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版权申明SYNTRON森创®是北京和利时电机公司（以下简称和利时电机）于2005年推出的产品品牌。
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标注了安全符号的都为重要内容，请安全注意事项安全注意事项目录 第一章产品概况 ................................................... - 1 -1.1产品概况 ................................................................................................................................ - 1 -1.1.1简介 ........................................................................................................................... - 1 -1.1.2低压伺服驱动器型号命名 ....................................................................................... - 3 -1.1.3低压伺服一体机型号命名 ....................................................................................... - 3 -1.1.4规格和性能 ............................................................................................................... - 4 -1.1.5电机配套 ................................................................................................................... - 4 -1.1.6产品构造 ................................................................................................................... - 5 -1.1.7安装尺寸 ................................................................................................................... - 5 - 第二章准备 ...................................................... - 12 -2.1通讯协议及软件 .................................................................................................................. - 12 -2.2操作面板 .............................................................................................................................. - 13 -2.2.1操作面板介绍 .........................................................................................................- 13 -2.2.2指示灯介绍 .............................................................................................................- 13 -2.2.3数码管 .....................................................................................................................- 13 -2.2.4按键 .........................................................................................................................- 14 -2.2.5键盘操作流程 .........................................................................................................- 15 - 第三章配线 ...................................................... - 16 -3.1接线总图 .............................................................................................................................. - 16 -3.2接线定义 .............................................................................................................................. - 17 -3.2.1 LS-10520M2系列接线定义 ..................................................................................- 17 -3.2.2 LS-10530BA系列接线定义 ..................................................................................- 18 -3.2.3 LS-10530BK系列接线定义 ..................................................................................- 19 -3.2.4 LS-10530D5系列接线定义...................................................................................- 20 -3.2.5 LS-10540D/LS-10550D系列接线定义................................................................- 21 -3.2.6 LS-20530DG系列接线定义..................................................................................- 22 -3.2.7 LS-20520E系列接线定义 .....................................................................................- 23 -3.2.8 LS-20530E / LS-20535E系列接线定义..............................................................- 25 -3.2.9 LS-20540E系列接线定义 .....................................................................................- 27 -3.2.10 DM一体机系列接线（驱动器后置一体机）.....................................................- 29 -3.2.11 SM一体机系列接线（驱动器侧背一体机） .....................................................- 29 -3.2.11.1类型1 ....................................................................................................................- 29 -3.2.11.2类型2 ....................................................................................................................- 32 -3.3其他接线说明 ...................................................................................................................... - 33 -3.3.1 地线连接..................................................................................................................- 33 -目录3.3.2 编码器差分输出接线 ..............................................................................................- 33 -3.3.3 数字输入接线 ..........................................................................................................