Parallel grippers HGP

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Key features

HGP--A-B- At a glance Double-acting piston drive Self-centring Variable gripping action: External/internal gripping Versatility thanks to externally adaptable gripper fingers Wide range of options for mounting on drive units High gripping force and compact size Max. repetition accuracy Gripping force retention Internal fixed flow control With protective dust cap for use in dusty environments (protection class IP54) Sensor technology: Adaptable proximity sensors on the small grippers Integral proximity sensors for medium and large grippers

HGP--A-B-SSK

-H-

Note

Sizing software Gripper selection www.festo.com

Mounting options for external gripper fingers (customer-specific) 1 2 3 4 Parallel gripper External gripper fingers Mounting screws Centring pins 2

3 1 With protective dust cap The sizes 16 and 25 can be adapted for use in dusty environments. They fulfil the requirements for protection class IP54. The technical data corresponds to the data for parallel gripper HGP without protective dust cap.

-H-

Note

Machining

Grinding dust

Grippers should always be used with exhaust air flow control. They are not suitable for the following, or for similar applications: Aggressive media

Welding spatter

Internet: www.festo.com/catalogue/...

Subject to change 2011/04

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Peripherals overview and type codes Peripherals overview HGP-06 System product for handling and assembly technology

1 HGP-10 35 6 5 4 3

Accessories Type 1 2 3 4 5 6 Position sensor SMH-S1 Evaluation unit SMH-AE1 Proximity sensor SME/SMT-8 Bondable sensor rail HGP-SL Proximity sensor SME/SMT-10

Brief description Adaptable and integratable sensor technology, for sensing the piston position For position sensor SMH-S1 For sensing the piston position Allows the use of proximity sensors SME/SMT-10 For sensing the piston position Drive/gripper connections 13 13 14 13 15

Page/Internet

adapter kit

Type codes HGP Type HGP Size Position sensing A Generation B B series For proximity sensing Parallel gripper 16 A B G1 SSK

Gripping force retention G1 G2 Opening Closing

Protective dust cap SSK Protective dust cap

2011/04 Subject to change

Internet: www.festo.com/catalogue/...

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Function Double-acting HGP-06-A, HGP-...-A-B Variants With gripping force retention... ... opening HGP-...-G1 ... closing HGP-...-G2 With protective dust cap

-N-T-

-WSize 6 35 mm Stroke 4 25 mm

www.festo.com Wearing parts kits 12

HGP--A-B-

HGP--A-B-SSK

General technical data Size Design Mode of operation Gripper function Number of gripper jaws Max. weight force per external gripper finger1) Stroke per gripper jaw Pneumatic connection Repetition accuracy2) Max. interchangeability Max. operating frequency Position sensing Type of mounting

6 Wedge-shaped Double-acting Parallel 2 0.1

10 Lever mechanism

16

20

25

35

[N] [mm] [mm] [mm] [Hz]

0.2

0.4

0.6

0.8 7.5 Gx

1.2 12.5

2 3 5 6.5 M3 M5 0.04 0.2 4 For proximity sensing With female thread and centring sleeve Via through-holes and centring sleeve

1) Valid for unthrottled operation 2) End position drift under constant conditions of use with 100 consecutive strokes in the direction of movement of the gripper jaws -H- Note: This product conforms to ISO 1179-1 and to ISO 228-1

Operating and environmental conditions Size Min. operating HGP-...-A/-B pressure HGP-...-G... Max. operating pressure Operating medium Ambient temperature Corrosion resistance class CRC1)
1)

6 [bar] [bar] [bar] 2 5 8

10

16

20

25

35

[C]

Filtered compressed air, lubricated or unlubricated +5 ... +60 2 1

Corrosion resistance class 1 according to Festo standard 940 070 Components requiring low corrosion resistance. Transport and storage protection. Parts that do not have primarily decorative surface requirements, e.g. in internal areas that are not visible or behind covers. Corrosion resistance class 2 according to Festo standard 940 070 Components requiring moderate corrosion resistance. 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

Weights [g] Size HGP-...-A HGP-...-G1 HGP-...-G2 With protective dust cap HGP--SSK

6 18

10 75 76 76

16 194 197 197

20 396 402 402

25 725 737 737

35 1 369 1 387 1 387

197

737

Internet: www.festo.com/catalogue/...

