Handling module HSP-...-AP/AS b [ ] (en) Operating instructions

Transcription

1 Handling module HSP-...-AP/AS (en) Operating instructions b [ ]

2 Original instructions Symbols: Warning Installation and commissioning may only be performed in accordance with these instructions by technicians with appropriate qualifications. Caution Note Environment Accessories English Festo HSP-...-AP/AS b

3 Handling module type HSP-...-AP/ASEnglish Documentation on the product For all available product documentation 1 Operating parts and connections ab aa aj 9 1 Spring clamping element 2 End stop with groove for proximity switch SMx-8... shock absorber type YSRW (...-AP) fixed stop with rubber buffer (...-AS) 3 Adjusting screw for stroke setting (y-direction) 4 Link with path guide 5 Adjusting screw for stroke setting (z-direction) 7 Centre piece for path guide (only with HSP and HSP ) 8 Sub-base with 4 through threaded holes for fastening screws 9 Stop strip aj aa ab Swivel lever Cable binder support for supply cables (1 or 2 depending on size) Cross guide (guide carriage) 6 Cable bearing with end caps (1 or 2 depending on size) Fig. 1 Operating parts and connections type HSP-... (front view) 3

4 2 Product overview Basic design Types HSP , HSP , HSP The handling module is supplied as standard in sizes 12, 16, 25 ready fitted with the following function elements: Sub-base with variable fitting and fastening possibilities 8 2 adjustable guide links for path control via roller bearing guide 4 2 linear guides arranged in cross-form (cross guide) ab 2 stops in the end positions each with a shock absorber (type...-as: with rubber buffer) and a fastening rail for proximity switches 2 Variants Type HSP-...-AS Handling module without drive Type HSP-...-AP Handling module with swivel module type DSM-... (double-acting, pneumatic) Options Type HSP SD Handling module with protective cover and side plates. The design SD is recommended for stand alone mode. Type HSP WR/WL Handling module with cylinder BWR-/BWL-HSP-... (see also the chapter Accessories ) for withdrawing the swivel lever into a waiting position above the right-hand end position: type...-wr left-hand end position:type...-wl 4

5 Kits and accessories (see also the chapters Fitting and Accessories ) Fastening kit type HMB... for fitting with angled pieces and sliding blocks e.g. on profile columnns Installation kit MKRP... (A) Flexible protective tube for moving tubing Cable support on the cross guide Adapter bracket for fastening e.g. on to a sub-base or structure Cover profile for cable bearing in the grooves of the sub-base or side plates (A) Proximity switch type SME/SMT (B) for scanning end positions and waiting positions (type HSP WR/WL) Adapter kit type HAPG-... (C) and in some cases additional adapter plates (D) for fastening add-on components (grippers, swivel drive) Instructions on fitting further accessories in conjunction with Festo components are summarized in the system manual Handling technology. For HSP-...-AP: One-way flow control valves type GRLA-... (E) for setting the positioning speed (B) (C) (D) (E) 5

6 3 Method of operation and use By means of the path guide 4 and the cross guide ab a movment in a vertical and horizontal direction is forced (y-z path). Spring clamping elements fitted to the end stops 1 guarantee a high degree of repetition accuracy in positioning. z y Self-adjusting hydraulic shock absorbers 2 (only with type...-ap) in the end positions cushion the movement. The end positions can be scanned with proximity switches of type Fig. 2 SME/SMT The switching status of the proximity switches can be observed through the viewing window when the housing cover is fitted on. The stroke range for both end positions (receive and release positions) is set separately: in the y-direction: via the adjusting screws in the links 3 in the z-direction: via the stop screws on the vertical guide rail 5 Handling module type HSP-...has been designed for use in automated component assembly in handling and fitting systems. The HSP-... is particularly suitable for handling small parts at high speed, e.g. when inserting, turning over or joining. 4 Transport and storage Take the weight of the HSP-... into consideration. Depending on the size, the basic design can weigh up to 8.2 kg. Consider the following recommendations regarding storage: Storage duration 48 months Storage temperature + 20 C Fig. 3 6

