FIPA End-of-Arm-Tooling

Transcription

1 213.GR6-ER English February 213 FIPA End-of-Arm-Tooling Addendum Version 1 pa.com

2 Editorial Only those who think ahead stay ahead Competence End-of-Arm-Tooling Based in Ismaning near Munich, FIPA is an international company, operating in the fields of Vacuum Technology and End-of-Arm-Tooling. We specialise in developing and marketing quality products and innovative solutions for all aspects of material flow systems and Pick & Place. The clearly-defined company profile and continuous orientation of FIPA to our customers requirements ensure constant growth, technological development and qualitative improvement of our range of goods and services. In order to keep you informed of significant product developments, please find herewith the supplement to our catalogue End-of-Arm-Tooling, published in March 212. Best regards, Rainer Mehrer, CEO of FIPA Quick-change systems Extrusion systems Grippers Linear components

3 Quick-change systems Series SR Round quick-change system, Ø 9-mm robot side Round quick-change system, Ø 9-mm robot side SR9-A-MV with integrated micro valves for automatic interruption of compressed air supply during disassembly of the quick changer Product Description > Quick manual replacement of grippers on robots > Correct alignment of air connections ensured at all times > SR9-A-MV with integrated micro-valves for automatic interruption of compressed-air supply during de-coupling Ordering notes > On request also available in stainless steel (standard material: aluminium) Technical Data Max. lifting force [kg] Number of pneumatic Max. working pressure [bar] Max. working vacuum [bar] Max. torque [Nm] Max. bending moment [Nm] Repeat accuracy [mm] Weight [g] connections SR9-A 4 8xG1/ /-,25 32 SR9-A-MV 4 8xG1/ /-,25 32 Dimensions 3,75 16 M3 (2x) G1/8 (8x) Ø 6 M8 / Ø11-6,5 (3x) 69 22,5 35 * Ø 2 H7-4, Ø 9 Ø 18 53, * = Conical fixing screw for zero tolerance between the parts A and B after connection of robot and gripper side (not pictured)

4 Extrusion systems Connectors Angle connector Angle connector Stable connection between two extrusions, can be used flexibly Product Description > For 9 connection > No overlapping of the extrusion necessary > No drilling necessary Technical Data Weight [g] Suitable for extrusion system GR SLine, MLine GR SLine, MLine GR XLine GR XLine Dimensions B A A [mm] B [mm] GR GR GR

5 Grippers Sprue grippers Grippers - Series 1 Grippers - Series 1 Reliable sprue gripper for injection moulding GR4.1 und GR4.11A GR4.11A: EXTENSIVE SENSOR ACTIVATION GR4.12 und GR4.13 Product Description > Versatile use due to compact shape and large jaw opening > Maximum reliability thanks to high closing force and robust construction > High wear resistance due to Hartcoat treated surface > GR4.1: Safe gripping of flat sprues due to 1% gap-free closing gripper jaws > GR4.11A: High process safety due to large area sensor actuation > Gentle gripping due to replaceable gripper jaws for GR4.13 Ordering notes > GR4.11A and GR4.11A/NPN: Sensor and,3 m with 3-pole M8 connector cable included in delivery Technical Data Principle of Sensor Closing force at 6 Operating pressure Weight [g] Suitable accessories operation bar [N] [bar] GR4.1 Single , GR4.11A Single Yes 22 2, Sensor GR4.23P (Page 166) Connector cable 2.53 (Page 174) GR4.11A/ NPN Single Yes 22 2, GR4.12 Double , GR4.13 Single -- * 2, Sensor GR4.23N (Page 166) Connector cable 2.53 (Page 174) Wiring diagram sensors GR4.23P GR4.23N MAIN CIRCUIT BN BK BU RL + Power - MAIN CIRCUIT BN BK BU RL + Power - BN = Brown, BK = Black, BU = Blue

6 Grippers Sprue grippers Grippers - Series 1 Extensive sensor activation GR4.11A and GR4.11A/NPN Dimensions M5 E K ØA M5 E K Ø A C F D D R M5 L M M5 S L M N N I J G1 G B I B G1 GR4.1 GR4.11A/NPN GR4.11A M5 E K ØA 1 M5 E K ØA 1 L F C C DM5 H M 1 D FM5 L M I J G1 G B N O P I J Q M4 G1 G B N GR4.12 * = The closing force depends on the geometry of the gripper jaws. 1 = Compressed air connection GR4.13 ØA B C D E F G G1 I J K L M N O P R S [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] mm] [mm] GR , ,5 GR4.11A , GR4.11A/NPN , GR , GR , ,

7 Active gripping elements Sprue grippers Grippers - Series 13 with sensor NEW Grippers - Series 13 Powerful sprue gripper for injection moulding Series 13 without sensor Series 13 with sensor Product Description > Very high gripping force due to direct power transfer from the pneumatic pistons to the gripper jaws > High wear resistance due to Hartcoat treated body and gripper jaws > Broad jaw opening for thick sprues > GR4.131A, B, D and E are self-centering and, if required, can be very easily converted to non-self-centering > GR4.131D and E: Large area sensor operation > GR4.131A, B, D and E simple installation/removal of the gripper jaws without snap ring > Gentle gripping thanks to replaceable gripper jaws for GR4.13C Technical Data Principle of Closing force at Operating Weight [g] Connection type Sensor Suitable accessories operation 6 bar [N] pressure [bar] GR4.131A Single 95 2, GR4.131B Single 95 2, GR4.13C Single * 2, GR4.131D Single PNP Yes Extension tube GR6.22 Connector cable 2.53 Sensor GR4.13-S1 GR4.131D/NPN Single NPN Yes Extension tube GR6.22 Connector cable 2.53 Sensor GR4.13-S2 GR4.131E Single PNP Yes Extension tube GR6.22 Connector cable 2.53 Sensor GR4.13-S1 GR4.131E/NPN Single NPN Yes Extension tube GR6.22 Connector cable 2.53 Sensor GR4.13-S2 GR4.13F Single 95 2, PNP Yes Extension tube GR6.22 Connector cable 2.53 Sensor GR4.111A-Sensor Mounting construction of the gripper jaws without snap ring GR4.131A GR4.131B GR4.131D GR4.131D/NPN GR4.131E GR4.131E/NPN