- 33 -3.3.4 数字输出接线 ..........................................................................................................- 33 -3.3.5 手动控制制动器接线 ..............................................................................................- 34 -3.3.6 位置模式接线 ..........................................................................................................- 34 -3.3.7 内部速度模式接线 ..................................................................................................- 35 -3.3.8 外部速度/转矩模式接线图 .....................................................................................- 35 - 第四章设定 ...................................................... - 36 -4.1电机方向 .............................................................................................................................. - 36 -4.2状态参数 .............................................................................................................................. - 36 -4.3功能参数 .............................................................................................................................. - 37 -4.3.1工作控制模式 .........................................................................................................- 37 -4.3.2系统基本参数控制 .................................................................................................- 37 -4.3.3数字输入端口 .........................................................................................................- 38 -4.3.4内部控制信号 .........................................................................................................- 38 -4.3.5数字输出端口 .........................................................................................................- 41 -4.3.6脉冲端口输入输出 .................................................................................................- 41 -4.3.7目标到达状态判断 .................................................................................................- 42 -4.3.8位置环控制参数 .....................................................................................................- 43 -4.3.9模拟量输入参数 .....................................................................................................- 44 -4.3.10内部速度参数 .........................................................................................................- 45 -4.3.11速度环调节参数 .....................................................................................................- 45 -4.3.12转矩电流指令滤波参数 .........................................................................................- 45 -4.3.13控制限制参数 .........................................................................................................- 46 -4.3.14增益切换 .................................................................................................................- 47 -4.3.15速度模式加减速时间 .............................................................................................- 48 -4.3.16电磁制动器 .............................................................................................................- 48 -4.3.17报警保护配置 .........................................................................................................- 48 -4.3.18通讯参数设置 .........................................................................................................- 50 -4.3.19电流环控制参数 .....................................................................................................- 51 -4.3.20泄放参数配置 .........................................................................................................- 51 -4.3.21历史报警码 .............................................................................................................- 52 -4.4试运行 .................................................................................................................................. - 52 -4.4.1基本流程 .................................................................................................................- 52 -4.4.2JOG模式空载试运行（键盘面板上操作） ........................................................- 54 -4.4.3速度模式空载试运行（总线通讯操作） .............................................................- 54 -目录 第五章调整 ...................................................... - 55 -5.1控制模式的选择 .................................................................................................................. - 55 -5.2输入输出的配置 .................................................................................................................. - 56 -5.2.1输入信号端口分配 .................................................................................................