Single cam type. Double cam type. Grip force N. Type Model/size Stroke Screw type straight style. Screw type tee style
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1 Type Model/size Stroke -SS-0-N. -SS-0-N. Single cam type -SS- 7. -SS-. -SS-4. -SD-0 Double cam type -SD- -SD-4. Screw type straight style Screw type tee style -FS- -FT- -FS- -FT Grip forcen
2 4 DANGER WARNING CAUTION DANGER WARNING CAUTION
3 7 Cam type Screw type Model S- S- S-4 F- F- Tap M M Effective depth (mm) () () (7.) 7. Recommended tightening torque (Nm) 0. to to 1.. to. 1. to 1.. to. Cam type Screw type Model S- S- S-4 F- F- Tap M Effective depth (mm) 7.
4 9 Mode Absolute Gripping Gripping of work Fast tact and low impact Acceleration/ deceleration When the variation in work shape is small Gripping of work Incremental Fast tact and low impact Constant speed Closed Constant speed ZON Open Open Closed When the variation in work shape is small Gripping on work internal surface Unknown shape of work (large variation) Application of shock to work Gripping on work external surface Unknown shape of work (large variation) Application of shock to work Gripping on work internal surface Large variation in work shape Judgment of acceptability of gripping size Application of shock to work Gripping on work external surface Large variation in work shape Judgment of acceptability of gripping size Application of shock to work Movement Return of fingers Return of fingers
5 11 Type Model number -SS-0-N Photo Grip force () 0.9 to Stroke (mm). Stop Max. speed repeatability (mm/s) (mm) 0 -SS-0-N 1. to Single cam type -SS- 1. to SS-. to SS-4 1. to Gripper Screw type tee style Screw type straight style Double cam type Controller -SD-0 -SD- -SD-4 -FS- -FS- -FT- -FT- Model number ESC11- Photo Power supply voltage () V DC % to 4 to 0 7 to to 4 to 0 to 4 to 0 Consumption current (A) 1 A MAX. External interface Parallel input/output Serial network Number of points 1 points original point
6 1 Model number -SS-0-N -SS-0-N Max. continuous rating N N N Opening/closing stroke Max. (rating) Constant speed movement gripping mode (max) mm mm/sec mm/sec mm/sec Position Repeatability mm 0.0 Gripping force Speed Guide structure Max. gripping weight Note 4) Working temperature range Working humidity range Storage temperature Weight kg g 0. Linear guide 0. 0 to No freezing RH to 90No condensing to 0No freezing 90 Single Cam Type -SS-0-N -SS-0-N Allowable load F N Allowable pitching moment Mp Nm 0.04 Allowable yawing moment My Nm 0.04 Allowable rolling moment Mr Nm 0.0 Max. weight (one pair) g Max. gripping position L mm Max. overhang H mm Guide Finger
7 Max. continuous rating N N N Opening/closing stroke mm Max. (rating) mm/sec mm/sec mm/sec Constant speed movement gripping mode (max) Position Repeatability mm Gripping force Speed Guide structure Model number Max. gripping weight Note 4) Working temperature range Working humidity range Storage temperature Weight kg g -SS- -SS- -SS Linear guide to RH to 90No condensing to Model number -SS- -SS- -SS-4 A AA AB 1 B CB D E to 1 9. to.9 to. Model number M N P Q R RA SA SB SC TE U V VA VB W Z -SS- -SS- -SS M M ED F 71 7 G 4 H J. L. 4.. SS-4 SS- SS- Guide Finger Allowable load Allowable pitching moment Allowable yawing moment Allowable rolling moment Max. weight (one pair) Max. gripping position Max. overhang F N MpNm My Nm Mr Nm g L mm H mm Single cam type -SS- -SS- -SS
8 1 Max. continuous rating N N N Opening/closing stroke mm Max. (rating) mm/sec mm/sec mm/sec Constant speed movement gripping mode (max) Position Repeatability mm Gripping force Speed Guide structure Model number Max. gripping weight Note 4) Working temperature range Working humidity range Storage temperature Weight kg g -SD-0 -SD- -SD Linear guide 1. 0 to RH to 90No condensing to Model number A AA -SD-0 -SD- -SD-4 AB 1 B CB D E ED F G H J. to.. to..0 to K L Model number M -SD-0. -SD-. -SD-4 7 N M P Q 4 R RA 1 0 SA SB 1 SC. 9.. TE 7. U M V 7. VA VB W X 7 9 X1 4 1 Z. SD-4 SD- SD- Guide Finger Allowable load Allowable pitching moment Allowable yawing moment Allowable rolling moment Max. weight (one pair) Max. gripping position Max. overhang F N MpNm My Nm Mr Nm g L mm H mm Double Cam Type -SD-0 -SD- -SD