8 Active gripping elements Sprue grippers Grippers - Series 13 with sensor Dimensions Ø D G2 G1 ØD G2 G1 1 B F E F B E H1 H A I C H1 H A I C GR4.131E GR4.131E/NPN * = The closing force depends on the geometry of the gripper jaws. 1 = Compressed air connection GR4.13F A B C ØD d1 E F G1 G2 G3 H H1 I J K L [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] GR4.131A 38, ,5 G1/8 M17x , GR4.131B 38, ,5 G1/8 M17x GR4.13C 46, G1/8 M17x1 M ,5 GR4.131D 38, ,5 G1/8 M17x , GR4.131D/NPN 38, ,5 G1/8 M17x , GR4.131E 38, ,5 G1/8 M17x , GR4.131E/NPN 38, ,5 G1/8 M17x , GR4.13F ,5 G1/8 M17x

9 Active gripping elements Sprue grippers Grippers - Series 13 with sensor Extensive sensor activation GR4.131D GR4.131D/NPN GR4.131E GR4.131E/NPN Dimensions Ø D G2 G1 ØD G2 G1 B F E B F E B L ØD A H A H1 GR4.131A E d1 G3 GR4.13C I C G1 G2 I C 1 J K * = The closing force depends on the geometry of the gripper jaws. 1 = Compressed air connection B H1 H A Ø D H A GR4.131B H1 F E I C G2 I C GR4.131D GR4.131D/NPN G1

10 Active gripping elements Parallel grippers 2-finger parallel grippers 2-finger parallel grippers For pinpoint-accuracy in gripping, placing or inserting NEW GR with sensor GR4.22P (cable angle 9 ) Product Description > High gripping force > High gripping precision due to high repeatability of +/-,1 mm > Versatile use with customized gripper jaws > 2 versions: - double-acting for internal and external gripping, opening and closing by compressed air - single-acting, only one pneumatic connection required, normally open, (N.O.). Closing by compressed air, opening by return spring > Optional parts monitoring by detection of piston position Ordering notes > Extension cable for sensors: : 3-Pol M8, length 2.5 mm, open wire : 3-Pol M8, length 1.5 mm, end with plug 3-Pol M8 > PNP and NPN sensors: - Round nut (cable: 9 ): GR4.22P, GR4.22N - Round nut (cable straight): GR4.28P, GR4.28N - T-nut (cable: straight): GR4.199, GR4.199/NPN Technical Data Principle of operation Pressure range [bar] Closing force at 6 bar [N] Opening force at 6 bar [N] Piston diameter [mm] Lift per gripper jaw [mm] Operating temperature [ C] Max. Operating frequency [1/min] GR Double GR S Single 3, GR Double GR S Single 2, Weight [g] Suitable accessories Sensor GR4.199 Sensor GR4.199/NPN Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57

11 Active gripping elements Parallel grippers 2-finger parallel grippers Technical Data Principle of operation Pressure range [bar] Closing force at 6 bar [N] Opening force at 6 bar [N] Piston diameter [mm] Lift per gripper jaw [mm] Operating temperature [ C] Max. Operating frequency [1/min] GR Double GR S Single 2, GR Double GR S Single 2, GR Double GR S Single 2, GR Double GR S Single 2, Weight [g] Suitable accessories Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57 Sensor GR4.199 Sensor GR4.199/NPN Sensor GR4.22P Sensor GR4.22N Sensor GR4.28P Sensor GR4.28N Connector cable 2.53 Connector cable 2.57

12 J Active gripping elements Parallel grippers 2-finger parallel grippers Dimensions 6 O M 5 6 I G H F L N B K E A 5 C 3 D Q 2 5 = Sensor slot for GR = Sensor slot for GR = Open pneumatic connection 3 = Close pneumatic connection A [mm] B [mm] C [mm] D [mm] E [mm] F [mm] G [mm] H [mm] I [mm] J [mm] K [mm] L M [mm] N [mm] O Q GR , ,7 M2, M4 M3 GR S 23 16, , ,7 M2, M8 M3 GR , , M M4 M4 GR S 31 23, , M M4 M4 GR , , M M4 M5 GR S 42 27, , M M4 M5 GR , , , M M6 M6 GR S 52 33, , , M M6 M6 GR M ,4 M6 M6 GR S M ,4 M6 M6 GR M M8 M8 GR S M M8 M8

13 Active gripping elements Parallel grippers 2-finger parallel grippers - very high grippig force 2-finger parallel grippers - very high grippig force NEW Product Description > Takes high bending moments > High flexibility with customized gripper jaws (design by FIPA on request) > Optional parts monitoring by detection of piston position Note Gripping force values are valid for a holding postion L =25 mm measured from top of gripper to balance point of workpiece Ordering notes > PNP and NPN sensors: - T-nut (cable: straight): GR4.199, GR4.199/NPN Technical Data Principle of operation Pressure range [bar] Closing force at 6 bar [N] Opening force at 6 bar [N] Lift per gripper jaw [mm] Operating temperature [ C] Max. Operating frequency [1/min] GR Double GR Double GR4.6-2 Double GR Double GR Double Weight [g] Suitable sensors GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN

14 Ø J Active gripping elements Parallel grippers 2-finger parallel grippers - very high grippig force Dimensions M Ø F Ø P R R G L D A K ±,1 Ø Q H7 N ±,2 C H E B A B C D E Ø F G H Ø J K L M N Ø P Ø Q R [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] GR Ø4,2; Ø7,5x26U Ø4,5; Ø8x9U (min) M4x8 42 M5 4, M5 GR Ø4,2; Ø7,5x34U Ø5,1; Ø9x1U (min) M5x1 52 M5 4, M5 GR Ø5,; Ø9,1x45U 66 2 Ø8,; Ø11x11U 2 46 (min) M6x1 66 G1/8 5, M6 GR Ø6,8; Ø11x41U Ø9,; Ø15x14U 24 6 (min) M6x12 82 G1/8 6, M8 GR Ø6,8; Ø11x56U 1 34 Ø9,; Ø15x15U (min) M8x49 1 G1/8 6, M8

