Hiwin SEG-04 Manual de usuario
RoHS
www.hiwin.tw
User Manual
Integrated Electric Gripper
Original Instruction
INDUSTRIE 4.0 Best Partner
Multi-Axis Robot
Pick-and-Place / Assembly /
Array and Packaging / Semiconductor /
Electro-Optical Industry /
Automotive Industry / Food Industry
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• Electric Gripper
• Integrated Electric Gripper
• Rotary Joint
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Precision / Semiconductor /
Medical / FPD
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/ SMT / Food Industry / LCD
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• Motors--50W~2000W
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Inspection / Testing Equipment / Robot
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Contents
1. Precautions (be sure to read before use) ............................................................................... 1
1.1 Safety regulations ................................................................................................................ 1
1.2 Warning label location and description .................................................................................. 3
1.3 Warranty coverage ................................................................................................................. 4
2. Product characteristics ......................................................................................................... 5
2.1 Integrated electric gripper features ....................................................................................... 5
2.2 Application examples .................................................................................................... 6
2.3 Specification table .............................................................................................................. 6
2.4 System architecture diagram ............................................................................................... 7
2.5 Specification illustration ......................................................................................................... 8
2.6 Electric grippers mounting methods .................................................................................. 9
3. Control method ...................................................................................................................... 11
3.1 Input/output definitions and functional descriptions ............................................................... 11
3.2 Indicator functions ............................................................................................................. 11
3.3 External wiring instructions ............................................................................................... 12
3.4 Operation timing diagram .................................................................................................... 13
3.5 Error status descriptions (SEG-24 only)................................................................................... 13
3.6 Function descriptions (SEG-24 only) ....................................................................................... 14
3.7 NPN/PNP mode adjustment teaching ..................................................................................... 16
4. Dimension drawing ................................................................................................................ 18
4.1 SEG-04 outline drawing .................................................................................................. 18
4.2 SEG-24 outline drawing ................................................................................................... 18
4.3 STG-16 outline drawing ................................................................................................... 19
5. Safety certification ................................................................................................................ 20
6. Appendix ............................................................................................................................... 21
6.1 Shipping items ...................................................................................................................... 21
6.2 Robot arm language examples ....................................................................................... 21
6.3 Accessories installation methods ...................................................................................... 23
6.4 Finger design guide ................................................................................................................ 29
6.5 Electric gripper option selection requirements table ............................................................. 30
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Danger：Indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
Warning：Indicates a potentially hazardous situation which could result in death
or serious injury, if the equipment is operated incorrectly.
Caution：Indicates a potentially hazardous situation which may result in injury
and machine damage, if the equipment is operated incorrectly.
1.1 Safety regulations
1. Precautions (be sure to read before use)
These safety instructions are intended to prevent hazardous situations and/or equipment damage. These
instructions indicate the level of potential hazard with the labels of “Danger,”“Warning”, or “Caution.”They
are all important notes for safety and must be followed in addition to International Standards (ISO/IEC)[Note 1],
Japanese Industrial Standards (JIS)[Note 2]and other safety regulations[Note 3].
[Note 1] ISO 10218: Robots and robotics devices - Safety requirement for industrial robots
IEC 60204-1: Safety of machinery – Electrical equipment of machine (Part1: General requirement)
[Note 2] JIS B 9960-1: Safety of machinery – Electrical equipment of machine (Part1: General requirement)
JIS B 8433 : Manipulating industrial robots - Safety
[Note 3] Labor Safety and Health Act ......etc.
◎This product is designed and manufactured as a component for using in general industrial machinery.
◎Please make sure to acquire the product specifications from the system designer or someone who has
sufficient knowledge and experience. In addition, please read the details of the“Technical Manual”
and “Software Operating Manual”carefully and take the educational training for related safety prior to
operating this product.
◎If the gripper is integrated in a system (machine, robot, etc.), the system needs to meet the regulations
and standards for safety measures. Check if the system satisfies the regulations and standards first. If so,
properly handle the product in accordance with the regulations and standards.
◎All situations are not covered by the “Danger”, “Warning”, and “Caution”safety signs. For more
details, be sure to read the instruction manuals thoroughly before operation.