7 5 Conditions of use Incorrect handling can lead to malfunctioning. Make sure that the specifications in this chapter are always observed. The product will then function correctly and safely. Please comply with national and local safety laws and regulations. Please observe the prevailing ambient conditions. Compare the maximum values in these operating instructions with your actual application (e.g. pressures, forces, torques, temperatures, masses, speeds). Remove the packaging. The packaging is intended for recycling. (exception: oiled paper which must be disposed of). Please observe the warnings and instructions: on the product in these operating instructions and for the type HSP WR/WL: in the operating instruction for the BWR-/BWL-HSP-... Use the product in its original state. Unauthorized modification is not permitted. Make sure there is a supply of correctly prepared compressed air. Maintain the selected medium for the complete service life of the product. Example: If non-lubricated compressed air is used at the beginning, you should always use non-lubricated compressed air. [ C] [%] [mbar] Fig. 4 LF-... Fig. 5 LR-... 7

8 Slowly pressurize the complete system. To do this use start-up valve type HEL-... / HEM-... Check to see if the following are necessary: Fig. 6 a compensation reservoir type VZS-... This will reduce fluctuations in the pressure. a non-return valve type HGL-... In this way you can prevent the work load from sliding down if there is a sudden drop in pressure. 6 Fitting Note especially the following when fitting all the components: Screw connections must be fitted free of offset and mechanical tension. Screws must be fitted accurately (otherwise threads will be damaged). The specified torques must be observed. Contact surfaces must be clean (avoid leakage and contact faults). Observe also the installation instructions supplied with modules and components ordered at a later stage. For the type HSP WR/WL: Please observe the warnings and instructions in the operating instruction for the BWR-/BWL-HSP-... 8

9 Fitting: Mechanical components The HSP-... is supplied ready for fitting. If necessary, remove the protective cover before fitting. Fit first the add-on components and, in the case of the HSP-...-AS, the external drive or after fastening make sure that there is sufficient free space for fitting the components. Make sure that the fastening surface can support the weight of the HSP-... Fit the HSP-... only onto a flat fixed surface. Select one of the following fastening methods: Direct fastening via 4 through holes in the sub-base [mm] HSP-12 HSP-16 HSP-24 H H2 40± ±0.2 D L1 200± ± ±0.6 Fastening via the side plates (user-specific hole pattern). Fastening on the rear of the sub-base with sliding blocks type HMBN-5-M5 (Fig. 8) or fastening kit type HMBK-ND and connecting bracket type HMBV-ND (example: Fig. 9). H2 H1 D1 Fig. 7 Fig. 8 L1 9

10 Recommendation: Fasten the HSP-... preferably in a vertical position with fastening kit type HMBK-ND and connecting bracket type HMBV-ND on one or two profile columns. Fig. 9 Note that two profile columns are necessary for stable fastening of the HSP Place the HSP-... so that you can easily reach the operating parts. Make sure that the HSP-... is fitted free of mechanical stress. Tighten the fastening screws to an equal extent. Make sure there is sufficient space for connecting the power cables and compressed air tubing. 10

11 Fitting the add-on components: Use adapter kit type HAPG-... with: Universal adapter for the relevant size ofhsp-...(a). Two channels for the tubing bearing (B) and the support for the cable binder (C). The standard hole pattern of the universal adapter (D) forms the interface to selected Festo products, e.g. micro grippers. (A) (D) (E) (B) (C) Check to see if additional fastening elements and adapter plates (E) are necessary. An overview of this can be found in the sales documentation for the HSP-.... Natural resonance when the work load vibrates can cause damage. Place the mass centre of gravity of the work load, therefore, as near as possible to the axes of symmetry of the cross guide. Fig. 10 Excessive forces and torques can damage the drive and the mechanical components. Make sure that you observe the maximum permitted values of the following variables: force F x, F y, F z torques M x, M y and M z The reference point for forces and torques is the centre of the cross guide on the guide slide. See chapter Technical specifications. Fig

12 Fitting an external drive for type HSP-...-AS: Use a drive with constant drive speed without impact loading. Make sure that you observe the maximum permitted values of the following variables: axial radial force F y and F z drive speed M y The reference point for forces and torques is the centre of the shaft. See chapter Technical specifications. (A) (B) (C) Fig. 12 The drive speed is transmitted via a drive shaft with ball bearings. The external drive can be fastened to the rear of the sub-base. Fastening the drive HSP-12-AS HSP-16-AS HSP-25-AS (A) Fastening holes (4x) M4 M4 M5 (B) Shaft with feather key as per DIN 6885 A2x2x12 A2x3x18 A2x4x25 (C) Centring f8 12