15 Grippers Parallel grippers Parallel gripper for long strokes - piston diameter 1-2 mm Parallel gripper for long strokes - piston diameter 1-2 mm Secure Handling of large workpieces NEW Product Description > Wide Stroke range > High gripping force > Optional grip detection Technical Data Principle of operation Medium Pressure range [bar] Closing force at 6 bar [N] Operating temperature [ C] Piston diameter [mm] Lift per gripper jaw [mm] Material: Housing an jaws Material: Piston Material: Plunger, gear rack, bevel Weight [g] GR4.51 GR GR GR4.516 GR GR GR4.52 GR GR Double Double Double Double Double Double Double Double Double oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air 1,5-6 1,5-6 1, oiled / unoiled air Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Brass Brass Brass Brass Brass Brass Brass Brass Brass Steel Steel Steel Steel Steel Steel Steel Steel Steel Suitable sensors GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N

16 Grippers Parallel grippers Parallel gripper for long strokes - piston diameter 1-2 mm Dimensions a M5x,8 M5x,8 a LX* W R S,5** b F X Y N O D A ØE T P M L W C Z * = LX: Distance gripper jaws - workpiece ** = From GR4.52: U=1 a = Compressed air connection GR4.51 GR GR GR4.516 GR GR GR4.52 GR GR A [mm] C M4x,7x8 M4x,7x8 M4x,7x8 M5x,8x1 M5x,8x1 M5x,8x1 M6x1x12 M6x1x12 M6x1x12 D [mm] ØE [mm] 4,5 4,5 4,5 5,5 5,5 5,5 6,6 6,6 6,6 F [mm] M4x,7x5 M4x,7x5 M4x,7x5 M5x,8x7 M5x,8x7 M5x,8x7 M6x,8x7 M6x,8x7 M6x,8x7 L [mm] M [mm] ,5 4,5 4,5 N [mm] O [mm] 45,5 45,5 45,5 57,5 57,5 57, P [mm] R M4x,7 M4x,7 M4x,7 M5x,8 M5x,8 M5x,8 M6x1 M6x1 M6x1 S [mm] T [mm] W open [mm] W closed [mm] X [mm] Y [mm] Z [mm] b open [mm]

17 Grippers Parallel grippers Parallel gripper for long strokes - piston diameter 1-2 mm Diagrams > Opening and closing strokes Ø 1 - versions 1 & 2 > Opening and closing strokes Ø 1 - Standard version Gripping force [N] bar 5 bar 4 bar 2 bar 3 bar Gripping force [N] bar 2 bar 5 bar 4 bar 3 bar Distance LX [mm] Distance LX [mm] > Opening and closing strokes Ø 1 - versions 1 & 2 > Opening and closing strokes Ø 16 - Standard version Gripping force [N] bar 5 bar 4 bar 3 bar Gripping force [N] bar 5 bar 4 bar 3 bar 1 2 bar 1 2 bar Distance LX [mm] Distance LX [mm] > Opening and closing strokes Ø 1 - versions 1 & 2 > Opening and closing strokes Ø 2 - Standard version Gripping force [N] bar 5 bar 4 bar 3 bar 2 bar Distance LX [mm] Gripping force [N] bar 5 bar 4 bar 3 bar 2 bar Distance LX [mm]

18 Grippers Parallel grippers Parallel gripper for long strokes - piston diameter 25-4 mm Parallel gripper for long strokes - piston diameter 25-4 mm Secure Handling of large workpieces NEW Product Description > Wide Stroke range > High gripping force > Optional grip detection Technical Data Principle of operation Medium Pressure range [bar] Closing force at 6 bar [N] Operating temperature [ C] Piston diameter [mm] Lift per gripper jaw [mm] Material: Housing an jaws Material: Piston Material: Plunger, gear rack, bevel Weight [g] GR4.525 GR GR GR4.532 GR GR GR4.54 GR GR Double Double Double Double Double Double Double Double Double oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Aluminium Brass Brass Brass Brass Brass Brass Brass Brass Brass Steel Steel Steel Steel Steel Steel Steel Steel term_prn. stahl- Suitable sensors GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N

19 Grippers Parallel grippers Parallel gripper for long strokes - piston diameter 25-4 mm Dimensions a M5x,8 M5x,8 a W LX* R S,5** b F X Y N O D A ØE T P M L W C Z * = LX: Distance gripper jaws - workpiece ** = From GR4.532: J=G1/8 a = Compressed air connection GR4.525 GR GR GR4.532 GR GR GR4.54 GR GR A [mm] C M8x1,25x16 M8x1,25x16 M8x1,25x16 M8x1,25x16 M8x1,25x16 M8x1,25x16 M8x1,5x2 M8x1,5x2 M8x1,5x2 D [mm] ØE [mm] F [mm] M8x1,5x7 M8x1,5x7 M8x1,5x7 M8x1,5x13 M8x1,5x13 M8x1,5x13 M1x1,5x16 M1x1,5x16 M1x1,5x16 L [mm] M [mm] N [mm] O [mm] P [mm] R M8x1,25 M8x1,25 M8x1,25 M1x1,5 M1x1,5 M1x1,5 M12x1,75 M12x1,75 M12x1,75 S [mm] T [mm] W open [mm] W closed [mm] X [mm] Y [mm] Z [mm] b open [mm]

20 Grippers Parallel grippers Parallel gripper for long strokes - piston diameter 25-4 mm Diagrams > Opening and closing strokes Ø 25 - versions 1 & 2 > Opening and closing strokes Ø 25 - Standard version 16 6 bar 16 6 bar Gripping force [N] bar 4 bar 3 bar 2 bar Gripping force [N] bar 4 bar 3 bar 2 bar Distance LX [mm] Distance LX [mm] 16 > Opening and closing strokes Ø 32 - versions 1 & 2 > Opening and closing strokes Ø 32 - Standard version Gripping force [N] bar 5 bar 4 bar 3 bar 2 bar 1 bar Distance LX [mm] Gripping force [N] bar 5 bar 4 bar 3 bar 2 bar 1 bar Distance LX [mm] > Opening and closing strokes Ø 4 - versions 1 & 2 > Opening and closing strokes Ø 4 - Standard version Gripping force [N] bar 5 bar 4 bar 3 bar 2 bar 1 bar Distance LX [mm] Gripping force [N] bar 5 bar 4 bar 3 bar 2 bar 1 bar Distance LX [mm]

