2-JAW SELF-CENTERING PARALLEL PNEUMATIC GRIPPER … · The gripper can be mounted to a static or a...

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www.gimaticUSA.com • 216-535-4811

GS-10 GS-16 GS-20 GS-25 GS-32 GS-40

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2-jaw parallel grippers

2-JAW SELF-CENTERING PARALLEL PNEUMATIC GRIPPER (SERIES GS)• Double-acting.• Patented backlash adjusting system.• Maintenance-free long life and reliability.• Various options for fastening.• Optional magnetic sensors.• Spring closed (-NC) or spring open (-NO) options.

GS-10 GS-16 GS-20 GS-25 GS-32 GS-40

Price $137.00 $139.00 $155.00 $179.00 $494.00 $689.00

Fluid Filtered compressed air, lubricated or non-lubricated

Pressure range 36-116 psi 22-116 psi 15-116 psi

Temperature range 41-140 °F

Opening gripping force on each jaw at 87 psi 4 lbf 11.2 lbf 23.8 lbf 31.7 lbf 56.2 lbf 78.7 lbf

Total opening gripping force at 87 psi 8 lbf 22.4 lbf 47.6 lbf 63.4 lbf 112.4 lbf 157.4 lbf

Closing gripping force on each jaw at 87 psi 3.15 lbf 9.7 lbf 20.9 lbf 28.5 lbf 48.3 lbf 69 lbf

Total closing gripping force at 87 psi 6.3 lbf 19.4 lbf 41.8 lbf 57 lbf 96.6 lbf 138 lbf

Total stroke ±0.012''

(±0.3 mm)0.181''

(4.6 mm)0.267''

(6.8 mm)0.409''

(10.4 mm)0.566''

(14.4 mm)0.866''

(22 mm)1.181''

(30 mm)

Maximum operating frequency 3 Hz 3 Hz 2 Hz 2 Hz 2 Hz 2 Hz

Air consumption per cycle 0.04 in3 0.18 in3 0.42 in3 0.85 in3 1.71 in3 3.72 in3

Closing time without load 0.01 s 0.02 s 0.05 s 0.07 s 0.09 s 0.12 s

Repetition accuracy0.000787'' (0.02 mm)

Weight 0.01 lb (45g) 0.21 lb (98g)0.45 lb (207g)

0.8 lb (365g)

1.42 lb (645g)

2.54 lb (1155g)

www.emicorp.com/item/GS%2B10/






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Ø5 h

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Mounting Hole

Sensor slot

Dowel Pin Hole

Dowel Pin Hole

Compressed air in A: gripper opening.Compressed air in B: gripper closing.

Dowel Pin Hole

Mounting Thru Hole

Mounting Hole

Mounting Hole Mounting Hole Port

STROKE OF EACH JAW

CLOSED

(2) M3x6mm

Ø11 H9 x 2mm

Ø2 H9 x 3mm

(2+2) M2.5x4mm

(1+1) Ø1.5 H8 x 4mm

(2) Ø2.6mm

(2) M3x6mm (4) M3x5.5mm (2) M3

DIMENSIONS (mm)

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Ø5.5

h7

2.5

1.3

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Mounting Hole

Sensor slot

Sensor slotDowel Pin Hole


Dowel Pin Hole

Mounting Thru Hole

Mounting Hole

Mounting Hole Mounting Hole Port

STROKE OF EACH JAWCLOSED

Dowel Pin Hole

DIMENSIONS (mm)

(2) M4x8mm

Ø17 H9 x 2mm

Ø3 H9 x 3mm

(2+2) M3x5mm

(1+1) Ø2 H8 x 5mm

(2) Ø3.4mm

(2) M4x4.5mm (4) M4x8mm (2) M5

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Ø7 h

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GS-20

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Mounting Hole

Mounting Hole

Sensor slot

Sensor slotDowel Pin Hole


Dowel Pin Hole

Mounting Thru Hole

Mounting Hole

Mounting Hole Port

STROKE OF EACH JAWCLOSED

Dowel Pin Hole

(2) M5x10mm

Ø21 H9 x 3mm

Ø4 H9 x 4mm

(2+2) M4x8mm

(1+1) Ø2.5 H8 x 8mm

(2) M5x8mm

(2) Ø4.3mm

(4) M5x10mm (2) M5

DIMENSIONS (mm)

