Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Grppng force Fnger length M x max. 40 Nm M y max. 60 Nm M z max. 40 Nm F z max. 1100 N Fnger length The ndcated moments and forces are statc values, apply per base jaw and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. If the max. permtted fnger weght s exceeded, t s mpreatve to throttle the ar supply so that the jaw movement occurs wthout any httng or bouncng. Servce lfe may be reduced. Techncal data Descrpton -1-2 -1-AS -2-AS -1-IS -2-IS ID 0371090 0371091 0371092 0371093 0371094 0371095 Stroke per jaw [mm] 6 3 6 3 6 3 Closng- / openng force [N] 250/270 520/565 340/- 710/- -/360 -/755 mn. sprng force [N] 90 190 90 190 Weght [kg] 0.28 0.28 0.37 0.37 0.37 0.37 Recommended workpece weght [kg] 1.25 2.6 1.25 2.6 1.25 2.6 Flud consumpton per double stroke [cm³] 10 10 17 17 21 21 mn. / max. operatng pressure [bar] 2.5/8 2.5/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] 6 6 6 6 6 6 Closng- / openng tme [s] 0.03/0.03 0.03/0.03 0.02/0.04 0.02/0.04 0.04/0.02 0.04/0.02 Closng- / openng tme only wth sprng [s] 0.08 0.08 0.08 0.08 max. permtted fnger length [mm] 90 85 85 80 85 80 max. permtted weght per fnger [kg] 0.35 0.35 0.35 0.35 0.35 0.35 IP class 40 40 40 40 40 40 mn. / max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] 0.01 0.01 0.01 0.01 0.01 0.01 Cleanroom class ISO 14644-1 5 5 5 5 5 5 Optons and ther characterstcs Dust-tght verson 37371090 37371091 37371092 37371093 37371094 37371095 IP class 64 64 64 64 64 64 Weght [kg] 0.35 0.35 0.44 0.44 0.44 0.44 Ant-corroson verson 38371090 38371091 38371092 38371093 38371094 38371095 Hgh-temperature verson 39371090 39371091 39371092 39371093 39371094 39371095 mn. / max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson 0372090 0372091 0372092 0372093 Closng- / openng force [N] 450/485 935/1015 540/- -/575 Weght [kg] 0.35 0.35 0.43 0.43 Maxmum pressure [bar] 6 6 6 6 max. permtted fnger length [mm] 80 64 64 64 Precson verson 0371122 0371172 0371422 0371437 The full grppng force accordng to the data table s only realsed after around 100 grppng cycles. 306
Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on Accessores ). Maxmum permtted fnger projecton y A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton (0.5... 1 bar) 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part IT MMS 22... sensor IK IN... sensor z Permtted range Inadmssble range The curve apples for the base verson (Stroke -1). For other versons, the curve must be offset n parallel correspondng to the max. permssble fnger length. 307
Hose-free drect connecton M3 Grppng force mantenance devce AS / IS 3 Adapter 4 Grpper The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. AT Projecton apples only for AS verson The mechancal mantenance of grppng force also assures a mnmum grppng force n the case of a loss of pressure. Wth the AS / S varant, ths acts as a closng force, and as an openng force for the IS varant. The mantenance of grppng force element can also be used as a means for ncreasng grppng force or for sngle actuated grppng. 308
Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK For KVZ verson The dust-protecton opton ncreases the degree of protecton aganst penetratng substances. The screw connecton dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ power booster cylnder ncreases grppng forces for openng and closng. A second pston connected n a seres ncreases the force on the dagonal pull for ths purpose. If applcable, observe the addtonal nstallaton heght for combnaton wth an element for mantenance of grppng force. Precson verson BT For AS / IS verson GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part The ndcated tolerances just refer to the types of precson versons shown n the chart of techncal specfcatons. All other types of precson versons are avalable on request. 309
