2-JAW SELF-CENTERING RADIAL PNEUMATIC GRIPPER (SERIES ) Double-acting. High gripping force at the end of the stroke. Maintenance-free long life and reliability. Various options for fastening. Optional magnetic sensors. GX-1S GX-16S GX-2S GX-25S GX-1S GX-16S GX-2S GX-25S Fluid Pressure range Filtered compressed air, lubricated or non-lubricated 29-116 psi Temperature range 41-14 F Maximum torque on each jaw on at 87 psi 3.1 in-lbf 1.6 in-lbf 2.4 in-lbf 38 in-lbf Maximum total torque on at 87 psi 6.2 in-lbf 21.2 in-lbf 4.8 in-lbf 76 in-lbf Maximum torque on each jaw on at 87 psi 2.3 in-lbf 9.3 in-lbf 18.6 in-lbf 35.4 in-lbf Maximum total torque on at 87 psi 4.6 in-lbf 18.6 in-lbf 37.2 in-lbf 7.8 in-lbf Stroke (±4 ) 2x9 2x9 2x9 2x9 Maximum operating frequency 2 Hz 2 Hz 2 Hz 2 Hz Air consumption per cycle.12 in 3.36 in 3.67 in 3 1.34 in 3 Closing time without load.4 s.8 s.1 s.8 s Repetition accuracy.5.5.5.5 Weight.15 lb (7g).3 lb (14g).64 lb (29g) 1.12 lb (51g) 36
by DIMENSIONS (mm) GX-1S Sensor slot Air inlet: gripper Air inlet: gripper Usable area for gripper finger mounting (N 2+2) M3x4mm STROKE Mounting Thru Hole (N 2) Ø3.4mm (N 4) M3x6mm (N 2) M3x6mm (N 2) M3x4mm 37
DIMENSIONS (mm) GX-16S Air inlet: gripper Air inlet: gripper Usable area for gripper finger mounting (N 2+2) M3x5mm STROKE Mounting Thru Hole (N 2) Ø4.5mm (N 4) M4x8mm Sensor slot (N 2) M4x8mm 38 (N 2) M4x5mm
by DIMENSIONS (mm) GX-2S Dowel Pin Hole Ø21 H9 x 1.5mm Air inlet: gripper Air inlet: gripper Sensor slot Usable area for gripper finger mounting (N 2+2) M4x8mm (N 4) x1mm STROKE Mounting Thru Hole (N 2) Ø5.5mm (N 2) x1mm (N 2) x8mm 39
DIMENSIONS (mm) GX-25S Air inlet: gripper Air inlet: gripper Dowel Pin Hole Ø26 H9 x 1.5mm Sensor slot Usable area for gripper finger mounting (N 2+2) x1mm (N 4) M6x12mm STROKE Mounting thru Hole (N 2) Ø6.6mm (N 2) M6x12mm 31 (N 2) M6x1mm
by GRIPPER As the gripper is double-acting, it can be used to grip a piece either when the jaws are or. Pressurized chamber R P The gripping force depends on the shape of the gripper fingers. F=21 N F=21 N F=9 N F=9 N GX-16S 15 135 12 15 Torque 9 8 75 6 45 35 3 15 1 2 3 4 5 6 7 8 9 5 25 ß ( ) 311
MOUNTING The gripper can be mounted to a static or a moving part. When on a moving part, attention must be paid to the inertial force which the gripper and its load are subjected to. 1- To mount the gripper on the wider side, use (2) thru bolts in the plate and thread them into the tapped holes (A) of the gripper. 2- The gripper can be mounted with (2) bolts thru the mounting holes (C). 3- To mount the gripper on the narrow side, use (2) bolts thru the holes in the plate and thread them into the tapped holes (D) of the gripper. 4- To mount the gripper on the bottom, use (2) bolts thru the plate and thread them into the tapped holes (F). For the reference, use a centering disc in the spot face (G) and a pin in the slot. In this case, allow the necessary room for the sensors (Y). 312
