Parallel gripping Overview parallel gripper RPP

4 4

Overview parallel gripper

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Description Total stroke Maximum Recommended Page in mm gripping force in N workpiece weight in kg

Version 1 2 1 2 1 2

RPP

Design RPP:

1 long jaw stroke, normal gripping force

2 normal jaw stroke, high gripping force

GA Integrated springs as gripping force safety device for exterior tension, thus increased gripping force

GI Integrated springs as gripping force safety device for interior tension, thus increased gripping force

Technical Data

Pneumatic

Operating pressure 3 - 10 bar

Cylinder double-acting

Dynamic seals NBR seals with interior lubrication

Required valves

Double-acting 5 paths, 2 positions

Single-acting (options GA or GI) 3 paths, 2 positions

Air quality

Air filtration 40 µ or better

Air lubrication not necessary*

Humidity low (dry)

Operating temperatures

NBR seals (standard) -30 °C to 80 °C

FKM seals (optional) -20 °C to 150 °C

Maintenance

Expected service life

At normal use 5 million cycles

At preventive maintenance 10 million cycles

On-site repair of gripper Yes

Seal set available Yes

* Preventive maintenance considerably increases service life

RPP-50 8 4 180 350 0,7 1,45 6

RPP-64 12 6 300 600 1,5 3 8

RPP-80 16 8 450 860 2.2 4.3 10

RPP-100 20 10 700 1400 3.5 7.0 12

RPP-125 26 12 1200 2400 6.0 12 14

RPP-160 32 16 1850 3400 9.0 17 16

RPP-200 50 28 2800 4800 14 24 18

RPP-240 60 34 4200 7000 21 35 20

RPP-300 70 40 6200 10300 31 52 22

5

Operating principle of a parallel gripper

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2-jaw parallel gripper RPPpneumatic control

Tried and tested T-groove for gripping at max. loads

Fast and efficient gripping

• Centric gripping of round and angular workpieces

• Universal application due to different types of jaws

• Ideal for series production

• All sizes available with 2 different stroke lengths

• Gripping pressure controlled by change of pressure

• Constant clamping force at a constant pressure and thus high clamping precision

• Compact and ergonomic design

• Sealing air connection to prevent contamination

• Gripper can be mounted on two sides of the gripper

• Optional inductive or magnetic position sensors

• Screw connection or direct connection to compressed air

• Gripping force safety device as a special type for exterior or interior gripping

• Simple interface master jaw / top jaw with only 2 centring sleeves

Centring sleeve

Master jaw

Mode of operation

Body

Piston

Wedge-shaped piston

Adjusting spindle

Adjusting block

Cap

6 6

200

400

600

0 20 40 60

RPP 50-1 RPP 50-2RPP 50-1 GA RPP 50-2 GA

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Max. moment Mx: max. 20 NmMax. moment My: max. 25 NmMax. moment Mz: max. 10 NmMax. pressure load Fz: max. 500 N

Effective length of jaw L (mm)

F (N

)

Position measuring systemItem no. 1078824

Jaw blank (set) Item no. 170574 steel Item no. 170584 aluminium

Pressure maintenance valve Item no. 1078823

Inductive proximity switch Item no. 1149503

Magnetic field sensors Item no. 1083570

Compressed air connection Item no. 802539

Technical data RPP-50-1 RPP-50-2 RPP-50-1/GA RPP-50-2/GA RPP-50-1/GI RPP-50-2/GI

Operating pressure min/max without spring bar 2-8 2-8

Operating pressure min/max with spring bar 4-7 4-7 4-7 4-7

Clamping time s 0.02 0.02 0.02 0.02 0.03 0.03

Opening time s 0.02 0.02 0.03 0.03 0.02 0.02

Air consumption per cycle cm3 5.0 5.0 5.0 5.0 5.0 5.0

Max. allowable length of jaw mm 64 64 64 64 64 64

RPP-50

Clamping force diagram – exterior gripping Max. load on gripper and jaw

Total gripping force F(N) at 6 bar

Protective coverItem no. 170594

Accessory (please order separately)

Precision parallel gripper

Jaw dimensions see page 77

7 7

A

A

Schnitt A-A

22,6 ±0,2

8,7

±0,

2

35 ±0,02

52

2,5

8

6 h6(4x)

