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Installing the gripper fingers
• If possible, use short lightweight gripper fingers.
• Handle the gripper jaws with care.
• Position the gripper fingers with the centring pins
on the fitting holes 4 of the gripper jaws.
• Observe the permitted tightening torques
(
Fig. 4).
Excessive forces or tightening torques will damage
the gripping mechanism.
• Screw the mounting screws into the threaded holes
of the gripper jaw.
Size
Max. screw-in depth
[mm]
Screw
Tightening torque
[Nm]
Fig. 4
Presetting the swivel angle
• If possible, use angle settings that
follow the line of symmetry of the
HGDS.
1. Remove the cover cap 2 from the
housing as follows:
– Loosen screws (K)
– Pull the latching hook of the cover
cap outwards.
2. Unscrew the clamping screws for the
stop cams 9 (
Fig. 7).
To move the stop cams, simply
loosen the clamping screws until
they can be moved.
3. Move the cams to the desired end
position.
Please check the following points
when doing this:
– The limiting pin (L) must not be
removed. The limiting pin is
required for safe delimiting of the
end positions. If it is removed, the
internal rotary vane will slam into
the end position without being
cushioned.
– A minimum distance of 3 mm to
the insertion slot (M) of the stop
cam (on the opposite side of the
limiting pin) must be maintained.
– Operation is only permitted with
both stop cams.
Precision adjustment of the end
position is performed using the
cushioning components 5
(
6 commissioning).
4. Tighten the clamping screws for the stop cams 9 as follows:
– start with the first clamping screw in the centre of the stop cam,
– followed by the second clamping screw.
Observe the permitted tightening torques (
Size
ß
Width across flats
Tightening torque
[Nm]
Fig. 9
5. Fasten the cover cap 2 again:
– Slide on the cover cap until the latching hooks engage
– Tighten the screws (K) (tightening torque: 0.5 Nm).
5.2 Installing external accessories
• Avoid the outside influence of magnetic or ferritic parts in the immediate vicinity
of the proximity sensors (e. g. a minimum distance of 50 mm is to be maintained
between two identically constructed HGDS units).
This ensures the proper functioning of the proximity sensors.
Fig. 3
12
16
5
5
M3
M3
1.2
1.2
Fig. 5
2
Fig. 6
Fig. 7
5
(M)
Fig. 8
Fig. 9).
12
16
20
2
2.5
3
0.6
1.5
3
• Only use suitable proximity sensors:
– in slot (A) to sense the swivel
angle - preferably using an in-line
cable outlet
– in slot (B) to sense the gripper jaw
position - preferably using a lateral
cable outlet.
In the variant with an in-line cable
outlet, the proximity sensor
protrudes beyond the housing.
4
These can be found in the main
catalogue with product accessories
(
www.festo.com/catalogue)
• Position the proximity sensors for
end-position sensing in the mounting
slots (observe orientation
20
Fig. 10).
7
M4
For setting the proximity sensor in slot (A):
3
1. Turn the swivel component by hand to the end position to be scanned.
2. Push the proximity sensor in the slot (A) in the direction of the stop cam until the
proximity sensor switches for the first time (the magnetic field has two
switching points). Use of the second switching point can result in errors when
processing the signal on the PLC.
3. Tighten the mounting screw on the proximity sensor (tightening torque
proximity sensor operating instructions).
4. Repeat the settings for the other end position.
5.3 Installing the pneumatic system
• Check whether a compensation reservoir VZS is required.
This reduces pressure fluctuations in the downstream compressed air stream.
If no reservoir is used, the effective load will be released in the event of a
pressure drop.
• Use tubing lines that are as short as possible.
Short lines optimise the pressurisation time.
(K)
Setting the swivelling or gripping speed:
• Screw the GRLA one-way flow control valves into the supply ports.
• Connect the HGDS to the following supply ports (M5) using tubing:
Function
Swivel
(viewed from the gripper)
Grip
(L)
(external)
9
Fig. 11
6
Commissioning
Warning
Moving loads can result in personal injury (crushing) or damage to property.
• Ensure the following in the movement area around the HGDS:
– nobody can place his/her hand in the path of the moving load,
– there are no foreign objects in the gripping area (e. g. by means of a pro-
tective screen)
• Conduct all of the settings when the HGDS is stationary.
Note
Excessive forces and moments will damage the HGDS.
• Make sure that the permissible load limits (
14 Characteristic curves) are not exceeded for:
– the tightening torques
– force F and moment M
– the mass moment of inertia
– the swivel time as a function of mass moment of inertia.
If set correctly, the work mass should reach the end position without striking
hard against it.
• Observe the permissible values (
– the maximum gripping force (dependent on the holding force and holding
point)
– the permissible mass moment of inertia of the gripper fingers depending on
the opening and closing time.
The weight force of the gripper fingers should be calculated.
Fig. 10
Connection
anti-clockwise
L
clockwise
R
Open
A
Close
Z
13 Technical data and
catalogue specifications) for:
(A)
(B)
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