SDV-P pressure mantenance valve HUE protectve cover 4 Grpper IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valves ensure that the pressure n the pston chamber of pneumatc grppng, rotary, lnear, and quck-change modules s mantaned temporarly durng an emergency stop. Descrpton ID Pressure mantenance valve SDV-P 04 0403130 9 For mountng screw connecton dagram, see basc verson The HUE protectve cover completely protects the grpper aganst external nfluences up to IP65 f an addtonal sealng of the cover bottom s provded as part of the applcaton. The mountng dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class IP class ISO 14644-1 Protecton cover HUE 0371480 2 65 310
BSWS jaw quck-change systems ZBA L-plus 64 ntermedate jaws 4 Grpper IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grppers. For detaled nformaton, refer to the approprate product. Descrpton ID Jaw quck-change system adapter BSWS-AR 64 0300092 BSWS-A 64 0303022 Jaw quck-change system base BSWS-B 64 0303023 Fnger blanks wth jaw quck-change system BSWS-ABR-PGZN-plus 64 0300072 BSWS-SBR-PGZN-plus 64 0300082 Jaw quck-change system reversed BSWS-UR 64 0302991 2 Fnger connecton EP Included n delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part HK Not ncluded n the scope of delvery Optonally ntermedate jaws can be used, enablng drect connecton and algnment of top jaws and varous standard accessores n Z-drecton. Descrpton ID Materal Scope of delvery Intermedate jaws ZBA-L-plus 64 0311722 Alumnum 1 Only the systems lsted n the table can be used. 311
UZB 64 unversal ntermedate jaw FMS-ZBA / ZBP 64 force-measurng jaws 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part The unversal ntermedate jaw allows fast tool-free and relable pluggng and shftng of top jaws at the grpper. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB 64 0300042 1.5 Fnger blanks ABR-PGZN-plus 64 0300010 SBR-PGZN-plus 64 0300020 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part IT Actve ntermedate jaws IK Passve ntermedate jaws Force measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A control unt and a FMS-AK connecton cable are requred. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA 64 0301832 Passve ntermedate jaws FMS-ZBP 64 0301833 Connecton cables FMS-AK0200 0301820 FMS-AK0500 0301821 FMS-AK1000 0301822 FMS-AK2000 0301823 Electronc processor FMS-A1 0301810 312
ABR- / SBR-PGZN-plus 64 fnger blanks OAS- object dstance sensor 2 Fnger connecton GL Ft for centerng sleeves Fnger blanks for customzed subsequent machnng. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus 64 0300010 Alumnum 1 SBR-PGZN-plus 64 0300020 16MnCr5 1 Descrpton ID Object dstance sensor OAS- 0308877 Object dstance sensor Attachment valves IT OAS Optcal dstance and presence sensor for drect mountng on the grpper. One OAS sensor per grpper can be assembled. Descrpton ID Object dstance sensor OAS- 0308877 Electronc processor OAS-V09-D 0308865 OAS-V10-A 0308867 OAS-V10-D 0308866 The evaluaton of the OAS can be done wth ether an analog or dgtal evaluaton unt and wth or wthout a dsplay. The states whch should be detected can be smply taught. 4 Grpper AS Ar connecton DR Hose EP Included n delvery ES Montorng grppng For each unt one attachment valve ABV s requred, optonal wth dstrbutor for sensors and valves. Attachment valves ncrease the effcency, reduce the nstallaton work and ar consumpton and smplfy ar supply. For detals please refer to the Accessores catalog secton. Descrpton ID Often combned Attachment valves ABV-MV15-M5 0303323 ABV-MV15-M5-V2-M8 0303386 ABV-MV15-M5-V4-M8 0303356 ABV-MV15-M5-V8-M8 0303357 313