21 Grippers Parallel grippers 3-finger gripper - self-centering, double-acting 3-finger gripper - self-centering, double-acting For pinpoint-accuracy in gripping, placing or inserting Product Description > High gripping force > For customised gripper jaws > Double-acting, can be used as internal or external gripper > Robust design > Optional sensor available for monitoring parts Technical Data Principle of operation Medium Max. gripping force per gripper jaw at 6 bar [N] Working pressure [bar] Operating temperature [ C] Piston diameter [mm] Lift per gripper jaw [mm] Weight [g] GR GR GR GR GR GR GR GR Double Double Double Double Double Double Double Double oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air Suitable sensors GR4.28P GR4.28N GR4.28P GR4.28N GR4.28P GR4.28N GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN

22 Grippers Parallel grippers 3-finger gripper - self-centering, double-acting Dimensions Ø GA (H9) 22,5 BF BD S B BA H Ø EB BB * BG N2*** NA NB N1** Ø A AB AC * = Distance between the gripper jaw and the gripper (see gripper force diagrams) ** = Open pneumatic connection *** = Close pneumatic connection GR GR GR GR GR GR GR GR ØA [mm] AB [mm] AC [mm] B [mm] BA [mm] BB [mm] BD open [mm] ,5 BD closed [mm] ,5 BF [mm] BG open [mm] 9 1, ,5 19, ,5 37,5 BG closed [mm] 7 8,5 1 12,5 14,5 16 2,5 27,5 Ø EB [mm] Ø GA [mm] 2x2 2x2 3x3 3x3 4x4 4x4 5x5 6x6 H [mm] M3x,5x4 M3x,5x6 M4x,5x7 M4x,7x6 M5x,8x7,5 M5x,8x1 M6x1x9 M6x1x12 N1/N2 M3x,5x11 M5x,8x13 M5x,8x15 M5x,8 M5x,8 M5x,8 M5x,8 G1/8 NA [mm] NB [mm] ,5 S [mm] M3x,5x5 M3x,5x5 M3x,5x5 M4x,7x8 M4x,7x8 M5x,8x1 M5x,8x1 M6x1x12

23 Grippers Parallel grippers 3-finger gripper - self-centering, double-acting Diagrams > Gripping force piston diameter 16 mm > Gripping force piston diameter 2 mm 2 6 bar 4 6 bar Gripping force [N] bar 4 bar 3 bar 2 bar Gripping force [N] bar 4 bar 3 bar 2 bar Distance X [mm] Distance X [mm] > Gripping force piston diameter 25 mm > Gripping force piston diameter 32 mm 1 6 bar Gripping force [N] bar 5 bar 4 bar 3 bar 2 bar Gripping force [N] bar 4 bar 3 bar 2 bar 1 bar Distance X [mm] Distance X [mm] > Gripping force piston diameter 4 mm > Gripping force piston diameter 5 mm 25 6 bar 2 6 bar 2 5 bar Gripping force [N] bar 4 bar 3 bar 2 bar 1 bar Gripping force [N] bar 3 bar 2 bar 1 bar Distance X [mm] Distance X [mm]

24 Grippers Parallel grippers 3 finger parallel gripper self-centering, double acting, for long strokes 3 finger parallel gripper self-centering, double acting, for long strokes For pinpoint-accuracy in gripping, placing or inserting Product Description > Opening and closing stroke more than double of standard GR4.125 at same gripping force > Double-acting for precise internal and external gripping, opening and closing by compressed air > Especially suitable for gripping of cylindrical objects > Versatile use with customized gripper jaws (supplied by FIPA on request) > Optional parts monitoring by detection of piston position Technical Data Principle of operation GR L GR L GR L GR L GR L Double Double Double Double Double Medium oiled / unoiled air Max. gripping force per gripper jaw at 6 bar [N] Working pressure [bar] oiled / unoiled air oiled / unoiled air oiled / unoiled air oiled / unoiled air Operating temperature [ C] Piston diameter [mm] Lift per gripper jaw [mm] Weight [g] Suitable sensors GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.28P GR4.28N GR4.22P GR4.22N GR4.199 GR4.199/NPN GR4.199 GR4.199/NPN

25 Ø A B BA S Grippers Parallel grippers 3 finger parallel gripper self-centering, double acting, for long strokes Dimensions Ø GA (H9) 22,5 BD BF Ø 43 H ØEB BB * BG NA NB N1** N2*** 6 5 6,4 AB AC * = Distance between the gripper jaw and the gripper (see gripper force diagrams) ** = Open pneumatic connection *** = Close pneumatic connection GR L GR L GR L GR L GR L ØA [mm] AB [mm] 4, ,5 AC [mm] 43, ,5 B [mm] BA [mm] BB [mm] BD open [mm] 23, ,5 6 BD closed [mm] 18, ,5 46 BF [mm] 11 14,5 19,5 23,5 28 BG open [mm] 15, , BG closed [mm] 1, , Ø EB [mm] Ø GA [mm] 2x2 3x3 3x3 4x4 4x4 H M3x,5x1,5 M4x,7x1,5 M4x,7x6 M5x,8x1 M5x,8x1 N1/N2 M3x,5 M5x,8 M5x,8 M5x,8 G1/8 NA [mm] 14 16, NB [mm] S [mm] M3x,5x5 M3x,5x6 M4x,7x8 M4x,7x8 M5x,8x1

