Product feature
Attachment orientation
Main specification
| Heading | Contents | |
|---|---|---|
| Gripping Motion | Max. Gripping Force (N) (Both sides) (Note 7) | 10 |
| Maximum Gripping Speed (mm/s) for Both sides (Set value) (Note 8) | 20 | |
| Maximum Gripping Speed (mm/s) for Both sides (Actual speed) (Note 8) | 20 | |
| Approaching Motion | Maximum Speed (mm/s) for Both sides (Set value) (Note 8) | 100 |
| Maximum Speed (mm/s) for Both sides (Actual speed) (Note 8) | 100 | |
| Minimum Speed (mm/s) for Both sides (Set value) (Note 8) | 5 | |
| Minimum Speed (mm/s) for Both sides (Actual speed) (Note 8) | 5 | |
| Rated acceleration/deceleration (G) for Both sides | 0.3 | |
| Maximum acceleration/deceleration (G) for Both sides | 0.3 | |
| Stroke | Opening/Closing Stroke (mm) (Both sides) (Set value) (Note 8) | 4 |
| Opening/Closing Stroke (mm) (Both sides) (Actual speed) (Note 8) | 4 | |
(Note 7) This is the total value for both fingers under the following conditions: current limit set to 100%, at the center of the opening/closing stroke, gripping point distance L = 23 mm, wire routing length 1 m, bending angle 360°, and bending radius R25.
(Note 8) These are the set values (command values) for the wire controller and the actual finger speed and opening/closing amount (for reference).
| Heading | Contents |
|---|---|
| Gripping mechanism | Control Wire + Cam Mechanism |
| Release mechanism | Compression Spring + Cam Mechanism |
| Operating method | Single-acting type |
| Positioning repeatability (Note 9) | ±0.01mm |
| Lost motion (Note 10) | 0.35 mm / 0.7 mm / 1 mm / 1.3 mm or less (Wire bending angles: 0° / 180° / 360° / 540°) |
| Backlash (Per finger) | 0.5mm or less |
| Operating frequency | 120c.p.m. |
| Body | Dedicated aluminum extrusion material (A6063SS-T5) treated with black alumite |
| Guide | Sintered oil-impregnated bearing |
| Allowable static moment value | Ma : 0.38 N･m |
| Mb : 0.38 N･m | |
| Mc : 0.74 N･m | |
| Vertical Payload (Note 11) | 132N |
| Operating life | 10 million reciprocating operations (with wire controller) |
| Ambient operating temperature and humidity | 0 - 40℃, RH 85% and below (no condensation) |
| Storage temperature | 0-50°C (0-60°C allowed for durations of one month or less) |
| Protection grade | IP20 |
| Vibration resistant/Shock resistant | 4.9m/s2 |
| Compatible to overseas standards | CE mark, RoHS compliant, UL standard |
| Delivery | Written in [Reference for delivery] section of the homepage |
(Note 9) The stated repeatability refers to the gripping operation. It does not apply to the release operation.
(Note 10) The lost motion values are reference values measured at wire bending angles of 180°, 360°, and 540°.
(Note 11) If the product is used with a load exceeding the above value, it may shorten its life or cause damage.
(Note) Depending on the operating environment, mounting orientation, and operating conditions, base oil separated from the grease may leak from inside the actuator to the outside. If the base oil may negatively affect surrounding equipment, appropriate protective measures should be taken.
Direction of the Moment for Slider Type
Adaptive controller
(Note) The wire controller (included) contains a built-in controller. See page 2-845 for further details on the built-in controller.
Oversea specification
Important notes on selection
 | (1) The wire controller and control wire are included. Refer to page 2-407 for further details. (2) Be sure to use push-motion operation to grip the work. (3) 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 will not be dropped.) When removing a workpiece being held during a power outage, please turn the manual operation knob on the wire controller to release the workpiece. (4) For precautions when connecting the control wire, please refer to page 2-410. (5) When connecting the Elecylinder to a PLC, there are three possible connection methods. Refer to page 2-841 for further details. |
Dimension drawing
(Note) Secure the control wire using cable ties or similar means to prevent it from being subjected to tension, bending, or twisting (rotation).
(Note) When mounting the main unit from the bottom, a clearance hole is required for routing the control wire.
(Note) For precautions when connecting the control wire, please refer to page 2-410.
Mass
| Heading | Contents |
|---|---|
| Mass | 43g |
Checking the Gripping Point Distance
When using, make sure that the distance (L, H) from the finger (claw) mounting surface to the gripping point is within the range of the graph.
(Note) If the limit range is exceeded, an excessive moment will be applied to the finger sliding part and the internal mechanism, which may adversely affect the service life.
Gripping Force
Gripping force varies depending on the wire length and bending angle. Please refer to the graph below.
■ Gripping Force by wire length and bending angle
(Note) The gripping force values shown are approximate total values for both fingers (for reference) under the following conditions: current limit set to 70%, at the center of the opening/closing stroke, gripping point distance L = 23 mm, and wire bending radius R25.
(Note) The gripping force can be adjusted by changing the current limit between 70% and 100%.
For every 5% increase in the current limit above 70%, approximately 0.7N should be added to the gripping force.
(Note) The speed is fixed at 20mm/s for gripping (pushing) motion.
■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.
System configuration
The actuator is supplied with a control wire and a wire controller.
Operation is achieved by the wire controller, which contains an integrated motor, encoder, and controller, actuating the control wire (inner wire) to drive the actuator.
The wire controller is used to adjust position, speed, acceleration/deceleration, and gripping force. Refer to page 2-407 for further details.
| ① | Actuator |
| ② | Control wire |
| ③ | Wire controller (with actuator cable) |