180 Angular Style Air Gripper

Transcription

1 18 Angular tyle Air Gripper eries 2/2 Cam tyle / Rack & Pinion tyle -X D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

2 18 Angular tyle Air Gripper 18 Angular tyle Air Gripper eries 2/2 Cam tyle Rack & Pinion tyle eries 2/2 2-1D 2-16D 2-2D Bore size (mm) Gripping moment (N m) ver length L (mm) L eries 2/Cam tyle Light and compact size in small bore sizes Mass (g) eries 2/Rack & Pinion tyle Unique seal design allows shorter total length construction and constant grippng force when opening and closing fingers. (PAT.PEND) Bore size (mm) Gripping moment (N m) ver length L(mm) L Mass (g) 2-2D D At the pressure of. MPa 2-2D Improved mounting repeatability Auto switch mounting at locations Auto switch mounting at locations 2-2D 2-D 2-D 2 At the pressure of. MPa Two finger styles available Resistance to dusty environments Reduced opening sizes helps prevent foreign objects from entering. tainless steel fingers are standard. Key connection is ideal for impact resistance. Key connection between finger and shaft prevents finger angle slippage during impact. Flat finger type Right angle finger type Dustproof construction eal arrangement protects gripper from harsh dusty environments. Bearings are standard. Assembly Clamping workpiece eries Variations INDEX -X Bore size (mm) Applicable auto switch Page Transferring workpiece Clamping workpiece Cam style eries 2 olid state switch D-M9/M9W type 662 to 668 D- Rack & Pinion style eries to Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

3 election election Procedure eries 2/2 election tep 1 Confirmation of Confirmation of moment of gripping force tep 2 Confirmation of gripping point tep inertia of attachments tep 1 Confirmation of Gripping Force Confirmation of conditions Calculation of required gripping force election of model from gripping force graph Example Workpiece weight:. kg Gripping point L = mm Guidelines for the selection of the gripper with respect to component weight Although conditions differ according to the workpiece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping force of 1 to 2 times the workpiece weight, or more. If high acceleration, deceleration or impact forces are encountered during motion, a further margin of safety should be considered. Example) For setting the gripping force to be at least 2 times the work weight; Required gripping force =. kg x 2 x 9.8 m /s 2 = 1 N min. 2-16D Gripping force (N) Pressure.6 MPa 2 Gripping point L (mm) 6 7 When 2-16D is selected, the gripping force is determined to be 1 N according to the gripping point distance (L = mm) and the pressure (.6 MPa). The gripping force is 26 times the workpiece weight and therefore satisfies a gripping force setting value of 2 times or more. perating pressure:.6 MPa Effective Gripping Force eries 2/2 Double Acting Indication of effective grippng force The effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure below. 2-1D Gripping force (N) Pressure.6 MPa 2-2D Gripping force (N) Pressure.6 MPa Gripping point L (mm) Gripping point L (mm) F F F External grip F 2-16D Gripping force (N) Pressure.6 MPa 2-2D Gripping force (N) Pressure.6 MPa L L 2 6 Gripping point L (mm) Gripping point L (mm) 9 68 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

4 18 Angular tyle Air Gripper eries 2/2 2-2D Gripping force (N) 2 Pressure.7 MPa D Gripping force (N) 1 Pressure.7 MPa D Gripping force (N) Pressure.7 MPa Gripping point L (mm) Gripping point L (mm) Gripping point L (mm) 2-2D Gripping force (N) Pressure.7 MPa Gripping point L (mm) 1 2-D Gripping force (N) Pressure.7 MPa Gripping point L (mm) tep 2 Confirmation of Gripping Point H Gripping point H verhang H (mm) D 2-16D 2-2D 2-2D verhang H (mm) D 2-2D 2-2D 2-D 2-D Gripping point Pressure P (MPa).1.2. Pressure P (MPa) X Workpiece should be held at a point within the range of overhanging distance (H) for a given pressure indicated in the tables on the right. When the workpiece is held at a point outside of the recommended range for a given pressure, it may cause adverse effect on the product life. D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

