SERIES GRR GRIPPER GUARDIANold.servicatalogue.com/Katalogdata/pdf/201300-1-1-15.pdf · 8mm SWITCH 74992-32 12mm SWITCH 74993-31 CORROSION RESISTANT 12mm SWITCH 74993-32 Kit includes

1SOLUTIONS FORINDUSTRIAL AUTOMATION

(800) 624-8511www.phdinc.com/grrGRR03

SERIES GRR GRIPPERGRR

GRR03

GRR

TRAVEL LIMITING STOPSTRAVEL

ADJUSTMENT COLLARS

PROXIMITY SWITCHESJAW POSITION

SENSOR OPTION

RODLOK® OPTION

TRAVEL LIMITING STOPSTRAVEL

ADJUSTMENT COLLARS

PROXIMITY SWITCHES

RODLOK® OPTION

JAW POSITIONSENSOR OPTION

The New Standard in High Force,Long Travel, Robust Capacity Gripping.

PATENT PENDING

GUARDIANGRIPPER

™


(800) 624-8511www.phdinc.com/grr GRR03

ORDERING DATA: SERIES GRR GRIPPERS

TO ORDER SPECIFY:Product Line, Series, Type, Synchronization, Jaw, Design No.,Size, Total Jaw Travel, and Options required.

NOTES:1) Design number indicates imperial or

metric mounting holes and ports.Dowel pin holes are metric regardlessof design number.

2) *Standard unit is Rodlok® ready.3) **Standard unit is SPP99 ready. Only

available on GRR1. See SPP99 optiondata for temperature and fluidcompatibility.

2 -63 x1RRG

PRODUCT LINEG - Gripper

SERIESRegular Duty

TYPELong Travel,

High Capacity,Parallel Gripper

SYNCHRONIZATION0- Non-synchronized1- Synchronized2- Non-synchronized

independently powered jaws

JAWStyle 2

- 6

DESIGN NO.(See Note 1)2 - Imperial6 - Metric

-

BORE SIZE MINIMUM 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)

OPTIONS(OMIT IF NOT REQUIRED)

PORT OPTIONSL9 - NPT Ports (metric units only)

UNIT OPTIONSH47* - Rodlok® (See Note 2)V1 - Fluoro-Elastomer Seals except

for Rodlok® mechanismZ1 - Corrosion resistant coating on

exposed parts except forRodlok® mechanism andRodlok® rod

SENSOR OPTIONSSPP99** - Rotary jaw position sensor

pre-installed (see Note 3for compatibility)

200 Z1 - H47

OPTIONS(OMIT IF NOT REQUIRED)

JAW TRAVEL LIMITING OPTIONSGRR02, GRR12 & GRR22

ANxxx - Jaw travel limitation on open,both jaws

ATxxx - Jaw travel limitation on closed,both jawsGRR02 & GRR22 ONLY

APxxx - Jaw travel limitation on open,Jaw A only

AQxxx - Jaw travel limitation on open,Jaw B only

ARxxx - Jaw travel limitation on closed,Jaw A only

AUxxx - Jaw travel limitation on closed,Jaw B only

OPEN POSITION

CLOSED POSITION

15

AA26

99

3748

JAW B

JAW A

INDEX:

© Copyright 2005, by PHD, Inc. All Rights Reserved. Printed in the U.S.A.

Engineering DataPages 6 and 7

DimensionsPages 8 and 9

OptionsPages 10 to 14

AccessoriesPages 12 to 17

Exploded Views & Parts ListsPage 18

Application ExamplesPage 19

Custom Productsand SolutionsPage 20

Ordering DataPages 2 and 3

BenefitsPages 4 and 5

GUARDIANGRIPPER

™

CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD.

CU

STO

M PRODUCTS

F

ITTO NEED

CU

STO

M PRODUCTS

F

ITTO NEED

Becky

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THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS

PART NUMBER51422-005-0251422-006-02

DESCRIPTIONNPN (Sink) 5-30 VDC, 2 meter cablePNP (Source) 5-30 VDC, 2 meter cable

8mm THREADED INDUCTIVE PROXIMITY SWITCHES

PART NUMBER15561-00115561-00215561-003

DESCRIPTIONNPN (Sink) 10-30 VDC, 3 meter cablePNP (Source) 10-30 VDC, 3 meter cable20-250 VAC, 3 meter cable


STANDARD74994-31

CORROSION RESISTANT74994-32

THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS

8mm SWITCH74992-31

CORROSION RESISTANT8mm SWITCH

74992-3212mm SWITCH

74993-31


74993-32

Kit includes 1 proximity switch target and 2 target mounting screws.

Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw.

JAW POSITION SENSOR KIT

74209-32Kit includes 1 jaw position sensor, 2 mountingscrews, 1 seal and 1 coupling.

CORROSION RESISTANTSTANDARD74209-31

ORDERING DATA: SERIES GRR GRIPPERS GUARDIANGRIPPER

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NARROW WIDTH AND LONG TRAVEL

coated steel inserts offer superiorstrength corrosion resistantmounting threads

rack and pinion synchronizeron model GRR12(see details above)

TC fluoropolymer compositebushings provide long life, arecontamination and impact resistance

one piece case hardened ground jaw guidesprovide high precision and durability

shaft wipers on jaw guidesprotect bearings from external

contamination

internal lubrication is provided forextended life without maintenance

hardcoatedaluminum piston

rod for wearresistance

proximity switches availablefor sensing jaw position

jaw position sensoravailable for continuous

jaw position feedback

ball bearings support pinionfor smooth operation and long life

stainless tubing enclosesrack to protect from contaminationand to maintain lubrication

rack and pinion synchronizerminimizes backlash

TC fluoropolymercomposite bushingsprovide wear resistance

now available in150, 200, 250 &

350 mm totaljaw travels

NEW!NEW!

keyed base andend plates

ensure alignment

pressure energized sealsfor low breakaway. Seals

available in Fluoro-Elastomer

optional Rodlok® holdsjaw position if airpressure is lost

corrosion resistant optionfor increased protection

GRR with New Features

open and close portsymbols simplifyinstallation

NEW!NEW!

NEW!NEW!

NEW!NEW!

NEW!NEW!

NEW!NEW!

NEW!NEW!

NEW!NEW!

SERIES GRR GRIPPER

PATENT PENDING

GUARDIANGRIPPER

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30000

25000

20000

15000

10000

5000

0

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 equipment

List marks of PHD which appear on promotional material are registered trademarks of PHD, Inc.

Design 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 assure

performance

STRESS ANALYSIS PLOT [psi]

GUARDIANGRIPPER

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(HALF MODEL SHOWN)

SERIES GRR GRIPPER



ENGINEERING DATA: SERIES GRR GRIPPERS

MODELNUMBER

GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350

in5.917.879.8413.8

cm3

472629787

1098

MINIMUMTOTAL JAW

TRAVELIMPERIAL

8.09

METRIC

522

EXTERNAL GRIPIMPERIAL

7.27

METRIC

469

INTERNAL GRIP

CLOSE OROPEN TIME

87psi [6 bar]sec0.280.360.420.57

GRIP FORCE FACTOR GF

GRIP FORCE VARIES WITH TOOLING LENGTH

lb28.033.039.249.0

mm150200250350

in3

28.838.448.067.0

kg12.715.017.822.2

GRIPPERWEIGHT

SERIES GRR

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 seals

Within ±0.002 [±0.05 mm] of original centered positionSee table below

Factory lubricated for rated lifeField repairable

SPECIFICATIONSOPERATING PRESSURE

STANDARD UNITOPERATING TEMPERATURE

RATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE

MODELNUMBER

GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350

lb3500350035003500

FaN

15570155701557015570

in-lb8000900090009000

MxNm880990990990

in-lb6500750075007500

MyNm715825825825

in-lb6500750075007500

MzNm715825825825

MAXIMUM ALLOWABLE FORCES AND MOMENTS

Fa: 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.

ONEDIRECTION

DISPLACEMENT

0.70

0.75

0.85

0.90

0.95

1.00

0 2 4 6 8 10 12 14 16 18 20

TOOL

ING

LENG

TH F

ACTO

R

350 mm

200 mm

250 mm

150 mm

[50]

TOOLING LENGTH in [mm]

[100] [150] [200] [250] [300] [350] [400] [450] [500]

0.80

TOOLING LENGTH FACTORJaw tooling should be designed so that the

grip 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.

When 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.

NOTE: Moment values assume the use of all threadedmounting holes.

My

Mx

Fa

Mz

GUARDIANGRIPPER

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All dimensions are reference only unless specifically toleranced.

