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Datasheet GRR - PMCCatalogue

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<strong>GRR</strong>SERIES <strong>GRR</strong> GRIPPERGUARDIAN GRIPPERThe New Standard in High Force,Long Travel, Robust Capacity Gripping.RODLOK ® OPTIONTRAVELADJUSTMENT COLLARSTRAVEL LIMITING STOPSPROXIMITY SWITCHESJAW POSITIONSENSOR OPTIONPATENT PENDING<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr1


PRODUCTSCUSTOMORDERING DATA: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERINDEX:Ordering DataPages 2 and 3BenefitsPages 4 and 5Engineering DataPages 6 and 7DimensionsPages 8 and 9OptionsPages 10 to 14AccessoriesPages 12 to 17Exploded Views & Parts ListsPage 18Application ExamplesPage 19Custom Productsand SolutionsPage 20TO ORDER SPECIFY:Product Line, Series, Type, Synchronization, Jaw, Design No.,Size, Total Jaw Travel, and Options required.SERIESRegular DutySYNCHRONIZATION0- Non-synchronized1- Synchronized2- Non-synchronizedindependently powered jawsDESIGN NO.(See Note 1)2 - Imperial6 - MetricOPTIONS(OMIT IF NOT REQUIRED)PORT OPTIONSL9 - NPT Ports (metric units only)UNIT OPTIONSH47* - Rodlok ® (See Note 2)V1 - Fluoro-Elastomer Seals exceptZ1for Rodlok ® mechanism- Corrosion resistant coating onexposed parts except forRodlok ® mechanism andRodlok ® rodSENSOR OPTIONSSPP99** - Rotary jaw position sensorpre-installed (see Note 3for compatibility)OPTIONS(OMIT IF NOT REQUIRED)JAW TRAVEL LIMITING OPTIONS<strong>GRR</strong>02, <strong>GRR</strong>12 & <strong>GRR</strong>22ANxxx - Jaw travel limitation on open,both jawsATxxx - Jaw travel limitation on closed,both jaws<strong>GRR</strong>02 & <strong>GRR</strong>22 ONLYAPxxx - Jaw travel limitation on open,Jaw A onlyAQxxx - Jaw travel limitation on open,Jaw B onlyARxxx - Jaw travel limitation on closed,Jaw A onlyAUxxx - Jaw travel limitation on closed,Jaw B only<strong>GRR</strong>12 - 6 - 63 x 200 - Z1 - H47PRODUCT LINEG - Gripper48TYPELong Travel,High Capacity,Parallel Gripper99JAWStyle 237BORE SIZEMINIMUM TOTAL JAW TRAVEL150 = 150 mm (5.906 in)200 = 200 mm (7.874 in)250 = 250 mm (9.843 in)350 = 350 mm (13.780 in)OPEN POSITIONCLOSED POSITIONNOTES:1) Design number indicates imperial ormetric mounting holes and ports.Dowel pin holes are metric regardlessof design number.2) *Standard unit is Rodlok ® ready.3) **Standard unit is SPP99 ready. Onlyavailable on <strong>GRR</strong>1. See SPP99 optiondata for temperature and fluidcompatibility.JAW B15AAJAW A26FITT ON EEDCUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD.2© Copyright 2005, by PHD, Inc. All Rights Reserved. Printed in the U.S.A.(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


ORDERING DATA: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERJAW POSITION SENSOR KITSTANDARD CORROSION RESISTANT74209-3174209-32Kit includes 1 jaw position sensor, 2 mountingscrews, 1 seal and 1 coupling.8mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBERDESCRIPTION51422-005-02 NPN (Sink) 5-30 VDC, 2 meter cable51422-006-02 PNP (Source) 5-30 VDC, 2 meter cable12mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBERDESCRIPTION15561-001 NPN (Sink) 10-30 VDC, 3 meter cable15561-002 PNP (Source) 10-30 VDC, 3 meter cable15561-003 20-250 VAC, 3 meter cableTHREADED INDUCTIVE PROXIMITY SWITCH TARGET KITSSTANDARD CORROSION RESISTANT74994-3174994-32Kit includes 1 proximity switch target and 2 target mounting screws.THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITSCORROSION RESISTANTCORROSION RESISTANT8mm SWITCH 8mm SWITCH 12mm SWITCH 12mm SWITCH74992-3174992-32 74993-3174993-32Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw.SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr3