5 eries 2/2 election tep Confirmation of Moment of Inertia of Attachments Confirm the moment of inertia for the attachment at one side. Calculate the moment of inertia for A and B separately as shown in the figures on the right. A part B part Procedure Calculation Calculation example 1. Check the operating conditions, dimensions of attachment, etc. A part B part f d e b c a perating model: 2-16D pening time:.1 s a = (mm) b = 7 (mm) c = 8 (mm) d = (mm) e = 1 (mm) f = (mm) 2. Calculate the moment of inertia of attachment. A part z1 r1 Moment of inertia around Z1 axis IZ1 = {m 1 (a 2 + b 2 )/} X 1-6 Moment of inertia around Z axis IA = IZ1 + m1r1 2 X 1-6 z B part r2 z2 z Calculation of weight m1 = a x b x c x pecific gravity Material of attachment: Aluminum alloy (pecific gravity = 2.7) r 1 = 7 (mm) m1 = x 7 x 8 x 2.7 x 1-6 =.6 (kg) Iz1 = {.6 x ( )/} x 1-6 =.8 x 1-6 (kg m 2 ) IA =.8 x x 7 2 x 1-6 = 9. x 1-6 (kg m 2 ) r2 = 7(mm). Determine the allowable moment of inertia from the graph. 2-16D Inertia moment (x 1 - kg m 2 ) Calculation of weight m2 = d x e x f x pecific gravity Moment of inertia around Z2 axis IZ2 = {m2 (d 2 + e 2 1 )/} x -6 Moment of inertia around Z axis IB = IZ2 + m2r2 2 x 1-6 Total moment of inertia I = IA + IB ( Constant for unit conversion).2... perating time (s/9 ) m2 = x 1 x x 2.7 x 1-6 =.2 (kg) IZ2 = {.2 x ( )/} x 1-6 =.2 x 1-6 (kg m 2 ) IB =.2 x x 7 2 x 1-6 =. x 1-6 (kg m 2 ) I = 9. x x 1-6 = 1. x 1-6 =.1 x 1 - (kg m 2 ) The moment of inertia is determined to be.9 x 1 - (kg m 2 ) according to the operating time (.1 s) from the graph to the left.. Confirm the moment of inertia of one attachment is within the allowable range. Moment of inertia of attachment < Allowable moment of inertia.1 x 1- (kg m 2 ) <.9 x 1- (kg m 2 ) Possible to use this model 2-16D completely. 66 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

6 18 Angular tyle Air Gripper eries 2/2 ymbol ymbol Definition Z Finger rotation axis Z1 Axis on the center gravity of A part of attachment and parallel to Z Z2 Axis on the center gravity of B part of attachment and parallel to Z 1 1Z1 1Z2 Total moment of inertia for attachment Inertia moment around the Z1 axis of A part of attachment Inertia moment around the Z2 axis of B part of attachment Unit ymbol Definition kg m 2 kg m 2 kg m 2 1A Moment of inertia around the Z axis of A part of attachment 1B Moment of inertia around the Z axis of B part of attachment m1 Weight of A part of attachment m2 Weight of B part of attachment r1 Distance between Z and Z1 axis r2 Distance between Z and Z2 axis Unit kg m 2 kg m 2 kg kg mm mm Allowable Range of Moment of Inertia of Attachment 2-1D 2-2D 2-D Moment of inertia (x 1 - kg m 2 ) perating time (s/9 ) 2-16D 2-2D Moment of inertia (x 1 - kg m 2 ) perating time (s/9 ) 2-2D 2-2D Moment of inertia (x 1 - kg m 2 ) perating time (s/9 ) 2-2D 2-D Moment of inertia (x 1 - kg m 2 ) perating time (s/9 ) Moment of inertia (x 1 - kg m 2 ) Moment of inertia (x 1 - kg m 2 ) Moment of inertia (x 1 - kg m 2 ) Moment of inertia (x 1 - kg m 2 ) perating time (s/9 ) perating time (s/9 ) perating time (s/9 ) perating time (s/9 ) Moment of inertia (x 1 - kg m 2 ) perating time (s/9 ) -X D- 661 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