13 Static adjustment of the end positions: Remove the protective cover of the handling module. Exhaust the drive. Setting the Z-stroke: 1. Loosen the locking nut of the stop screw (A). 2. Use a hexagon socket screw key to turn the stop screw at the same time with counter force against the locking screw unti the receive position (B) is reached. 3. Tighten the locking screw (tightening torque: 1 Nm). 4. Repeat the procedure for setting the release position. Setting the Y-stroke: (A) Fig. 13 (B) Warning Sudden movements of the actuators when they are under pressure during the setting of the y-stroke can cause injuries and loose link parts can damage the HSP-.... Exhaust the drive before you loosen the fastening screws of the link parts. After setting the Y-stroke: Make sure that the fastening screws of the link parts are screwed tight. In this way you will avoid injury to human beings and damage to the device. Loosen only the fastening screws of both link parts. The fastening screws of the centre piece 7 between the link parts on HSP and HSP must not be loosened. 13

14 5. Loosen the fastening screws (C) of the right-hand and left-hand link parts just enough to enable the link parts to be shifted. 6. Turn the adjusting screws (D) until the link parts have reached the desired receive or release position. If side plates are fitted, you can set the adjusting screws with a hexagon socket screw key through the holes in the side plates. Alignment free of offset: 7. Press the link parts down vertically against the aluminium stop strip (E) of the horizontal guide rail, while you tighten the fastening screw of the link parts (tightening torque: 6 Nm). Fig. 14 (C) (D) Carry out a manual check of the following after each adjustment (without pressurizing the drive): Has the desired end position been reached? Are the link parts aligned without offset? In order to do this, swing the moveable mass into the end positions. by hand or with a hexagon socket screw key on the drive (Fig. 16). Fig. 15 (E) When doing this, check that the double rollers run smoothly in the path guide. If necessary, correct the alignment of the link parts. Fig

15 Fitting: Pneumatic components Connecting the drive for type HSP-...-AP: Use one-way flow control valves of type GRLA-... for setting the swivel speed. The speed will be reduced by the throttling of the exhaust air. Screw in both one-way flow control valves on the drive. Connect the tubing of the drive. Fig. 17 Connecting the add-on components: Installation kit MKRP-.. (see chapter Accessories ) enables the tubing and cables to be grouped together in a flexible installation tube. The installation tube is fastened to the cross guide with the support, and e.g. to the sub-base or the structure with the adapter bracket. The installation tube may be filled to max. 70 %. Make sure that the moving pneumatic tubing and electric cables are laid correctly (example Fig. 18): Lay the cables and tubing upwards along the vertical guide rail. Fasten the cables and tubing with cable binders on the support of the universal adapter (A) or pass them through the two cable channels of the universal adapter (B). on the cable binder support (C) on the cross guide. Pass the cables and tubing through the holes in the sub-base (E) or use protective tubing (D). (E) (D) (C) (B) (A) Fig

16 Fitting: Electric components Use proximity switches SME/SMT-8 for scanning the end positions: 1. Remove the protective cover of the handling module. 2. Make sure that the shock absorbers are screwed in completely (only type...-ap; as supplied from the factory). (E) (D) (C) (B) 3. Push the proximity switch into the groove of the sensor rail (A). The electric proximity switches are triggered by magnets in the stop screws (B). 4. Fasten the proximity switches in the end positions. Subsequent adjustment of the shock absorbers is not necessary. Fig. 19 (A) The cables of the proximity switches must not lie in the working range of the handling module. Clamp the cables in the groove of the side plates (D) and the sub-base. Secure the cables with the aid of the cover profile (C) of the installation kit (cut to size). Paass the cables back through the through hole in the sub-base (E). 16

17 7 Commissioning Complete system Slowly pressurize the complete system. This will prevent uncontrolled movements from occurring. For slow start-up pressurization, use start-up valve type HEL-... orhem-... Make sure that the conditions of use for the setting procedure are identical with those in continuous operation. Otherwise there is a danger of the handling module becoming overloaded. Individual unit Warning Make sure that: nobody can place his/her hand in the positioning range of the handling module there are no objects in the path of the moveable mass there is no tubing in the path. Protect the area e.g. by means of a cover or screen. HSP-...-AP: Handle the shock absorbers with care so that the thread, the piston rod and the outer cylinder are not damaged. Make sure that the shock absorbers are screwed in completely and locked (assupplied from the factory). If the shock absorbers are not screwed in completely, the cushioning effect will be considerably reduced (reduced cushioning stroke). HSP-...-AS with an electromotor: Moving to the fixed stop (2 in fig. 1) generates sudden loadings in the drive chain. This can lead e.g. to gear damage. Carry out reference travel against the fixed stops only with low energy. The rubber buffers in the fixed stops are only to reduce noise. 17