9 1 Gripping force Speed Model number Max. continuous rating N N N Opening/closing stroke mm Max. (rating) mm/sec mm/sec mm/sec Constant speed movement gripping mode (max) Position Repeatability mm Guide structure Max. gripping weight Note 4) Working temperature range Working humidity range Storage temperature Weight F- F- kg g -FS- -FT- -FS- -FT Linear guide to RH to 90No condensing to Guide Finger Allowable load Allowable pitching moment Allowable yawing moment Allowable rolling moment Max. weight (one pair) Max. gripping position Max. overhang F N Mp Nm My Nm Mr Nm g L mm H mm -F Screw Type -F Model number A B -FS- -FS- 0 Model number -FS- -FS- 4 P 7. Model number A B -FT- -FT- 0 Model number -FT- -FT- 7. Q 0 BD Q 0 C 1 R 7 1 C 1 R 7 1 D RA 1 D RA 1 E S E S SA ED 0 SA ED 0 SB 4 SB 4 F 9 F 9 4 T 9 G H J K L M. to to TA TB TC 0 TD. G. to 9. 1 to 1 T TA 9 TB 4 U M V 7. H 0 0 TC 0 TD. J U M K V 7. W 0 7 L 4.. W 0 7 Y M. 4. Y Z 4 Z
10 1 Number of control axes Position detecting method Min. set travel Speed setting Number of points Teaching method Protective function (alarm) 1 axis Optical rotary encoder 0.01 mm Max. speed is set automatically, and speed can be set at each point. 1 points original point MDI (input of coordinate values), teaching playback, direct teach (support software applicable to personal computer) Overcurrent, overload, abnormal voltage, voltage drop, system trouble, excessive machine reference, excessive position error, feedback error, point data failure, data writing failure Monitor External input/output Input Photocoupler insulation ma TYP/1 point Output Photocoupler insulation 0 ma MAX/1 point Network LED indication Alarm history, I/O status, alarm, motor current, supply voltage points: Command point setting (-bit binary) points: Control input points: Completion point setting (-bit binary) 7 points: Control output RS4 ports (one channel with power supply and one channel without power supply, multi-dropped connection of up to 1 axes) Power supply lamp (POW: green), internal operation lamp (RUN: yellow), receiving status lamp (RDY: yellow), error status lamp (ALM: red) No. Function No. I/O Logic Function Power supply V DC % 1 A MAX (common to motor and control) 1 V Motor power supply and control power supply 1, V of power supply for I/O (supplied from outside) General Working temperature Working humidity Storage temperature Insulation resistance Vibration resistance Weight Accessories 0 %RH (No condensing) to (No freezing) 0 V DC M 0. G Hz g I/O cable (with connector at one end), CD-ROM (support software applicable to personal computer), connectors (I/O, power supply, serial), terminal resistance Indicating lamp Address setting SW I/O connector CH address 0, 1,,...9, A, B, C...F Actuator terminal (ACT) Power supply terminal (input of V DC) RS4 terminal 1 RS4 terminal POW RUN RDY ALM Power supply lamp (green) Internal operation lamp (yellow) Receiving status lamp (yellow) Error status lamp (red) Connection to personal computer through serial converter when support software is used For network To be connected to other controller For network 0 V FG 0 V of power supply Frame ground (terminal for D grounding) No. A1 A A A4 A A B1 B B B4 B B EA EZ 0 V BN B EB V SLD A AN Function Encoder signal input phase A Encoder signal input phase Z Encoder 0 V power supply output NC Motor output phase B Motor output phase B Encoder signal input phase B Encoder V power supply output Shielded wire NC Motor output phase A Motor output phase A No. 1 SG A B Signal ground RS4 signal A RS4 signal B Function No. 1 COM IPOS0 I IPOS1 I IPOS I IPOS I IPOS4 I START I SEL I INLOCK I READY O BUSY O ALARM O INPOS O HOLD O OPOS0 O OPOS1 O OPOS O OPOS O OPOS4 O RORG O ZON O SG Negative Negative Signal ground 0 V of power supply for I/O (supplied from outside) Position data Bit 0 Position data Bit 1 Position data Bit Position data Bit Position data Bit 4 Execution command input Selection input Input for temporarily stopping operation of main body Signal 1 when input signal can be received Signal 1 during execution of special command Signal 0 upon occurrence of alarm Signal 1 upon completion of positioning Output 1 upon holding No. of position to which gripper has moved Upon occurrence of alarm, the No. is output. When the digit is specified with IPOS# upon switching of function, the position is output in BCD data. Output 1 upon completion of origin return Signal 1 in specified area Function 4 V Supply voltage V to special converter A RS4 signal A 0 V Supply voltage 0 V to special converter B RS4 signal B
11 0 0
12 Item Specifications Item Specifications Number of points Input voltage Input current Operating current Insulation Rating ON OFF V DC ma at V DC ma MIN 1 ma MAX Photocoupler Number of points Opening/closing voltage Opening/closing current Rating Residual voltage ON Leakage current OFF Insulation V DC 0 ma MAX at V DC 0. V MAX at V DC 0 ma MAX Photocoupler
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