7 18 Angular tyle Air Gripper Cam tyle eries 2 ø1, ø16, ø2, ø2 How to rder 2 16 D 2 M9BW Number of fingers 2 2 fingers Bore size 1 1 mm mm 2 2 mm 2 2 mm Made to rder Refer to page 66 for details. Number of auto switches Nil 2 pcs. 1 pc. n n pc. Auto switch Nil Without auto switch (Built-in magnet) For the applicable auto switch model, refer to the table below. Finger option D Action Double acting Nil: tandard tapped mounting 2: Through-holes in opening/closing direction Applicable Auto witch / Refer to pages 761 to 89 for further information on auto switches. Type olid state switch pecial function Diagnosis (2-color indication) Electrical entry Grommet Indicator light Yes Auto switch model Wiring Load voltage Electrical entry direction (utput) DC AC Perpendicular In-line -wire(npn) M9NV M9N V, V -wire(pnp) M9PV M9P 2-wire V M9BV M9B 2 V -wire(npn) M9NWV M9NW V, V -wire(pnp) M9PWV M9PW 2-wire V M9BWV M9BW. (Nil) Lead wire length (m) 1 (M) (L) (Z) Pre-wired connector Applicable load IC circuit IC circuit Relay, PLC Lead wire length symbols:. m Nil (Example) M9NW 1 m M (Example) M9NWM m L (Example) M9NWL m Z (Example) M9NWZ Auto switches marked with a symbol are produced upon receipt of order. Note 1) Take note of hysteresis with 2-color indication type switches. Refer to page 678 for detailed auto switch specifications. 662 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

8 18 Angular tyle Air Gripper Cam tyle eries 2 pecifications Fluid Air perating pressure.1 to.6 MPa Ambient and fluid temperature 1 to 6 C Repeatability ±.2 mm Max. operating frequency 6 c.p.m. Lubrication Not required Action Double acting Auto switch (ption) Note) olid state auto switch (-wire, 2-wire) Note) Refer to pages 761 to 89 for further information on auto switches. JI ymbol Double acting Bore size (mm) 2-1D D D 2 2-2D 2 Note 1) At the pressure of. MPa Note 2) Except auto switch Effective gripping force (1) (N m) pening/closing angle (Both sides) Mass (2) pening side Closing side (g) Refer to How to elect the Applicable on page 68. Refer to pages 68 and 69 for the details on effective holding force and allowable overhanging distance. Made to rder (Refer to pages 68 to 71 for details.) ymbol pecifications/description -X Heat resistance (1 C) -X Fluororubber seal -X Without magnet -X EPDM for seals, Fluorine grease -X6 Fluorine grease -X79 Grease for food -X D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

9 eries 2 Construction Closed condition ø1 ø16 ø2, ø2 r o!8 e w!7 t! r o!8 e!6 w@!7 t! r o!8 e!6 w@!7 t!! u!2 i q!1! y!9! u!2 iq!1! y!9! u!!2 i q!1! y!9 pen condition Component Parts No. q w e r t y u i Description Body Piston Joint Finger Cap Wear ring haft Bushing A Material Note Aluminum alloy Hard anodized ø1: tainless steel ø16 to 2: Chromated ø16 to 2: Aluminum alloy tainless steel Heat treated tainless steel Heat treated Resin Resin tainless steel Nitriding intered alloy steel No. o!!1 Description Bushing B End plate Bumper Material intered alloy steel tainless steel Urethane rubber!2 Needle roller High carbon chrome bearing steel!!!!6 Joint roller Rubber magnet Type C retaining ring Piston bolt Carbon steel ynthetic rubber Carbon steel tainless steel Note Nitriding Nickel plated Replacement Parts eal kit Description Finger assembly Joint assembly 2-D 2-D2 rder 1 piece of finger assembly per one unit. Replacement part/grease pack part no. : MH-G (g) 2-1D 2-16D 2-2D 2-2D Main parts 1-P 16-P 2-P 2-P <ø1>!7!8!9@ <ø16, ø2, ø2>!7!8!9@ -A11 -A161 -A21 -A21 -A11-2 -A A21-2 -A21-2 ro -A -A162 -A22 -A22 <ø1, ø16> e!2 <ø2, ø2> e!2! 66 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