- 56 -5.2.2输出信号端口分配 .................................................................................................- 57 -5.3基本参数 .............................................................................................................................. - 58 -5.3.1伺服使能 .................................................................................................................- 58 -5.3.2急停 .........................................................................................................................- 58 -5.3.3指令取反 .................................................................................................................- 58 -5.3.4零速到达 .................................................................................................................- 59 -5.3.5目标速度到达 .........................................................................................................- 59 -5.3.6速度一致 .................................................................................................................- 59 -5.3.7目标转矩到达 .........................................................................................................- 59 -5.3.8超程 .........................................................................................................................- 60 -5.3.9恢复出厂默认参数 .................................................................................................- 60 -5.4位置模式调整 ...................................................................................................................... - 61 -5.4.1脉冲指令方式的选择 .............................................................................................- 61 -5.4.2脉冲指令窗口滤波器 .............................................................................................- 61 -5.4.3脉冲指令平滑滤波器 .............................................................................................- 62 -5.4.4指令脉冲禁止功能 .................................................................................................- 62 -5.4.5电子齿轮的设定 .....................................................................................................- 62 -5.4.6位置到达信号 .........................................................................................................- 65 -5.4.7位置接近信号 .........................................................................................................- 65 -5.4.8位置超差警告 .........................................................................................................- 66 -5.4.9位置脉冲误差清零 .................................................................................................- 66 -5.5速度模式调整 ...................................................................................................................... - 66 -5.5.1外部模拟量速度模式运行 .....................................................................................- 66 -5.5.2内部速度模式运行 .................................................................................................- 67 -5.5.3加减速时间 .............................................................................................................- 68 -5.5.4零速给定 .................................................................................................................- 69 -5.6转矩模式调整 ...................................................................................................................... - 69 -5.6.1转矩指令增益的调整 .............................................................................................- 69 -5.6.2转矩指令偏移量的调整 .........................................................................................- 69 -5.6.3转矩指令方向的设置 .............................................................................................- 69 -5.6.4转矩指令低通滤波器 .............................................................................................- 69 -5.6.5模拟转矩指令零值箝位 .........................................................................................- 70 -目录5.6.6转矩控制时的速度限制 .........................................................................................- 70 -5.7共振抑制 .............................................................................................................................. - 71 -5.8转矩限制 .............................................................................................................................. - 72 -5.9增益切换 .............................................................................................................................. - 73 -5.10增益调整 .............................................................................................................................. - 75 -5.10.1速度环增益调整 .....................................................................................................