Danger
◎Do not use the product outside specifications. It
may cause the product to fail, stop functioning or
sustain damage. It may also significantly reduce
the service life of the product.
◎If the machine will stop in the event of system
problem such as emergency stop or power
failure, design a safety circuit or other device to
prevent equipment damage or injury.
◎Do not use this product in a place exposed to
ignitable, inflammable or explosive substances.
It may explode or ignite, resulting in product
damage or injury. Hot swapping is forbidden.
◎Please follow the instruction manual when
wiring the product. For plug in/plug out of the
wire, connect to the terminal quickly and reliably.
◎Please do not use the product with water and oil
to avoid electric shock or fire.
◎Before supplying power and operating the
product, always check the operation area of the
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equipment to ensure safety. When operating or
adjusting the gripper, be sure to observe safety
measures for the system.
◎Please do not disassemble, or modify the product
to avoid personal accident, electric shock, fire or
damage.
Warning
◎Do not expose the product to radiant heat
generated from a heat source, and use the
product within the ambient temperature range of
+5℃to +45℃.
◎Please use product under ambient humidity
﹤85% without condensation.
◎Do not use product under corrosive gas or
corrosive chemical solution locations, to avoid
rust and other deterioration situation occurring.
◎Do not use product in dust or iron powder
environments.
◎Do not use products where violent collision and
vibration is possible.
◎Do not use products near strong electromagnetic
interference to avoid abnormal product
movements.
◎Install products and fixtures with appropriate
screw locking torque.
◎Do touch product when product in motion, to
avoid hand injury.
◎When a person is accidentally caught, please
immediately turn off power or implement external
safety circuit emergency stop button. and to
ensure Check power state, and manually adjust
gripper switch or remove fixture afterwards.
◎When power failure occurs during operation,
turn off power immediately to avoid sudden
movement after the resumption of power, which
may cause resulting in mechanical damage or
personal injury.
◎It abnormal heat, smoke, odor or persistent
noise occurs, please immediately turn off power
to avoid product damage or fire.
◎When product is holding workpiece and cannot
be activated, please immediately turn off power.
Manually adjust gripper switch or remove fixture
to remove workpiece. Wait for abnormal state to
be resolved before turning on power supply.
◎Do not use product grip live or dangerous
objects.
◎When gripping workpiece, avoid load on a single
gripper.
◎When product moves, avoid external force to the
gripper.
Caution
◎When installing product, please do not handle
action parts or wires, so as to avoid product
damage.
◎Do not put fingers or foreign matter into
openings of the product, to avoid electric shock,
personal injury, fire and other undesirable
circumstances.
◎The motor in operation will heat up, increasing
surface temperature of product . Please avoid
adversely affecting surrounding workpieces.
◎The bending radius of the wire in the actuator
cable is within specified range. (Rb ≥ 38 mm)
◎Cables of product cannot be damaged and should
be checked regularly. Damage to cable, excessive
bending, pulling, curling can lead to abnormal
function, cause fire or other undesirable
circumstances.
◎When product is discarded, it should be disposed
in accordance to local waste disposal regulations.
◎When using the product, please wear safety
shoes and other appropriate protective
equipment.
◎Product body and gripper end are provided with
positioning holes.
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2
1.2 Warning label location and description
The product will be labeled as shown below to ensure correct and safe operation.
Danger, do not insert
finger here
Danger, do not insert
finger here
◎Fixture should be designed to be light and short.
◎Fixture material, shape, clamping area and other
design characteristics will affect the maximum
workpiece weight.
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The warranty period for the product is 12 months or 5 million operations (whichever comes first), but it does
not include any of the following causes of failure:
◎Beyond the operation method, operating environment and storage specifications defined in the product
manual.
◎The damage caused by installation place movement, change of working environment, or improper transfer
after being installed by a professional installer.
◎Product damaged due to collision or accident caused by improper operation or installation.
The following conditions are not covered by the warranty.
◎Product serial number or date of production(month and year) can not be verified.
◎Gripper body and control components using non-Hiwin original products.
◎Adding or removing any element into/out the gripper or the controller.
◎Modifying the wire or the cables between the gripper body and the controller.
