Troubleshooting; Characteristic Curves - Festo HGDS-B Serie Manual De Instrucciones

12

Troubleshooting

Malfunction Possible cause
Unexpected swivelling Pipe connection error
and gripping sequence
Proximity sensor not Ferritic objects in the immediate
sensing vicinity (e. g. mounting
attachments)
Wire break
Hard impact at the end Mass too large
positions
Excessive speed
Rubber buffer worn/shock
absorber defective
Limiting pin (L) removed
( Fig. 7) and stop cam moved
beyond the limit
The shock absorber can Viscosity of the shock absorber
puncture as the result oil decreases as a result of
of an extended service frictional heat
life
Shock absorber reset Oil leakage or increased friction
times increasing in
length
Gripper jaws open Max. perm. work load exceeded
during swivel motion
Operating pressure on gripper
component too low
Swivel speed too high
Fig. 17
13 Technical data
Size
Constructional design
Cushioning P
P1
YSRT
End-position Rough adjustment
adjustment
Precision adjustment
Operating medium
Mounting position
Operating pressure
Stroke per gripper jaw
Swivel angle
Ambient temperature
Gripping force per gripper jaw at 6 bar
opening
closing
Torque at 6 bar
Maximum force on gripper jaw Fz (static)
Maximum torque on gripper jaw (static)
Mx, My, Mz
Max. permiss. force due to weight of the
gripper fingers (unthrottled)
Max. swivelling P/P1
frequency at 6 bar
YSRT
Information on materials
Housing, gripper jaws, stop cam,
shock absorber retainer
Gripper head cover, plastic cage
Drive shaft, screws, pins
Seals, rubber buffer
Cover cap
Product weight
Fig. 18
Remedy
Check tubing connection
( 5.3 Operation)
Increase the distance, use
non-ferritic material or another
type of proximity sensor
( www.festo.com/catalogue)
Replace proximity sensor
Select a lighter mass
Greater throttling of swivel
motion
Replace the cushioning
component ( 7 Operation)
Push the stop cam back and
re-install the limiting pin
Reduce the swivelling frequency
Replace the shock absorber
( 7 Operation)
Reduce work load
Increase operating pressure, but
only up to the max. permissible
value
Greater throttling of swivel
motion
12 16 20
Double-acting semi-rotary drive with parallel
gripper and gripper drive
Flexible cushioning rings/pads at both ends
Flexible cushioning rings/plates at both
ends, end positions adjustable, with fixed
stop
Shock absorbers on both sides
By moving the stop cams
By rotating the cushioning components
Filtered compressed air, lubricated or
unlubricated
Any
[bar] 3 ... 8
[mm] 2.5 4.5 7
[°] 210
[°C] +5 ... +60
[N] 42 58 96
[N] 37 51 84
[Nm] 0.85 1.25 2.5
[N] 90 150 250
[Nm] 6 11 22
[N] 0.3 0.5 1.0
[Hz] 2
[Hz] 1.5
Aluminium
Polyacetal
Steel
Nitrile rubber
Polyamide
[kg] 0.51 0.73 1.26
14

Characteristic curves

Max. perm. mass moment of inertia with unthrottled operation
Size
2 -4
HGDS-...-P [kgm x 10 ]
2 -4
HGDS-...-P1 [kgm x 10 ]
2 -4
HGDS-...-YSRT [kgm x 10 ]
Fig. 19
2
Mass moment of inertia J [kgm x 10
at 6 bar (throttled) on the gripper and semi-rotary drive
(for HGDS-...-YSRT the swivel time shown in the diagram increases by the cushion-
ing time of approx. 0.1 s).
HGDS-PP-12-P-A-B
HGDS-PP-20-P-A-B
Fig. 20
HGDS-PP-12-P1-A-B
HGDS-PP-20-P1-A-B
Fig. 21
HGDS-PP-12-YSRT-A-B
HGDS-PP-20-YSRT-A-B
Fig. 22
12 16 20
0.05 0.1 0.2
0.6 1.05 2.1
2 2.5 5
-4
] as a function of swivel time t [s]
HGDS-PP-16-P-A-B
HGDS-PP-16-P1-A-B
HGDS-PP-16-YSRT-A-B