10 18 Angular tyle Air Gripper Cam tyle eries 2 Dimensions 2-1D Pin hole positioning 9 9 x M x. through x M x. thread depth x M x. thread depth 6 H9 +.2 depth 2 x ø. through (Mounting hole) 2 x M x. depth 6 (Limted area for mounting attachment ) Positioning pin hole 2 ø11h9 +. depth M x.8 (Finger opening port) 1 Auto witch Mounting Groove Dimensions 1 M x.8 (Finger closing port) 2 7 ø 2 2-1D2 pening/closing direction through-hole type x ø. through (Hole for mounting attachment) (Limted area for mounting attachment ) 6 -X D- Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

11 eries 2 Dimensions 2-16D Pin hole positioning x M x. through 2 x M x.7 thread depth H9 +.2 depth x M x.7 thread depth 8 2 x M x.7 thread depth 8 (Limted area for mounting attachment ) x ø. through (Mounting hole) 2 Positioning pin hole 8 ø17h9 +. depth M x.8 (Finger opening port) Auto witch Mounting Groove Dimensions 8 18 M x.8 (Finger closing port) 2 7 ø D2 pening/closing direction through-hole type x ø. through (Hole for mounting attachment) (Limted area for mounting attachment ) 1 7 Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. 666 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

12 18 Angular tyle Air Gripper Cam tyle eries 2 2-2D 2 x M x.8 thread depth 8 Pin hole positioning 1 2 x M x.7 through 19 H9 +. depth x M x.8 thread depth x ø. through (Mounting hole) 2 x M x.8 thread depth 1 (Limted area for mounting attachment ) Positioning pin hole ø21h9 +.2 depth M x.8 (Finger opening port) 26 Auto witch Mounting Groove Dimensions 2 M x.8 (Finger closing port) 2 8 ø 2-2D2 pening/closing direction through-hole type 18 x ø. through (Hole for mounting attachment) (Limted area for mounting attachment ) -X D- Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

13 eries 2 Dimensions 2-2D 2 x M6 x 1 thread depth 1 Pin hole positioning 16 2 H9 +. depth x M x.8 through x M6 x 1 thread depth x ø6.6 through (Mounting hole) 2 x M6 x 1 thread depth (Limted area for mounting attachment ) 6 2 Positioning pin hole 6 8 ø26h9 +.2 depth M x.8 (Finger opening port) Auto witch Mounting Groove Dimensions 2 1 M x.8 (Finger closing port) 2 8 ø 2-2D2 pening/closing direction through-hole type 6 x ø. through (Hole for mounting attachment) (Limted area for mounting attachment ) 22. Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. 668 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