Modular assembly automaton VB- valve box 4 Grpper IT CLM / KLM / LM / ELM / ELS / HLM lnear module IK ASG adapter plate Grpper and lnear modules can be combned wth standard adapters out of the modular assembly system. For more nformaton see our catalog Modular Assembly Automaton. AS Ar connecton ET Electrcal connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part Descrpton ID Valve box VB- 0310092 IT Power supply IK Valve swtched b for grpper opened IL Valve swtched a for grpper opened IM Valve swtched a and b 314
Valve box Inductve proxmty swtches 4 Grpper AS Ar connecton ET Electrcal connecton IT Power supply IK Valve swtched b for grpper opened IL Valve swtched a for grpper opened IM Drect connecton for hose-free compressed ar supply Ready to nstall, local control soluton! Valves are attached drectly to the handlng component. As a result, cycle tmes are sgnfcantly reduced and the number of hoses, commssonng tmes, and ar consumpton are mnmsed whle maxmum process safety s assured. Descrpton ID Often combned Valve box VB- 0310092 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 Clp for plug / socket CLI-M8 0301463 Valve and sensor sgnals of the unt can be merged on a bus dstrbutor so that the electrcal as well as the pneumatc connectons can be decentralzed. IT IN... sensor Drectly mounted lmt poston montor. IK IN...-SA sensor Descrpton ID Often combned Inductve proxmty swtches IN 80-S-M12 0301578 IN 80-S-M8 0301478 INK 80-S 0301550 Inductve proxmty swtches wth lateral outlet IN 80-S-M12-SA 0301587 IN 80-S-M8-SA 0301483 INK 80-S-SA 0301566 Cable extensons KV BG12-SG12 3P-0030-PNP 0301999 KV BG12-SG12 3P-0060-PNP 0301998 KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 KV BW12-SG12 3P-0030-PNP 0301595 KV BW12-SG12 3P-0100-PNP 0301596 KV BW12-SG12 3P-0200-PNP 0301597 Clp for plug / socket CLI-M12 0301464 CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BG12-L 3P-0500-PNP 30016369 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 KA BW12-L 3P-0300-PNP 0301503 KA BW12-L 3P-0500-PNP 0301507 Sensor dstrbutor V2-M8 0301775 V2-M12 0301776 V4-M12 0301747 V4-M8 0301746 Two sensors (closer/s) are requred for each unt, plus extenson cables as an opton. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. 315
Flexble poston sensor MMS electronc magnetc swtches IT FPS-S sensor IK FPS-F5 / -F5 T electronc processor IL Cable extensons Flexble poston montorng of up to fve postons. Descrpton ID Often combned Mountng kt for FPS AS-FPS-PGZN-plus 64-1/80-2 0301630 Electronc processor FPS-F5 0301805 FPS-F5 T 0301807 Sensor FPS-S M8 0301704 Clp for plug / socket CLI-M8 0301463 When usng a FPS system, a FPS sensor (FPS-S) and a control unt (FPS-F5 / F5 T) are requred for each grpper as well as a mountng kt (AS), f lsted. Cable extensons (KV) are avalable as optons n the Accessores catalog secton. IT MMS 22... sensor IK MMS 22...-SA sensor End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc dwtches MMS MMS 22-S-M8-PNP 0301032 MMSK 22-S-PNP 0301034 MMS electronc magnetc swtches wth lateral cable outlet MMS 22-S-M8-PNP-SA 0301042 MMSK 22-S-PNP-SA 0301044 Cable extensons KV BW08-SG08 3P-0030-PNP 0301495 KV BW08-SG08 3P-0100-PNP 0301496 KV BW08-SG08 3P-0200-PNP 0301497 Clp for plug / socket CLI-M8 0301463 Connecton cables KA BG08-L 3P-0300-PNP 0301622 KA BG08-L 3P-0500-PNP 0301623 KA BW08-L 3P-0300-PNP 0301594 KA BW08-L 3P-0500-PNP 0301502 Sensor dstrbutor V2-M8 0301775 V4-M8 0301746 V8-M8 0301751 Two sensors (closer/s) are requred for each unt, plus extenson cables as an opton. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. 316