SERIES <strong>GRR</strong> GRIPPERNARROW WIDTH AND LONG TRAVELball bearings support pinionfor smooth operation and long lifestainless tubing enclosesrack to protect from contaminationand to maintain lubricationone piece case hardened ground jaw guidesprovide high precision and durabilityinternal lubrication is provided forextended life without maintenanceshaft wipers on jaw guidesprotect bearings from externalcontaminationNEW!NEW!TC fluoropolymercomposite bushingsprovide wear resistancerack and pinion synchronizerminimizes backlashNEW!optional Rodlok ® holdsjaw position if airpressure is lostPATENT PENDING<strong>GRR</strong> with New Featurescoated steel inserts offer superiorstrength corrosion resistantmounting threadsopen and close portsymbols simplifyinstallationhardcoatedaluminum pistonrod for wearresistanceNEW!now available in150, 200, 250 &350 mm totaljaw travelsNEW!TC fluoropolymer compositebushings provide long life, arecontamination and impact resistanceproximity switches availablefor sensing jaw positionkeyed base andend platesensure alignmentNEW!pressure energized sealsfor low breakaway. Sealsavailable in Fluoro-ElastomerNEW!jaw position sensoravailable for continuousjaw position feedbackNEW!corrosion resistant optionfor increased protectionrack and pinion synchronizeron model <strong>GRR</strong>12(see details above)GUARDIAN GRIPPER4(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


SERIES <strong>GRR</strong> GRIPPERGUARDIAN GRIPPERDesign Enhancements• 75% Higher moment capacity• 55% Higher grip force• 25% Higher speed• 10% Lower weight• Additional accessories• Continuous feedback jaw position sensor• Extensive engineering analysis and testing assureperformanceSTRESS ANALYSIS PLOT [psi]300002500020000150001000050000(HALF MODEL SHOWN)Major Benefits• Narrow width and a wide range of available jaw travels• Compact design provides high grip force and largemoment capacities with low overall weight.• Rugged build withstands high impact and shock loads.• Double acting for both internal and external gripping.• Unique dual air-passage piston rod design promotesrapid bore pressurization for short cycle times.• Three large diameter jaw guides spanning the length ofthe gripper provide stable jaw travel, long allowabletooling length, and high moment capacities.• TC fluoropolymer composite guide shaft bushingsprovide long life and smooth jaw travel in demandingindustrial environments.• Synchronizer is enclosed, protecting the mechanismfrom debris.• Non-synchronized and independently controlled jawsallow flexibility to support diverse applications.• Optional Rodlok ® locks the jaws in a stationary positionin the event air pressure is lost.• Optional analog output sensor continuously monitorsentire jaw travel. Gripper is “sensor ready” allowingthe sensor to be factory installed or easily installed inthe field.• Proximity switches are available for discrete indicationof jaw position.Industry Uses• Material handing of rolls, barrels, pallets, andcontainers• Movement of large sand and investment castings• Small engine block manufacture• Automotive, aeronautical, and agricultural wheelrim manufacture• Clamping and fixturing during assembly operations• Gaging and sorting of large parts and assemblies• Centering and registration of heavy parts• Incorporation into space-restricted processing andmanufacturing equipmentList marks of PHD which appear on promotional material are registered trademarks of PHD, Inc.SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr5


ENGINEERING DATA: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERSPECIFICATIONSOPERATING PRESSURESTANDARD UNITOPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCESERIES <strong>GRR</strong>30 psi min to 120 psi [2 to 8 bar] max air-20° to +180°F [-28° to +82°C]Higher temperature service available. Consult PHD.5 million cycles minimum with standard sealsWithin ±0.002 [±0.05 mm] of original centered positionSee table belowFactory lubricated for rated lifeField repairableGRIP FORCE FACTOR GFGRIP FORCE VARIES WITH TOOLING LENGTHMODELNUMBER<strong>GRR</strong>x2-x-63 x 150<strong>GRR</strong>x2-x-63 x 200<strong>GRR</strong>x2-x-63 x 250<strong>GRR</strong>x2-x-63 x 350MINIMUMTOTAL JAWTRAVELin5.917.879.8413.8mm150200250350GRIPPERWEIGHTlb28.033.039.249.0kg12.715.017.822.2CLOSE OROPEN TIME87psi [6 bar]sec0.280.360.420.57ONEDIRECTIONDISPLACEMENTin 3 cm 328.8 47238.4 62948.0 78767.0 1098EXTERNAL GRIPIMPERIAL METRIC8.09 522INTERNAL GRIPIMPERIAL METRIC7.27 469MODELNUMBER<strong>GRR</strong>x2-x-63 x 150<strong>GRR</strong>x2-x-63 x 200<strong>GRR</strong>x2-x-63 x 250<strong>GRR</strong>x2-x-63 x 350MAXIMUM ALLOWABLE FORCES AND MOMENTSFalb N3500 155703500 155703500 155703500 15570Mxin-lb8000900090009000Nm880990990990Myin-lb6500750075007500Nm715825825825Mzin-lb6500750075007500Nm715825825825FaFa: Total for both jaws.Mx: Allowable moment per jaw, measured from jaw mounting surface.My: Allowable moment per jaw, measured from geometric center of jaw.Mz: Allowable moment per jaw, measured from jaw mounting surface.MzMxWhen calculating the value for Fa, include weight of tooling, partweight, acceleration, and external forces. When calculating values forMx, My, and Mz, include the grip force per jaw, part weight, externalforces, and acceleration as applicable.MyNOTE: Moment values assume the use of all threadedmounting holes.TOOLING LENGTH FACTORJaw tooling should be designed so that thegrip point is as close to the jaw surface as possible.As the grip point is moved away from the jaw surface,the applied moment causes jaw friction to increase,resulting in reduced effective grip force. The grip forcefactor (GF) values given in the table above are for zerotooling length (jaw surface).The maximum load that grippers can handle willvary based on: size of the part being picked up, shapeof the part, texture of the part, speed at which the part istransferred, working pressure, shape of the fingers, etc. PHDrecommends that the fingers of jaws be tooled or machined toconform to the shape of the part being gripped.TOOLING LENGTH FACTOR1.000.950.90350 mm0.85250 mm0.80200 mm0.75150 mm0.700 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]TOOLING LENGTH in [mm]6(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