14 18 Angular tyle Air Gripper Rack & Pinion tyle eries 2 ø2, ø2, ø2, ø, ø How to rder 2 2 D 1 M9BW Number of fingers 2 2 fingers Made to rder Refer to page 67 for details. Bore size 2 2 mm 2 2 mm 2 2 mm mm mm Port thread type ymbol Type ize Nil M thread ø2, ø2 Rc ø2 TN TF NPT G ø ø Finger option Nil: Flat type fingers (tandard) Number of auto switches Nil 2 pcs. 1 pc. n n pc. Auto switch Nil Without auto switch (Built-in magnet) For the applicable auto switch model, refer to the table below. 1: Right angle type fingers tapped mounting D Action Double acting Applicable Auto witch / Refer to pages 761 to 89 for further information on auto switches. Type olid state switch pecial function Diagnosis (2-color indication) Electrical entry Grommet Indicator light Yes Lead wire length symbols:. m Nil (Example) M9NW 1 m M (Example) M9NWM m L (Example) M9NWL m Z (Example) M9NWZ Auto switch model Wiring Load voltage Electrical entry direction (utput) DC AC Perpendicular In-line -wire(npn) M9NV M9N V, V -wire(pnp) M9PV M9P 2-wire V M9BV M9B 2 V -wire(npn) M9NWV M9NW V, V -wire(pnp) M9PWV M9PW 2-wire V M9BWV M9BW Note 1) Take note of hysteresis with 2-color indication type switches.. (Nil) Lead wire length (m) 1 (M) (L) (Z) Pre-wired connector Applicable load IC circuit IC circuit Relay, PLC Auto switches marked with a symbol are produced upon receipt of order. -X D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

15 eries 2 pecifications Fluid perating pressure Ambient and fluid temperature Repeatability Air.1 to.7 MPa 1 to 6 C ±.2 mm Max. operating frequency Lubrication Action Auto switch (ption) Note) ø2, 2: 6 c.p.m. ø2 to : c.p.m. Not required Double acting olid state auto switch (-wire, 2-wire) Note) Refer to pages 761 to 89 for further information on auto switches. JI ymbol Double acting Made to rder (Refer to pages 68 to 71 for the details.) ymbol pecifications/description -X Heat resistance -X Fluororubber seal -X Without magnet -X EPDM for seals, Fluorine grease -X6 Fluorine grease -X79 Grease for food Bore size (mm) 2-2D 2 2-2D1 2-2D 2 2-2D1 2-2D 2 2-2D1 2-D 2-D1 2-D 2-D1 Note 1) At the pressure of. MPa Note 2) Except auto switch Effective gripping force (N m) pening angle (Both sides) Mass (2) pening Closing (g) Refer to How to elect the Applicable on page 68 Refer to pages 68 and 69 for the details on effective holding force and allowable overhanging distance. Precautions Be sure to read before handling. Refer to front matters 8 and 9 for afety Instructions and pages 8 to 6 for Air Gripper and Auto witch Precautions. Mounting Warning When using right angle finger tap mounting type, monitor the interference of the bolt with the speed controller. Tighten the bolt from this side Finger Bolt interferes with speed controller 67 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

16 18 Angular tyle Air Gripper eries 2 Construction Closed condition! o t!8 i!9!!7!! u y q e pen condition Component Parts No. q w e r t y u i o Description Body Piston Pinion gear eal cover Bumper Finger (A) Finger (B) Rubber magnet Rack Replacement Parts Description eal kit Piston assembly Finger assembly 2-D 2-D1 Material Aluminum alloy Aluminum alloy Carbon steel Brass Urethane rubber Carbon steel Carbon steel ynthetic rubber Carbon steel Note Hard anodized Hard anodized Heat treated Nitriding Nitriding Nitriding No.!!1!2!!!!6!7 Cap Description Piston bolt Ball bearing Key Hexagon socket head bolt Hexagon socket cap screw Type C retaining ring Type C retaining ring 2-2D P -A21 -A22 -A22-1 Please order 1 piece finger assembly per one unit. Replacement part/grease pack part no. : ø2, 2 : GR--(g) ø2 : GR--1(1g) ø, : GR--2(2g) 2-P -A21 -A22 -A P -A21 -A22 -A22-1 -P -A1 -A2 -A2-1 Material Note ø2, 2: Resin ø2 to : Aluminum alloy Hard anodized tainless steel Carbon steel chield type Carbon steel Carbon steel Nickel plated Carbon steel Nickel plated Carbon steel Nickel plated Carbon steel Nickel plated -P -A1 -A2 -A2-1 Main parts!8!9@@1@2 wtio!1@2 yu!!! 671 -X D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