Subject to change 2011/04

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Materials Sectional view 2 Parallel gripper 1 3 2 3 Body Gripper jaw Cover cap Protective dust cap SSK Note on materials 6 Nickel-plated aluminium Nickel-plated steel Polyamide 10 16 20 25 35

Hard anodised aluminium High-alloy steel

Thermoplastic vulcanizate

Thermoplastic vulcanizate

Copper, PTFE and silicone-free Conforms to RoHS

Gripping force [N] at 6 bar

Size Gripping force per gripper jaw Opening Closing Total gripping force Opening Closing Characteristic load values per gripper jaw

6 10 10

10 22 17

16 70 80

20 120 115

25 185 170

35 375 350

20 20

44 34

140 160

240 230

370 340

750 700

The indicated permissible forces and torques apply to a single gripper jaw. The indicated values include the lever arm, additional applied loads caused

by the workpiece or external gripper fingers, as well as forces which occur during movement.

The zero co-ordinate line (gripper jaw guide) must be taken into consideration for the calculation of torques.

Size Max. permissible force FZ Max. permissible torque MX Max. permissible torque MY Max. permissible torque MZ [N] [Nm] [Nm] [Nm]

6 14 0.1 0.1 0.1

10 25 0.5 0.5 0.5

16 90 3.3 3.3 3.3

20 150 6 6 6

25 240 11 11 11

35 380 25 25 25

2011/04 Subject to change

Internet: www.festo.com/catalogue/...

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Mass moment of inertia [kgm2x10-4] Mass moment of inertia [kgm2x10-4] for parallel grippers in relation to the central axis, without external gripper fingers, without load.

Size HGP-...-A HGP-...-G1 HGP-...-G2

6 0.01

10 0.08 0.08 0.08

16 0.47 0.47 0.47

20 1.49 1.52 1.49

25 3.83 3.92 3.84

35 12.70 12.83 12.73

Opening and closing times [ms] at 6 bar without external gripper fingers with external gripper fingers The indicated opening and closing times [ms] have been measured at room temperature and 6 bar operating pressure without external gripper fingers. The grippers must be throttled for greater applied loads. Opening and closing times must then be adjusted accordingly.

Size Without external gripper fingers HGP-...-A HGP-...-G1 HGP-...-G2 Opening Closing Opening Closing Opening Closing

6 5 5

10 22 31 17 29 33 29

16 44 60 39 62 66 44

20 32 44 30 48 39 42

25 47 50 39 60 62 49

35 77 77 71 82 90 72

With external gripper fingers (as a function of weight force) HGP 0.06 N 5 0.08 N 10 0.10 N 20 0.20 N 50 0.50 N 1.00 N 1.25 N 1.50 N 1.75 N 2.00 N 2.50 N 3.00 N 4.00 N

100 200 300

100 200 300

100 200 300

100 200 300

100 200 300

Internet: www.festo.com/catalogue/...

Subject to change 2011/04

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Gripping force FGrip per gripper jaw as a function of operating pressure and lever arm x External and internal gripping (closing and opening) Gripping forces can be determined with the following diagrams for the various sizes in relation to operating pressure and lever arm (distance from the zero co-ordinate line shown opposite to the pressure point at which the fingers grip the workpiece).

HGP-06-A1)

HGP-10-A-B

FGrip [N]

FGrip [N]

x [mm]
1) Due to the design, the opening and closing gripping forces for HGP-06-A are identical

x [mm]

HGP-16-A-B

HGP-20-A-B

FGrip [N]

x [mm] x [mm] HGP-25-A-B HGP-35-A-B

FGrip [N]

FGrip [N]

FGrip [N]

x [mm] Closing Opening

x [mm]

2011/04 Subject to change

Internet: www.festo.com/catalogue/...

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Spring force FSpring as a function of the gripper size and overall stroke length l FSpring Gripper retention force, opening: the spring forces FSpring of the parallel gripper HGP-...-G1 can be determined from the following graphs. FSpring [N]

l [mm] Gripper retention force, closing: the spring forces FSpring of the parallel gripper HGP-...-G2 can be determined from the following graphs. FSpring [N]

FSpring

l [mm] Determination of actual gripping forces for parallel grippers HGP-...-G1 and HGP-...-G2 depending upon the application The parallel grippers with integrated spring can be used as: single-acting grippers grippers with supplementary gripping force and grippers with gripping force retention In order to calculate available gripping forces FGr (per gripper jaw), the gripping force FGrip) and spring force (FSpring) must be combined accordingly.

