Product feature
Attachment orientation
Main specification
| Heading | Contents | |
|---|---|---|
| Lead (mm) (Note 6) | 2.53 equivalent | |
| Gripping Motion | Max. Gripping Force (N) (Total for 3 fingers) | 630 |
| Gripping speed (mm/s) (per finger) | 20 | |
| Approaching Motion | Max. Speed (mm/s) (per finger) | 99 |
| Min. Speed (mm/s) (per finger) | 2 | |
| Rated Acceleration/Deceleration (G) (per finger) | 0.3 | |
| Max. Acceleration/Deceleration (G) (per finger) | 0.3 | |
| Brake | Brake specification | － |
| Brake retention force (N) | － | |
| Stroke (per finger) | 15 | |
(Note 6) Indicates the amount of finger movement per motor revolution, converted to diameter.
| Heading | Contents |
|---|---|
| Drive system | Timing belt + Hypoid gear + Groove cam |
| Accuracy of Repeating Positioning. | ±0.02mm |
| Lost motion | - (Can't be indicated because this is a 2-point positioning function. ) |
| Backlash (Per side) | 0.3mm or less |
| Linear guide | Finite Guide |
| Static Allowable Moment (per finger) | Ma ： 36.5 N･m |
| Mb ： 36.5 N･m | |
| Mc ： 49.6 N･m | |
| Vertical Allowable Load (Note 7) (per finger) | 763N |
| Ambient operating temperature and humidity | 0 - 40℃, RH 85% and below (no condensation) |
| Protection grade | IP20 |
| Vibration resistant/Shock resistant | 4.9m/s2 |
| Compatible to overseas standards | CE mark, RoHS compliant |
| Motor type | Pulse motor (□42) (power capacity: Max. 4.2A) |
| Encoder type | Incremental / Battery-less absolute |
| Encoder pulse No. | 800 pulse/rev |
| Delivery | Written in [Reference for delivery] section of the homepage |
(Note 7) If the product is used with a load exceeding the above value, it may shorten its life or cause damage.
Direction of the Moment for Slider Type
Adaptive controller
(Note) EC series has their controller built-in themselves. See page 2 769 for details of the built-in controller.
Oversea specification
Important notes on selection
 | (1) The maximum opening and closing speed in the "Main Specifications" indicates the operating speed per finger. The relative operating speed will be the double. (2) The maximum gripping force in the "Main Specifications" is the total gripping force for 3 fingers when the gripping point distance is 0 and the overhang distance is 0. Please refer to the graphs in "Gripping Point Distance Verification" and "Gripping Force" for the actual workpiece mass that can be transported. (3) Be sure to use push-motion operation to grip the work. (4) The self-lock mechanism maintains the force to grip the workpiece even when the power is turned off. (However, this does not guarantee that the workpiece held will not drop. ) To remove the workpiece being gripped when the power is turned off, turn the opening/closing screw on the side or remove the finger attachment before removing the workpiece. (5) Please use at a duty ratio of 90% or less. Please refer to page 1-326 for further information. |
Dimension drawing
M.E.： Mechanical end
S.E.： Stroke end
*1 Six positioning collars are included for mounting the finger attachments.
(Note) Home position is at the open side as standard. If the origin needs to be set on the closing side, please specify the optional model (Type:NM).
Mass by stroke length
| Heading | Contents |
|---|---|
| Mass | 2.42kg |
(Note) The values are for when a 1m actuator cable is selected.
Checking the Gripping Point Distance
The distance (L) from the finger mounting surface to the gripping point should be 100mm or less.
(Note) Please be sure to make it small and lightweight as possible even if the gripping point distance is within the limited range. If the finger length or mass is large, the inertial force and bending moment at opening and closing may deteriorate the performance and adversely affect the guide part.
Gripping Force
■Correlation Diagram of Gripping Force and Current Limit Value
(Note) This is the total value for 3 fingers when the gripping point distance (L) is set to 0.
(Note) Values indicated are for reference only. There may be a variation of approximately 0 - 40%. The possibility of variation increases especially when the current limit value outside the recommended area (coloured area in the graph) is set.
(Note) The movement speed during gripping (pushing) motion is fixed at 20mm/s.
■Reference for Gripping Point Distance and Gripping Force
(Note) The gripping force is based on the extended position when the maximum gripping force is defined as 100%. Results may vary depending on the rigidity of the finger attachment used.