ENGINEERING DATA: SERIES GRR GRIPPERS

300

400

500

600

700

800

900

150 mm Travel

TOTA

L GR

IP F

ORCE

lb

[N]

200 mm Travel

250 mm Travel

350 mm Travel

CLOSEOPEN

CLOSEOPEN

CLOSEOPEN

CLOSEOPEN

[1334]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300

400

500

600

700

800

900

TOTA

L GR

IP F

ORCE

lb

[N]

[1334]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]


400

500

600

700

800

900

TOTA

L GR

IP F

ORCE

lb

[N]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300[1334]

400

500

600

700

800

900

TOTA

L GR

IP F

ORCE

lb

[N]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300[1334]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]


TOOLING LENGTH in [mm] TOOLING LENGTH in [mm]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

PART

F = TOTAL GRIP FORCE

F/2F/2

JawSurface

ToolingLength

GRIP FORCETotal gripping force relative to tooling length is shown below at

the 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.

GRIP FORCE CALCULATION EQUATIONS:

IMPERIAL:

TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length Factor

METRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor

GRIP FORCE CALCULATION EXAMPLE:Gripper: Series GRR 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: GRR12-2-63 x 200 [GRR12-6-63 x 200]

Total Grip Force = 87 psi x 8.09 x 0.84 = 591 lb [6 bar x 522 x 0.84 = 2630 N]

PART

F = TOTAL GRIP FORCE

F/2F/2

JawSurface

ToolingLength

GUARDIANGRIPPER

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NOTES:1) DESIGNATED C 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.

2

3

1

4

5

6

L

CL

CL

CL

CL

FOR PROXIMITY SWITCHMOUNTING, SEE ACCESSORIESSECTION FOR DIMENSIONS

FOR OPTIONAL -H47SEE OPTIONS FORDIMENSIONS

10X MANUFACTURING HOLES(CONSULT PHD FOR MOREINFORMATION)

FOR OPTIONAL -SPP99SENSOR MOUNTING.

SEE OPTIONS SECTIONFOR DIMENSIONS

2X MANUFACTURING HOLES(CONSULT PHD FOR MORE INFORMATION)

4X P2 PORT **(PLUGGED)

4X K8 ±.00030 [H7]DOWEL PIN HOLE

16X K7 THD(THREADED INSERTS)

P1 PORT(CLOSE)

P1 PORT(OPEN)

2X P1 PORT**(PLUGGED)

8X J6 THD(THREADED

INSERTS)

4X J7 +.00040/-.00030 [H7]DOWEL PIN HOLE

K5K6

K4K3K2

K1

B1

P5

P4

A OPEN*A CLOSED*

J4J5

J3

B52X J1B4

J8

B3

B8

J2

P7

P8

P6

B2

P3

J9

2X Ø B7(SECONDARYJAW GUIDE)

Ø B6 (PRIMARY JAW GUIDE)

JAW PROFILE(CONSULT

PHD FOR MOREINFORMATION)

DIMENSIONS: SERIES GRR GRIPPERS GUARDIANGRIPPER

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DIMENSIONS: SERIES GRR GRIPPERS

mm

75.0120.0270.0439.888.990.025.425.125.419.1

158.8105.188.960.066.033.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.947.045.0

320.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.7

10.515.0

LETTERDIM

MIN. TRAVELPER JAW

A CLOSED*A OPEN*

B1B2B3B4B5B6B7B8J1J2J3J4J5J6J7J8J9K1K2K3K4K5K6K7K8P1P2P3P4P5P6P7P8

in

2.9534.724

10.63017.3143.5003.5431.000.990

1.000.750

6.2504.1363.5002.3622.598

1.29901/2-13 x 1.00 DP.47275 x .625 DP

6.3751.8501.773

12.5988.2606.2604.260

2.36203/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.50

3.250.344.413.591

GRRx2-x-63 X 150MODEL NUMBER

in

3.9375.504

13.37921.2513.5003.5431.000.990

1.000.750

6.2505.1203.5002.3623.544

1.77201/2-13 x 1.00 DP.47275 x .625 DP

6.3752.2401.773

14.9608.2606.2604.260

2.36203/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.50

3.250.344.413.591

GRRx2-x-63 X 200mm

100.0139.8339.8539.888.990.025.425.125.419.1

158.8130.088.960.090.045.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.956.945.0