Application Single-acting The resulting gripping force FGr, conditional on the application, depends on the gripping action (external/internal gripping) and the gripper design (with/without spring return). The spring force is supplemented in accordance with the design and gripping action. Gripping with spring force: FGr = FSpring Gripping with pressure force: FGr = FGrip FSpring Supplementary gripping force Gripping with pressure and spring force: FGr = FGrip + FSpring Gripping force retention Gripping with spring force: FGr = FSpring

Pressurised (in gripping action) HGP HGP-...-G1 HGP-...-G2 Opening Closing Opening Closing Opening Closing FGr = FGrip FGr = FGrip FGr = FGrip + FSpring FGr = FGrip FSpring FGr = FGrip FSpring FGr = FGrip + FSpring

Unpressurised FGr = 0 FGr = 0 FGr = FSpring FGr = 0 FGr = 0 FGr = FSpring

Internet: www.festo.com/catalogue/...

Subject to change 2011/04

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Gripping force FGrip per gripper jaw at 6 bar as a function of lever arm x and eccentricity y External and internal gripping (closing and opening) Gripping forces can be determined with the following diagrams for the various sizes at 6 bar in relation to eccentric application of force (distance from the zero co-ordinate line shown opposite to the pressure point at which the fingers grip the workpiece) and the maximum permissible offcentre point at which force is applied.

Calculation example Given: HGP-16-A-B Lever arm x = 20 mm Eccentricity y = 22 mm To be found: Gripping force at 6 bar Procedure: Determine the intersection xy between lever arm x and eccentricity y in the graph for HGP-16-A-B Draw an arc (with centre at origin) through intersection xy Determine the intersection between the arc and the X axis Read the gripping force Result: Gripping force = approx. 66 N Recommended range

x [mm]

y [mm] HGP-06-A Recommended range HGP-10-A-B Recommended range HGP-16-A-B Recommended range

FGrip [N]

FGrip [N]

x [mm]

FGrip [N]

y [mm] y [mm] HGP-20-A Recommended range HGP-25-A-B Recommended range y [mm]

HGP-35-A-B Recommended range

FGrip [N]

FGrip [N]

y [mm]

y [mm]

y [mm]

1 Closing 2 Opening

2011/04 Subject to change

Internet: www.festo.com/catalogue/...

FGrip [N] 9

x [mm]

x [mm]

x [mm]

FGrip [N]

x [mm]

x [mm]

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Dimensions View A HGP-06-A Download CAD data www.festo.com

HGP-10-A-B

HGP-16 ... 32-A-B

View A 1 Sensor slot for proximity sensor SME/SMT-8 (not with HGP-06-A). Proximity sensors SME/SMT-10 can also be used in combination with the sensor strip HGP-SL-... (can be glued into place). 2 Compressed air connection, opening 3 Compressed air connection, closing 4 Closed 5 Open 6 Centring sleeves ZBH (2 included in scope of delivery)

With protective dust cap HGP--SSK

4 Closed 5 Open

10

Internet: www.festo.com/catalogue/...

Subject to change 2011/04

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Type B1 B21) 0.1 HGP-06-A HGP-10-A-B HGP-16-A-B HGP-20-A-B HGP-25-A-B HGP-35-A-B 18 32 47 55.6 68.2 88 11 16 25 25 29 33 B3 0.5 6 15.8 17.8 17.4 21 31 B4 0.5 10 21.8 27.8 30.4 36 56 B5 0.5 21 35.8 53.8 65.4 80 110 B6 B7 D1 3.2 3.2 5.3 5.3 6.4 8.4 D2 D3 H8/h7 5 5 7 7 9 12 D5 D6 H8 1.5 2 3 4 4 5 EE H1 H2 H3 H42) 0.1 M3 M3 M3 M5 Gx Gx 45.5 66 80 101 121 142 9.9 15 20 24.9 30 31.9 10.2 16 21.9 26.1 32.2 44.8 7.5 7.5 7.5 7.5 17.5 17.5