ENGINEERING DATA: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERGRIP FORCETotal gripping force relative to tooling length is shown below atthe stated actuating pressure. Grip force per jaw equals the total gripforce divided by two. The graphs also indicate the maximum toolinglength for each gripper size.F/2PARTJawSurfaceToolingLengthF/2F = TOTAL GRIP FORCETOTAL GRIP FORCE lb [N]900[4003]800[3559]700[3114]600[2669]500[2224]400[1779]300[1334]150 mm Travel100 psi [7 bar]CLOSEOPEN87 psi [6 bar]60 psi [4 bar]0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]TOTAL GRIP FORCE lb [N]900[4003]800[3559]700[3114]600[2669]500[2224]400[1779]300[1334]250 mm TravelCLOSEOPEN100 psi [7 bar]87 psi [6 bar]60 psi [4 bar]0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]TOOLING LENGTH in [mm]TOOLING LENGTH in [mm]200 mm TravelCLOSEOPEN350 mm TravelCLOSEOPENTOTAL GRIP FORCE lb [N]900[4003]800[3559]700[3114]600[2669]500[2224]400[1779]300[1334]100 psi [7 bar]87 psi [6 bar]60 psi [4 bar]0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]TOTAL GRIP FORCE lb [N]900[4003]800100 psi [7 bar][3559]87 psi [6 bar]700[3114]600[2669]500[2224]60 psi [4 bar]400[1779]300[1334]0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]TOOLING LENGTH in [mm]TOOLING LENGTH in [mm]GRIP FORCE CALCULATION EQUATIONS:IMPERIAL:TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length FactorMETRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length FactorF/2PARTF = TOTAL GRIP FORCEJawSurfaceToolingLengthF/2GRIP FORCE CALCULATION EXAMPLE:Gripper: Series <strong>GRR</strong> Size 63 x 200Common Parameters:Operating Pressure = 87 psi [6 bar]Tooling Length = 10 in [254 mm]1. Determine Grip Force Factor GF = 8.09 [522] (from table on page 6)2. Determine Tooling Length Factor = 0.84 [0.84] (from Tooling Length Factor graph)3. Total Grip Force Calculations:For Standard Unit: <strong>GRR</strong>12-2-63 x 200 [<strong>GRR</strong>12-6-63 x 200]Total Grip Force = 87 psi x 8.09 x 0.84 = 591 lb [6 bar x 522 x 0.84 = 2630 N]All dimensions are reference only unless specifically toleranced.SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr7


DIMENSIONS: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERP6P7B1K2K3K4K5K634X K8 ±.00030 [H7]DOWEL PIN HOLE42K1 B24X P2 PORT **(PLUGGED)FOR OPTIONAL -SPP99SENSOR MOUNTING.SEE OPTIONS SECTIONFOR DIMENSIONS116X K7 THD(THREADED INSERTS)10X MANUFACTURING HOLES(CONSULT PHD FOR MOREINFORMATION)5FOR PROXIMITY SWITCHMOUNTING, SEE ACCESSORIESSECTION FOR DIMENSIONSB3C LP1 PORT(CLOSE)P1 PORT(OPEN)P34X J7 +.00040/-.00030 [H7]DOWEL PIN HOLE6FOR OPTIONAL -H47SEE OPTIONS FORDIMENSIONSC LC LP8P4P5J8B8B42X J1J9B5A OPEN*A CLOSED*2X P1 PORT**(PLUGGED)J2JAW PROFILE(CONSULTPHD FOR MOREINFORMATION)J38X J6 THD(THREADEDINSERTS)J4J5C L2X Ø B7 Ø B6 (PRIMARY JAW GUIDE)(SECONDARYJAW GUIDE)2X MANUFACTURING HOLES(CONSULT PHD FOR MORE INFORMATION)NOTES:1) DESIGNATED C L IS CENTERLINE OF UNIT.2) ALL DIMENSIONS ARE FOR REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED.3) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED mm.4) CIRCLED NUMBERS INDICATE POSITION.5) *A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION.A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.6) **PLUGGED PORTS P1 & P2, CAN BE USED FOR GRIPPER ACTUATION.8(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