17 eries 2 Dimensions 2-2D Flat finger type (tandard) x M x.8 thread depth 7 x M x.8 thread depth 1 Bottom through hole dia..2 (Mounting hole) 2 x M x.8 thread depth x M x.7 thread depth M x.8 (Finger closing port) Auto witch Mounting Groove Dimensions ø21h9 +.2 depth 2 9 M x.8 (Finger opening port) 2-2D1 Right angle finger type x M x.7 through Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

18 18 Angular tyle Air Gripper eries 2 Dimensions 2-2D Flat finger type (tandard) x M6 x 1 thread depth 1 x M6 x 1 thread depth Bottom through hole dia..1 (Mounting hole) 2 x M6 x 1 thread depth x M x.8 thread depth M x.8 (Finger closing port) Auto witch Mounting Groove Dimensions ø26h9 +.2 depth M x.8 (Finger opening port). 2-2D1 Right angle finger type X x M x.8 through 1 21 D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

19 eries 2 Dimensions 2-2D Flat finger type (tandard) x M6 x 1 thread depth x M6 x 1 thread depth Bottom through hole dia..1 (Mounting hole) 2 x M6 x 1 thread depth x M6 x 1 thread depth Rc 1/8 (G1/8, NPT1/8) (Finger closing port) øh depth Auto witch Mounting Groove Dimensions 2-2D1 Right angle finger type 2 1 Rc 1/8 (G1/8, NPT1/8) (Finger opening port) x M6 x 1 through Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

20 18 Angular tyle Air Gripper eries 2 Dimensions 2-D Flat finger type (tandard) x M8 x 1.2 thread depth 1 x M8 x 1.2 thread depth 16 Bottom through hole dia. 6.8 (Mounting hole) 2 x M8 x 1.2 thread depth x M8 x 1.2 thread depth Rc 1/8 (G1/8, NPT1/8) (Finger closing port) 6 6 ø2h depth Auto witch Mounting Groove Dimensions. 1 Rc 1/8 (G1/8,NPT1/8) (Finger opening port) 1 2-D1 Right angle finger type X x M8 x 1.2 through 26 6 D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

21 eries 2 Dimensions 2-D Flat finger type (tandard) x M1 x 1. thread depth 2 x M1 x 1. thread depth 2 Bottom through hole dia. 8. (Mounting hole) 2 x M1 x 1. thread depth x M1 x 1. through Rc 1/ (G1/, NPT1/) (Finger closing port) 66 ø2h9 +.7 depth Auto witch Mounting Groove Dimensions Rc 1/ (G1/, NPT1/) (Finger opening port) D1 Right angle finger type x M1 x 1. through Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

22 eries 2/2 Auto witch Installation Examples and Mounting Positions Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. Detection when Gripping Exterior of Workpiece Detection example 1. Confirmation of the fingers in reset position 2. Confirmation of work held Position of fingers fully opened Position when gripping a workpiece Position to be detected peration of auto switch Auto witch turned N when fingers return. (Light N) Auto witch turned N when gripping a workpiece. (Light N) How to determine auto switch installation position tep 1) Completely open the fingers. tep 1) Position fingers for gripping a workpiece. At no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. tep 2) Insert the auto switch into the switch groove in the direction shown in the drawing. tep 2) Insert the auto switch into the switch groove in the direction shown in the drawing. tep ) lide the auto switch in the direction of the arrow until the indicator light illuminates. tep ) lide the auto switch in the direction of the arrow until the indicator light illuminates. Move the switch further. to. mm in the direction of the arrow and fasten it. In the case of 2-color indicator type, fasten it at the location when the indicator light color changes from red to green. tep ) lide the auto switch further in the direction of the arrow until the indicator light goes out. Position where light turns N. to. mm tep ) Move the auto switch in the opposite direction and fasten until the indicator light illuminates. Move the switch further. to. mm In case of 2-color indicator type, fasten it at the location when the indicator light color changes from red to green. Position where light turns N Position to be secured -X Position to be secured. to. mm D- Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

