GR Series Adjustable Angular Gripper www.numatics.com
Table of Contents GR90 Series Angular Grippers Features & Benefits 3 How to Order 3 Dimensions 4 Technical Specifications 5 Switch Information 6 Quick Disconnect Cables 7
Angular Gripper GR90 GR90-Series Angular Grippers The GR90-Series has a double acting piston attached to a cross bar by a connecting rod. The linear movement of the piston is transformed into angular movement of the jaws through a double toggle link mechanism. A. Body: Hardcoat anodized with PTFE, reduced friction, reduced wear. Front and side ports standard. C B. Jaws: Hardened alloy steel. B Keyway slot for tooling location. 180 jaw motion. C. Locking Adjustment Screw: Jaw rotations can be adjusted from 0-90 to be custom fit to each application. A How to Order GR90 1 6 D X Seal Type 1 = Buna-N Seals 2 = FKM Seals Sensing Type Standard Cord Set 4 = Prox Switch PNP (sourcing) 5 = Prox Switch NPN (sinking) 6 = No Sensing Quick Disconnect Cord Set W = Prox Switch PNP (sourcing) Straight V = Prox Switch NPN (sinking) Straight U = Prox Switch PNP (sourcing) 90 Deg. T = Prox Switch NPN (sinking) 90 Deg. Prox switches are 4 mm diameter. Special Options X = Standard Sensing Position A = Single Position Open B = Single Position Closed C = Two Position Sensing D = No Sensing When ordering additional switches & Seal Kits: Sensing Kits Standard Cord Set Hall Effect - PNP Sourcing Hall Effect - NPN Sinking PROX-4FL2-P PROX-4FL2-N Sensing Kits Quick Disconnect Cord Set Hall Effect - PNP Sourcing Hall Effect - NPN Sinking PROX-4QDS-P Not Available 90º 5 meter cable PXC90 Straight 5 meter cable (5m Cables) PXCST 3
GR90 Angular Gripper Dimensions: Inches GR90 Dimensions #10-32 X 5/16" DEEP (4) HOLES 1.102 REAMED FOR 1/8" DOWELS SLIP FIT (2) PLACES 1.142.750 1.535 1.142 THRD HOLES 1.1420 DOWELS.571 THRD HOLES.5710 DOWELS.571.3750.708.354 THRD HOLES.3540 DOWELS #10-32 AIR PORTS TYP. (4) PLACES.335.364.5610.230.743.364 2.737 2.250 2.643 90 2.819.470±.001.315±.001 #8-32 THRU TYP. (4) PLACES STROKE ADJ..630 SENSOR BRKTS. [OPTIONAL] 1.255.315.157 4
Angular Gripper GR90 GR90-Series Gripper Performance Data Gripper Specifications GR90 Grip Force open @ 100 psi 55 lbs close @ 100 psi 52 lbs. Displacement 0.46 cu. in. Max Operating Pressure 120 psi Side Play ±0.001 Position A Position B Position C Weight 7 oz. Recommended Maximum Load Ratings GR90 Max Load Position A 30 in-lb 3.4 Nm Max Load Position B 30 in-lb 3.4 Nm Max Load Position C 40 lbs. 18Kgf L L (Finger Length) GR90 1 Inch 30 lbs. 1.5 Inches 25 lbs. 2 Inches 15 lbs. Force at 80 psi. GR90 Series Gripper Bore Bracket P/N GR90 N5103-1018 Sensor Description Standard Cord Set Quick Disconnect Prox PNP PROX-4FL2-P PROX-4QDS-P Prox NPN PROX-4FL2-N Not Available See page 19 for sensor specifications 5
GR90 Angular Gripper Prox Switch (NPN NO) Flying Lead - PROX-4FL2-N Prox Switch (PNP NO) Flying Lead - PROX-4FL2-P Ø.16 [4.0].79 [20.0] 1.18 [30.0] LED 78.74 [2000.0] PNP N/O NPN N/O Electrical Design 3-Wire DC PNP/NPN Output Normally Open Operating Voltage 10-36 VDC Current Rating 100 ma Short Circuit Protection (Non-Latching) Overload Protection Reverse Polarity Protection Voltage Drop < 2.5V Current Consumption < 15 ma @ 24V Real Sensing Range.8mm ± 10% Switching Frequency > 2000 Hz Ambient Temperature -25 C to 70 C Protection IP 65, III Switch-Point Drift -10-10% OF Sr Hysteresis 1-15% OF Sr Operating Distance 0 -.65mm Correction Factor Mild Steel=1, Stainless Steel=.7, Brass=.5, Alum.=.4,Copper=.3 Housing Material Housing; Stainless Steel: POM Function Display Switching Status Yellow LED Connection PVC Cable, 2m, 3 x.14mm2 Prox Switch (PNP NO), 8 mm connector - PROX-4QDS-P 4 1 3 LED (4 X 90 ) M8 x 1 CONNECTOR Ø.16 [4.0] 1.77 [45.0] 1.42 [36.0].87 [22.0] Electrical Design 3-Wire DC PNP Output Normally Open Operating Voltage 10-36 VDC Current Rating 100 ma Short Circuit Protection (Non-Latching) Overload Protection Reverse Polarity Protection Voltage Drop < 2.5V Current Consumption < 15 ma @ 24V Real Sensing Range.8mm ± 10% Switching Frequency < 2000 Hz Ambient Temperature -25 C to 70 C Protection IP 65, III Switch-Point Drift -10-10% OF Sr Hysteresis 1-15% OF Sr Operating Distance 0 -.65mm Correction Factor Mild Steel=1, Stainless Steel=.7, Brass=.5, Alum.=.4,Copper=.3 Housing Material Housing; Stainless Steel: POM Function Display Switching Status Red LED (4 X 90º) Connection M8 Connector Remarks culus - Class 2 Source Required Accessories Mounting Clamp Agency Approvals 6
Angular Gripper GR90 Quick Disconnect Cables 196.85 [5000] 1.2 [31] 1.50 [38.1] 196.85 [5000] 1.06 [27] 1.50 [38.1] BLUE ( ) BROWN (+) BLACK (OUTPUT) 26 GAUGE WIRES PXCST ø.4 [10] M8 x 1 Wiring Core colors BK black BN brown BU blue 3 BLUE ( ) BROWN (+) BLACK (OUTPUT) 26 GAUGE WIRES 4 1 BN 3 BU 1 4 BK PXC90 ø.4 [10].71 [18] M8 x 1 Order Code Type Operating Voltage Current Rating Cable Material Protection Connector PXCST Straight 5 m Cable (3 x 26 Gauge wire) 60 AC/75 DC 3 A PUR IP 68, III M8 PXC90 90 5 m Cable (3 x 26 Gauge wire) 60 AC/75 DC 3 A PUR IP 68, III M8 7
World Class Supplier of Pneumatic Components World Headquarters USA Numatics, Incorporated 46280 Dylan Drive Novi, Michigan 48377 Canada Numatics, Ltd P: 519-758-2700 F: 519-758-5540 Mexico Numatics de Mexico S.A. de C.V. P: 52-222-284-6176 F: 52-222-284-6179 Brazil Ascoval Ind.e Comercio Ltda P: (55) 11-4208-1700 F: (55) 11-4195-3970 P: 248-596-3200 F: 248-596-3201 LT-GRSeriesCatalog Rev 06/12 10M-IPC-1/09 Numatics Inc. 2009-2012 Numatics is registered in the United States and elsewhere Numatics, Inc. Tel (248) 596-3200 www.numatics.com email: insidesales@numatics.com
GR1400 Series 180º Radial Gripper www.numatics.com
Table of Contents GR1400 Series Features and Benefits 3 Specifications 3 How to Order 3 Sensing Part Numbers 4-6 Quick Disconnect Cables 7
180º Radial Gripper GR1400 GR1400 180 Radial Gripper The GR1400 has a double acting piston attached to a cross bar by a connecting rod. The linear movement of the piston is transformed into radial movement of the jaws through a double toggle link mechanism. A. Body Hardcoat anodized, T- Slot Sensing track for direct mount of the Numatics Global Switch. Side and top mounting standard. Dowel holes for locating. B. Jaws Keyway slot for tooling location, 180º Jaw motion C. Pivot Pins Hardened steel, Needle bearings reduce friction, reduce wear. D. Center Toggle Aluminum Bronze guided in body for repeatability to center. Bumper for cushion at full open and noise reduction. Specifications D C A B Grip Force Close 80 PSI Grip Force Open 80 PSI Side Play Weight Maximum Operating Pressure 720 lbs 317 lbs ±0.001 5.62 lbs. 120 psi How To Order GR 1400 1 6 D X Series 1400 Seal Option 1 = Buna-N 2 = FKM Sensing Kits Switch Description Standard Cord Set Part No. Quick Disconnect Part No. Hall Effect - PNP Sourcing PNP-FL2-00-U PNP-QDS-M8-U Hall Effect - NPN Sinking NPN-FL2-00-U NPN-QDS-M8-U Reed Switch REED-FL2-00 REED-QDS-M8U 90 5 Meter Cable N/A PXC90 Straight 5 Meter Cable N/A PXCST X = Standard Sensing Position A = Single Position Open B = Single Position Closed C = Two Position Sensing D = No Sensing Sensing Type 1 = Hall Effect PNP (Sourcing) 2 = Hall Effect NPN (Sinking) 3 = Reed Switch 6 = No Sensing Quick Disconnect Cord Set Z = Hall Effect PNP (Sourcing) Y = Hall Effect NPN (Sinking) X = Reed Switch GR1400 Series Gripper Direct Mount No Bracket Required Sensor Description Standard Cord Set Quick Disconnect Reed Switch REED-FL2-00 REED-QDS-M8U Hall PNP PNP-FL2-00-U PNP-QDS-M8-U Hall NPN NPN-FL2-00-U NPN-QDS-M8-U See page 4, 5, & 6 for sensor specifications 3
GR1400 180º Radial Gripper Sensing Part Numbers PNP-FL2-00-U PNP-QDS-M8-U 1.50 [38.1] PART NUMBER.98 [25.0] LED.25 [6.4].20 [5.1] 1.46 [37.0] PART NUMBER.98 [25.0] LED.25 [6.4].20 [5.1] PNP-FL2-00-U.20 [5.0] PNP-QDS-M8-U.20 [5.0] 78.74 [2000.0] SENSING FACE 11.81 [300.0] SENSING FACE BLUE (-) BLACK (OUTPUT) BROWN (+) 26 GAUGE WIRES FASTENING CLAMP M8 x 1.0 FASTENING CLAMP ELECTRICAL DESIGN DC PNP ELECTRICAL DESIGN DC PNP OUTPUT Normally Open OUTPUT Normally Open OPERATING VOLTAGE 10-30 VDC OPERATING VOLTAGE 10-30 VDC CURRENT RATING 100 ma CURRENT RATING 100 ma SHORT-CIRCUIT SHORT-CIRCUIT OVERLOAD OVERLOAD REVERSE POLARITY REVERSE POLARITY VOLTAGE DROP < 2.5 V VOLTAGE DROP < 2.5 V CURRENT CONSUMPTION < 12 ma CURRENT CONSUMPTION < 12 ma REPEATABILITY <.2mm POWER-ON DELAY TIME < 30 ms SWITCH FREQUENCY > 3000 Hz AMBIENT TEMPERATURE -25ºC to 85ºC IP 67, III HYSTERESIS 1.0mm MAGNETIC SENSITIVITY 2.0 mt TRAVEL SPEED > 10 m/s REPEATABILITY <.2mm POWER-ON DELAY TIME < 30 ms SWITCH FREQUENCY > 3000 Hz AMBIENT TEMPERATURE -25ºC to 85ºC IP 67, III HYSTERESIS 1.0mm MAGNETIC SENSITIVITY 2.0 mt TRAVEL SPEED > 10 m/s HOUSING MATERIAL PA (Polyamide) Black; Fastening Clamp: Stainless Steel HOUSING MATERIAL PA (Polyamide) Black; Fastening Clamp: Stainless Steel FUNCTION DISPLAY SWITCHING STATUS Yellow LED FUNCTION DISPLAY SWITCHING STATUS Yellow LED CONNECTION Flying Leads, Pur Cable (2m Long, 3 x26 Gauge Wire) CONNECTION M8 Connector (Snap Fit), Pur Cable (.3 m) REMARKS Clamping Screw with Combined Slot/Hexagon Socket Head AF 1.5 culus - Class 2 Source Required REMARKS Clamping Screw with Combined Slot/Hexagon Socket Head AF 1.5 culus - Class 2 Source Required ACCESSORIES Rubber Placehold, Cable Clip, and Cut Sheet To Be Provided with Every Switch ACCESSORIES Rubber Placehold, Cable Clip, and Cut Sheet To Be Provided with Every Switch AGENCY APPROVALS RoHS AGENCY APPROVALS RoHS *Switches are not designed for wet environments. Please see your distributor for additional information. 4
180º Radial Gripper GR1400 Sensing Part Numbers 1.50 [38.1] NPN-FL2-00-U NPN-QDS-M8-U PART NUMBER.98 [25.0] LED.25 [6.4].20 [5.1] 1.46 [37.0] PART NUMBER.98 [25.0] LED.25 [6.4].20 [5.1] NPN-FL2-00-U.20 [5.0] NPN-QDS-M8-U.20 [5.0] 78.74 [2000.0] SENSING FACE 11.81 [300.0] SENSING FACE BLUE (-) BLACK (OUTPUT) BROWN (+) 26 GAUGE WIRES FASTENING CLAMP M8 x 1.0 FASTENING CLAMP ELECTRICAL DESIGN DC NPN ELECTRICAL DESIGN DC NPN OUTPUT Normally Open OUTPUT Normally Open OPERATING VOLTAGE 10-30 VDC OPERATING VOLTAGE 10-30 VDC CURRENT RATING 100 ma CURRENT RATING 100 ma SHORT-CIRCUIT SHORT-CIRCUIT OVERLOAD OVERLOAD REVERSE POLARITY REVERSE POLARITY VOLTAGE DROP < 2.5 V VOLTAGE DROP < 2.5 V CURRENT CONSUMPTION < 12 ma CURRENT CONSUMPTION < 12 ma REPEATABILITY <.2mm REPEATABILITY <.2mm POWER-ON DELAY TIME < 30 ms POWER-ON DELAY TIME < 30 ms SWITCH FREQUENCY > 3000 Hz SWITCH FREQUENCY > 3000 Hz AMBIENT TEMPERATURE -25ºC to 85ºC AMBIENT TEMPERATURE -25ºC to 85ºC IP 67, III IP 67, III HYSTERESIS 1.0mm HYSTERESIS 1.0mm MAGNETIC SENSITIVITY 2.0 mt MAGNETIC SENSITIVITY 2.0 mt TRAVEL SPEED > 10 m/s TRAVEL SPEED > 10 m/s HOUSING MATERIAL PA (Polyamide) Black; Fastening Clamp: Stainless Steel HOUSING MATERIAL PA (Polyamide) Black; Fastening Clamp: Stainless Steel FUNCTION DISPLAY SWITCHING STATUS Yellow LED FUNCTION DISPLAY SWITCHING STATUS Yellow LED CONNECTION Flying Leads, Pur Cable (2m Long, 3 x26 Gauge Wire) CONNECTION M8 Connector (Snap Fit), Pur Cable (.3 m) REMARKS Clamping Screw with Combined Slot/Hexagon Socket Head AF 1.5 culus - Class 2 Source Required REMARKS Clamping Screw with Combined Slot/Hexagon Socket Head AF 1.5 culus - Class 2 Source Required ACCESSORIES Rubber Placehold, Cable Clip, and Cut Sheet To Be Provided with Every Switch ACCESSORIES Rubber Placehold, Cable Clip, and Cut Sheet To Be Provided with Every Switch AGENCY APPROVALS RoHS AGENCY APPROVALS RoHS *Switches are not designed for wet environments. Please see your distributor for additional information. 5
GR1400 180º Radial Gripper Sensing Part Numbers REED-FL2-00.22 [5.7] 1.50 [38.1] PART NUMBER 1.20 [30.5].25 [6.4].20 [5.1] 1.46 [37.0].22 [5.7] REED-QDS-M8U PART NUMBER 1.20 [30.5].25 [6.4].20 [5.1] REED-FL2-00 T AA 0809.20 [5.0] REED-QDS-M8U T AA 0809.20 [5.0] 78.74 [2000.0] BLUE (-) BROWN (+) 26 GAUGE WIRES LED FASTENING CLAMP M8 x 1.0 11.81 [300.0] LED FASTENING CLAMP ELECTRICAL DESIGN OUTPUT OPERATING VOLTAGE CURRENT RATING SHORT-CIRCUIT OVERLOAD REVERSE POLARITY VOLTAGE DROP