DIMENSIONS: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERLETTERDIMMIN. TRAVELPER JAWA CLOSED*A OPEN*B1B2B3B4B5B6B7B8J1J2J3J4J5J6J7J8J9K1K2K3K4K5K6K7K8P1P2P3P4P5P6P7P8<strong>GRR</strong>x2-x-63 X 150inmm2.9534.72410.63017.3143.5003.5431.000.9901.000.7506.2504.1363.5002.3622.5981.29901/2-13 x 1.00 DP.47275 x .625 DP6.3751.8501.77312.5988.2606.2604.2602.36203/8-16 x .750 DP.31525 x .750 DP1/4 NPT1/8 NPT.3754.503.250.344.413.59175.0120.0270.0439.888.990.025.425.125.419.1158.8105.188.960.066.033.0M12 x 1.75 x 25.0 DP12.0 x 15.9 DP161.947.045.0320.0209.8159.0108.260.0M8 x 1.25 x 19.0 DP8.0 x 19.0 DP1/4 BSPP1/8 BSPP9.5114.382.68.710.515.0in3.9375.50413.37921.2513.5003.5431.000.9901.000.7506.2505.1203.5002.3623.5441.77201/2-13 x 1.00 DP.47275 x .625 DP6.3752.2401.77314.9608.2606.2604.2602.36203/8-16 x .750 DP.31525 x .750 DP1/4 NPT1/8 NPT.3754.503.250.344.413.591<strong>GRR</strong>x2-x-63 X 200mm100.0139.8339.8539.888.990.025.425.125.419.1158.8130.088.960.090.045.0M12 x 1.75 x 25.0 DP12.0 x 15.9 DP161.956.945.0380.0209.8159.0108.260.0M8 x 1.25 x 19.0 DP8.0 x 19.0 DP1/4 BSPP1/8 BSPP9.5114.382.68.710.515.0MODEL NUMBER<strong>GRR</strong>x2-x-63 X 250inmm4.9215.50415.34726.0163.5003.5431.000.9901.000.7506.2506.5183.5002.3623.5441.77201/2-13 x 1.00 DP.47275 x .625 DP6.3752.2401.77314.9608.2606.2604.2602.36203/8-16 x .750 DP.31525 x .750 DP1/4 NPT1/8 NPT.3754.503.250.344.413.591125.0139.8389.8660.888.990.025.425.125.419.1158.8165.688.960.090.045.0M12 x 1.75 x 25.0 DP12.0 x 15.9 DP161.956.945.0380.0209.8159.0108.260.0M8 x 1.25 x 19.0 DP8.0 x 19.0 DP1/4 BSPP1/8 BSPP9.5114.382.68.710.515.0<strong>GRR</strong>x2-x-63 X 350inmm6.89012.99226.77233.8903.5003.5431.000.9901.000.7506.2508.4873.5002.3623.5441.77201/2-13 x 1.00 DP.47275 x .625 DP6.3755.9841.77323.2288.2606.2604.2602.36203/8-16 x .750 DP.31525 x .750 DP1/4 NPT1/8 NPT.3754.503.250.344.413.591175.0330.0680.0860.888.990.025.425.125.419.1158.8215.688.960.090.045.0M12 x 1.75 x 25.0 DP12.0 x 15.9 DP161.9152.045.0590.0209.8159.0108.260.0M8 x 1.25 x 19.0 DP8.0 x 19.0 DP1/4 BSPP1/8 BSPP9.5114.382.68.710.515.0SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr9


MODEL/OPTIONS: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPER<strong>GRR</strong>12 SYNCHRONIZEDThis model synchronizes the jaws for use with parts that mustbe centered. Jaws are pressurized by a single set of ports.CLOSEOPENPART<strong>GRR</strong>02 NON-SYNCHRONIZEDThis model allows each jaw to move independently while beingpressurized by a single set of ports. This feature allows the grippingof off center parts.CLOSEOPENPARTPART OFF CENTER<strong>GRR</strong>22NON-SYNCHRONIZED ANDINDEPENDENTLYPOWERED JAWSCLOSEJAW BOPENJAW BJAW BJAW ACLOSEJAW AOPENJAW AThis model adds the ability to independently power each jaw.The jaws are not synchronized and may be cycled at differing ratesor pressures.PARTPARTEXTERNAL TOOLINGZ1CORROSION RESISTANTV1FLUORO-ELASTOMER SEALSThis option provides a corrosion resistant coating on allferrous parts for use in applications where the standard parts maycorrode.NOTE: Rodlok ® and Rodlok rod, part of -H47 option, are notcorrosion resistant.L9METRIC UNIT WITH IMPERIAL(NPT) PORTSFluoro-elastomer seals and PTFE jaw guide scrapers are availableto achieve seal compatibility with certain fluids. Seal compatibilityshould be checked with the fluid manufacturer for properapplication.NOTE: Rodlok, part of -H47 option does not include -V1components. Consult PHD for fluid compatibility with -SPP99option. Consult PHD for high temperature use.10(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