23 eries 2 Auto witch Mounting To set the auto switch, insert the auto switch into the installation groove of the gripper from the direction indicated in the following drawing. After setting the position, tighten the attached auto switch mounting set screw with a flat head watchmaker s screwdriver. Protrusion of Auto witch from Edge of Body The projection of an auto switch from the edge of the body is shown in the table below. Use the table as a guideline for mounting. Note) 2-color indicator type and perpendicular entry type protrude in the direction of the lead wire entry. Flat head watchmaker s screwdriver ø to ø6 L When auto switch D-M9 is used Auto switch mounting screw M2. x l Auto switch L Note) Use a watchmaker s screwdriver with a grip diameter of to 6 mm to tighten the auto switch mounting screw. The tightening torque should be about. to.1 N m. When auto switch D-M9V is used Refer to the page 766 for the details on Auto witches Connection and Example. Auto witch Hysteresis Auto switches have hysteresis similar to micro switches. Use the table below as a guide when adjusting auto switch positions, etc. Auto switch reset position (FF) Max. Protrusion of Auto witch from Edge of Body (L) Auto switch model Air gripper model 2-1D 2-16D 2-2D 2-2D (mm) Protrusion In-line Perpendicular D-M9 D-M9V D-M9W D-M9WV 1 1 Hysteresis Auto switch operating position (N) Hysteresis Auto switch reset position (FF) Auto switch operating position (N) D-M9W(V) D-M9(V) Red light at N Green light at N 2-1D Finger fully closed Finger fully open D Finger fully closed Finger fully open 6 2-2D Finger fully closed Finger fully open 2-2D Finger fully closed Finger fully open Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

24 18 Angular tyle Air Gripper eries 2 Auto witch Mounting (1) Insert the auto switch bracket into the installation groove of the gripper as shown below and roughly set it. (2) Insert the auto switch into the auto switch bracket installation groove. () After confirming the detecting position, tighten the set screws (M2.) attached to the auto switch and set it. () Be sure to change the detecting position in the state of (2). Handling of Mounting Brackets When auto switch is set on mounting side as shown below, allow at least 2 mm run off space on mounting late since the auto switch is protruded from the gripper edge. Run off space 2 mm or more Auto switch mounting bracket Hysteresis Auto switch Air gripper model model 2-2D 2-2D 2-2D 2-D 2-D Auto switch Air gripper model model 2-2D 2-2D 2-2D 2-D 2-D Auto witch Mounting Bracket: Part No. Auto switch part no. D-M9(V)/M9W(V) Auto switch operating position (N) Auto switch reset position (FF) D-Y9/Y69 D-Y7P(V)/Y7W(V) Max. hysteresis (Max. value) D-M9(V) D-M9W(V) Auto switch mounting bracket part no. BMG2- Note) Use a screwdriver with a grip diameter of to 6 mm to tighten the set screws (M2.). The tightening torque should be. to 1 N m. As a rule, it should be turned about 9 beyond the point at which tightening can be felt. Auto witch Hysteresis Auto switches have hysteresis similar to micro switches. Use the table below as a guide when adjusting auto switch positions, etc. Protrusion of Auto witch from Edge of Body The maximum protrusion of an auto switch (when fingers are fully closed) from the edge of the body is shown in the table below. Use the table as a guideline for mounting. When auto switches A D-M9/M9W/Y9 B D-Y7, Y7W are used When auto switches D-M9V/M9WV/Y69 D-Y7V, Y7WV are used Max. Protrusion of Auto witch from Edge of Body (L) Auto switch model Air gripper model 2-2D 2-2D 2-2D 2-D 2-D 2-2D 2-2D 2-D 2-D Auto switch model Air gripper model 2-2D A B (mm) Protrusion (mm) In-line electrical entry type Perpendicular electrial entry type D-Y9/Y7P/Y7W D-M9/M9W L L D-Y69/Y7PV/Y7WV 2 1 (mm) Protrusion (mm) In-line electrical entry type Perpendicular electrial entry type D-M9V/M9WV 2 1 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8) X D-