26 Grippers Parallel grippers 3 finger parallel gripper self-centering, double acting, for long strokes Diagrams > Gripping force piston diameter 16 mm > Gripping force piston diameter 25 mm 2 6 bar 6 6 bar Gripping force [N] bar 4 bar 3 bar 2 bar Gripping force [N] bar 4 bar 3 bar 2 bar Distance X [mm] Distance X [mm] > Gripping force piston diameter 32 mm > Gripping force piston diameter 4 mm 1 6 bar 8 5 bar 2 6 bar Gripping force [N] bar 3 bar 2 bar 1 bar Gripping force [N] bar 4 bar 3 bar 2 bar 1 bar Distance X [mm] Distance X [mm] > Gripping force piston diameter 5 mm bar 5 bar Gripping force [N] bar 3 bar 2 bar 1 bar Distance X [mm]

27 Active gripping elements Angular grippers 2-finger angular grippers 4 2-finger angular grippers 4 For pinpoint-accuracy in gripping, placing or inserting NEW Product Description > High gripping force due to high torques for opening and closing > High gripping precision due to repeatability of +/-,1 mm > Versatile use with customized gripper jaws > Optional parts monitoring by detection of piston position - PNP and NPN sensors for T-nut: GR4.23P, GR4.23N Technical Data Principle of operation Pressure range [bar] Max. closing torque at 6 bar [Ncm] Max opening torque at 6 bar [Ncm] Piston diameter [mm] Angle stroke [ ] Max. Operating frequency [1/min] Operating temperature [ C] GR Double 1, GR Double 1, GR Double 1, GR Double 1, GR Double 1, Weight [g] Suitable accessories Sensor GR4.23P Sensor GR4.23N Connector cable 2.53 (P. 157) Sensor GR4.23P Sensor GR4.23N Connector cable 2.53 (P. 157) Sensor GR4.23P Sensor GR4.23N Connector cable 2.53 (P. 157) Sensor GR4.23P Sensor GR4.23N Connector cable 2.53 (P. 157) Sensor GR4.23P Sensor GR4.23N Connector cable 2.53 (P. 157) Dimensions 5 J L F 3 1 E I K B G H D A 5 2 C M 3 5 = Sensor slot for GR = Open pneumatic connection 3 = Close pneumatic connection A [mm] B [mm] C [mm] D [mm] E [mm] F [mm] G [mm] H [mm] I J [mm] K [mm] L M GR , M M3 M3 GR , M M4 M5 GR M M5 M5 GR M5 4 2 M6 M5 GR M M6 M5

28 Active gripping elements Expansion grippers Expansion Grippers Expander Expansion Grippers Expander Alternative to the classic grippers due to the gentle gripping from inside for diameters from 8 to 31,5 mm Product Description > Gripping by expansion with downward moved piston > Standard design with coaxial pneumatic connection > Quick replacement of elastomers > Gripping force is controlled by the feed pressure Ordering notes > Elastomer EPDM included in the scope of delivery > All grippers also available with side air fitting and throughhole > All grippers also available with upward moved piston (-R) > All grippers also available with elastomer silikon Technical Data For parts having an inner diameter from/to [mm] Holding force at 8 bar [N] Optimal feed pressure [bar] GR4.N GR4.N28-R GR4.N21 1, GR4.N21-R 1, GR4.N GR4.N212-R GR4.N , GR4.N214-R 15-19, GR4.N218 19, GR4.N218-R 19, GR4.N , GR4.N222-R 24-31, Weight [g] Suitable accessories EPDM elastomer GR4.28-1, Silicone elastomer GR Extension tube GR6.31 EPDM elastomer GR4.28-1, Silicone elastomer GR Extension tube GR6.31 EPDM elastomer GR4.21-1, Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N21-K EPDM elastomer GR4.21-1, Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N21-K EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N212-K EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N212-K EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N214-K EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N214-K EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31 EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31 EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N222-K EPDM elastomer GR , Silicone elastomer GR Extension tube GR6.31, Centering cone GR4.N222-K Elastomer replacement EPDM [Included in delivery] Silicone > Non-marking > Heat resistant to 13 C > Very long service life > Heat resistant to 2 C

29 Active gripping elements Expansion grippers Expansion Grippers Expander Please specify when ordering Order code + Product property = Item number Order code Product property Elastomer Air connection Piston movement GR4. Nxxx + - EPDM - coaxial air supply - downwards moving away from housing GR4. Nxxx SI silicone O side air fitting and through hole R upwards moving towards housing Order example based on gripper GR4.N222: GR4.N222 GR4.N222-O GR4.N222-R GR4.N222-O-R GR4.N222-SI GR4.N222-SI-R GR4.N222-SI-O-R Explanation: EPDM, coaxial air fitting, downward movement (=standard configuration) EPDM, side air fitting and through hole, downward movement EPDM, coaxial air fitting, upward movement EPDM, side air fitting and through hole, upward movement Silicone, coaxial air fitting, downward movement Silicone, coaxial air fitting, upward movement Silicone, side air fitting, through hole, upward movement Dimensions H G F E I C J Ø D C Ø D E I J H G 1 1 M F Ø A Ø B Ø A Ø N Ø B 1 = Compressed air connection ØA [mm] ØB [mm] C [mm] ØD [mm] E [mm] F [mm] G H I [mm] J [mm] M [mm] ØN [mm] GR4.N , ,5 M5 M12x1 14 5, GR4.N28-R , ,5 M5 M12x1 14 5,5 M3 1,1 GR4.N21 1,5 14 6,7 14 8,5 4,5 M5 M12x1 14 5, GR4.N21-R 1, ,5 14 8,5 4,5 M5 M12x1 14 5,5 M3 1,1 GR4.N ,5 5 M5 M12x1 14 5, GR4.N212-R ,5 5 M5 M12x1 14 5,5 M3 1,3 GR4.N ,5 62, M5 M12x1 14 5, GR4.N214-R 15 19,5 68, M5 M12x1 14 5,5 M3 1,3 GR4.N218 19,5 25 7, ,5 9 M5 M12x1 14 5, GR4.N218-R 19, ,5 9 M5 M12x1 14 5,5 M5 1,8 GR4.N ,5 8 21, M5 M12x1 14 5, GR4.N222-R 24 31,5 86,5 21, M5 M12x1 14 5,5 M5 1,8