OPTIONS: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERTRAVEL LIMITING STOPSThese options provide corrosion resistant jaw travel stop tubesfor use in limiting jaw travel on open or close. The travel limitingstop tubes provide a repeatable positive stop.Model (<strong>GRR</strong>12) requires identical stops for both jaws whiletraveling in the same direction. Synchronized units may only use theANxxx and ATxxx options. Non-synchronized models (<strong>GRR</strong>02 &<strong>GRR</strong>22) may use the APxxx, ARxxx, AUxxx, or AQxxx in anycombination for limiting the travel of either jaw independently.Non-synchronized units may also be ordered with ANxxx orATxxx options.Travel limiting tubes are available in lengths from 03.0to 99.9 mm in .1 mm increments.For adjustable jaw travel, see travel adjustment collars onpage 17.ANxxxATxxxAVAILABLE ON <strong>GRR</strong>02, <strong>GRR</strong>12, & <strong>GRR</strong>22JAW BJAW AATXXXANXXXØ 1.48 in[37.6 mm]25.1 mmAPxxxARxxx AUxxx AQxxxAVAILABLE ON <strong>GRR</strong>02 & <strong>GRR</strong>22 MODELS ONLYEXAMPLE:-ATxxx stop with 25.1 mm length = -AT251NOTE: Option’s xxx are in .1 mm incrementswith implied decimal point one placefrom right, and must be 3 digits longwith values ranging between 03.0 and99.9 mm.JAW BJAW AAQxxxAUxxxARxxxAPxxxAll dimensions are reference only unless specifically toleranced.SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr11


OPTIONS & ACCESSORIES: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERH47 RODLOK ®PHD’s Rodlok ® is ideal for locking the jaws while in a static/stationary position. When the pressure is removed from the port ofthe Rodlok ® , the mechanism will grip on the external guide shaftand prevent the jaws from moving. The loads are held indefinitelywithout power. Rodlok ® performance is application andenvironment sensitive. Cleanliness of shaft or Rodlok ® will alsoaffect performance.THE RODLOK ® IS NOT DESIGNED TO BE USED AS APERSONNEL SAFETY DEVICE.Option -H47 provides the Rodlok ® pre-assembled to thegripper. The port of the Rodlok device will be in position 5.Option -H47 may be purchased with the -Z1 (corrosionresistant) option and -V1 (fluid compatibility) option. However theRodlok ® and Rodlok ® rod DO NOT PROVIDE corrosion resistance orfluid compatibility.<strong>GRR</strong>12 WITH -H47 OPTION<strong>GRR</strong>02 & <strong>GRR</strong>22 WITH -H47 OPTION-H47 OPTION ON<strong>GRR</strong>02 & <strong>GRR</strong>221/8 NPT* (<strong>GRR</strong>x2-2)[1/8 BSPP (<strong>GRR</strong>x2-6)]RODLOK ® PORT MUST BEPRESSURIZED BEFOREOPERATING GRIPPER5L6RODLOK ROD-H47 OPTION ON<strong>GRR</strong>02, <strong>GRR</strong>12 &<strong>GRR</strong>22L17NPT PORT ADAPTORL16L84 26L4L3 1L2L9 L7L1L13L12L5L10L114 B2 2B1312(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


