Electric Actuators – Electric Grippers EH Series

A “Delicate Grip” Approach to a Wide Variety of Load

The operating current can be set in 1 % increments, allows fine-tuning the gripping force.

Grasp

Easy-to-damage and easy-to-deform loads can be gripped.

The 3-finger type is suitable for gripping spherical, cylindrical or easily deformable loads.

Align

Loads can be oriented and aligned.

Measure

Load size can be determined and measured.

For Delicate Operations, the EH Series is Recommended Over a Pneumatic Gripper

Adjust the Gripping Force in 1 % Increments (2-Finger and 3-Finger)

Adjustment with a pneumatic gripper’s regulator (pressure reducing valve) is unnecessary. The gripping force can be easily and finely adjusted with digital settings.

Adjust the Speed in 0.02 mm/s Increments (2-Finger)

Adjustment with a pneumatic gripper’s speed controller (speed control valve) is unnecessary.

Adjust the Traveling Amount in 0.02 mm Increments (2-Finger)

This gripper takes advantage of the high positioning accuracy of the stepper motor.

Position Monitoring With an ABZO Sensor (2-Finger and 3-Finger)

Detailed position information can be monitored. When using the 2-finger type, position information can also be used to determine the load size.

2-Finger Type and 3-Finger Type Can be Used for Different Applications

Comparison of 2-Finger and 3-Finger Types

Type	2-Finger*1	3-Finger
Load Shape Suitable for Gripping
Moving Range
		When Open: P.C.D. ϕ30.9 mm		When Closed: P.C.D. ϕ7 mm
		Opening Width: P.C.D. ϕ23.9 mm
Max. Gripping Force [N]	25	50
Permissible Load [N] (Permissible axial load [N]*2)	5	15
Mass [kg]	0.38	0.38 (with mounting cover) 0.28 (without mounting cover)

*1

The values correspond to the specifications for Model 4.

*2

This is for 3-finger type.

Features of 3-Finger Type

• Due to the large permissible axial load, it is suitable for application with large load masses.
• Each finger opens and closes while rotating.

Battery-Free Absolute Encoder Equipped

It is equipped with a small battery-free mechanical absolute encoder (ABZO sensor). This can help improve productivity and reduce costs.

• Mechanical-Type Sensor
  Retains positioning information even when power is not supplied
• Multi-Rotation Absolute Encoder
  Absolute position detection is possible with ±900 (1,800) revolutions of the motor shaft from the home position

Simplifying the Main Program via Sequence Function

The AZ Series come equipped with a wide variety of sequence functions such as timer settings for linked operation and during operations, conditional branching, and loop operation. (excluding some models)
It can be set up using the support software MEXE02, which simplifies the sequence program of the host system.

• Positioning Operation Data Setting Value (max. 256)
• General-Purpose I/O Signal Counts (Input 10, Output 6)
• Communication I/O Signal Counts (Input 16, Output 16)

AZ Series-Equipped Product Line

Since the motors installed are the same, the operating and maintenance methods are the same.

Electric Actuators (AZ Series equipped)

• The power supply input of the installed motor differs between Series. Please refer to each series page for the detailed product line.

• *For the LJ linear head, the AZ Series is purchased separately and assembled for use.

Drivers That Can be Selected to Match the Host Controller

The lineup is available for a variety of controls, systems, and interfaces.

Driver Type		Compatible Interfaces	Single Axis Driver
			DC Input
Network Compatible	Drivers are controlled directly from a host control device through industrial network	EtherCAT	○
		EtherNet/IP™	○
		PROFINET	○
		MECHATROLINK-Ⅲ	−
		SSCNETⅢ/H	−
Built-in Controller	Operation data is built into the driver. Controllable by Modbus (RTU) and I/O. Can be controlled via CC-Link by using a network converter.	Modbus (RTU) I/O CC-Link*	○
Pulse Input with RS-485 Communication	Controlled by pulse signal. Motor status information can be monitored via Modbus (RTU).	Pulse inputModbus (RTU)	○
Pulse Input	Controlled by pulse signal	Pulse input	○

• DC input mini drivers and multi-axis driver lineups are also available.

• *Available when using a network converter (sold separately).

• *EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• *EtherNet/IP™ is a trademark of ODVA.
• *PROFINET is a trademark or registered trademark of PROFIBUS Nutzerorganisation e.V. (PNO).
• *MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.
• *SSCNETⅢ/H is a registered trademark of Mitsubishi Electric Corporation.
• *CC-Link is a registered trademark of the CC-Link Partner Association.

Easy Drive From PC with Support Software MEXE02

By using the support software MEXE02, you can set and edit operation data and various parameters, as well as teach and monitor various conditions.

Comprehensive Support From Start-up to Maintenance with a Variety of Functions

• Startup and Evaluation

  Useful functions for wiring check and test operation are provided.

  • Setting and Saving of Operation Data
  • I/O Monitoring
  • Teaching, Remote Operation
• Adjustment

  The following functions are available to help you adjust motor operation after the equipment is installed.

  • Waveform Monitoring
• Diagnosis and Maintenance

  Diagnostic and maintenance functions are available for trouble diagnosis and maintenance after operation is started.

  • Alarm Monitoring
  • Unit Information Monitor
  • Status Monitor

Using a compact, lightweight EH for the end effector reduces the load on other drive axes. This contributes to reduction of takt time and size.

Use as an End Effector for Robots

For Articulated Robots

For Cartesian Robots

EH3-AZAKH	EH4-AZAKH	EH4T-AZAK
W 42.5 mm × D 80.5 mm × H 36 mm	W 48.5 mm × D 91 mm × H 46 mm	W 47 mm × D 90.5 mm × H 46 mm
Mass: 200 g	Mass: 380 g	Mass: 280 g

Flanges are available for installing EH Series on commercially available industrial robots (Collaborative robots).
Flanges on the robot side are shaped in accordance with ISO 9409-1 (JIS 8436).