- 75 -5.10.2位置环增益调整 .....................................................................................................- 75 -5.10.3增益调整注意事项 .................................................................................................- 75 -5.11电磁制动 .............................................................................................................................. - 76 -5.12编码器的输出 ...................................................................................................................... - 77 -5.13干扰对策 .............................................................................................................................. - 77 -第六章通讯 ...................................................... - 79 -6.1Modbus总线设置 ................................................................................................................ - 79 -6.2CAN总线设置..................................................................................................................... - 79 -6.3通讯协议 .............................................................................................................................. - 79 -第七章故障警告及处理 ............................................ - 80 -7.1报警代码 .............................................................................................................................. - 80 -7.2报警状态指示灯 .................................................................................................................. - 83 -7.3性能异常及解决办法 .......................................................................................................... - 83 -第八章维护与保养 ................................................ - 84 -8.1伺服电机的检查 .................................................................................................................. - 84 -8.2伺服驱动器的检查 .............................................................................................................. - 84 -产品概况第一章产品概况1.1 产品概况1.1.1 简介LS系列低压伺服驱动器（以下简称LS驱动器），是和利时电机根据市场需求推出的新一代高性能、高可靠产品。
矿用气动锯jqd-10规格含义1.这台气动锯是用于矿山开采工作的。
This pneumatic saw is used for mining operations.2. JQD-10代表了这款气动锯的型号。
JQD-10 represents the model of this pneumatic saw.3.这款气动锯的规格是10，指的是锯片的直径。
The specification of this pneumatic saw is 10, referring to the diameter of the saw blade.4.它是一款专业的矿用工具，具有高效、耐用的特点。
It is a professional mining tool with the characteristics of high efficiency and durability.5.这款气动锯适用于硬质岩石和矿石的切割。
This pneumatic saw is suitable for cutting hard rocks and ores.6.它可以通过气动力操控，适用于各种恶劣的作业环境。
It can be controlled by pneumatic power and is suitablefor various harsh working environments.7. JQD-10气动锯的设计经过了严格的工程优化。
The design of JQD-10 pneumatic saw has undergone rigorous engineering optimization.8.该锯具有低噪音、低振动的特点，有利于提高工作舒适度。
This saw features low noise and low vibration, which is conducive to improving working comfort.9.除了矿用，这款气动锯也适用于建筑、水利等行业的切割工作。
GOST俄罗斯标准目录GOST 6999-1968现金出纳机纸GOST 6981-1975工业硫酸亚铁（绿矾）GOST 6979-1954象棋表GOST 6967-1970自动制钉机精度标准GOST 6956-1954管螺纹矫板及板牙GOST 6943.13-1979纺织玻璃纤维材料-硬挺度的测试方法GOST 6943.12-1979纺织玻璃纤维材料-悬垂度的测试方法GOST 6943.11-1979纺织玻璃纤维材料-弯曲硬挺度的测试方法GOST 6943.10-1979纺织玻璃纤维材料-断裂强力和断裂伸长的测试方法GOST 6943.9-1979纺织玻璃纤维材料-动态抗弯性能的测试方法GOST 6943.8-1979纺织玻璃纤维材料-含水量和灼烧损失的测试方法GOST 6943.7-1979纺织玻璃纤维材料-线性尺寸、面积密度和线密度的测定方法GOST 6943.6-1979纺织玻璃纤维材料-密度和难燃性测定方法GOST 6943.5-1979纺织玻璃纤维材料-单丝断裂强度测试方法GOST 6943.4-1979纺织玻璃纤维材料-捻度和捻度平衡指数的测定方法GOST 6943.3-1979纺织玻璃纤维材料-耐磨性测试方法GOST 6943.2-1979纺织玻璃纤维材料-单丝和纤维直径的测试方法GOST 6943.1-1979纺织玻璃纤维材料-线密度测试方法GOST 6943.0-1979纺织玻璃纤维材料-验收规则GOST 6940-1974交换机用白炽灯GOST 6939-1971灌木沼泽犁GOST 6927-1974混凝土外墙装饰技术条件GOST 6926-1975不透光纸GOST 6923-1984工业用辐射温度计一般技术要求GOST 6915-1971间接测量动脉压力的指示式压力仪器GOST 6862-1971永磁合金棒GOST6861-1973彩色书写纸GOST 6860-1968带有电磁式上条机构的汽车钟技术条件GOST 6855-1973框架开榫机主要参数与规格GOST 6854-1977细木工带锯机基本参数与尺寸GOST 6851.3-1977 6MTC-22型铅酸蓄电池技术条件GOST 6851.2-1977 6MTC-9型铅酸蓄电池技术条件GOST 6851.1-1977 3MT-8型铅酸蓄电池技术条件GOST 6851.0-1977摩托车和小型摩托车用铅蓄电池一般技术条件GOST 6850-1976 16mm电影放映机类型、基本参数、技术要求GOST 6826-1978木工四面刨床基本参数与尺寸GOST 6825-1974荧光灯GOST 6810-1974糊墙纸GOST 6809-1970热模锻曲柄压力机基本参数和尺寸GOST 6808-1976空气锤精度标准GOST 6800-1954带有电磁式上条机构的汽车钟技术条件GOST 6787-1980陶瓷地砖技术条件GOST 6787-1969陶瓷地砖GOST 6766-1973剪板机精度标准GOST 6765-1975热轨三层钢板和宽钢带GOST 6756-1957辛香料咸图贡白鲑、索西瓦鲱鱼、欧洲白鲑和高白鲑（桶装）GOST 6749-1974糊墙纸原纸GOST 6746-1975电容量具一般技术条件GOST 6742-1968内封页纸GOST 6727-1980加强钢筋混凝土结构用冷拉低碳钢钢丝GOST 6724-1977拱式和桥式蒸汽空气双作用锻缸精度标准GOST 6723-1972自动切边机精度标准GOST 6722-1975工业过滤纸板GOST 6713-1975桥梁建造用低合金结构钢。