OPTIONS & ACCESSORIES: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERLETTERDIMB1B2L1L2L3L4L5L6L7L8L9L10L11L12L13L14L15L16L17<strong>GRR</strong>x2-x-63 X 150in mm17.314 439.83.500 88.91.900 48.3.165 4.2.787 20.04.920 125.0.141 3.61.070 27.21.217 30.95.254 133.52.209 56.11.150 41.93.618 91.94.550 115.66.234 158.33.95 lb 1.79 kg7.90 lb 3.58 kg3.960 100.61.06 27.1<strong>GRR</strong>x2-x-63 X 200in mm21.251 539.83.500 88.91.900 48.3.165 4.2.787 20.05.900 149.9.141 3.61.070 27.21.217 30.95.254 133.52.209 56.11.150 41.93.618 91.94.550 115.66.234 158.34.22 lb 1.91 kg8.44 lb 3.83 kg3.960 100.61.06 27.1MODEL NUMBERL14 = WEIGHT ADDER FOR <strong>GRR</strong>12L15 = WEIGHT ADDER FOR <strong>GRR</strong>02 & <strong>GRR</strong>22NOTES:1) LOCKING FORCE INDICATED IS THE ACTUAL LOCKING FORCE WITH A DRY, CLEANROD AND DOES NOT INCLUDE ANY SAFETY FACTOR. IT IS POSSIBLE TO OVERRIDETHE RODLOK ® WITH VERY HIGH FORCE APPLIED TO THE GRIPPER.2) CIRCLED NUMBERS INDICATE POSITION.3) *1/8" NPT PORT IS AN ADAPTOR INCLUDED WITH IMPERIAL UNITS.<strong>GRR</strong>x2-x-63 X 250in mm26.016 660.83.500 88.91.900 48.31.630 41.4.787 20.07.280 184.9.141 3.61.070 27.21.217 30.95.254 133.52.209 56.11.150 41.93.618 91.94.550 115.66.234 158.34.35 lb 1.97 kg8.70 lb 3.95 kg3.960 100.61.06 27.1SIZE63<strong>GRR</strong>x2-x-63 X 350in mm33.890 860.83.500 88.91.900 48.33.370 85.6.787 20.09.250 235.0.141 3.61.070 27.21.217 30.95.254 133.52.209 56.11.150 41.93.618 91.94.550 115.66.234 158.34.65 lb 2.11 kg9.30 lb 4.22 kg3.960 100.61.06 27.1STATIC LOCKING FORCE(see Note 1)lb495N2200ACCESSORIES - RODLOK ®The Series <strong>GRR</strong> is -H47 ready as standard. The followingitems may be added to the Design 2 [6] <strong>GRR</strong> or may be used asreplacement parts. Note that the kits below are for one jaw only.COMPLETE RODLOK® KIT (PER JAW)Full unit description - H9110Kit includes Rodlok and Rodlok adaptorfor a single (1) jaw.RODLOK® SEAL KIT (PER JAW)Full unit description - H9115Kit includes seals and wear rings for asingle (1) jaw.RODLOK® ADAPTOR KIT (PER JAW)Full unit description - H9105Kit includes Rodlok adaptor for a single(1) jaw. Does not include Rodlok.RODLOK® KIT (PER JAW)Full unit description - H9100Kit includes Rodlok for a single (1) jaw.Does not include Rodlok imperial port adaptor.All dimensions are reference only unless specifically toleranced.SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr13


OPTIONS & ACCESSORIES: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERSPP99 JAW POSITION SENSORPHD’s Jaw Position Sensor provides an easy to use,economical, fully integrated solution to continuously monitorthe grip position of the jaws. The sensor mounts directly to thegripper making field installation or replacement quick and easy.The 3-pin quick-connect connector provides a 0-10 volt analogoutput compatible with standard analog control modules.Consult PHD for use with -V1 option.33mm HEX SIZEØ 2.000 [Ø 51.0] MIN HOLETO ALLOW REMOVAL OFPOSITION SENSOR[M8 X 1]THREAD1MALE QUICK CONNECTØ 1.500 [Ø 38.1] MIN HOLETO PROVIDE CLEARANCE FORPOSITION SENSOR4Ø SP15SP22SP3J8LETTERDIMJ8SP1SP2SP3MODEL NUMBER<strong>GRR</strong>x2-x-63in6.375.7481.43710.000mm161.919.036.52546+ VDC (PIN 1)RESOLUTIONResolution of sensor installed into gripper is 0.001 inch[0.025 mm] in conjunction with an analog control module having 15 bitsor greater input resolution.CONNECTORINTERFACESIGNAL OUT (PIN 2)GROUND (PIN 3)REPEATABILITYMaximum variation of reported grip dimension when repeatedlygripping the same object is ±0.002 in [±0.05 mm].ENVIRONMENTALTemperature Limits: -20 to 180°F [-28 to 82°C]IP67 compliant when installed in gripper.ELECTRICALSupply Voltage: 15-30 VDC, reverse polarity protectedOutput Voltage: 0-10 VDC, short-circuit protectedOutput Constant: 663 ± 1mV/inch [26.10 ± 0.04 mV/mm] ofgrip changeOutput Voltage Offset:


ACCESSORIES: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERACCESSORIES - JAW POSITION SENSORSeries <strong>GRR</strong> is supplied -SPP99 ready. Kit below provides thesame jaw position sensor and mounting hardware supplied preassembledwith the -SPP99 option. See option details for furtherinformation.JAW POSITION SENSOR KITSTANDARD CORROSION RESISTANT74209-31 74209-32Kit includes 1 jaw position sensor, 2mounting screws, 1 seal, and 1 coupling.ACCESSORIES - SET POINT MODULESet Point Module converts analog output from sensor intodiscrete on-off outputs. Module provides four independentlyadjustable set points throughout jaw travel. Available with NPN(sink) or PNP (source) outputs.SET POINT MODULEPART NO.DESCRIPTION9800-01-0300 4.5-24 VDC, Sink Type Output9800-01-0400 4.5-24 VDC, Source Type OutputSee Switches and Sensors section in main catalogfor more information.SET POINTMODULECORDSET ACCESSORYSOLD SEPARATELYSEE BELOWJAW POSITIONSENSORACCESSORIES - CORDSETProvides a cordset with female quick connect and additionalcable. Perfect for use with the Set Point Module.PIN 2/4WIRE COLORBLACKØ .402[10.2]PIN 1WIRE COLORBROWNPIN 3WIRE COLORBLUE1.299[34.8].689[19.3]BLACK CONNECTORLBLACK CABLEMODEL NO.63549-0263549-05LETTER DIM.L78.74 [2 m]196.85 [5 m]All dimensions are reference only unless specifically toleranced.SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr15


ACCESSORIES: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERPROXIMITY SWITCHES - EXTERNALThis accessory provides for the external mounting of 8 or12 mm threaded round metal sensing inductive proximity switches.Multiple switches may be mounted using multiple brackets.Proximity switches, targets, and mounting brackets are orderedseparately. See the Switches and Sensors section in the maincatalog for complete switch specifications.NOTE: Target and bracket kits do not interchange with Series1 [5] <strong>GRR</strong> Grippers.TARGETS & BRACKETS MAY BELOCATED ON BOTH SIDES OF JAWS34 2SHOWN AS 8mmPROX1564mm HEX SIZETARGET & BRACKETSW4SW3SW8SW2SHOWN AS12mm PROXSW6SW5SW1B3SW7DIMLETTERB3SW1SW2SW3SW4SW5SW6SW7SW8<strong>GRR</strong>x2-x-63in3.544.920.4101.125.8521.9203.080.9001.211mm90.023.410.428.621.648.878.222.930.88mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBERDESCRIPTION51422-005-02 NPN (Sink) 5-30 VDC, 2 meter cable51422-006-02 PNP (Source) 5-30 VDC, 2 meter cable12mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBERDESCRIPTION15561-001 NPN (Sink) 10-30 VDC, 3 meter cable15561-002 PNP (Source) 10-30 VDC, 3 meter cable15561-003 20-250 VAC, 3 meter cableTHREADED INDUCTIVE PROXIMITY SWITCH TARGET KITSSTANDARD CORROSION RESISTANT74994-3174994-32Kit includes 1 proximity switch target and 2 target mounting screws.THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITSCORROSION RESISTANTCORROSION RESISTANT8mm SWITCH 8mm SWITCH 12mm SWITCH 12mm SWITCH74992-3174992-32 74993-3174993-32Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw.16(800) 624-8511www.phdinc.com/grrAll dimensions are reference only unless specifically toleranced.<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


ACCESSORIES: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERTRAVEL ADJUSTMENT COLLARSThis accessory provides travel adjustment stop collars for usein limiting jaw travel on open or close. The travel adjustment stopcollars provide infinite adjustment. Synchronized model (<strong>GRR</strong>12)requires travel adjustment collars to be identically located for bothjaws, in the same direction of travel. Non-synchronized models(<strong>GRR</strong>02 & <strong>GRR</strong>22) do not require identical stop locations for eachjaw. For non-adjustable jaw travel limiting, see options ANxxx,ATxxx, APxxx, ARxxxx, AUxxx, and AQxxx on page 11.POSSIBLE CONFIGURATIONFOR <strong>GRR</strong>02, <strong>GRR</strong>12, OR<strong>GRR</strong>22, SHOWN WITH STROKELIMITED ON OPENPOSSIBLE CONFIGURATIONFOR <strong>GRR</strong>22, SHOWN WITH 1JAW RESTRICTED56SA1SA2SA4DIMLETTERB2SA1SA2SA3SA4<strong>GRR</strong>x2-x-63in3.500.6301.7402.900.035mm88.916.044.273.7.9142SA3B236mm HEX SIZESTROKE ADJUSTMENT COLLAR KITSSTANDARD CORROSION RESISTANT74211-01 74211-02Kit includes 2 stroke adjustment collars and4 mounting screws.All dimensions are reference only unless specifically toleranced.SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr17