0.03 0.5 5.5 7 13 17.5 22 27 M3 M3 M4 M4 M6 M8

M2 M3 M4 M4 M5 M6

With protective dust cap HGP-16-A-B-SSK 47 HGP-25-A-B-SSK 68.2 Type H5

25 29 H6

16.4 21 H7

26.4 36 H8

46.4 66 H9

10 15 H10 0.2

67 101 H11

5.3 6.4 L1

M4 M6 L2

7 9 L3 0.03

M4 M5 L6

3 4 L7

M3 Gx T1 +0.1

83 20.5 126.8 31.5 T3 +1 6 7.5 8 15 16 T4 +0.5 3.5 3.5 3.5 6 6.5 6.5

21.9 32.2 T5

7.5 17.5

0.3 1.2 1.2 1.4 1.4 1.9 2.4

HGP-06-A HGP-10-A-B HGP-16-A-B HGP-20-A-B HGP-25-A-B HGP-35-A-B

7 7 7 10.5 16.5 16.5

4 4 4 11.5 8.3 8.5

5.8 8 11 14 16 17

2.9 4 5.5 7 8 8.5

5 7.5 10 12.5 15 16

33 51 62.5 81 88.5 108.5

10 15.5 22 30 37 45

1.5 4.2 5.7 9 10.5 10.5

5 7 10 12 15 20

1.8 1.5

1.2 1.2 1.6 1.6 2.1 2.6

With protective dust cap HGP-16-A-B-SSK 7 HGP-25-A-B-SSK 16.5

4 8.3

11 16

5.5 8

10 15

65.5 94.3

38.1 58.8

22 37

5.7 10.5

10 15

30 47

1.6 2.1

7.5 15

3.5 6.5

1.4 1.9

1) Tolerance for centring hole: 0.02 2) Tolerance for centring hole: 0.05 -H- Note: This product conforms to ISO 1179-1 and to ISO 228-1

-H-

Note QSM-M3-3 QSML-M3-3 QSMLL-M3-3 CN-M3-PK-3 LCN-M3-PK-3 Internet: fitting

Due to the distance H5 between the two air connections on types HGP-06/-10/-16 which measures 7 mm, only the following tube fittings can be used

2011/04 Subject to change

Internet: www.festo.com/catalogue/...

11

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Technical data Ordering data Size [mm] 6 10 16 20 25 35

Double-acting Without compression spring Part No. Type 174 815 197 542 197 545 525 889 197 548 197 551 HGP-06-A HGP-10-A-B HGP-16-A-B HGP-20-A-B HGP-25-A-B HGP-35-A-B

Gripper retention force G1 Opening Part No. Type 197 543 197 546 525 890 197 549 197 552 HGP-10-A-B-G1 HGP-16-A-B-G1 HGP-20-A-B-G1 HGP-25-A-B-G1 HGP-35-A-B-G1

Gripper retention force G2 Closing Part No. Type 197 544 197 547 525 891 197 550 197 553 HGP-10-A-B-G2 HGP-16-A-B-G2 HGP-20-A-B-G2 HGP-25-A-B-G2 HGP-35-A-B-G2

With protective dust cap 16 539 636 25 539 635

HGP-16-A-B-SSK HGP-25-A-B-SSK

Ordering data Wearing parts kits Size [mm] 6 10 16 20 25 32 Part No. 378 516 397 376 397 377 397 378 397 397 397 380 Type HGP-06-A HGP-10 HGP-16 HGP-20 HGP-25 HGP-35

12

Internet: www.festo.com/catalogue/...

Subject to change 2011/04

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Accessories Sensor rail HGP-SL can be glued into place Material: Wrought aluminium alloy

Dimensions and ordering data For size [mm] 10 16 20 25 35

L1 35 38 50 58 65

Weight [g] 1.4 1.5 2.0 2.3 2.6

Part No. 535 582 535 583 535 584 535 585 535 586

Type HGP-SL-10-10 HGP-SL-10-16 HGP-SL-10-20 HGP-SL-10-25 HGP-SL-10-35

Ordering data Type Position sensor SMH-S1

For size

Weight [g] 20

Part No.

Type Technical data SMH-S1-HGP06

PU1) Internet: smh-s1 1

175 710

Evaluation unit SMH-AE1 6 170 175 708 175 709

Technical data SMH-AE1-PS3-M12 SMH-AE1-NS3-M12

Internet: smh-ae 1

Centring sleeve ZBH 6, 10 16, 20 25 35

1) Packaging unit quantity

Technical data 1 189 652 186 717 150 927 189 653 ZBH-5 ZBH-7 ZBH-9 ZBH-12

Internet: zbh 10

Installation instructions for position sensor SMH-S1 In order to ensure the correct functioning of the position sensor the outlet cables and the compressed air tubing must be mounted in the same direction.

2011/04 Subject to change

Internet: www.festo.com/catalogue/...

13

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Accessories Ordering data Proximity sensors for T-slot, magneto-resistive Type of mounting Switch output N/O contact Insertable in the slot from above, flush with cylinder profile PNP Cable, 3-wire Plug M8x1, 3-pin Plug M12x1, 3-pin Cable, 3-wire Plug M8x1, 3-pin Cable, 3-wire Plug M8x1, 3-pin 2.5 0.3 0.3 2.5 0.3 2.5 0.3 543 867 543 866 543 869 543 870 543 871 175 436 175 484 SMT-8M-PS-24V-K-2,5-OE SMT-8M-PS-24V-K-0,3-M8D SMT-8M-PS-24V-K-0,3-M12 SMT-8M-NS-24V-K-2,5-OE SMT-8M-NS-24V-K-0,3-M8D SMT-8-PS-K-LED-24-B SMT-8-PS-S-LED-24-B Technical data Type Internet: smt

Electrical connection

Cable length [m]

Part No.