30 Active gripping elements Expansion grippers Expansion Grippers Expander Expansion Grippers Expander Alternative to the classic grippers due to the gentle gripping from inside for diameters from 28 to 85 mm Product Description > Gripping by expansion with downward moved piston > Standard design with coaxial pneumatic connection > Quick replacement of elastomers > Gripping force is controlled by the feed pressure Ordering notes > Elastomer EPDM included in the scope of delivery > All grippers also available with side air fitting and throughhole > All grippers also available with upward moved piston (-R) > All grippers also available with elastomer silikon Technical Data For parts having an inner diameter from/to [mm] Holding force at 8 bar [N] Optimal feed pressure [bar] GR4.N GR4.N227-R GR4.N GR4.N233-R GR4.N GR4.N241-R GR4.N GR4.N251-R GR4.N GR4.N263-R Weight [g] Suitable accessories EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N227-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N227, Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N227-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N227, Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N233-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N233, Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N233-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N233, Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Sensor GR4.21/PNP, Sensor fastener KIT1-GR4.N241 Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Sensor GR4.21/PNP, Sensor fastener KIT1-GR4.N241 Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N251-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N251, Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N251-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N251, Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N263-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N263, Sensor GR4.21/NPN EPDM elastomer GR , Silicone elastomer GR Centering cone GR4.N263-K, Sensor GR4.21/PNP Sensor fastener KIT1-GR4.N263, Sensor GR4.21/NPN Elastomer replacement EPDM [Included in delivery] Silicone > Non-marking > Heat resistant to 13 C > Very long service life > Heat resistant to 2 C

31 Active gripping elements Expansion grippers Expansion Grippers Expander Dimensions H G F E I J C Ø D C Ø D E I J Please specify when ordering Order code + Product property = Item number Order code Product property Elastomer Air connection Piston movement GR4. Nxxx + - EPDM - coaxial air supply - downwards moving away from housing GR4. Nxxx SI silicone O side air fitting and through hole R upwards moving towards housing Order example based on gripper GR4.N222: GR4.N233 GR4.N233-O GR4.N233-R GR4.N233-O-R GR4.N233-SI GR4.N233-SI-R GR4.N233-SI-O-R Explanation: EPDM, coaxial air fitting, downward movement (=standard configuration) EPDM, side air fitting and through hole, downward movement EPDM, coaxial air fitting, upward movement EPDM, side air fitting and through hole, upward movement Silicone, coaxial air fitting, downward movement Silicone, coaxial air fitting, upward movement Silicone, side air fitting, through hole, upward movement H G 1 1 M F Ø A Ø B Ø A Ø N Ø B 1 = Compressed air connection ØA [mm] ØB [mm] C [mm] ØD [mm] E [mm] F [mm] G H I [mm] J [mm] M [mm] ØN [mm] GR4.N G1/8 M17x GR4.N227-R G1/8 M17x1 2 8 M5 2,58 GR4.N ,5 24 G1/8 M17x GR4.N233-R ,5 24 G1/8 M17x1 2 8 M5 2,8 GR4.N ,5 4 39,5 14 G1/8 M27x GR4.N241-R ,5 14 G1/8 M27x M5 4,5 GR4.N G1/8 M27x GR4.N251-R G1/8 M27x G1/8 5 GR4.N G1/8 M27x GR4.N263-R G1/8 M27x G1/8 5

32 Active gripping elements Magnetic grippers Magnetic grippers - electrical controlled Magnetic grippers - electrical controlled Secure handling by permanent magnets Product Description > Safe handling of sheet metal or ferromagnetic workpieces with or without bore holes or cut-outs > Advantages to pneumatic controlled magnetic grippers: - Nearly twice the holding force - Neglectable remanent magnetism enables high duty cycles also with thin and/or alloyed sheet metal > No piping required > Highly energy efficient as electrity is only shortly required for product release > Robust design, combination of permanent and electro-magnet > Easy integration in EOAT gripper systems via metric threads or spring plungers Technical Data Principle of operation Rated power [W] Gripping force [N] Residual gripping force [N] Operating voltage of the switchoff Power-on time [ED] Protection class Max. operating temperature Weight [g] Suitable fittings coil [V] [ C] MG35 electrical 4,6 16 < % ED at < 2 min. IP MG55 electrical 9, 42 < % ED at < 2 min. IP MG7 electrical 13,3 72 < % ED at < 2 min. IP Dimensions ** B C G1 ø A ** = Holding surface Ø A [mm] B [mm] C [mm] G1 MG M4 MG M5 MG M8

33 Active gripping elements Magnetic grippers Magnetic grippers - pneumatically controlled Magnetic grippers - pneumatically controlled Safe handling by permanent magnets NEW Fast exchangeable NBR sealing rings (7 Shore Hardness) Product Description > Safe handling of sheet metal or ferromagnetic workpieces with or without bore holes or cutouts > Very high holding force thanks to powerful permanent magnets > Robust and compact aluminium body, anodized, red > Very wear-resistant and fast exchangeable NBR sealing rings (7 Shore Hardness) to avoid scratches due to contact between gripper and workpiece > Optional magnetic PNP and NPN sensors from model PMG 4 for part control by monitoring the piston position Ordering notes Sealing ring included in delivery Technical Data PMG24 PMG4 PMG7 Principle of operation Double (dual) Double (dual) Double (dual) Pressure range [bar] Max. Gripping force [N] Recommended workload [N] Min. recommended sheet thickness [mm] Protection class Ambient air temperature [ C] Weight [g] Suitable accessories ,5 IP Sealing ring PMG24-NBR ,5 IP ,5 IP Sensor GR4.199 Sensor GR4.199/NPN Sealing ring PMG4-NBR Sensor GR4.199 Sensor GR4.199/NPN Sealing ring PMG7-NBR Optional: with magnetic sensor Magnetic gripper PMG 7 with PNP sensor GR4.199