MMS PI1 programmable magnetc swtches MMS PI2 programmable magnetc swtches IT MMS 22...-PI1-... sensor IK MMS 22...-PI1-...-SA sensor Poston query wth one programmable poston per sensor and electroncs ntegrated n sensor. Programmable va MT magnet teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). Lmt poston query mounted n C-groove. If the ST plug teachng tools are lsted n the table, teachng can only take place wth the ST plug teachng tools. Descrpton ID Often combned MMS PI1 programmable magnetc swtches MMS 22-PI1-S-M8-PNP 0301160 MMSK 22-PI1-S-PNP 0301162 MMS PI1-HD programmable magnetc swtches wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD 0301110 MMSK 22-PI1-S-PNP-HD 0301112 MMS PI1 programmable magnetc swtches wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA 0301166 MMSK 22-PI1-S-PNP-SA 0301168 Two sensors (closer/s) are requred for each unt, plus extenson cables as an opton. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. Connecton cable, cable extensons, and sensor dstrbutors can be found n the table for the MMS 22. IT MMS 22...-PI2-... sensor Poston query wth two programmable postons per sensor and electroncs ntegrated n sensor. Programmable va MT magnet teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). Lmt poston query mounted n C-groove. If the ST plug teachng tools are lsted n the table, teachng can only take place wth the ST plug teachng tools. Descrpton ID Often combned MMS PI2 programmable magnetc swtches MMS 22-PI2-S-M8-PNP 0301180 MMSK 22-PI2-S-PNP 0301182 MMS PI2-HD programmable magnetc swtches wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD 0301130 MMSK 22-PI2-S-PNP-HD 0301132 Per unt one sensor (closer/s) s requred, optonally a cable extenson. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. Connecton cable, cable extensons, and sensor dstrbutors can be found n the table for the MMS-P 22. 317
MMS-P programmable magnetc swtches APS-Z80 analog poston sensor GN Stop for MMS-P Poston montorng wth two programmable postons per sensor. The end poston montorng s mounted n the C-slot. Descrpton ID Often combned MMS-P programmable magnetc swtches MMSK-P 22-S-PNP 0301371 MMS-P 22-S-M8-PNP 0301370 Clp for plug / socket CLI-M8 0301463 Connecton cables KA BG08-L 4P-0500 0307767 KA BG08-L 4P-1000 0307768 KA BW08-L 4P-0500 0307765 KA BW08-L 4P-1000 0307766 Sensor dstrbutor V2-M8-4P-2XM8-3P 0301380 Contactlessly measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus 64-1 0302105 AS-APS-Z80-PGZN-plus 64-2 0302106 Sensor APS-Z80-K 0302072 APS-Z80-M8 0302070 When usng an APS system, one mountng kt (AS-APS-Z80) and one APS-Z80 sensor s requred per grpper. MMS-A analog poston sensor Per unt one sensor (closer/s) s requred, optonally a cable extenson. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. GN Stop for MMS-P Contactlessly measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-05V-M08 0315800 MMS 22-A-10V-M08 0315820 One sensor s needed for each grpper. No addtonal mountng kt s needed the standard grpper s equpped for use of the MMS-A. 318
APS-M1 analog poston sensor Cylndrcal reed swtches IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons. Descrpton ID Often combned Mountng kt for APS-M1 AS-APS-M1-PGZN-plus 64-1 0302075 AS-APS-M1-PGZN-plus 64-2 0302076 Connecton cables APS-K0200 0302066 APS-K0700 0302068 Electronc processor APS-M1E 0302064 Sensor APS-M1S 0302062 Lmt poston montor can be mounted wth mountng kt. Descrpton Mountng kt for proxmty swtch AS-RMS 80 PGN/PZN-plus 64/80 0377725 Reed swtches RMS 80-S-M8 0377721 ID Two sensors (closer/s) are requred for each unt, plus extenson cables as an opton. Ths mountng kt needs to be ordered optonally as an accessory. Two mountng kts are requred per grpper. Please note the mnmum permtted bendng rad for the sensor cables, whch are generally 35 mm. When usng an APS system, for each grpper a mountng kt (AS-APS- M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. 319