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Ø9

h7

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Mounting Hole

Mounting Hole

Sensor slot

Sensor slot

Dowel Pin Hole


Dowel Pin Hole

Mounting Thru Hole

Mounting Hole

Mounting Hole

Port

STROKE OF EACH JAW

CLOSED

Dowel Pin Hole

(2) Ø5.1mm

(2) M6x10mm

(2+2) M5x10mm

Ø26 H9 x 3.5mm

(1+1) Ø3 H8 x 10mm

(4) M6x12mm

(2) M5

(2) M6x12mm

Ø4 H9 x 4mm

DIMENSIONS (mm)

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GS-32

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Mounting Hole

Mounting Hole

Sensor slot

Sensor slot

Dowel Pin Hole


Dowel Pin Hole

Mounting Thru Hole

Mounting Hole

Mounting Hole

Port

STROKE OF EACH JAW

CLOSED

(2) M6x10mm

Ø34 H9 x 4mm

Ø5 H9 x 5mm

(2+2) M6x12mm

(2) Ø5.1mm

(4) M6x12mm

(2) M5

(2) M6x12mm

DIMENSIONS (mm)

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GS-40

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Mounting Hole

Mounting Hole

Sensor slot

Sensor slot

Dowel Pin Hole


Dowel Pin Hole

Mounting Thru Hole

Mounting Hole

Mounting Hole

Port

STROKE OF EACH JAW

CLOSED

DIMENSIONS (mm)

(2) M8x17mm

Ø41 x 3mm

Ø5 H9 x 5mm

(4) M8x21mm

(2) M8x13mm

(2+2) M8x14mm

+0.05+0.02

(2) Ø6.8mm

(2) M5

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GRIPPINGThe gripper is double-acting and be used for either internal (A) or external (B) gripping applications.The gripping force is higher on opening than on closing.

On request, it is also available with spring closed (-NC) or spring open (-NO).

Pressurized chamber

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E

A

J

C

D

X

Y

B

H

1

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3

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J

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MOUNTINGThe gripper can be mounted to a static or a moving part. When on a moving part, attention must be paid to the inertial force which the gripper and its load are subjected to.1- To mount the gripper on the wider side, use (2) thru hole

bolts in the plate and thread them into the tapped holes (A) on the gripper. Use 2 centering sleeves (J), where available.

2- The gripper can also be mounted on the wider side with (2) bolts (B) thru mounting holes (A). In this case however, it may impossible to use sensors in the rectangular slots. Use 2 centering sleeves (J), where available.

3- To mount the gripper on the narrow side, use (2) bolts thru the holes in the plate and threaded into the tapped holes (E) of the gripper.

4- To mount the gripper on the bottom, use (2) bolts thru the holes in the plate and threads them into the threaded holes (C) in the gripper housing. For the reference in mounting, use a pin in the dowel pin hole (D) and a centering disc in the spot face (H). In this case, allow room for the sensors, (X) and (Y).

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GS-10 GS-16 GS-20 GS-25 GS-32 GS-40