by The gripper fingers must be as short and light as possible. Mount them with (2) bolts into the threaded holes (L). For a precise positioning on the jaws use the calibrated dimension (H). Pay attention to dimensions (M) and (N). GX-1S GX-16S GX-2S GX-25S A M3x6 mm M4x8 mm x1 mm M6x12 mm B M3x22 mm M4x3 mm x35 mm M6x4 mm C Ø3.4 mm Ø4.5 mm Ø5.5 mm Ø6.6 mm D M3x4 mm M4x5 mm x8 mm M6x1 mm E 3H9 x 3 mm 3H9 x 3 mm 4H9 x 4 mm 4H9 x 4 mm F M3x6 mm M4x8 mm x1 mm M6x12 mm G Ø11H9 x 1.5 mm Ø17H9 x 1.5 mm Ø21H9 x 1.5 mm Ø26H9 x 1.5 mm H 6 -.1 mm 8 -.1 mm 1 -.1 mm 12 -.1 mm L M3x4 mm M3x5 mm M4x8 mm x1 mm M 11.7 mm 14 mm 18.7 mm 22.5 mm N 13 mm 15 mm 2 mm 24 mm GX-1S GX-16S GX-2S GX-25S SN Y=4 mm Y=2 mm Y=1 mm Y= mm SS Y=4 mm + cable Y=2 mm + cable Y=1 mm + cable Y= mm + cable 313
GRIPPING FORCE The graphs show the gripping force on each jaw, as a function of the operating pressure, the gripper finger length Z and the angular position ß of the jaw. ß= ß=9 The force shown in these graphs refers to one jaw. The total force is double. Torque Torque Torque Torque 314 4 36 32 5 28 45 24 4 35 2 3 16 25 4bar 12 2 15 8 1 4 5 1 2 3 4 5 6 7 8 9 1 2 3 4 15 135 12 15 9 75 6 45 3 15 1 2 3 4 5 6 7 8 9 25 225 2 175 15 125 1 75 5 25 1 2 3 4 5 6 7 8 9 5 45 4 35 3 25 2 15 1 5 GX-1S GX-16S GX-2S GX-25S 1 2 3 4 5 6 7 8 9 ß ( ) ß ( ) ß ( ) ß ( ) 12 18 96 84 72 6 48 36 24 12 15 3 45 6 16 144 128 112 96 8 4bar 64 48 32 16 2 4 6 8 25 225 2 175 15 4bar ß= ß= ß= 125 4bar 1 75 5 25 25 5 75 1 ß= 5 45 4 35 3 25 2 4bar 15 1 5 1 2 3 4 12 18 96 84 72 6 48 36 24 12 15 3 45 6 16 144 128 112 96 8 4bar 64 48 32 16 2 4 6 8 25 225 2 175 15 4bar ß= ß= ß= ß= 125 4bar 1 75 5 25 25 5 75 1
by SAFETY LOADS Check the table for maximum permitted loads. Excessive forces or torques can damage the gripper, cause malfunctions and endanger the safety of the operator. F, Mx, My, Mz, are the maximum permitted loads under static conditions when the jaws are not moving. GX-1S GX-16S GX-2S GX-25S F 35 N 6 N 1 N 14 N Mx.5 Nm 2 Nm 4 Nm 7 Nm My.5 Nm 1 Nm 2 Nm 4 Nm Mz.5 Nm 2 Nm 4 Nm 7 Nm SPEED ADJUSTMENT The graphs show the maximum permitted moment of inertia on each gripper finger (J), as a function of the jaw or time (t). Use flow controllers (not supplied) to achieve the desired speed. GX-1S GX-2S GX-16S GX-25S 315
SENSORS The operating position is detected by one or more magnetic proximity sensors (optional) through a magnet placed on the piston. Magnetic proximity sensors should not be used in the vicinity of large masses of ferromagnetic material or intense magnetic fields as this may cause detection problems and jeopardize proper operation. The sensors that can be used are: OUT SN... PNP Magneto-resistive SS... NPN OUT SN4N225G PNP 2.5m cable $26.14 SN4M225G NPN 2.5m cable $26.14 SN3N23G PNP M8 snap plug connector $29.96 SN3M23G NPN M8 snap plug connector $29.96 SS4N225Y PNP 2.5m cable $26.14 SS4M225Y NPN 2.5m cable $26.14 SS3N23Y PNP M8 snap plug connector $29.96 SS3M23Y NPN M8 snap plug connector $29.96 They are all provided with a flat three-wire cable and a LED. 316
