the external force below for the three directions X, Y and Z applied to the work part and finger attachments based on the usage condition and sum up the numbers.
11. Cautions During Work Part Travel By applying a strong force or impact other than the holding force to the fingers during a work part travel, it may cause the fingers to be off the correct position, to be loosened or malfunction. Please be careful not to apply force or impact during travel. Set the holding point as close as possible to the center of gravity of the work part. If it is far, the moment due to gravity may make the work part orientation unstable.
Do not attempt to push the work part to the side while it is held with the gripper. Pushing not permitted When inserting the work part into a pocket, have enough clearance considering variants in the position. Also have enough adjustment to center the work part. (Be careful not to hit the work part during the inserting operation.
12. Removal of the Gripped Work Part This gripper possesses a structure to keep the work part holding force with springs even when the power is shutdown. When the held work part is necessary to be removed while the power is OFF, move the fingers to the opening direction and remove the work part. Note : When the held work part is necessary to be removed while the power is off, move the fingers to the opening direction and remove the work part.
13. Option 13.1 Position Sensor Example of using the position sensor Sensor Wiring List BR BL BK BR BL BK Wire Color Signal Name BR 24V BL 0V BK Detection Signal * Since there are 2 sensor units to be used, there will be 2 codes for each signal in the harness. Position Sensor Position Sensor Finger Attachment Stroke on one side : 3mm B sensor turns ON while the power is OFF (fingers are closed) and A turns ON when the power is ON (fingers are fully open).
14. Maintenance Inspection To use the actuator in a good condition for a long term, it is recommended to have daily inspections and also regular inspections. 14.1 Inspection Items and Inspection Schedule The standard maintenance inspection schedule is as described below. The calculation is conducted under the condition that there are 8 working hours per day. Have inspections more frequently if the operation frequency is high for night and day continuous operation, etc.
15. Appendix 15.1 External Dimensions 15.1.1 Normally Closed Type with No Position Sensor 3 3.5 25.6 4.5 16.6 ±0.3 4-M3, Depth 5 40 ±0.1 53 47 26 ±0.1 26 ±0.1 20.8 14.6 2-φ2H7 Reamed, Depth 2 9 7 5 4-M3, Depth 5 1° ess or l 4-M3, Depth 5 * Play of finger 2-M3, Depth 5 12.8 +0.2 0 When closed +1.6 27.2 0 When open (4.6) 13.1 10.5 19 ±0.1 8 24.5 30 34.6 ±0.5 19 ±0.1 8 4 10.
15.1.2 Normally Closed Type with Position Sensor (Option) 3 40 ±0.1 3.5 (1.4) 26 ±0.1 10.5 2-M3, Depth 5 4-M3, Depth 5 2-M3, Depth 5 12.8 14.6 2-φ2H7 Reamed, Depth 2 9 7 5 (4.6) 8 36.3 (1.7) 24.5 30 34.6 ±0.5 19 ±0.1 8 13.1 +0.2 0 When closed +1.6 27.2 0 When open 20.8 36 53 47 26 ±0.1 4 10.5 4.5 16.6 ±0.3 25.6 4-M3, Depth 5 ss r le 1° o * Play of finger (3.6) (16.
16. Warranty 16.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our factory 12 months after delivery to a specified location 2,500 operational hours 16.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
16.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date Description of Revision 2011.08 First edition 2011.09 Second edition “Caution” changed to “Caution in Handling” P.12 Specifications Open/Close Operation Normally closed, open when it is ON Power is OFF : Close Power is ON : Open P.23 8. Control Logic 8. Operation Change in stated contents P.20 6.4 Temperature Rises on Main Body and Finger Attachments 6.
Manual No.: ME3710-2A (September 2011) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.