NPN Insertable in the slot lengthwise, flush with the cylinder profile N/C contact Insertable in the slot from above, flush with cylinder profile PNP PNP

Cable, 3-wire

7.5

543 873

SMT-8M-PO-24V-K7,5-OE

Ordering data Proximity sensors for T-slot, magnetic reed Type of mounting Switch output N/O contact Insertable in the slot from above, flush with cylinder profile Contacting

Electrical connection

Cable length [m] 2.5 5.0 2.5 0.3 2.5 0.3

Part No.

Technical data Type

Internet: sme

Cable, 3-wire Cable, 3-wire Plug M8x1, 3-pin Cable, 3-wire Plug M8x1, 3-pin

Insertable in the slot lengthwise, flush with the cylinder profile N/C contact Insertable in the slot lengthwise, flush with the cylinder profile Ordering data Connecting cables Electrical connection, left Straight socket, M8x1, 3-pin Straight socket, M12x1, 5-pin Angled socket, M8x1, 3-pin Angled socket, M12x1, 5-pin

Contacting

543 862 543 863 543 872 543 861 150 855 150 857

SME-8M-DS-24V-K-2,5-OE SME-8M-DS-24V-K-5,0-OE SME-8M-ZS-24V-K-2,5-OE SME-8M-DS-24V-K-0,3-M8D SME-8-K-LED-24 SME-8-S-LED-24

Contacting

Cable, 3-wire

7.5

160 251

SME-8-O-K-LED-24

Electrical connection, right Cable, open end, 3-wire Cable, open end, 3-wire Cable, open end, 3-wire Cable, open end, 3-wire

Cable length [m] 2.5 5 2.5 5 2.5 5 2.5 5

Part No. 541 333 541 334 541 363 541 364 541 338 541 341 541 367 541 370

Technical data Type

Internet: nebu

NEBU-M8G3-K-2.5-LE3 NEBU-M8G3-K-5-LE3 NEBU-M12G5-K-2.5-LE3 NEBU-M12G5-K-5-LE3 NEBU-M8W3-K-2.5-LE3 NEBU-M8W3-K-5-LE3 NEBU-M12W5-K-2.5-LE3 NEBU-M12W5-K-5-LE3

14

Internet: www.festo.com/catalogue/...

Subject to change 2011/04

-U- Type discontinued

Available up until 2011 Parallel grippers HGP
Accessories Ordering data Proximity sensors for C-slot, magneto-resistive Type of mounting Switch Electrical connection, output connection direction N/O contact Insertable in the slot from above PNP Cable, 3-wire, in-line Plug M8x1, 3-pin, in-line Plug M8x1, 3-pin, lateral 2.5 0.3 0.3 551 373 551 375 551 376 SMT-10M-PS-24V-E-2,5-L-OE SMT-10M-PS-24V-E-0,3-L-M8D SMT-10M-PS-24V-E-0,3-Q-M8D Technical data Type Internet: sme Technical data Type Internet: smt

Cable length [m]

Part No.

Ordering data Proximity sensors for C-slot, magnetic reed Type of mounting Switch Electrical connection, output connection direction N/O contact Insertable in the slot from above Insertable in the slot lengthwise Ordering data Connecting cables Electrical connection, left Straight socket, M8x1, 3-pin Angled socket, M8x1, 3-pin Contacting Plug M8x1, 3-pin, in-line Cable, 3-wire, in-line Cable, 2-wire, in-line Plug M8x1, 3-pin, in-line Cable, 3-wire, in-line

Cable length [m] 0.3 2.5 2.5 0.3 2.5

Part No.

Contacting

551 367 551 365 551 369 173 212 173 210

SME-10M-DS-24V-E-0,3-L-M8D SME-10M-DS-24V-E-2,5-L-OE SME-10M-ZS-24V-E-2,5-L-OE SME-10-SL-LED-24 SME-10-KL-LED-24 Technical data Type Internet: nebu

Electrical connection, right Cable, open end, 3-wire Cable, open end, 3-wire

Cable length [m] 2.5 5 2.5 5

Part No. 541 333 541 334 541 338 541 341

NEBU-M8G3-K-2.5-LE3 NEBU-M8G3-K-5-LE3 NEBU-M8W3-K-2.5-LE3 NEBU-M8W3-K-5-LE3

2011/04 Subject to change

Internet: www.festo.com/catalogue/...

15