34 Active gripping elements Magnetic grippers Magnetic grippers - pneumatically controlled Dimensions M5x.8(2x) M5x12 M5x8(2x) 42 PORT M5x.8 (2x) 62,8 Ø PORT M5x.8 (2x) 62, (2x) M5x8(2x) SENSOR SLOT 8 (2x) 37 5 PORT M5 (2x) Ø24 Ø25,2 PMG24 PMG4 7 7 M1x13 58 (2x) 58 (2x) M6x12 (4x) 44 (2x) M6x12 (4x) PORT G 1/8 7,5 7 7, (2x) 28 (2x) SENSOR SLOT 39 PORT G 1/8 PMG7

35 Grippers Vacuum grippers Bag grippers Bag grippers Handling of non-rigid goods NEW View of the suction chamber Product Description > Handling of limp, non-rigid objects such as bags, shrink-wraps or any product that fully covers the suction cell > On board vacuum generation via high performance ejectors for optimum suction power > Dirt-proof design > Foam pad with optimum adjustment to product surface - easy to replace > Optional side channel blower for handling very porous goods Note On request: > Splitting of suction chamber for multi-zone picking and release or product adjustment > Depth of the suction chamber can be adjusted for optimum handling of specific products Technical Data Max. gripping force [N] at 6 % vacuum (-6 mbar) Suitable seal collars Dense products (e.g. steel) Semi-porous products (e.g. wood) Porous products (e.g. carton boxes) TG1x PPF1x25 TG15x PPF15x3 TG2x PPF2x35 TG25x PPF25x4 TG3x PPF3x5 TG4x PPF4x6 Seal collars Easy replacement of seal collars

36 Grippers Vacuum grippers Bag grippers Dimensions A Ø7 7 B 2 * * C * = Customer attachment location A [mm] B [mm] C [mm] TG1x TG15x TG2x TG25x TG3x TG4x

37 Active gripping elements Accessories Thread adapter for expansion grippers Thread adapter for expansion grippers NEW Expander gripper GR4.N233 with thread adapter GR4.N-M25 Product Description > Extension of male threads of expander grippers GR4.N28 ff > Note: Thread connection identical to predecessor grippers GR4.28 ff Note Use of thread adapter increases total length of gripper Ordering notes Thread information: GR4.N-M16: M12x1- female + M16x1- male, incl. 2 screw nuts AF19 GR4.N-M25: M17x1- female + M25x1,5- male, incl. 2 screw nuts AF32 GR4.N-M33: M27x1- female + M33x1,5- male, incl. 2 screw nuts AF41 Technical Data Weight [g] Suitable for expansion grippers GR4.N-M16 27 GR4.N28 - GR4.N222 GR4.N-M25 58 GR4.N227 - GR4.N233 GR4.N-M33 56 GR4.N241 - GR4.N263

38 Active gripping elements Accessories Thread adapter for expansion grippers Dimensions M12x 1 M17x Ø 14 M16 x 1 Ø 2 M25x1, GR4.N-M16 M2 7 x 1 GR4.N-M ,4 Ø 3 M3 3 x 1,5 4 1 GR4.N-M33

39 Active gripping elements Accessories Magnetic sensors for round nuts - 9 Magnetic sensors for round nuts - 9 NEW 2-Finger parallel gripper GR with sensor GR4.22P Product Description > Magnetic sensor for round nuts, cable angle 9 > Part control of grippers via detection of pistion position > Suitable for space-saving gripper assembly > Easy adjusting via control LED (PNP: green, NPN: red) > Comes with 3-pole M8 plug-in connector and 15 mm cable > Reverse voltage protection Ordering notes Extension cables: 2.53: 3-pole M8 plug, length 2.5 mm, open wires 2.57: 3-pole M8 plug, length 1.5 mm, 3-pole M8 female connector Technical Data GR4.22P GR4.22N Connection type PNP NPN Operating voltage [V] Max. Power consumption [W] Current consumption at 24 VDC max [ma] Maximum switching current [ma] Protection class Operating frequency [Hz] Operating temperature [ C] Mechanical stress capacity [G] Cable length [mm] IP 67 IP Suitable connector cable

40 Active gripping elements Accessories Magnetic sensors for round nuts - 9 Wiring diagram sensors GR4.22P GR4.22N MAIN CIRCUIT BN BK BU RL + Power - MAIN CIRCUIT BN BK BU RL + Power - BN = Brown, BK = Black, BU = Blue Plug assignment Brown (+) Black (OUT) Blue (-) Matching nut dimensions 3,5 ±,1 2,55 ±,1 Ø 4,25 ±,1 Dimensions 165 ± 1 2,8 4,1 4 6 * 18 * = Sensing point

41 Active gripping elements Accessories Magnetic sensors for round nuts - short type Magnetic sensors for round nuts - short type NEW 2-Finger parallel gripper GR with sensor GR4.28P Product Description > Part control of grippers via detection of piston position > Easy adjusting via control LED (PNP/NPN: red) > Comes with 3-pole M8 plug-in connector and 15 mm cable > Reverse voltage protection Ordering notes Extension cables: 2.53: 3-pole M8 plug, length 2.5 mm, open wires 2.57: 3-pole M8 plug, length 1.5 mm, 3-pole M8 female connector Technical Data GR4.28P GR4.28N Connection type PNP NPN Operating voltage [V] Max. Power consumption [W] Current consumption at 24 VDC max [ma] Maximum switching current [ma] Protection class Operating frequency [Hz] Operating temperature [ C] Mechanical stress capacity [G] Cable length [mm] 4,5-28 4,5-28 1,5 1, IP 67 IP Suitable connector cable

42 Active gripping elements Accessories Magnetic sensors for round nuts - short type Wiring diagram sensors GR4.28P GR4.28N MAIN CIRCUIT BN BK BU RL + Power - MAIN CIRCUIT BN BK BU RL + Power - BN = Brown, BK = Black, BU = Blue Plug assignment Brown (+) Black (OUT) Blue (-) Matching nut dimensions 3,5 ±,1 2,55 ±,1 Ø 4,25 ±,1 Dimensions 4 2,8 25,5 15 ± 1 4,5 7,5 * * = Sensing point