EXPLODED VIEW: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPER444041454311171819152021422291210171023241413KEY123456789101112131415161718192021222525E303240414243444521202216PART DESCRIPTIONBase Plate AssemblyDowel PinO-ring SealCenter Plate AssemblyFHCSO-ring SealJaw Position Sensor CoverSHCSRackRack Cover TubeLarge Jaw GuideSmall Jaw GuideO-ring SealEnd Plate Communication PlugEnd Plate Assembly (location 48)End Plate Assembly (location 26)Jaw AssemblyRack Mounting SpacerLHCSSHCSSHCSSHCSComplete Rodlok Kit (per jaw)Rodlok Kit (per jaw)Jaw Position Sensor AssemblyO-ring Seal Coupling-ANxxx Travel Limiting Tube-ATxxx Travel Limiting Tube-APxxx Travel Limiting Tube-AQxxx Travel Limiting Tube-ARxxx Travel Limiting Tube-AUxxx Travel Limiting Tube181991314PART NUMBERFull unit description required -H610017831-095Sold as part of seal kit onlyFull unit description required -H4810Full unit description required -H2000Sold as part of seal kit only74221Full unit description required -H2040Full unit description required -H3310Full unit description required -H1300Full unit description required -H4720Full unit description required -H4710Sold as part of seal kit only74213Full unit description required -H6210Full unit description required -H6220Full unit description required -H260575038Full unit description required -H2020Full unit description required -H4740Full unit description required -H4740Full unit description required -H2030Full unit description required -H9110Full unit description required -H9100Sold as part of jaw position sensor kit 74209-xxSold as part of seal kit and as part ofjaw position sensor kit 74209-xxFull unit description required -H1705Full unit description required -H1715Full unit description required -H1725Full unit description required -H1735Full unit description required -H1745Full unit description required -H1755Note: all part numbers are for standard units. Options may affect part numbers*Seal kit does not include Rodlok ® seals. Rodlok seals sold in Rodlok seal kit only.16758323025COMPLETERODLOK ® KITRODLOK ® ADAPTOR KIT(MOUNTING ONLY)25E RODLOK ® KIT(LOCKING DEVICE ONLY)KITSDESCRIPTIONPART NUMBERComplete Rodlok Kit (per jaw) Full unit description required -H9110Rodlok Kit (per jaw) Full unit description required -H9100Rodlok Adaptor Kit (per jaw) Full unit description required -H9105Rodlok Seal Kit (per jaw) Full unit description required -H9115Seal KitFull unit description required -H900018(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>03SOLUTIONS FORINDUSTRIAL AUTOMATION


APPLICATION EXAMPLES: SERIES <strong>GRR</strong> GRIPPERSGUARDIAN GRIPPERGRIPPER FOR LONG TRAVEL,HIGH FORCE CAPABILITYThe Series <strong>GRR</strong> Gripper is designed for long stroke, highforce applications. The synchronized parallel jaw motionautomatically centers items for operations such as sorting.The long stroke compensates for items of varying size orposition.GRIPPER FOR HIGH FORCEAND HIGH JAW LOADSThe Series <strong>GRR</strong> Gripper is designed towithstand external forces when moving heavyparts quickly. The parallel design provides forautomatic centering of parts, while the long jawtravel makes it flexible for a wide variety ofapplications. In this application, two Series<strong>GRR</strong> Grippers are mounted on a fixture attached toa robot. The robot will transfer rims from an in-feedconveyor station to and from three separatemachining processes. Then the finished rim isplaced on a conveyor, taking it from themachining area.12345SOLUTIONS FORINDUSTRIAL AUTOMATION<strong>GRR</strong>03(800) 624-8511www.phdinc.com/grr19


CUSTOM PRODUCTS & SOLUTIONS: SERIES <strong>GRR</strong>GUARDIAN GRIPPERCUSTOM PRODUCTS & SOLUTIONSIllustrations shown are for concept only. Other variationsinclude:Smaller or larger bore sizesMetallic rod scrapersShorter or longer jaw travelsFluid compatibilityAlternate materialsContact PHD, Inc. with your productrequirements.LONGER THANSTANDARD JAWTRAVELSHOCK PADS ONOPEN OR CLOSEDUNEQUAL JAW TRAVELS(NON-SYNCHRONIZED)LOW PROFILE UNITDOUBLE FORCE UNITENCLOSED UNITPHD, Inc.PHD GmbH9009 Clubridge Drive Arnold-Sommerfeld-Ring 2P.O. Box 9070, Fort Wayne, Indiana 46899 U.S.A.52499 Baesweiler, GermanyPhone (260) 747-6151 • Fax (260) 747-6754 Tel. +49 (0) 2401 805 230 • Fax +49 (0) 2401 805 232phdinfo@phdinc.com • www.phdinc.comsolutions@phd-gmbh.de20(800) 624-8511www.phdinc.com/grr<strong>GRR</strong>035M-I 500-A4 5/05 6523SOLUTIONS FORINDUSTRIAL AUTOMATION

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