最适合夹紧正方形物件楔形凸轮结构可增加夹持力(开时DO)(闭时DC)开时E O 闭时E C注) 夹持外径时的夹持力，ø16－ø25的夹持点距离为20mm 、ø32－ø63的夹持点距离为30mm 。
磁性开关个数4爪无记号S 2个1个型号表示方法2-ø3.4 通孔带沉孔ø6.5深SC(安装孔)8-M3x0.5螺纹深TB (附加手指安装螺孔)øWA 深1.5øVA 深VB2-M4x0.7螺纹深8(安装螺孔)X A 深X B 接管口径:P (供气时闭)接管口径:P (供气时开)( !")/ !"MHS4 (ø16 ø63)!ww w.bm2-øSA通孔带沉孔øSB 深 9 (安装孔)(附加手指安装螺孔)(开时DO)(闭时DC)8-M4x0.7螺纹深8开时E O 闭时E CX A 深 X BM5x0.8(供气时开)M5x0.8(供气时闭)2-UA 螺纹深UB (安装螺孔) øWA 深24-ø5.1通孔带沉孔ø9.5深SC (安装孔)(附加手指安装螺孔)(开时DO)(闭时DC)8-M5x0.8螺纹深10开时E O 闭时E CX A 深 X BM5x0.8(供气时开)M5x0.8(供气时闭)4-M6X1 螺纹深 12(安装螺孔)øVA 深V BøWA 深W BøVA 深VBww w.bt o。
Parallel grippers HGPT-B,heavy-dutySubject to change –2011/032 Internet:/catalogue/...Parallel grippers HGPT-B,heavy-dutyKey featuresAdvantages compared with the parallel gripper HGPT •Space-optimised:Choice of shorter housing without gripping force retention or longer housing with gripping force retention•Increased gripping force/high-force variant:Gripping force increased by 30%by means of oval piston.High-force variant also available:half the stroke,twice the force•Reduced weight:Systematic use of lighter and higher performance materials•4sensor slots:Proximity sensors no longer project past the bottom of the housing.Up to four positions can be sensed with the proximity sensorsAt a glanceGeneral informationFlexible range of applications Sturdy and precise kinematic system for maximum torque absorption and long service life.The force generated by the linear mo-tion is translated into the gripper jaw movement via a wedge mechanism with guided motion sequence.This also guarantees synchronous movement of the gripper jaws.The virtually backlash-free plain-bear-ing guide is realised using ground-in gripper jaws.A wide range of uses:•Can be used as either a double-acting or single-acting gripper•Compression spring for supplemen-tary or retaining gripping forces•Suitable for external and internal gripping•Centring either via centring pins or centring sleevesThe technology indetail Gripper closedGripper open1231Gripper jaw2Wedge with restricted guidance 3Piston with magnetAdditional connections For sealing airFor lubricationConnections for sealing airConnections for lubricationCompressed air flows past the gripper jaw when sealing air (max.0.5bar)is connected.This prevents,for example,dustparticles from entering the gripper jaw guides.The connections can also be used for relubricating the guide.-H-NoteGripper selection sizing software -V-NewParallel grippers HGPT-B,heavy-dutyKey featuresWide range of supply portsDirect Via adapter plateFrom the front Fromunderneath1Supply portsMounting optionsDirect mountingFrom above From underneath or from the side1Mounting screws2Centring pins,centring sleeves-H-NoteThese grippers are not suitable or are of limited suitability for the following application examples:Not suitable for:Of limited suitability for:•Machining with sealing air possible•Aggressive media only possible after consultation withFesto-V-New2011/03–Subject to change3Internet:/catalogue/...-V-NewParallel grippers HGPT-B,heavy-dutyKey featuresSystem product for handling and assembly technologySystem components and accessoriesBrief description Page/Internet1Drives Wide range of combinations possible within handling and assembly technology drive2Grippers Wide range of variations possible within handling and assembly technology gripper3Adapters For drive/drive and drive/gripper connections adapter kit4Basic components Profiles and profile connections as well as profile/drive connections basic component5Installation components For a clear,safe layout of electrical cables and tubing installation component 6Motors Servo and stepper motors,with or without gearing motor–Axes Wide range of combinations possible within handling and assembly technology axis4 Internet:/catalogue/...Subject to change–2011/03Parallel grippers HGPT-B,heavy-dutyPeripherals overviewPeripherals overviewAccessoriesType Brief description Page/Internet 1Gripper jaw blankBUB-HGPTBlank specially matched to the gripper jaws for custom building of gripper fingers192Centring sleeveZBH •For centring gripper jaw blanks/gripper fingers on the gripper jaws•Centring sleeves are included in the scope of delivery of the gripper203Lubrication nipple Included in the scope of delivery of the gripper–4Proximity sensorSMT-8G/SMT-10G •For sensing the piston position•Proximity sensor ends flush with the bottom of the housing205Position transmittersSMAT-8M •Continuously senses the piston position.It has an analogue output with an output signalin proportion to the piston position•For size40 (80)216Push-in fittingQSFor connecting compressed air tubing with standard O.D.quick star7Blanking plugBFor sealing supply ports when using the ports underneath208Centring sleeveZBHFor centring the gripper when mounting209–Drive/gripper connections adapter kit-V-New2011/03–Subject to change5Internet:/catalogue/...