18 For the type HSP WR/WL: Please observe the warnings and instructions in the operating instruction for the BWR-/BWL-HSP-... Pressurize the add-on components. If necessary, carry out a separate test run to check that the add-on components are functioning correctly. Add-on components Without work load With work load Tests Correct assignment of the compressed air connections Gripping speed Function of the proximity switches Reliable holding of the work load Pressurize the drive in one of the following ways as desired: slow pressurization of one side simultaneous pressurization of both sides with subsequent exhausting of one side. Swivel module DSM-... for HSP-...-AP may only be commissioned in unmodified state as at delivery and with protective cap. Start first of all a test run at reduced operating speed. Accelerate in steps until the operating speed is reached. For this speed, please refer to the calculations for your application. Interrupt the test run if: there is a metallic knocking of the stop screws the double rollers do not run smoothly in the path guide the end positions are not reached the work load falls down. For eliminating faults, please refer to the information in chapter

19 Test run 1. Tighten the two upstream one-way flow control valves at first completely then loosen approximately one turn. 2. Make sure that the operating conditions lie within the permitted ranges. Fig. 20 The permitted kinetic impact force at the end stop applies for certain mass-speed combinations. It must not be exceeded. Make sure that the permitted values for the positioning time as a factor of the work load are observed (chapter Characteristic curves ). Fig During the test run check: that the proximity switches are functioning correctly that the work load is held safely the positioning time as a factor of the work load the adjustment of the end positions. 4. When adjusting the end positions, observe the instructions in the chapter Fitting. Warning Sudden movements of the actuators when they are under pressure during the setting of the y-stroke can cause injuries and loose link parts can damage the HSP-... Exhaust the drive before you loosen the fastening screws of the link parts. After setting the y-stroke: Make sure that the fastening screws of the link parts are screwed tight. In this way you will avoid injury to human beings and damage to the device. 19

20 5. Open up the one-way flow control valves slowly again until the desired positioning speed is reached. 6. Make sure that the pulse time does not drop below the minimum permitted time. Definition Pulse time t t = positioning time t + dwell time t e t: Time which the HSP-... requires in order to move from the receive position to the release position and back. (permitted values see chapter Characteristic curves ). t e : Time during which the HSP-... remains in the receive position and release position. Type HSP HSP HSP Minimum permitted pulse time t t [s] The HSP-... should reach the end position safely, but not strike hard against it. Striking too hard causes the device to bounce back out of the end stop. The tendency to vibrate increases if the speed at the start of cushioning is high. The complete cycle time increases due to the reverberation time. Set the drive below the max. permitted speed at the start of cushioning. You can then increase the end position accuracy. When all corrections have been undertaken: Before exhausting: Make sure that the gripper is not holding a work load. In this way you can prevent a mass from sliding down when the device is exhausted. 7. Conclude the test run. Exhaust the drive and the add-on components. 20

21 8 Operation Warning Make sure that: nobody can place his/her hand in the positioning range of the moveable mass there are no objects in the positioning range. Make sure that the handling module is set into motion only with the protective cover or screen. m HSP-...-AP: If the shock absorber is not used to its full extent, there will be an increase in the oil leakage. Make sure that the shock absorber is operated with an energy utilization of at least 25 % to max. 100 %. The recommended range lies between 50 and 80 %. A B C B D A = unfavourable B = permitted C = optimum D = not permitted Fig. 22 Note that during operation the viscosity of the hydraulic oil diminishes due to the frictional heat produced. The shock absorber can therefore break through after a long period of operation. At temperatures of approx. 0 C: Note that the reset times of the shock absorber are longer. Low temperatures cause an increase in the viscosity of the hydraulic oil. The HSP-... should reach the end position safely, but not strike hard against it. 21