A M3x5.5 mm M4x8 mm M5x10 mm M6x12 mm M6x12 mm M8x21 mm

B M2.5x22 mm M3x30 mm M4x35 mm M5x45 mm M5x50 mm M6x60 mm

C M3x6 mm M4x8 mm M5x10 mm M6x12 mm M6x12 mm M8x17 mm

D Ø2H9 x 3 mm Ø3H9 x 3 mm Ø4H9 x 4 mm Ø4H9 x 4 mm Ø5H9 x 5 mm Ø5H9 x 5 mm

E M3x6 mm M4x4.5 mm M5x8 mm M6x10 mm M6x10 mm M8x21 mm

F 5 -0.05 mm 8 -0.05 mm 10 -0.05 mm 12 -0.05 mm 15 -0.05 mm 18 -0.05 mm

G M2.5x4 mm M3x5 mm M4x8 mm M5x10 mm M6x12 mm M8x14 mm

H Ø11H9 x 2 mm Ø17H9 x 2 mm Ø21H9 x 3 mm Ø26H9 x 3.5 mm Ø34H9 x 4 mm Ø41 x 3 mm

I Ø1.5H8 x 4 mm Ø2H8 x 5 mm Ø2.5H8 x 8 mm Ø3H8 x 10 mm Ø4H8 x 12 mm Ø5H8 x 14 mm

SC - X=2 mm X=0 mm X=0 mm X=0 mm X=0 mm

SL X=10 mm + cable X=10 mm + cable X=9 mm + cable X=7 mm + cable X=7 mm + cable X=7 mm + cable

SN - X=0 mm X=0 mm X=0 mm X=0 mm X=0 mm

SS X=2 mm + cable X=Y=3 mm + cable X=Y=1 mm + cable X=Y=1 mm + cable cable cable

+0.02+0.05

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Sens

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The gripper finger must be as short and light as possible.Mount them with (2) bolts in the threaded holes (G).For a precise positioning on the jaws use the calibrated dimension (F), or the dowel pin holes (I).

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GRIPPING FORCEThe graphs show the gripping force on each jaw, as a function of the pressure and of the gripper finger length (Z).

opening

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

Grip

ping

Forc

e N

opening opening

opening opening opening

closing closing closing


The force shown in these graphs refers to one jaw.

The total force is double.

GRIPPING FORCE N x 0.225 = lbf

PRESSURE bar x 14.5 = psi

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GRIPPING FORCEThe graphs show the gripping force on each jaw at 87 psi, as a function of the gripper finger length (Z) and the overhang of the gripping point (X).





GRIPPING FORCE N x 0.225 = lbf

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GS-10 GS-16 GS-20 GS-25 GS-32 GS-40

F s 25 N 50 N 75 N 125 N 200 N 300 N

Mx s 0.4 Nm 1.5 Nm 5 Nm 8 Nm 18 Nm 30 Nm

My s 0.4 Nm 1.5 Nm 5 Nm 8 Nm 12 Nm 20 Nm

Mz s 0.4 Nm 1.5 Nm 5 Nm 8 Nm 18 Nm 30 Nm

F d 0.4 N 0.8 N 1.5 N 2.5 N 3.5 N 4.5 N

Mx d 0.4 Ncm 1.5 Ncm 5 Ncm 8 Ncm 18 Ncm 30 Ncm

My d 0.4 Ncm 1.5 Ncm 5 Ncm 8 Ncm 18 Ncm 30 Ncm

Mz d 0.4 Ncm 1.5 Ncm 5 Ncm 8 Ncm 18 Ncm 30 Ncm

m 0.2s 40 g 80 g 150 g 250 g 350 g 450 g

m 0.12s 35 g 65 g 125 g 200 g 250 g 300 g

m 0.09s 30 g 55 g 100 g 150 g 200 g -

m 0.07s 25 g 45 g 75 g 100 g - -

m 0.05s 20 g 35 g 50 g - - -

m 0.02s 15 g 25 g - - - -

m 0.01s 10 g - - - - -

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SAFETY LOADSCheck the table for maximum permitted loads.Excessive forces or torques can damage the gripper, cause malfunctions and endanger the safety of the operator.F s, Mx s, My s, Mz s, are the maximum permitted loads under static conditions when the jaws are not moving.F d, Mx d, My d, Mz d, are the maximum permitted loads under dynamic conditions when the jaws are moving.The maximum permitted mass (m) on each gripping tool as function of the closing or opening time is also shown. Use flow controllers (not supplied) to achieve the desired speed.

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OUT

OUT

PNP

NPN

Magneto-resistive

SC... SL...

SN...SS...