3,3

R3(4x)

6h6

(2x)

22±

0,02

M4(4x)

11

8

6,1(2x)

Hülse 6 fürGreiferanschluss

2,5

6 (2

x)

3,3

42

65

30-0

,2

10,5

M3 /4 tief (2x)für Direktanschluss

M5 /6 tief für Sperrluft

T-Nut fürWegmessung

46

M3(4x)

8

18

11 12 ±0,02

18,8RPP 50-1:RPP 50-2: 20,8

25 ±0,2

13

2

8,5

31

M3(4x)

5 h6(4x)

30

14,5

±0,

02

25 ±0,2

10±

0,2

35 ±0,02

42

10

4,1

3Sensorhalter- (2x)

C-Nut für Magnetsensoren

62

47

16

29

81MAX.

29 15 10,5

35,5

RP

P 5

0-1/

2:

RP

P 5

0-1/

2 G

A/G

I: 51

,5

3 2,5

75

RPP 50-2 MAX.31,5 ; MIN.27,5

M5 /6 tief (2x)Luftanschluss

10±

0,2

65

4,56,5

3,05RPP 50-1:RPP 50-2: 4,05

Typ GA/GI mit Greifkraftsicherung Zubehör: Schmutzabdeckung

Ansicht X

RPP 50

X

12 ±0,02

RPP 50-2 MAX.31,5 ; MIN.27,5

33,5RPP 50-1 MAX. ; MIN.25,5

33,5RPP 50-1 MAX. ; MIN.25,5


GreiferAdapter

O-RingØ3x1

Schlauchloser Direktanschluss

3

5

0,65

M3

Para

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Item no. 170119 170120 170121 170122 170123 170124

Total gripping force at 6 bar N 180 350 215 415 235 450

Total stroke mm 8 4 8 4 8 4

Gripping force maintained by safety device N - - 35 65 35 65

Recommended workpiece weight kg 0.7 1.45 0.7 1.45 0.7 1.45

Weight kg 0.19 0.19 0.23 0.23 0.23 0.23


RPP-50Precision parallel gripper

Tubeless direct connection

T-nut for distance measurement

M3/4 deep (2x) for direct connection

Gripper

O-ring

Section A-A

M5 /6 deep (2x) air connection

Adapter

Sleeve Ø6for gripper connection

M5/6 deep for air connection

M5/6 deep for sealing air connection

Type GA/GI with gripping force safety device Accessories: Protective cover

Sensor holder Ø 3

C-nut for magnetic sensors

8 8

RPP 64-1

RPP 64-1 GA

RPP 64-2

RPP 64-2 GA

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F (N

)

0 20 40 60 80

900

600

300










Clamping time s 0.03 0.03 0.02 0.02 0.04 0.04

Opening time s 0.03 0.03 0.04 0.04 0.02 0.02

Air consumption per cycle cm3 10 10 10 10 10 10


RPP-64







9 9

A

A

Schnitt A-A

27 ±0,2

10±

0,2

42 ±0,02

58

2,5

13

8 h6(2x)

4,2

R4(4x)

8h6

(2x)

27±

0,02

M5(4x)

12

15

7,4(4x)


2,5

7,4

(2x)

4,2

36-0

,2

11


M5 /6 tief für Sperrluft

T-Nut fürWegmesssystem

M4(4x)

7

12

22RPP 64-1:RPP 64-2: 25

21

4,25

13 ±0,02

RPP 64-2 MAX.34,5 ; MIN.28,5

10

2,5

M4(4x)

6 h6(4x)

39

31 ±0,2M5 /6 tief (2x)Luftanschluss

70

52

31 ±0,2

15

42 ±0,02

38

76

52

5756

98MAX.

111929

86

44,5

Höh

e R

PP

64-

1/2:

H

öhe

RP

P 6

4-1/

2 G

A/G

I: 62

,5

3

3,5


8Sensorhalter-(2x)


RPP 64-2 MAX.34,5 ; MIN.28,5

10±

0,218

±0,

02

76

13 ±0,02

4,211

18

33

10±

0,2

7 4,5


Ansicht X

RPP 64

X

M3

0,65

5

3


O-RingØ3x1,0

Adapter Greifer

40,5RPP 64-1 MAX. ; MIN.28,5

40,5RPP 64-1 MAX. ; MIN.28,5

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Item no. 170001 170002 170003 170004 170005 170006




Recommended workpiece weight kg 1.5 3 1.5 3 1.5 3

Weight kg 0.3 0.3 0.4 0.4 0.4 0.4

RPP-64 Precision parallel gripper


Tubeless direct connection T-nut for distance measurement

M3/4 deep for direct connection (2x)

Gripper

O-ring

Section A-A

M5 /6 deep air connection

Adapter

Sleeve Ø8 for gripper connection

M5/6 deep (2x) air connection

Heig

ht R

PP 6

4-1/

2: 4

4,5

Heig

ht R

PP 6

4-1/

2 GA

/GI:

62,5


Sensor holder Ø8

M5 /6 deep for sealing air

10 10

RPP 80-1

RPP 80-1 GA

RPP 80-2

RPP 80-2 GA











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F (N

)

0 25 50 75 100

1500

1200

900

600

300

0




Clamping time sec. 0.04 0.04 0.03 0.03 0.05 0.05

Opening time sec. 0.04 0.04 0.05 0.05 0.03 0.03





11 11


A

A

Schnitt A-A

37 ±0,2

12±

0,2

52 ±0,02

73

2,5

16

8 h6(2x)

9 (2

x)

4,2

5,1

R5(4x)

8h6

(2x)

32±

0,02

M5(4x)

15

22

7,4(4x)M5/ 6 tief

für Sperrluft

40 ±0,2


2,5

67

96

14

42-0

,2

M3 /4 tieffür Direktanschluss

T-Nut fürWegmesssystem

M4(4x)

9


96

RPP 80-2 MAX. 45; MIN. 37

16 ±0,02

5,527RPP 64-1:

RPP 64-2: 31

8 h6(4x)

M5(4x)

2,5

10

52 ±0,02

12±

0,2

40 ±0,2

63

85

48

20±

0,02 M5 /6 tief (2x)

Luftanschluss


8Sensorhalter-Ø(2x)

20

49

124MAX.

33 22 14

RPP 80-2 MAX. 45; MIN. 37

108

54,5

Höh

e R

PP

80-

1/2:

H

öhe

RP

P 8

0-1/

2 G

A/G

I: 72

,5

3 3,5

16

24

4,211

63

18

38

6612

±0,

2

7

4,5


Ansicht X

RPP 80

X

GreiferAdapter

O-RingØ3x1


3

5

0,65

M3

16 ±0,02

53RPP 80-1 MAX. ; MIN. 37

53RPP 80-1 MAX. ; MIN. 37

RPP 80-1: 27RPP 80-2: 31


Item no. 170007 170008 170009 170010 170011 170012





Weight kg 0.5 0.5 0.6 0.6 0.6 0.6


Para

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T-nut for distance measurement M3/4 deep (2x)

direct connection

Gripper

O-ring

Section A-A


Adapter




Heig

ht R

PP 8

0-1/

2: 5

4,5

Heig

ht R

PP 8

0-1/

2 GA

/GI:

72,5


C-nut formagnetic sensors

Sensor holder Ø8

12 12

RPP 100-1

RPP 100-1 GA

RPP 100-2

RPP 100-2 GA


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Opening time sec. 0.07 0.07 0.09 0.09 0.05 0.05



RPP-100

Clamping force diagram – exterior gripping Load on gripper and jaws



F (N

)

0 30 60 90 120 150

2500

2000

1500

1000

500

0 Max. moment Mx: max. 80 NmMax. moment My: max. 115 NmMax. moment Mz: max. 70 NmMax. pressure load Fz: max. 2000 N









13 13

A

A

Schnitt A-A

47,4 ±0,2

17±

0,2

66 ±0,02

91

3

19

10 h6(2x)

11 (2

x)

5,1

6,6

R6(4x)

10h6

(2x)

38±

0,02

M6(4x)

21

9(4x)M5/ 6 tief

für Sperrluft


3

81

120

18

50-0

,2


14

12

M5(4x)

81

20 ±0,0224

30

120

RPP 100-2 MAX. 57; MIN. 47

33RPP 100-1: RPP 100-2: 38

11 4,38Sensorhalter-

(2x)


80

26

50

49 ±0,2

24

55

G1/8" /8 tief (2x)Luftanschluss

6,5

M6(4x)

10 h6(4x)

3

14

66 ±0,02

54

25±

0,02

49 ±0,2

M5 / 6 tief (2x)Luftanschluss

81

103

15±

0,2

M5/ 6 tieffür Sperrluft

151MAX.