22 Check the cushioning elements and spring clamping elements (type designation see Accessories ) for the following signs of wear: Test Spring clamping element 1 Shock absorber 2 (...-AP) Rubber buffer 2 (...-AS) Test cycle Every 2 million strokes (approx.every 2 months) 1) Sign of wear Play of the vertical guide rail in the end positions in a horizontal direction Oil leakage; hard knocking; stop plunger remains in the retracted end position or moves away from it only hesitantly. Hard knocking 2) Replacement cycle After 5 million cycles Every 10 million strokes (approx 1 year) 1) 1) At 0.5 Hz in dual operation mode. 2 ) The rubber buffers in the fixed stops are only to reduce noise. Check to see if more frequent tests are required. This may be the case with: higher temperatures excessive dirt solvent liquids or fumes. If the load changes, repeat the test taking the modified work load into consideration. End position adjustment (chapter Fitting ) Setting the positioning speed (chapter Commissioning ) HSP-...-AS with an electromotor: Moving to the fixed stop (2 in fig. 1) generates sudden loadings in the drive chain. This can lead e.g. to gear damage. Move to the fixed stops only with low energy or use a drive chain which can withstand sudden loadings. The rubber buffers in the fixed stops are only to reduce noise. 22

23 9 Care and maintenance Check regularly the shock absorbers (or the rubber buffers in the fixed stops) and the spring clamping elements. If the HSP-... is dirty, clean the exterior with a soft cloth. If the HSP-... is defective or if the drive on the HSP-...-AP is defective: Send the HSP-... to Festo for repairs. 10 Replacement and repairs Replacing the spring clamping elements: Use only original parts when replacing the spring clamping elements. 1. Exhaust the drive. 2. Remove the protective cover and the side plates. 3. Move the cross guide into the mid-position. 4. Use a hexagon socket screw key to unscrew the defective clamping element. 5. Move the cross guide into the end position. 6. Screw in the new clamping element until it just touches the guide carriage. 7. Then tighten the clamping element with another 1/2 turn (pre-tension 0.5 mm). The vertical guide rail is then free of play. Fig. 23 The specified pre-tension of the spring clamping element is sufficient for play-free guidance. Avoid unnecessary wear on the cross guide and links due to excessive pressing force. 8. Fasten the side plates and protective cover. 23

24 Replacing the shock absorbers (HSP-...-AP): 1. Exhaust the drive. 2. Remove the protective cover. (B) 3. Remove the proximity switch and the sensor rail on the shock absorber support. 4. Loosen the locking screws (A). 5. Unscrew the stop sleeve from the shock absorber (B). 6. Unscrew the shock absorber from the support (surface for wrench on the thread of the shock absorber). (A) Fig Screw the stop sleeve completely onto the new shock absorber. 8. Screw the new shock absorber with stop sleeve from above into the support (tightening torque see table). 9. Tighten the locking screw (tightening torque see table). 10. Fasten the sensor rail. 11. Push the proximity switch into the groove of the sensor rail. Fasten the proximity switch in the end positions. 12. Fasten the protective cover. Permitted tightening torque [Nm] HSP YSRW-5-8 HSP YSRW-7-10 HSP YSRW-8-14 Shock absorber with stop sleeve Locking nut Reduce the amount of waste by using the materials in the shock absorber for other purposes (material recycling). The shock absorber is filled with hydraulic oil. Due to the design refilling is not possible. 24

25 Replacing the rubber buffers in the fixed stops (HSP-...-AS): 1. Switch off the power supply of the drive. 2. Remove the protective cover. 3. Use a suitable tool to remove the rubber buffer of the fixed stop (e.g. screwdriver, pliers). 4. Press the new rubber buffer into the fixed stop. 5. Fasten the protective cover. Fig

26 11 Accessories Designation Type HSP HSP HSP Protective cover kit BSD-HSP-12 BSD-HSP-16 BSD-HSP-25 Installation kit MKRP-1 MKRP-2 MKRP-3 Adapter kit HAPG-70 HAPG-71 HAPG-72 Waiting position, right BWR-HSP-12 BWR-HSP-16 BWR-HSP-25 Waiting position, left BWL-HSP-12 BWL-HSP-16 BWL-HSP-25 Shock absorber YSRW-5-8 YSRW-7-10 YSRW-8-14 Spring clamping element Connecting kit Connecting bracket Sliding block Proximity switch Start-up valve One-way flow control valve (restricted exhaust) Original spare part for HSP HMBK-ND HMBV-ND HMBN-5-M5 SME-8-K(S)-LED-24 SMT-8-PS(NS)-K(S)-LED-24-B HEL-... or HEM-... GRLA-... Instructions on fitting further accessories in conjunction with Festo components are summarized in the system manual Handling technology. 26