◎Any modification of the appearance of the gripper or controller; removal of the components inside the
gripper or the controller. e.g., demolition of the outer covering,product drilling or cutting.
◎Damage caused by any natural disaster. i.e., fire, earthquake, tsunami, lightning, windstorms, floods etc.
HIWIN does not provide any warranty or compensation to all the damage caused by above-mentioned
circumstances unless the user can prove that the product is defective.
For more information towards warranty terms and conditions, please contact the technician or the dealer who
you purchased with.
1.3 Warranty Coverage
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2.1 Integrated electric gripper features
2. Product characteristics
• Integrated control
- Controller is embedded inside gripper eliminating the need for additional mounting and can be
used directly with I/O control.
- Parameters can be set without computer, eliminating the need to edit program.
- LED lights for Power and Ready, clearly show gripper status.
- Compact design; small size, light weight.
• Easy operation
- Only need one set of I/O signals to control gripper on/off.
- Built-in Busy signal for immediate feedback gripper status.
•Function
- SEG-24 has function buttons that allow user to quickly adjust gripper travel and store clamping
point.
• High speed clamping
- SEG-04 open/close cycle time is 0.26 seconds, suitable for 3C industry high-speed pick and
place operations.
- SEG-24 Clamp has smart pick and place function, set to function keys that store clamping
point. It can move to clamping point at high-speed and automatically convert to slow clamping,
effectively reduce cycle time and increase efficiency.
- STG-16 is suitable for round object pick and place operations.
SEG-24SEG-04 STG-16
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2.3 Specification
Model SEG-04 SEG-24 STG-16
Category Item Unit Value
Motion specifications
Stroke per side mm 212 8
Gripping force N 8 [Note1] 35 [Note2] 40 [Note1]
Gripping speed mm/s 45 15(45) [Note3] 30
Repeatability mm ±0.1 ±0.1 ±0.1
Power specifications Operation voltage V 24±10% 24±10% 24±10%
Operation current A 0.5 0.5 0.5
Load
Load torque Mr N-m 2.6 11.76 7
Load torque Mp N-m 2.3 7.35 4.5
Load torque My N-m 2.3 7.35 4.5
Load strength F N 108.9 254.8 196
Hardware specifications
Weight kg 0.2 0.7 0.7
IP class - IP40 IP20 IP40
Cleanroom class - ISO Class 4 (Class 10) - -
Operation temperature °C 5-45 5-45 5-45
Operation humidity %RH < 85 < 85 < 85
Storage temperature °C 0-60 0-60 0-60
Total length mm 49 105.5 72.3
Total height mm 25 88 100
Total thickness mm 81 38 100
2.2 Application examples
• Gripper can be used for workpiece parts that are easily deformed, broken, or
susceptible to surface damage.
Light bulb Rubber and plastic resin Capacitor Glass test tube
Thin shell Elastoplastic material Electronic components Glass crystal products
Suitable for clamping in a narrow space Object column
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• Plug and play
- Connect Integrated electric gripper drive wires to power supply and host controller,
to begin using.
X
X
Y
Y
Z
Z
F
F
Mr
Mr
Mp
Mp
My
My
2.4 System architecture diagram
Upper controller
For example:
programmable logic controller PLC
robot controller RC
24V DC power supply
[Note 1] This gripping force is measured at a gripping point (L) of 20mm with a gripping force accuracy of ±25%.
[Note 2] This gripping force is measured at a gripping point (L) of 20mm with a gripping force accuracy of ±30%.
[Note 3] Moving velocity is 45mm/s.
[Description 1] Gripping force is recommended to be 10 to 20 times the weight of gripped object.
[Description 2] High-speed movement or rotation after gripping requires the weight of object to be reduced.
[Description 3] Material, shape, grip area, etc. of gripping part will affect the maximum weight of gripped object, and the
gripping part required to be installed before gripping.
[Description 4] SEG-04 is light gripping force model, it is recommended to use elastic material for gripping part, such as
rubber, gifted glue, etc., to increase gripping friction, and avoid gripping objects from falling. For more
details, please refer to ch6.4 design guide of gripping section.
[Description 5] SEG-04 can only inside grip inside and the backlash is 0.5mm per side. Don’t grip at the backlash area.
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