43 Active gripping elements Accessories Magnetic sensors for T-nut Magnetic sensors for T-nut Magnetic gripper PMG 7 with PNP sensor GR4.199 Product Description > Part control of pneumatically driven grippers or linear components via detection of pistion position > Easy adjusting via control LED (PNP: green, NPN: red) > Comes with 3-pole M8 plug-in connector and 15 mm cable > Reverse voltage protection Ordering notes Extension cables: 2.53: 3-pole M8 plug, length 2.5 mm, open wires 2.57: 3-pole M8 plug, length 1.5 mm, 3-pole M8 female connector Technical Data GR4.199 GR4.199/NPN Connection type PNP NPN Operating voltage [V] Max. Power consumption [W] Current consumption at 24 VDC max [ma] Maximum switching current [ma] Protection class IP67 IP67 Operating frequency [Hz] Operating temperature [ C] Mechanical stress capacity [G] Cable length [mm] Suitable connector cable

44 Active gripping elements Accessories Magnetic sensors for T-nut Wiring diagram sensors GR4.199 GR4.199/NPN MAIN CIRCUIT BN BK BU RL + Power - MAIN CIRCUIT BN BK BU RL + Power - BN = Brown, BK = Black, BU = Blue Plug assignment Brown (+) Black (OUT) Blue (-) Plug configuration GR4.199 and GR4.199/NPN Matching nut dimensions 5,6 ±,1 +,5 4,5 3,5 ±,1 6,7 ±,1 Dimensions ± 2 4,3 3 6,2 8 * * = Sensing point

45 Active gripping elements Accessories Magnetic sensors for T-nut Magnetic sensors for T-nut NEW 2-Finger parallel gripper GR with sensor GR4.23P Product Description > Part control of grippers via detection of pistion position > Easy adjusting via control LED (PNP: green, NPN: red) > Comes with 3-pole M8 plug-in connector and 15 mm cable > Reverse voltage protection Ordering notes Extension cables: 2.53: 3-pole M8 plug, length 2.5 mm, open wires 2.57: 3-pole M8 plug, length 1.5 mm, 3-pole M8 female connector Technical Data GR4.23P GR4.23N Connection type PNP NPN Operating voltage [V] Max. Power consumption [W] Current consumption at 24 VDC max [ma] Maximum switching current [ma] Protection class Operating frequency [Hz] Operating temperature [ C] Mechanical stress capacity [G] Cable length [mm] IP 67 IP Suitable connector cable

46 Active gripping elements Accessories Magnetic sensors for T-nut Wiring diagram sensor GR4.23P GR4.23N MAIN CIRCUIT BN BK BU RL + Power - MAIN CIRCUIT BN BK BU RL + Power - BN = Brown, BK = Black, BU = Blue Plug assignment Brown (+) Black (OUT) Blue (-) Matching nut dimensions 3,5 ±,1 5, ±,1 4,2 ±,1 4,2 ±,1 Dimensions 4 25,5 15 ± 1 4 7,5 * * = Sensing point

47 Grippers Accessories Connector D-SUB 25 (male) Connector D-SUB 25 (male) Scope of delivery 2.55 Product Description > 25-pole male connector plug for electronic robot interface, e.g , (15 PIN) > Soldering and assembly by customer adjusted to the application Ordering notes > Scope of delivery: connector, hood and solder terminals Length [mm] Width [mm] Height [mm]

48 Linear components Lifting cylinders Lifting cylinder - operated by compressed air Lifting cylinder - operated by compressed air With blow-off feature, torsionally rigid Product Description > Stacking and destacking of thin and sensitive products, such as e.g. signboards, cards, paper, thin wood (veneers) > Easy control by only switching on/off the compressed air supply > Extremely short cycle times due to integrated blow-off feature > Very compact construction with integrated ejector, blow-off and vacuum valves > Exhaust air is stored in the air chamber and released during blow-off > Torsionally rigid plungers for accurate positioning of the workpiece > Robust Hartcoat treated aluminium housing > Optionally: Magnetic field sensor for sensing the workpiece lifted, silencer (connection G1/8) Ordering notes > Sensor for NPN type connection on request > For release of workpiece in defined position, the compressed air line needs to be shut and ventilated by means of a 3-2 way valve. Otherwise the piston wil not extract again for product release and the workpiece will just fall down. Technical Data Lift [mm] Lifting force at 6 bar [N] Operating pressure [bar] Volume flow at 6 bar [Nl/min] Permissible operating Weight [g] Suitable silencers temperature [ C] Wiring diagram Picking Placing Pile level variable Pile level variable Process: 1. Initial position: Compressed air off, piston drawn in, magnetic sensor in operation 2. Compressed air switched on, piston moves out, workpiece is pulled in, piston retracts with the workpiece to the initial position. 3. Workpiece sucked in and lifted, compressed air on, magnetic field sensor in operation. 4. Transport movement 5. Switch off compressed air, piston moves out with the workpiece, places the workpiece and retracts to the initial position. 6. Initial position: Compressed air off, piston drawn in, magnetic sensor in operation

49 Linear components Lifting cylinders Lifting cylinder - operated by compressed air Dimensions 2 3 M M G1/8 Ø Diagrams > Double lift lifting time depending on weight, pressure 6 bar > Double lift placing time depending on weight, pressure 6 bar Time [ms] 2 Stroke 25 mm Time [ms] 23 Stroke 25 mm Mass [g] 5 1 Mass [g]

50 Stay up-to-date on everything related to material flow with the free FIPA newsletter. Subscribe now at > Do you have a technical question about our products? > Do you request a quote? > Or are you interested in CAD data or datasheets of our products? You will get what you need quickly by calling us at +49 ()89 / , by sending us an at info@fi pa.com or just by visiting our website pa.com. Contact information for your smartphone Ms. Betina Wanner, Offi ce Management FIPA worldwide FIPA GmbH Freisinger Straße Ismaning / Germany Phone +49 () 89 / Fax +49 () 89 / info@fipa.com FIPA Inc Evans Road Cary, NC / USA Phone 1 (8) Fax 1 (937) sales.us@fipa.com FIPA s.r.l. Via Adige n Inzago (MI) / Italy Phone +39 (382) Fax +39 (382) sales.it@fipa.com Your local FIPA partner