27 12 Eliminating faults Fault Possible cause Remedy Hard knocking in stroke end position Faults in position scanning End positions not reached The double rollers do not run smoothly in the path guide Play of the vertical guide rail in the end positions Shock absorber defective Stop element overloaded Work load too heavy Speed of moveable mass too high Position of proximity switch incorrect Incorrect type of proximity switched used Proximity switch defective Ferritic parts in vicinity of proximity switch Setting of the y-stroke and the z-stroke not correct Link parts offset Spring clamping element defective Replace shock absorber Reduce speed Correct position of proximity switch Use only proximity switches of type SME/SMT Replace proximity switch Use parts made of non-magnetic materials Adjust end positions (seechapter Fitting ) Align link parts free of offset (see chapter Fitting, Setting the y-stroke ) Replace spring clamping elements 27

28 13 Technical specifications Type HSP HSP HSP Part no. -AP AP-SD AS AS-SD Design -AP Handling module with pneumatic swivel drive (double-acting swivel vane) -AP-SD -AS -AS-SD With pneumatic swivel drive and protective cover Without drive Without drive, with protective cover Weight [kg] Basic design Increases in weight due to accessories can be found in the relevant documentation. -AP AP-SD AS AS-SD Medium -AP-... Filtered, lubricated or non-lubricated compressed air (filter fineness min. 40 ìm) Permitted operating pressure -AP-... Min max. 8 bar Pneumatic connection -AP-... M5 Permitted temperature range Vibration tested as per DIN/IEC 68/EN part 2-6 Shock tested as per DIN/IEC 68/EN part 2-27 Mounting position C Severity class mm path at Hz 5 g acceleration at Hz Severity class 2 ± 30 g at 11 ms duration 5 shocks in each direction As desired (vertical operation preferred) 28

29 Type HSP HSP HSP Lubrication End position adjustment Cross guide with service life lubrication, re-lubrication recommended after 10 million strokes. Adjusting screws in the y-direction Stop screws in the z-direction End position cushioning with shock absorber YSRW-5-8 YSRW-7-10 YSRW-8-14 Permitted shock absorber energy E max [Nm] E hmax [knm] Min. permitted pulse time [s] Pulse time t t = positioning time t + dwell time t e (definition see chapter 7) Stroke ranges y-stroke [mm] z-stroke [mm] Max. permitted loading values of the cross guide Dynamic torque M per [Nm] *) with vertical operation and observation of the maximum work load Static torque M 0per [Nm] *) with vertical operation for press-fit and joining procedures without dynamic loading M x M per M y M per M z M per M 0x M 0per M 0y M 0per M 0z M 0per 1 *) The torques refer to the centre of the cross guide. 29

30 Type HSP HSP HSP Max. permitted loading with external drive Axial force on drive shaft F Yper [N] Radial force on drive shaft F Zper [N] Drive torque M Yper [Nm] Noise emission as per DIN *) LpAeq [dba] Sound pressure level as per aural reception, (corresponds to continuous sound level DIN IEC 804) LpAIm [dba] Pulse holding of positioning sounds, (corresponds to pulse continuous sound level DIN IEC 804) *) Measured at maximum stroke 6 bar; pulse frequency 1/s; additional mass 0.3 kg; frequence assessment A 30

31 14 Materials Component Sub-base Shock absorber support Segment (between the stop screws) Sensor rail Housing Link Swivel lever Stop screw Stop sleeve Clamping element Cross guide Materials Al wrought alloy, anodized Hardened steel, burnished Steel, high alloy Tempered steel Additional materials for HSP-AS-... Shaft Storage Ball bearing Steel Al wrought alloy Roller bearing steel 31

32 15 Characteristic curves a) Positioning time t as a factor of the work load m Definition Work load m = additional mass on the vertical guide rail e.g. adapter, swivel drive, gripper and work item Positioning time t = time which the HSP-... requires in order to move from the receive position to the release position and back. m [kg] t [ms] a) Mass moment of inertia J as a factor of the work load m (for drive design) J [kgcm2] m [g] 32

33 Festo HSP-...-AP/AS b 33

34 Copyright: Festo AG & Co. KG Ruiter Straße Esslingen Germany Phone: Fax: Reproduction, distribution or sale of this document or communication of its contents to others without express authorization is prohibited. Offenders will be liable for damages. All rights reserved in the event that a patent, utility model or design patent is registered. service_international@festo.com Internet: