ON A Irms Ipk OFF T0 DTA DTB DTC T1 T2 T3 B C A B C

GND 24 Vdc ON/OFF

12: SPECIALTY GRIPPERS EMIcorp.com

Gripping force

These illustrations below show the operating state sequence of the drive system shared by the grippers, the actuators and the electric indexing tables.

Operation description

At time T0, the pilot signal switches from OFF to ON status, closing the jaws. During the DTA time, the motor starts to run; during phase A this causes the extension of the spring, which was initially compressed. In phase B, the spring has reached its free length and the jaws move at constant speed until they come into contact with the work- piece at time T2. During phase 3, the jaws are in contact with the work-piece, and compression of the spring starts. At time T3, the motor stops running and the irreversible transmission system maintains the grip even when not powered up, until the next jaw opening command is given (OFF status). These states can also be identified in the motor's power absorption profile.

Electric Gripper Basics

Motor current Pilot Signal Time

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