39 27 18

RPP 100-2 MAX. 57; MIN. 47

137

61,5

Höh

e R

PP

100

-1/2

: H

öhe

RP

P 1

00-1

/2 G

A/G

I: 87

,5

4 3,5

15±

0,2


Ansicht X

RPP 100

20 ±0,02

67RPP 100-1 MAX. ; MIN. 47

67RPP 100-1 MAX. ; MIN. 47

X

GreiferAdapter

O-RingØ4x1,5


3

7

1,1

M3

Para

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Item no. 170013 170014 170015 170016 170018 170019


Total stroke mm 20 10 20 10 20 10



Weight kg 0.8 0.8 1 1 1 1

RPP-100



Tubeless direct connection M3/4 deep (2x) direct connection

Gripper

O-ring

Section A-A



Heig

ht R

PP 1

00-1

/2: 6

1,5

Heig

ht R

PP 1

00-1

/2 G

A/GI

: 87,

5


G1/8’’/8 (2x)air connection

M5 /6 deep for sealing air connection



Sensor holder Ø8

14 14

RPP 125-1

RPP 125-1 GA

RPP 125-2

RPP 125-2 GA





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Opening time sec. 0.1 0.1 0.12 0.12 0.08 0.08



RPP-125




F (N

)

0 30 60 90 120 150 180

4000

3000

2000

1000

0 Max. moment Mx: max. 120 NmMax. moment My: max. 145 NmMax. moment Mz: max. 100 NmMax. pressure load Fz: max. 2800 N






15 15

A

A

Schnitt A-A

61 ±0,2

20±

0,2

82 ±0,02

116

3

28

12 h6(2x)

14 (2

x)

6,8

9

R8(4x)

12h6

(2x)

45±

0,02

M8(4x)

20

23

11(4x)


3

100

93

151

20

60-0

,2


11

M6(4x)

151

RPP 125-2 MAX. 73; MIN. 61

24 ±0,02

7

34

39RPP 125-1: RPP 125-2: 46

34

63 ±0,2

2630

56

92

M6(4x)

10 h6(4x)

3

13

63

82 ±0,02

30±

0,02

62

100

130

63 ±0,2

15±

0,2


11 4,2

8Sensorhalter-(2x)


M5/ 6 tief für Sperrluft

192MAX.

45 30 20

RPP 125-2 MAX. 73; MIN. 61

166

69,5

RP

P 1

25-1

/2:

RP

P 1

25-1

/2 G

A/G

I: 99

,5

4 3,5

M5/ 6 tief für Sperrluft

15±

0,2


Ansicht X

RPP 125

X

87RPP 125-1 MAX. ; MIN. 61

24 ±0,02

G1/8" /8 tief (2x)Luftanschluss

87RPP 125-1 MAX. ; MIN. 61

M5

1,1

7

4


O-RingØ4x1,5

Adapter Greifer

Para

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Item no. 170020 170021 170022 170023 170025 170026


Total stroke mm 26 12 26 12 26 12



Weight kg 1.5 1.5 1.9 1.9 1.9 1.9



Gripper

O-ringHe

ight

RPP

125

-1/2

: 69,

5He

ight

RPP

125

-1/2

GA/

GI: 9

9,5


G1/8’’/8 deep (2x)air connection

M5/6 deep for sealing air





Sensor holder Ø8


16 16










F (N

)

0 35 70 105 140 175 210

6000

4000

2000

0

RPP 160-1

RPP 160-1 GA

RPP 160-2

RPP 160-2 GA


Para

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Opening time sec. 0.15 0.15 0.25 0.25 0.12 0.12



RPP-160




17 17

A

A

Schnitt A-A

75 ±0,2

24,5

±0,

2

100 ±0,02

148,5

3

41

12 h6(2x)