REPEATABILITY MAKETIME INCLUDING BOUNCE BREAKTIME SWITCHING POWER (MAX) SWITCH FREQUENCY AC/DC REED Normally Open 5-120 VAC/DC 100 ma* No No < 5 V ±.2mm <.6 ms <.1 ms 5 W 1000 Hz AMBIENT TEMPERATURE -25ºC to 70ºC HYSTERESIS HOUSING MATERIAL FUNCTION DISPLAY SWITCHING STATUS CONNECTION IP 67, II.9mm PA (Polyamide) Black; Fastening Clamp: Stainless Steel Yellow LED Flying Leads, Pur Cable (2m Long, 2 x26 Gauge Wire) ELECTRICAL DESIGN OUTPUT OPERATING VOLTAGE CURRENT RATING SHORT-CIRCUIT OVERLOAD REVERSE POLARITY VOLTAGE DROP REPEATABILITY MAKETIME INCLUDING BOUNCE BREAKTIME SWITCHING POWER (MAX) SWITCH FREQUENCY AC/DC REED Normally Open *5-60 VDC / 5-50 VAC 100 ma No No < 5 V ±.2mm <.6 ms <.1 ms 5 W 1000 Hz AMBIENT TEMPERATURE -25ºC to 70ºC HYSTERESIS HOUSING MATERIAL FUNCTION DISPLAY SWITCHING STATUS CONNECTION IP 67, II.9mm PA (Polyamide) Black; Fastening Clamp: Stainless Steel Yellow LED M8 Connector (Snap Fit), Pur Cable (.3m) REMARKS *External Protective Circuit for Inductive Load (Valve, Contactor, Etc..) Necessary. Conforms to 2008 NEC Section 725 III, Class 2 Circuits Clamping Screw with Combined Slot/Hexagon Socket Head AF 1.5. No LED Function in case of Polarity in DC Operation REMARKS *External Protective Circuit for Inductive Load (Valve, Contactor, Etc..) Necessary. Conforms to 2008 NEC Section 725 III, Class 2 Circuits M8 Connector voltage limited to 5-60 vdc / 5-50 vac to conform with 2008 IEC 61076-2-104 Clamping Screw with Combined Slot/Hexagon Socket Head AF 1.5. No LED Function in case of Polarity in DC Operation ACCESSORIES AGENCY APPROVALS Rubber Placehold, Cable Clip, and Cut Sheet To Be Provided with Every Switch RoHS ACCESSORIES AGENCY APPROVALS Rubber Placehold, Cable Clip, and Cut Sheet To Be Provided with Every Switch RoHS *Switches are not designed for wet environments. Please see your distributor for additional information. 6
180º Radial Gripper GR1400 Quick Disconnect Cables 196.85 [5000] 1.2 [31] 1.50 [38.1] 196.85 [5000] 1.06 [27] 1.50 [38.1] BLUE ( ) BROWN (+) BLACK (OUTPUT) 26 GAUGE WIRES PXCST ø.4 [10] M8 x 1 Wiring Core colors BK black BN brown BU blue 3 BLUE ( ) BROWN (+) BLACK (OUTPUT) 26 GAUGE WIRES 4 1 BN 3 BU 1 4 BK PXC90 ø.4 [10].71 [18] M8 x 1 Order Code Type Operating Voltage Current Rating Cable Material Protection Connector PXCST Straight 5 m Cable (3 x 26 Gauge wire) 60 AC/75 DC 3 A PUR IP 68, III M8 PXC90 90 5 m Cable (3 x 26 Gauge wire) 60 AC/75 DC 3 A PUR IP 68, III M8 7
World Class Supplier of Pneumatic Components World Headquarters USA Numatics, Incorporated 46280 Dylan Drive Novi, Michigan 48377 Canada Numatics, Ltd P: 519-758-2700 F: 519-758-5540 Mexico Numatics de Mexico S.A. de C.V. P: 52-222-284-6176 F: 52-222-284-6179 Brazil Ascoval Ind.e Comercio Ltda P: (55) 11-4208-1700 F: (55) 11-4195-3970 P: 248-596-3200 F: 248-596-3201 LT-GR1400 Catalog Rev 07/12 10M-IPC-1/09 Numatics Inc. 2009-2012 Numatics is registered in the United States and elsewhere Numatics, Inc. Tel (248) 596-3200 www.numatics.com email: insidesales@numatics.com