25 eries 2/2 pecific Product Precautions 1 Be sure to read before handling. Possible to mount from directions. Axial Mounting (Body Tapped) Mounting Air Grippers/eries 2 Lateral mounting (Body Tapped, Body through-hole) Vertical Mounting (Body Tapped) Body tapped Use the hole at the end of the body for positioning, etc. 2-1D 2-16D 2-2D 2-2D Max. tightening Applicable bolts torque (N m) M x..88 M x M x.8. M6 x 1 7. Max. screw-in depth (lmm) D 2-16D 2-2D 2-2D Applicable bolts M x. M x.7 M x.8 M6 x 1 Max. tightening torque (N m) Max. screw-in depth (lmm) 8 1 Applicable bolts 2-1D M x. 2-16D M x.7 2-2D M x.8 2-2D M6 x 1 Max. tightening torque (N m) Max. screw-in depth (lmm) Body through-hole How to Mount the Attachment to the Finger Bore(mm) Hole depth (mm) 2-1D 2-16D 2-2D 2-2D ø11h9 ø17h9 ø21h9 ø26h D 2-16D 2-2D 2-2D Applicable bolts M x. M x.7 M x.8 M6 x 1 Max. tightening torque (N m) Attachment (1) To mount the attachment to the finger, make sure to use a wrench to support the attachment so as not to apply undue strain on the finger. (2) Refer to the table below for the proper tightening torque on the bolt used for securing the attachment to the finger. 2-1D 2-16D 2-2D 2-2D Applicable bolts M x. M x.7 M x.8 Max. tightening torque (N m) Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)

26 eries 2/2 pecific Product Precautions 2 Be sure to read before handling. Possible to mount from directions. Axial Mounting (Body Tapped) Mounting Air Grippers/eries 2 Lateral mounting (Body Tapped, Body through-hole) Vertical Mounting (Body Tapped) Body tapped 2-2D 2-2D 2-2D 2-D 2-D Applicable bolts M x.8 M6 x 1 M6 x 1 M8 x 1.2 M1 x 1. Use the hole at the end of the body for positioning, etc. Max. tightening torque (N m) Max. screw-in depth (lmm) D 2-2D 2-2D 2-D 2-D Applicable bolts M x.8 M6 x 1 M6 x 1 M8 x 1.2 M1 x 1. Body through-hole Max. tightening torque (N m) Max. screw-in depth (lmm) D 2-2D 2-2D 2-D 2-D Applicable bolts M x.8 M6 x 1 M6 x 1 M8 x 1.2 M1 x 1. Max. tightening torque (N m) Max. screw-in depth (lmm) How to Mount the Attachment to the Finger Bore(mm) Hole depth (mm) Attachment 2-2D 2-2D 2-2D 2-D 2-D ø21h9 ø26h9 øh9 ø2h9 ø2h D 2-2D 2-2D 2-D 2-D Applicable bolts M x.7 M x.8 M x.8 M6 x 1 M8 x 1.2 Max. tightening torque (N m) Finger (1) To mount the attachment to the finger, make sure to use a wrench to support the attachment so as not to apply undue strain on the finger. (2) Refer to the table below for the proper tightening torque on the bolt used for securing the attachment to the finger. 2-2D 2-2D 2-2D 2-D 2-D Applicable bolts M x.7 M x.8 M6 x 1 M8 x 1.2 M1 x 1. Max. tightening torque (N m) X D- 681 Courtesy of teven Engineering, Inc.-2 Ryan Way, outh an Francisco, CA Main ffice: (6) utside Local Area: (8)