14 (4

x)

6,8

9

R10(4x)

12h6

(2x)

56±

0,02

M8(4x)

20

38



3

192

117

24

72-0

,2


M6(4x)

12

125

RPP 160-2 MAX. 93; MIN. 77

32 ±0,02

8,5

50

43

192

50RPP 160-1: RPP 160-2: 58

74 ±0,2

32

M10(4x)

14 h6(4x)

4

17

77

125

162,5

74 ±0,2

100 ±0,02

28±

0,02

76

18±

0,2

M5 / 6 tief (2x)Luftanschluss


8Sensorhalter-Ø(2x)

11 4,3

238MAX.

53 35 24

RPP 160-2 MAX. 93; MIN. 77

206

5,5 4

85,5

RP

P 1

60-1

/2:

RP

P 1

60-1

/2 G

A/G

I: 12

5,5


116

40

72

18±

0,2


RPP 160

Ansicht X

X

M5

1,1

7

4


O-RingØ4x1,5

Adapter Greifer

109RPP 160-1 MAX. ; MIN.77

32 ±0,02

G1/8" / 8 tief (2x)Luftanschluss

11(4x)

109RPP 160-1 MAX. ; MIN.77

Para

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Item no. 170029 170030 170031 170032 170033 170034


Total stroke mm 32 16 32 16 32 16


Recommended workpiece weight kg 9 17 9 17 9 17

Weight kg 2.8 2.8 3.6 3.6 3.6 3.6


Heig

ht R

PP 1

60-1

/2: 8

5,5

Heig

ht R

PP 1

60-1

/2 G

A/GI

: 125

,5



Sensor holder Ø8

M5/6 deep (2x) direct connectionTubeless direct connection

Gripper

O-ring

Section A-A

G1/8’’/8 (x2)air connection

M5/6 deep for sealing air




18 18

RPP 200-1

RPP 200-1 GA

RPP 200-2

RPP 200-2 GA


F (N

)

0 50 100 150 200 250 300

8000

6000

4000

2000

0

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Opening time sec. 0.35 0.35 0.6 0.6 0.3 0.3



RPP-200













19 19

A

A

Schnitt A-A

82 ±0,2

39,5

±0,

2

130 ±0,02

176

4

23

14 h6(2x)

17 (2

x)

14(4x)

R15(4x)

14h6

(2x)

70±

0,02

M10(4x)


4

141

234

32

100

-0,2


15

M8(4x)

234

RPP 200-2 MAX. 104; MIN. 76

40 ±0,02

63RPP 200-1: RPP 200-2: 74

44

56

9

82 ±0,2

38

M12(4x)

16 h6(4x)

4

17

91

11

4,28Sensorhalter-

(2x)

82 ±0,2

154

190

34±

0,02

90

130 ±0,0222

±0,

2M5 /6 tief (2x)für Luftanschluss

140

50

88

154




298MAX.

45 327199

,5R

PP

200

-1/2

: R

PP

200

-1/2

GA

/GI:

149,

5

45,5

248

22±

0,2

8,4

70


Ansicht X

RPP 200

X

M5

1,1

7

4


O-RingØ4x1,5

Adapter Greifer40 ±0,02

126RPP 200-1 MAX. ; MIN.76

RPP 200-2 MAX. 104; MIN. 76

126RPP 200-1 MAX. ; MIN.76

2010

,2

G1/8" /8 tief (2x)für Luftanschluss

Para

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Item no. 170035 170036 170037 170038 170039 170040


Total stroke mm 50 28 50 28 50 28



Weight kg 5.5 5.5 7.5 7.5 7.5 7.5



Gripper

O-ringHe

ight

RPP

200

-1/2

: 99,

5He

ight

RPP

200

-1/2

GA/

GI: 1

49,5


Profondeur G1/8’’/8 (2x)air connection

M5 /6 deep for air connection



M5/6 deep (2x) direct connection



Sensor holder Ø8

20 20

2000

4000

6000

8000

10000

12000

0 80 160 240 320

RPP-240-1 RPP-240-2RPP-240-1 GA RPP-240-2 GA


F (N

)

Para

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Opening time sec. 0.45 0.45 0.65 0.65 0.35 0.35