SS.004.000

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SENSORSThe operating position is detected by one or more magnetic proximity sensors (optional) through a magnet placed on the piston.Magnetic proximity sensors should not be used in the vicinity of large masses of ferromagnetic material or intense magnetic fields as this may cause detection problems and jeopardize proper operation.

The sensors that can be used are:

(1)Use the adapter, Part # SS.004.000 provided in the K-SENS pack.

GS-10 GS-16 / GS-20 /GS-25 / GS-32 / GS-40

SC4N225G PNP 2.5m cable $33.29 ✓

SC3N203G PNP M8 snap plug connector $29.13 ✓

SL4N225Y PNP 2.5m cable $26.14 ✓ ✓

SL4M225Y NPN 2.5m cable $26.14 ✓ ✓

SL3N203Y PNP M8 snap plug connector $29.96 ✓ ✓

SL3M203Y NPN M8 snap plug connector $29.96 ✓ ✓

SN4N225G PNP 2.5m cable $26.14 ✓

SN4M225G NPN 2.5m cable $26.14 ✓

SN3N203G PNP M8 snap plug connector $29.96 ✓

SN3M203G NPN M8 snap plug connector $29.96 ✓

SS4N225Y PNP 2.5m cable $26.14 ✓ (1) ✓ ✓ (1)

SS4M225Y NPN 2.5m cable $26.14 ✓ (1) ✓ ✓ (1)

SS3N203Y PNP M8 snap plug connector $29.96 ✓ (1) ✓ ✓ (1)

SS3M203Y NPN M8 snap plug connector $29.96 ✓ (1) ✓ ✓ (1)

www.emicorp.com/item/SC4N225G/

www.emicorp.com/item/SS3N203Y/

www.emicorp.com/item/SL4N225Y/

www.emicorp.com/item/SL4M225Y/

www.emicorp.com/item/SL3N203Y/

www.emicorp.com/item/SL3M203Y/

www.emicorp.com/item/SS4N225Y/

www.emicorp.com/item/SS4M203Y/

www.emicorp.com/item/SS3M225Y/

www.emicorp.com/item/SC3N203G/

www.emicorp.com/item/SN4N225G/

www.emicorp.com/item/SN3M203G/

www.emicorp.com/item/SN4M225G/

www.emicorp.com/item/SN3N203G/

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Max 0.05mm

Max 0.02mm

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CAUTIONNever let the gripper come into contact with corrosive substances, powders, or soldering or welding spatter as they will damage the gripper.Never let non-authorized persons or objects be within the operating range of the gripper.Never operate the gripper on a machine that does not comply with the safety standards and laws of your country.

MAINTENANCEThe gripper must be lubricated every 10 million cycles, using the following products:• Molykote DX (metal parts);• Molykote PG75 (gaskets).The jaw backlash, shown in the picture below, is set in factory.NEVER USE THE ADJUSTING SCREWS TO MODIFY IT.

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PIPING THE UNITThe gripper is pressurized from the side ports (A and B) using proper fittings and tubing (not supplied).


The compressed air must be filtered using a 5 to 40 micron filter.The initial choice on air lubrication (lubricated or not) must be kept for the entire service life of the gripper.

The pneumatic circuit must be pressurized progressively to avoid uncontrolled movements.

PNEUMATIC CIRCUITPossible problems on a compressed air circuit:1- Pressure variations.2- Pressurizing the empty gripper at start-up.3- Sudden lack of pressure.4- Excessive drive speed.

Possible solutions to the above issues:1- External compressed air storage (A).2- Start-up valve (B).3- Safety valves (C).4- Flow controllers (D).