-V-NewParallel grippers HGPT-B,heavy-dutyType codesHGPT—16—A—B—F—TypeHGPT Parallel gripperSizePosition sensingA Via proximity sensorVariantB B seriesForce variantF High forceGripping force retentionG1OpeningG2Closing6 Internet:/catalogue/...Subject to change–2011/032011/03–Subject to change 7Internet:/catalogue/...Parallel grippers HGPT-B,heavy-dutyTechnical data FunctionDouble-acting HGPT-…-N-Size16…80mm -T-Total stroke 3 (50)mmFunction –Variants Single-acting orwith gripping force retention ……opening HGPT-…-G1…closingHGPT-…-G2General technical data Size 1620253540506380DesignWedge mechanismGuided motion sequence Mode of operation Double-acting Gripper functionParallel Number of gripper jaws2Max.weight force per external gripper finger 1)[N]0.40.51.1 1.8 3.1 6.412.618.3Stroke per gripper jaw HGPT-…-A[mm]346810121625HGPT-…-A-F[mm]1.523456812.5Pneumatic connectionM3M3M5M5M5G x G x G ¼Pneumatic connection,sealing air M3M3M5M5M5M5M5M5Repetition accuracy 2)[mm]±0.01±0.02±0.025Max.interchangeability [mm]0.2Max.operating frequency [Hz]32Rotational symmetry [mm]<∅0.2Position sensing Via proximity sensor,position transmitterType of mounting Via through-hole and locating pin/centring sleeve Via female thread and locating pin/centring sleeve Mounting positionAny1)Valid for unthrottled operation2)End-position drift under constant conditions of use with 100consecutive strokes in the direction of movement of the gripper jaws -H-Note:This product conforms to ISO 1179-1and to ISO 228-1Operating and environmental conditions Min.operating pressure HGPT-…-A [bar]3HGPT-…-A-G [bar]4Max.operating pressure[bar]8Operating pressure,sealing air [bar]0…0.5Operating medium Filtered compressed air,lubricated or unlubricated Ambient temperature 1)[°C]+5…+60Corrosion resistance class CRC 2)21)Note operating range of proximity sensors.2)Corrosion resistance class 2according to Festo standard 940070Components subject to moderate corrosion stress.Externally visible parts with primarily decorative surface requirements which are in direct contact with a normal industrial environment or media such as coolants or lubricating agents.-V-NewSubject to change –2011/038 Internet:/catalogue/...Parallel grippers HGPT-B,heavy-dutyTechnical data Weight [g]Size 1620253540506380HGPT-…-A 851352664908211,4002,7124,745HGPT-…-A-F 851352664908211,4002,7124,745HGPT-…-A-G 1001553535671,0751,8323,5626,287Materials Sectional viewParallel gripper 1Gripper jaw Hardened steel2Housing Hard anodised wrought aluminium alloy 3Piston Hard anodised aluminium –SealsNitrile rubber–Note on materialsFree of copper,PTFE and silicone RoHS-compliantGripping force [N]at 6barSize1620253540506380Gripping force per gripper jaw HGPT-…-A Opening 60821332453555708961,613Closing 53771242293315358511,551HGPT-…-A-FOpening 1081722385007231,1851,8853,275Closing961612214676741,1131,7913,150Total gripping force HGPT-…-A Opening 1201622664907101,1401,7923,226Closing 1061542484586621,0701,7023,102HGPT-…-A-FOpening 2163444761,0001,4462,3703,7706,550Closing 1923224429341,3282,2263,5226,300-V-New2011/03–Subject to change 9Internet:/catalogue/...Parallel grippers HGPT-B,heavy-dutyTechnical dataCharacteristic load values at the gripperjawsThe indicated permissible forces and torques apply to a single gripper jaw.They include the lever arm,additional applied loads due to the workpiece or gripper fingers and accelerationforces occurring during movement.The zero co-ordinate line (gripper jaw guide)must be taken into consider-ation for the calculation of torques.Size1620253540506380Max.permissible force F z [N]2007001,2001,8002,5003,2005,0007,000Max.permissible torque M x [Nm]10155080100120160180Max.permissible torque M y [Nm]1215456090120180220Max.permissible torque M z[Nm]68355075100140170Mass moment of inertia [kgm 2x10-4]Mass moment of inertia of the parallel gripper in relation to the central axis,without external gripper fingers,without load.Size 1620253540506380HGPT-…-A 0.1410.3440.983 2.8077.27719.48860.903150.515HGPT-…-A-G 0.1630.4451.4793.97410.99029.42393.034238.336Gripper jawbacklashWith grippers,backlash occurs between the gripper jaws and the housing due to the plain-bearing guide.The backlash values listed in the table