RPP-240













21 21

10,1

A

A

Schnitt A-A

96 ±0,2

48±

0,2

160 ±0,02

204

4

30

16 h6(2x)

19 (2

x)12,5

R15(4x)

16h6

(2x)

80±

0,02

M12(4x)

80,5


4

163,

5

270

38

115

-0,2


14,5

M10(4x)

18(4x)

RPP 240-2 MAX. 127,5; MIN.93,5

44 ±0,02

10,75

53

69RPP 240-1: RPP 240-2: 82

69

270

96 ±0,2

49

25,3

±0,

2

M12(4x)

16 h6(4x)

4

21

107


M5 /6 tieffür Sperrluft

11

4,2

8Sensorhalter-(2x)

186

162,

5

56,5

105,

5

160 ±0,02

106

39±

0,02

25,3

±0,

2

96 ±0,2

186

218

M5 /6 tief (2x)für Luftanschluss


Ansicht X

348MAX.

51 3886

RPP 240-2 MAX. 127,5; MIN.93,5

288

5,5

4

115,

5R

PP

240

-1/2

: R

PP

240

-1/2

GA

/GI:

172

M5 /6 tieffür Sperrluft

44 ±0,02

153,5RPP 240-1 MAX. ; MIN.93,5

153,5RPP 240-1 MAX. ; MIN.93,5

RPP 240

G1/8" /8 tief (2x)für Luftanschluss

X

M54

1,1

GreiferAdapter

O-RingØ4x1,5


7

25,5

Para

llel g

rippi

ngRP

P


Item no. 170100 170101 170102 170103 170104 170105


Total stroke mm 60 34 60 34 60 34



Weight kg 8.8 9.2 12 12 12 12


Heig

ht R

PP 2

40-1

/2: 1

15,5

Heig

ht R

PP 2

40-1

/2 G

A/GI

: 172



Sensor holder Ø8


Gripper

O-ring

G1/8’’/8 deep (2x)air connection

M5 /6 deep for air connection





22 22

RPP 300-1

RPP 300-1 GA

RPP 300-2

RPP 300-2 GA

F (N

)

0 50 100 150 200 250 300 350

16000

12000

8000

4000

0

Para

llel g

rippi

ngRP

P





Opening time sec. 0.5 0.5 0.7 0.7 0.4 0.4



RPP-300














23 23

A

A

Schnitt A-A

106 ±0,2

55±

0,2

180 ±0,02

241

6

90

22 h6(2x)

25 (2

x)

20(4x)

16,2

R20(4x)

22h6

(2x)

96±

0,02

M16(4x)

90



6

172

320

140

-0,2

M5 /6 tief (2x)für Direktanschlag

M12(4x)

24

31

210

46 ±0,0278

16,5

RPP 300-2 MAX. 165; MIN. 125

7442

79RPP 300-1: RPP 300-2: 94

320

171

50

101

22 h6(2x)

M16(4x)

6

28

122

51

11

4,3

255

210

106 ±0,2

180 ±0,02

121

30±

0,2

8Sensorhalter-(2x)


RPP 300-2 MAX. 165; MIN. 125

404MAX.

101

62 42

334

9

5,5

135,

5R

PP

300

-1/2

:R

PP

300

-1/2

GA

/GI:

185,

5

106 ±0,2


Ansicht X

RPP 300

X

30±

0,2

13,8


46 ±0,02

195RPP 300-1 MAX. ; MIN. 125

G1/4" / 12 tief (2x)Luftanschluss

45±

0,02 M5 /6 tief (2x)

Luftanschluss

195RPP 300-1 MAX. ; MIN. 125

M5

1,1

7

4


O-RingØ4x1,5

Adapter Greifer

Para

llel g

rippi

ngRP

P


Item no. 170041 170042 170043 170044 170045 170046


Total stroke mm 70 40 70 40 70 40



Weight kg 14 14 17 17 17 17


Heig

ht R

PP 3

00-1

/2: 1

35,5

Heig

ht R

PP 3

00-1

/2 G

A/GI

: 185

,5



Sensor holder Ø8


Gripper

O-ring

M5 /6 deep (2x) for air connection





G1/4“ /12 deep (2x)air connection

Documents

Parallel gripping Overview parallel gripper RPP