8176191 FESTO | Alldatasheet
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Technical content
Part number: 8176191 General operating condition Data sheet Feature Value Size 50 Rotation angle Infinite Stroke per gripper jaw 15 mm Controllable stroke range per gripper jaw 0 mm ... 15 mm Reversing backlash 800 µm Step angle with full step 1.8 deg Step angle full step, rotation 1.8 deg Step angle tolerance ±5% Stepping angle tolerance, rotation ±5 % Number of gripper jaws 2 Mounting position Any Structural design Electric rotary actuator Electric gripper drive Mode of operation Electric parallel gripper Mode of operation, rotation Hybrid stepper motor Gear ratio 1:1 Position sensing Rotation: motor encoder Gripping: motor encoder Gripper function Parallel Motor type Stepper motor Homing Rotation: encoder index Gripping: fixed stop block Rotor position sensor Incremental encoder Rotor position sensor interface RS422 TTL A/B channels + zero index Rotor position sensor measuring principle Optical Max. output speed 240 rpm Max. speed 0.025 m/s Max. homing speed 0.005 m/s Max. positioning speed per gripper jaw 25 mm/s Max. gripping speed per gripper jaw 10 mm/s Duty cycle 100% Insulation protection class B Max. current consumption <60 mA Max. current consumption, rotation <60 mA Nominal operating voltage DC 24 V Nominal operating voltage DC, rotation 5 V 8/13/24 - Subject to change - Festo SE & Co. KG 1/2
Winding inductance phase 2.8 mH Winding inductance phase, rotation 2.3 mH Phase winding resistance 2 Ohm Winding resistance phase, rotation 0.83 Ohm Pulses per revolution 500 Pulses per revolution, rotation 500 Nominal current per phase 0.5 A Nominal current per phase, rotation 2.8 A Certification RCM compliance mark CE marking (see declaration of conformity) As per EU EMC directive As per EU RoHS directive UKCA marking (see declaration of conformity) To UK instructions for EMC Vibration resistance Transport application test with severity level 1 as per FN 942017-4 and EN 60068-2-6 LABS (PWIS) conformity VDMA24364 zone III Storage temperature -20 °C ... 70 °C Relative air humidity 0 - 85 % Non-condensing Degree of protection IP20 Ambient temperature 18 °C ... 28 °C Gripping force per gripper jaw 18 N ... 67 N Gripping force at 25% nominal current 12 N ... 22 N Gripping force at nominal current 61 N ... 71 N Motor holding torque 0.115 Nm Holding torque motor, rotation 1 Nm Mass moment of inertia 0.038 kgcm² Mass moment of inertia, rotation 0.51 kgcm² Max. output torque 1 Nm Maximum torque on gripper jaw, Mx static 3.5 Nm Maximum torque on gripper jaw, My static 5 Nm Maximum torque on gripper jaw, Mz static 5 Nm Maximum rated load 0.5 kg Feed constant 2.3 mm/U Permissible axial shaft load 15 N Permissible radial shaft load 0 N Product weight 1255 g Electrical connection 1, function 2x motor Electrical connection 1, connection type Plug Electrical connection 1, connection technology PTSM Electrical connection 1, number of pins/wires 8 Electrical connection for input 1, connection pattern 00997539 Electrical connection 2, function 2x encoder Electrical connection 2, connection type Plug Electrical connection 2, connection technology JST-ZH Electrical connection 2, number of pins/wires 16 Electrical connection 2, connection pattern 00997540 Type of mounting With dovetail slot Note on materials RoHS-compliant Cover material PA-reinforced Housing material Wrought aluminum alloy, anodized 8/13/24 - Subject to change - Festo SE & Co. KG 2/2