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12

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10

9

6

11

7

1

8

5

14

3

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15

19

15

13

18

14

4

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16

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21

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GS-10 GS-16 GS-20 GS-25

1 Gripper housing GS-10-01 GS-16-01 GS-20-01 GS-25-01 1

2 Piston GS-10-02 GS-16-02 GS-20-02 GS-25-02 2

3 Jaw GS-10-03 GS-16-03 GS-20-03 GS-25-03 3

4 Head cap GS-10-04 GS-16-04 GS-20-04 GS-25-04 4

5 Special screw GS-10-05 GS-16-05 GS-20-05 GS-25-05 5

6 Plug GS-10-06 GS-16-06 GS-20-06 GS-25-06 6

7 Lever SP-20-4 SP-25-4 JP-32-3 GS-25-07 7

8 O-ring gasket Ø1x5 (GUAR-021) Ø1.78x6.07 (GUAR-039) Ø1.78x6.75 (GUAR-012) Ø1.78x7.66 (GUAR-045) 8

9 O-ring gasket Ø1.78x6.75 (GUAR-012) Ø1x14 (GUAR-084) Ø1.78x17.17 (GUAR-076) Ø1.78x21.95 (GUAR-025) 9

10 Dynamic gasket 10x5x2.4 (GUAR-106E) 16x9x2.5 (GUAR-002P) 20x13x2.5 (GUAR-040P) 25x18x2.4 (GUAR-003M) 10

11 Retaining ring Ø11 mm DIN 472 Ø17 mm DIN 472 Ø21 mm DIN 472 Ø26 mm DIN 472 11

12 Magnet GS-10-11 PAR-16-10B PAR-20-10B PAR-25-10B 12

13 Dowel pin Ø2.5x26 mm DIN 5402 Ø3x36 mm DIN 6325 Ø4x45 mm DIN 6325 Ø4x60 mm DIN 6325 13

14 Dowel pin Ø2x5.1 mm DIN 5402 Ø2.5x7.8 mm DIN 5402 Ø3x10 mm DIN 6325 Ø4x12 mm DIN 6325 14

15 Screw M2x5 mm DIN 7985A M2x5 mm DIN 7985A M2x5 mm DIN 7985A M2.5x5 mm DIN 7985A 15

16 Hex nut M2 UNI 5587 M3 DIN 934 M4 DIN 934 M4 DIN 934 16

17 Washer Ø2.2 mm DIN 125A Ø3.2 mm DIN 127A Ø4.3 mm DIN 127A Ø4.3 mm DIN 127A 17

18 Ball Ø2 mm AA DIN 5401 A - - - 18

19 Spring (only NC) GS-10-08 PAR-16-11B GS-20-08 GS-25-08 19

20 Spring (only NO) GS-10-09 PAR-16-12B PAR-20-12B GS-25-09 20

21 Bushing ZBH-5 SZ16-10 ZBH-7 ZBH-9 21

PARTS LIST

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GS-32 GS-40

1 Gripper housing GS-32-01 GS-40-01 1

2 Piston GS-32-02 GS-40-02 2

3 Jaw GS-32-03 GS-40-03 3

4 Special screw GS-32-05 GS-40-05 4

5 Plug GS-32-06 GS-40-06 5

6 Lever GS-32-07 GS-40-07 6

7 Dowel pin GS-32-19 GS-40-19 7

8 Magnet FES-32-3-5 T40-10 8

9 Hex nut M5 DIN934 Z/B M8 DIN439B INOX A2 9

10 Washer Ø5 UNI1751-B Z/B M8 BN 729 10

11 Grub screw M4x10 mm DIN912 INOX M5x12 mm DIN913 INOX 11

12 Dynamic gasket Ø32x23x3 (GUAR-004P) Ø40x31x3 (GUAR-006P) 12

13 O-Ring Ø1.78x28.30 (GUAR-016) Ø1.78x31.47 (GUAR-009) 13

14 O-Ring Ø1.78x11.89 (GUAR-095) Ø1.78x14 (GUAR-007) 14

15 Retaining ring Ø34 DIN472 Z/B Ø41 DIN472 Z/B 15

16 Spring (only NC) GS-32-20 GS-40-20 16

17 Spring (only NO) GS-32-21 GS-40-21 17

PARTS LIST

2-JAW SELF-CENTERING PARALLEL PNEUMATIC GRIPPER … · The gripper can be mounted to a static or a...

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