by PIPING THE UNIT The gripper is pressurized from the side ports (P and R) using proper fittings and tubing (not supplied). Compressed air in P: gripper. Compressed air in R: gripper. The compressed air must be filtered using a 5 to 4 micron filter. The initial choice on air lubrication (lubricated or not) must be kept for the entire service life of the gripper. The pneumatic circuit must be pressurized progressively to avoid uncontrolled movements. R P PNEUMATIC CIRCUIT Possible problems on a compressed air circuit: 1- Pressure variations. 2- Pressurizing the empty gripper at start-up. 3- Sudden lack of pressure. 4- Excessive drive speed. Possible solutions to the above issues: 1- External compressed air storage (A). 2- Start-up valve (B). 3- Safety valves (C). 4- Flow controllers (D). 317
CAUTION Never let the gripper come into contact with corrosive substances, powders, or soldering or welding spatter as they will damage the gripper. Never let non-authorized persons or objects be within the operating range of the gripper. Never operate the gripper on a machine that does not comply with the safety standards and laws of your country. MAINTENANCE The gripper must be lubricated every 1 million cycles, using the following products: Molykote DX (metal parts); Molykote PG75 (gaskets). The figure below shows the jaw backlash. 318
by PARTS LIST 3 14 12 2 2 1 6 11 1 8 13 5 7 15 16 9 4 GX-1S GX-16S GX-2S GX-25S 1 Gripper body GX-1S-1 GX-16S-1 GX-2S-1 GX-25S-1 1 2 Jaw GX-1S-3 GX-16S-3 GX-2S-3 GX-25S-3 2 3 Cover GX-1-6 GX-16-6 GX-2-6 GX-25-6 3 4 Plug GS-1-6 GS-16-6 GS-2-6 GS-25-6 4 5 O-Ring 6 Dowel pin GUAR-12 (1.78x6.75) SPINA-7 (Ø3x14 DIN6325) GUAR-84 (1x4) SPINA-12 (Ø4x2 DIN6325) GUAR-76 (1.78x17.17) SPINA-72 (Ø5x24 DIN6325) GUAR-25 (1.78x21.95) SPINA-37 (Ø6x3 DIN6325) 7 Retaining ring SEEGER-22 SEEGER-16 SEEGER-5 SEEGER-1N 7 8 Elastic spacer GX-1S-5 RAD-16-9C GX-2S-6 RAD-25-8C 8 9 Dynamic gasket 1 O-Ring GUAR-16 (1x5x2.4) GUAR-21 (Ø1x5) GUAR-2P (16x9x2.5) GUAR-11 (Ø1.78x5.28) GUAR-4P (2x13x2.5) GUAR-39 (Ø1.78x6.7) GUAR-3M (25x18x2.4) GUAR-12 (Ø1.78x6.75) 11 Rod GX-1S-4 GX-16S-4 GX-2S-4 GX-25S-4 11 12 Driver GX-1S-2 GX-16S-2 GX-2S-2 GX-25S-2 12 13 Piston GX-1S-6 GX-16S-5 GX-2S-5 GX-25S-5 13 14 Pin SPINA-66 (Ø2x5.8 DIN542) SPINA-119 (Ø2.5x7.8 DIN542) SPINA-6 (Ø3x1 DIN6325) SPINA-85 (Ø2x11.8 DIN542) 15 Magnet PAR-1-1B PAR-16-1B PAR-2-1B RAD-25-11 15 16 Magnet PAR-1-1B PAR-16-1B - - 16 5 6 9 1 14 319