GX-S 2-jaw self centering radial pneumatic gripper (series GX-S) Double acting. Very high gripping force at the end of the stroke. Long life and reliability, maintenance free. Various options for fastening. Optional proximity magnetic sensors. GX-1S GX-16S GX-2S GX-25S GX-1S GX-16S GX-2S GX-25S Medium Operating pressure range Operating temperature range Filtered, lubricated / non lubricated compressed air 2 8 bar 5 6 C. Opening maximum torque at 6 bar on each jaw 35 Ncm 12 Ncm 23 Ncm 43 Ncm Opening maximum total torque at 6 bar 7 Ncm 24 Ncm 46 Ncm 86 Ncm Closing maximum torque at 6 bar on each jaw 26 Ncm 15 Ncm 21 Ncm 4 Ncm Closing maximum total torque at 6 bar 52 Ncm 21 Ncm 42 Ncm 8 Ncm (±4 ) Stroke 2x9 2x9 2x9 2x9 Maximum working frequency 2 Hz 2 Hz 2 Hz 2 Hz Cycle air consumption 2 cm 3 6 cm 3 11 cm 3 22 cm 3 Closing time without load.4 s.8 s.1 s.8 s Repetition accuracy.5.5.5.5 Weight 7 g 14 g 29 g 51 g 312 2-jaw radial grippers www.gimatic.com
Dimensioni (mm) / Dimensions (mm) GX-1S Sensor groove Air connection: gripper Air connection: gripper Limited area for mounting attachment (N 2+2) M3x4mm STROKE Through hole for fastening (N 2) Ø3.4mm (N 4) M3x6mm (N 2) M3x6mm (N 2) M3x4mm www.gimatic.com 2-jaw radial grippers 313
Dimensions (mm) GX-16S Air connection: gripper Air connection: gripper Limited area for mounting attachment (N 2+2) M3x5mm STROKE Through hole for fastening (N 2) Ø4.5mm (N 4) M4x8mm Sensor groove (N 2) M4x8mm 314 2-jaw radial grippers (N 2) M4x5mm www.gimatic.com
Dimensions (mm) GX-2S Centering spot facing Ø21 H9 x 1.5mm Air connection: gripper Air connection: gripper Sensor groove Limited area for mounting attachment (N 2+2) M4x8mm (N 4) x1mm STROKE Through hole for fastening (N 2) Ø5.5mm (N 2) x1mm (N 2) x8mm www.gimatic.com 2-jaw radial grippers 315
Dimensions (mm) GX-25S Air connection: gripper Air connection: gripper Centering spot facing Ø26 H9 x 1.5mm Sensor groove Limited area for mounting attachment (N 2+2) x1mm (N 4) M6x12mm STROKE Through hole for fastening (N 2) Ø6.6mm (N 2) M6x12mm 316 2-jaw radial grippers (N 2) M6x1mm www.gimatic.com
Gripping As the gripper has a double acting motion, it can be used like internal or external gripping. Pressurized chamber R P The gripping force depends on the shape of the gripping tools. F=21 N F=21 N F=9 N F=9 N GX-16S 15 135 12 15 9 Torque (Ncm) 8 75 6 45 35 3 15 1 2 3 4 5 6 7 8 9 5 25 ß ( ) www.gimatic.com 2-jaw radial grippers 317
Fastening The gripper can be fastened to a static or moving part. When on a moving part, you must pay attention to the inertial force to which the gripper and its load are subjected. 1- To fasten the gripper on the wider side, use a plate with two through holes and two screws to be screwed on the threaded holes (A) on the gripper housing. 2- It is possible to fasten the gripper on the wider side also with two screws (B) passing through the threaded holes (C) on the gripper housing and screwed on threaded holes on the plate. 3- To fasten the gripper on the narrow side, two screws passing through the holes on the plate, must be screwed on the threaded holes (D) on the gripper housing. 4- The gripper can be fastened on the bottom as well, using two screws passing through the holes on the plate and screwed on the threaded holes (F) on the gripper housing. For the reference use a centering disc in the spot face (G) and a dowel pin in the slot (E). In this case the necessary room for sensor must be provided (Y). 318 2-jaw radial grippers www.gimatic.com
The gripping tools must be as short and light as possible. They must be fastened by two screws (L). For a precise positioning on the jaw use the calibrated dimension (H). Be careful 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 www.gimatic.com 2-jaw radial grippers 319