have been calculated based on the traditional accumulative tolerance method.Size1620253540506380Max.gripper jaw backlash Sz[mm]0.02Max.gripper jaw angular backlash ax,ay[°]0.1-V-NewParallel grippers HGPT-B,heavy-duty Technical dataOpening and closing times[ms]at6barWithout external gripper fingers With external gripperfingersThe indicated opening and closingtimes[ms]have been measured atroom temperature at an operatingpressure of6bar with horizontallymounted gripper without additionalgripper fingers.The grippers must bethrottled for greater applied loads.Opening and closing times must thenbe adjusted accordingly.Size1620253540506380 Without external gripper fingersStandard HGPT-…-A Opening92226365680150214Closing113032676085156213 HGPT-…-A-G1Opening131324376770146182Closing312548114135153328353 HGPT-…-A-G2Opening22354069122151294379Closing151828877177185176High force HGPT-…-A-F Opening82825336083143212Closing103132706482152211 HGPT-…-A-F-G1Opening191324357170145180Closing302545115143143315340 HGPT-…-A-F-G2Opening33383663120137308362Closing171428727280154178With external gripper fingers(as a function of weight force)HGPT-…0.5N10–––––––1N1530––––––2N214235–––––3N–524242––––4N––494963–––5N–––5571–––6N––––78–––8N––––9090––10N–––––95––12N–––––100––15N––––––164–18N––––––179–20N––––––18922322N–––––––23424N–––––––244-V-NewSubject to change–2011/03 10 Internet:/catalogue/...Technical dataExternal gripping (closing)Standard HGPT-16-AHGPT-20-A HGPT-25-AHGPT-35-AHGPT-40-A HGPT-50-A HGPT-63-AHGPT-80-AHigh force HGPT-16-A-FHGPT-20-A-F HGPT-25-A-FHGPT-35-A-FHGPT-40-A-F HGPT-50-A-F HGPT-63-A-FHGPT-80-A-FTechnical dataInternal gripping (opening)Standard HGPT-16-AHGPT-20-A HGPT-25-AHGPT-35-AHGPT-40-A HGPT-50-A HGPT-63-AHGPT-80-AHighforce HGPT-16-A-FHGPT-20-A-F HGPT-25-A-FHGPT-35-A-FHGPT-40-A-F HGPT-50-A-FHGPT-63-A-FHGPT-80-A-FTechnical dataGripping force F H per gripper jaw at 6bar as a function of lever arm x and eccentricity a and b The following formula must be used to calculate the lever arm x with eccentric gripping:The gripping force F H can then be read from the graphs ( from 11)using the calculated value x.x =a +b ᎩxabCalculation example Given:Distance a =45mm Distance b =40mm To be calculated:The gripping force at 6bar,with an HGPT-25,used as an external gripperProcedure:Calculate the lever arm x x =60mmx =452+402ᎩThe graph ( 11)gives a value of F H =89N for the grippingforce.Technical dataSpring force F F as a function of size,gripper jaw stroke l Gripping force retention for HGPT-…-G…The spring forces F F as a function of gripper jaw stroke l can be deter-mined from the followinggraph.Standard High force HGPT-…-A-G HGPT-…-A-F-GSize16…35Size16…35HGPT-16-A-GHGPT-20-A-GHGPT-25-A-GHGPT-35-A-GHGPT-16-A-F-GHGPT-20-A-F-GHGPT-25-A-F-GHGPT-35-A-F-G Size40...80Size40 (80)HGPT-40-A-GHGPT-50-A-GHGPT-63-A-GHGPT-80-A-GHGPT-40-A-F-GHGPT-50-A-F-GHGPT-63-A-F-GHGPT-80-A-F-GTechnical dataSpring force F F as a function of size,gripper jaw stroke l and lever arm x per gripper finger The lever arm x must be taken intoconsideration when determining theactual spring force F Ftotal.The formulae for calculating thespring force are provided in the tablebelow.Standard–HGPT-…-A-GGripping force retention Size F Ftotal=GrippingforceretentionSize F Ftotal=G116–0.1*x+0.7*F F G216–0.2*x+0.7*F F 20–0.05*x+0.9*F F20–0.65*x+0.9*F F25–0.7*x+0.7*F F25–0.55*x+0.7*F F35–0.65*x+0.7*F F35–0.05*x+0.7*F F40–1.05*x+0.8*F F40–1.05*x+0.8*F F50–0.75*x+0.8*F F50–1.4*x+0.8*F F63–2*x+0.8*F F63–1.2*x+0.8*F F80–1.4*x+0.6*F F80–0.6*x+0.6*F F High force–HGPT-…-A-F-GGripping force retention Size F Ftotal=GrippingforceretentionSize F Ftotal=G116–0.6*x+0.6*F F G216–0.4*x+0.6*F F 20–0.7*x+0.75*F F20–0.95*x+0.75*F F25–0.85*x+0.9*F F25–0.5*x+0.9*F F35–0.4*x+0.55*F F35–0.4*x+0.55*F F40–1.9*x+0.75*F F40–2.3*x+0.75*F F50–2.5*x+0.7*F F50–1*x+0.7*F F63–5.5*x+0.7*F F63–1*x+0.7*F F80–5.65*x+0.8*F F80–0.5*x+0.8*F F Determination of the actual gripping forces F Gr for HGPT-...-G1and HGPT-...-G2as a function of the applicationThe parallel grippers with integrated spring type HGPT-...-G1(opening grip-ping force retention)and HGPT-...