GX-S Gripping force The graphs show the gripping force on each jaw, as a function of the operating pressure, the gripping tool length Z and the angular position ß of the jaw. ß=9 ß= The force shown in these graphs refers to one jaw. The total force is double. Torque (Ncm) Torque (Ncm) Torque (Ncm) Torque (Ncm) 32 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 2-jaw radial grippers 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 www.gimatic.com
Safety loads Check the table for maximum permitted loads. Excessive forces or torques can damage the gripper, cause functioning troubles and endanger the safety of the operator. F, Mx, My, Mz, are maximum permitted static loads. Static means with motionless jaws. 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 gripping tool (J), as a factor of the or time (t). Use flow controllers (not supplied) to get the proper speed. GX-1S GX-2S GX-16S GX-25S www.gimatic.com 2-jaw radial grippers 321
Sensors The operating position is detected by magnetic proximity sensors (optional) through a magnet placed on the piston. Due to the presence of magnetic proximity sensors, the unit should not be used in the vicinity of large masses of ferromagnetic material or intense magnetic fields as this may cause detection problems. The sensors that can be used are: OUT SN... PNP Magneto-resistive SS... NPN OUT GX-S SN4N225-G PNP 2.5m cable SN4M225-G NPN 2.5m cable SN3N23-G PNP M8 snap plug connector SN3M23-G NPN M8 snap plug connector SS4N225-G PNP 2.5m cable SS4M225-G NPN 2.5m cable SS3N23-G PNP M8 snap plug connector SS3M23-G NPN M8 snap plug connector They are all provided with a flat three-wire cable and lamp. 322 2-jaw radial grippers www.gimatic.com
Compressed air feeding The compressed air feeding can be accomplished on the lateral air ports (P and R) with fittings and hoses (not supplied). Compressed air in P: gripper. Compressed air in R: gripper. The compressed air, must be filtered from 5 to 4 µm. Maintain the medium selected at the start, lubricated or not, for the complete 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 variation. 2- Pressurizing with empty cylinder. 3- Sudden pressure black-out. 4- Excessive speed of the jaws. Possible solutions: 1- Compressed air storage (A). 2- Start-up valve (B). 3- Safety valve (C). 4- Flow controller (D). www.gimatic.com 2-jaw radial grippers 323
Caution Never let the gripper come into contact with corrosive substances, soldering splashes or abrasive powders as they may damage the actuator. Never let personnel or objects stand within the operating range of the gripper. Never operate the gripper if the machine on which it is fitted does not comply with safety laws and standards of your country. Maintenance Grease the gripper after 1 million cycles with: Molykote DX (metal on metal); Molykote PG75 (gaskets). The figure below shows the jaw backlash. 324 2-jaw radial grippers www.gimatic.com
Part list 3 14 2 2 1 6 1 12 8 13 5 7 15 16 9 4 GX-1S GX-16S GX-2S GX-25S 1 Gripper housing 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 Protection 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 6 O-Ring GUAR-12 GUAR-84 GUAR-76 GUAR-25 (1.78x6.75) (1x4) (1.78x17.17) (1.78x21.95) 5 Dowel pin SPINA-7 SPINA-12 SPINA-72 SPINA-37 (Ø3x14 DIN6325) (Ø4x2 DIN6325) (Ø5x24 DIN6325) (Ø6x3 DIN6325) 6 7 Retaining ring SEEGER-22 SEEGER-16 SEEGER-5 SEEGER-1N 7 8 Spacer GX-1S-5 RAD-16-9C GX-2S-6 RAD-25-8C 8 9 1 Dynamic gasket GUAR-16 GUAR-2P GUAR-4P GUAR-3M (1x5x2.4) (16x9x2.5) (2x13x2.5) (25x18x2.4) 9 O-Ring GUAR-21H GUAR-11H GUAR-39H GUAR-12H (Ø1x5) (Ø1.78x5.28) (Ø1.78x6.7) (Ø1.78x6.75) 1 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 SPINA-119 SPINA-6 SPINA-85 (Ø2x5.8 DIN542) (Ø2.5x7.8 DIN542) (Ø3x1 DIN6325) (Ø2x11.8 DIN542) 14 15 Magnet PAR-1-1B PAR-16-1B PAR-2-1B RAD-25-11 15 16 Magnet PAR-1-1B PAR-16-1B - - 16 www.gimatic.com 2-jaw radial grippers 325