-G2 (closing gripping force retention)can be used as:–single-acting grippers –grippers with supplementarygripping force and–grippers with gripping forceretentiondepending on requirements.In order to calculate availablegripping forces F Gr(per gripper jaw),the gripping force(F H)and spring force(F Ftotal)must be combined accordingly.ApplicationSingle-acting Supplementary gripping force Gripping force retention•Gripping with spring force: F Gr=F Ftotal •Gripping with pressure force: F Gr=F H–F Ftotal •Gripping with pressure and springforce:F Gr=F H+F Ftotal•Gripping with spring force:F Gr=F FtotalTechnical dataTechnical dataSize B1B21)B3B6D1D2D3D4D5D6D7D8D9D10D11D12–0.05∅∅∅∅∅∅∅∅∅[mm]±0.05±0.1–0.1H8/h7H8±0.1+0.3H8H8 16241746M3 2.65M32 4.6 2.6 4.6–M25 3.2 2028228.7 6.5M4 3.35M336 3.265M35 3.2 2536271110M5 4.27M448 4.285M37 5.3 3542321312M5 4.29M549.2 5.387M57 6.4 4050381714M6 5.19M6511 6.497M59 6.4 5060452015.5M8 6.89M6613.58.4117M512 6.4 63725624.520M8 6.812M10613.58.4117M51210.3 801007039.522M108.515M12816.510.213.59M61212.4Size D13D14EE E1E2H1H2H3H4H5H61)∅∅-G-G-G-G-G [mm]H8/h7±0.05±0.05±0.05±0.05±0.1±0.1–0.3166–M5M3M329372836121223.731.7 1.217.525.5 206–M5M3M33138303710152330 1.214.521.5 2567M5M5M33957385610202846 1.417.535.5 3567M5M5M34967486612303654 1.92038 4069M5M5M35581548015364167 1.92551 50812G x M5M56393629215304777 1.93060 63812G x M5M5771177611618265696 2.42868 80812G¼M5M59113390132223365107 2.93476Size H71)H8H9L1L2L3L4L5L61)L71)L8L91)L101)L11-G-F[mm]–0.02±0.1±0.1±0.5±0.5±0.5±0.1±0.5±0.1+0.1±0.5 16 2.258.5152350474436 5.52029206381 20312152264605644 2.52435246 3.2512 2.5 25 4.516153376706452 3.53142207 4.7513 3.5 35 5.519203896888064 5.54052407 5.516 5.5 40 5.522245012011010080 5.549665010 6.520 5.5 507.525.52656149137125100 5.563826010824 5.5 639323272192176160125 5.57410076109.532 5.5 8011393477230210180154 5.582130100101240 5.5Size L12L131)T1T2T3T4T5T6T7T8T9T10T11T12T13T14-G[mm]±0.1min.+0.1min.min.min.+0.2+0.2+0.1+0.1min.min.+0.1 16226 5.5 1.3454151422–3 1.3 1.23 5.5–2022.66 6.5 1.35 5.54191111 1.36 1.3 1.23 5.5–252968.5 1.66 6.5 4.5241515 1.36 1.6 1.23 6.7 1.6 3539138.5 2.168.5 4.5161919 1.69 1.6 1.23 6.5 1.6 4047.41310.5 2.1610.56332020 1.69 2.1 1.24 6.5 2.1 50611312.5 2.1810.56432323 1.69 2.6 1.24 6.5 2.6 63751312.5 2.6815.57553535 1.69 2.6 1.25 6.5 2.6 80822015 3.1102010704444 2.110 2.6 1.2 5.55 2.61)Tolerance for centring hole±0.02mmTolerance for thread±0.1mm-H-Note:This product conforms to ISO1179-1and to ISO228-1Technical dataOrdering dataSize Double-acting Single-acting or with gripping force retentionwithout compression spring Opening Closing[mm]Part No.Type Part No.Type Part No.TypeStandard16560192HGPT-16-A-B560193HGPT-16-A-B-G1560194HGPT-16-A-B-G2 20560198HGPT-20-A-B560199HGPT-20-A-B-G1560200HGPT-20-A-B-G2 25560204HGPT-25-A-B560205HGPT-25-A-B-G1560206HGPT-25-A-B-G2 35560210HGPT-35-A-B560211HGPT-35-A-B-G1560212HGPT-35-A-B-G2 40560216HGPT-40-A-B560217HGPT-40-A-B-G1560218HGPT-40-A-B-G2 50560222HGPT-50-A-B560223HGPT-50-A-B-G1560224HGPT-50-A-B-G2 63560228HGPT-63-A-B560229HGPT-63-A-B-G1560230HGPT-63-A-B-G2 80560234HGPT-80-A-B560235HGPT-80-A-B-G1560236HGPT-80-A-B-G2High force16560195HGPT-16-A-B-F560196HGPT-16-A-B-F-G1560197HGPT-16-A-B-F-G2 20560201HGPT-20-A-B-F560202HGPT-20-A-B-F-G1560203HGPT-20-A-B-F-G2 25560207HGPT-25-A-B-F560208HGPT-25-A-B-F-G1560209HGPT-25-A-B-F-G2 35560213HGPT-35-A-B-F560214HGPT-35-A-B-F-G1560215HGPT-35-A-B-F-G2 40560219HGPT-40-A-B-F560220HGPT-40-A-B-F-G1560221HGPT-40-A-B-F-G2 50560225HGPT-50-A-B-F560226HGPT-50-A-B-F-G1560227HGPT-50-A-B-F-G2 63560231HGPT-63-A-B-F560232HGPT-63-A-B-F-G1560233HGPT-63-A-B-F-G2 80560237HGPT-80-A-B-F560238HGPT-80-A-B-F-G1560239HGPT-80-A-B-F-G2AccessoriesDimensions and ordering dataFor size B1B2D1D2D3H1L1∅∅∅[mm]±0.05H13H13H8H13±0.05±0.05 16166 3.25–4021 20196 3.25–4527 25248 4.37–6031 352810 5.39–7039 403411 6.49–7549 5040– 6.491110061 6350–10.3121712079 8058–12.4152014088For size L21)L31)T1T2Weight Part No.Typeper blank[mm]+0.1[g]16108 1.33529560244BUB-HGPT-16-B 2011.7512 1.33653560245BUB-HGPT-20-B 2513.2513 1.65198560246BUB-HGPT-25-B 3517.516 2.161161560247BUB-HGPT-35-B 4022.520 2.166.5280560248BUB-HGPT-40-B 502924 2.191622560249BUB-HGPT-50-B 6337.532 2.61101,213560250BUB-HGPT-63-B 803640 3.11251,738560251BUB-HGPT-80-B1)Tolerance for centring hole±0.02mmTolerance for thread±0.1mmAccessories1)Packaging unit2011/03–Subject to change 21Internet:/catalogue/...Parallel grippers HGPT-B,heavy-dutyAccessories-H-NoteMode of operation:The position transmitter continuously senses the piston position.It has an analogue output with an output signal in proportion to the piston position.Measuring range:The entire stroke can be measured with sizes 40and 50.A stroke of 13mm (with the high-force variant 6.5mm)can be measured with sizes 63and 80.Two position transmitters are required for sensing longer strokes.Projection:The position transmitter projects past the housing at the back with sizes 40and 50.-V-New。