380.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.7

10.515.0

in

4.9215.504

15.34726.0163.5003.5431.000.990

1.000.750

6.2506.5183.5002.3623.544

1.77201/2-13 x 1.00 DP.47275 x .625 DP

6.3752.2401.773

14.9608.2606.2604.260

2.36203/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.50

3.250.344.413.591

mm

125.0139.8389.8660.888.990.025.425.125.419.1

158.8165.688.960.090.045.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.956.945.0

380.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.7

10.515.0

GRRx2-x-63 X 250in

6.89012.99226.77233.8903.5003.5431.000.9901.000.7506.2508.4873.5002.3623.544

1.77201/2-13 x 1.00 DP.47275 x .625 DP

6.3755.9841.773

23.2288.2606.2604.260

2.36203/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.503.250.344.413.591

mm

175.0330.0680.0860.888.990.025.425.125.419.1

158.8215.688.960.090.045.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.9152.045.0

590.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.7

10.515.0

GRRx2-x-63 X 350

GUARDIANGRIPPER

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MODEL/OPTIONS: SERIES GRR GRIPPERS

METRIC UNIT WITH IMPERIAL(NPT) PORTS

CORROSION RESISTANT

This 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.

Fluoro-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.

FLUORO-ELASTOMER SEALS

L9

Z1 V1

This model synchronizes the jaws for use with parts that mustbe centered. Jaws are pressurized by a single set of ports.

GRR12 SYNCHRONIZED

This model allows each jaw to move independently while beingpressurized by a single set of ports. This feature allows the grippingof off center parts.

GRR02 NON-SYNCHRONIZED

This model adds the ability to independently power each jaw.The jaws are not synchronized and may be cycled at differing ratesor pressures.

GRR22NON-SYNCHRONIZED ANDINDEPENDENTLYPOWERED JAWS

PART

PART

PART

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

PART

PART OFF CENTER

CLOSE

OPENJAW B JAW A

JAW B

JAW B

JAW A

JAW A

EXTERNAL TOOLING

GUARDIANGRIPPER

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OPTIONS: SERIES GRR GRIPPERS

These 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 (GRR12) requires identical stops for both jaws whiletraveling in the same direction. Synchronized units may only use theANxxx and ATxxx options. Non-synchronized models (GRR02 &GRR22) may use the APxxx, ARxxx, AUxxx, or AQxxx in any

ANxxxAVAILABLE ON GRR02, GRR12, & GRR22

ATxxx

TRAVEL LIMITING STOPScombination 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.

ATXXX

ANXXX

25.1 mm

APxxxARxxxAUxxxAQxxx

Ø 1.48 in[37.6 mm]

JAW B JAW A

JAW B JAW A

APxxxAVAILABLE ON GRR02 & GRR22 MODELS ONLY

ARxxx AUxxx AQxxxEXAMPLE:

-ATxxx stop with 25.1 mm length = -AT251

NOTE: 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.

GUARDIANGRIPPER

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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.

H47 RODLOK®

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.

5

6

4 2

1

4 2

3

-H47 OPTION ONGRR02 & GRR22

-H47 OPTION ONGRR02, GRR12 &GRR22

L1

L10

L13

L11

L2

L12

B2

L5

1/8 NPT* (GRRx2-2)[1/8 BSPP (GRRx2-6)]

RODLOK® PORT MUST BEPRESSURIZED BEFORE

OPERATING GRIPPER

L9L7

L8

L6

L4

B1

L3

L16

L17NPT PORT ADAPTOR

RODLOK ROD

OPTIONS & ACCESSORIES: SERIES GRR GRIPPERS

GRR02 & GRR22 WITH -H47 OPTIONGRR12 WITH -H47 OPTION

GUARDIANGRIPPER

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L14 = WEIGHT ADDER FOR GRR12L15 = WEIGHT ADDER FOR GRR02 & GRR22NOTES:1) LOCKING FORCE INDICATED IS THE ACTUAL LOCKING FORCE WITH A DRY, CLEAN

ROD 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.

N2200

SIZE63

lb495

(see Note 1)STATIC LOCKING FORCE

COMPLETE RODLOK® KIT (PER JAW)

Full unit description - H9110Kit includes Rodlok and Rodlok adaptorfor a single (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.

RODLOK® SEAL KIT (PER JAW)

Full unit description - H9115Kit includes seals and wear rings for asingle (1) jaw.

mm439.888.948.34.2

20.0125.03.6

27.230.9

133.556.141.991.9

115.6158.3

1.79 kg3.58 kg100.627.1

LETTERDIMB1B2L1L2L3L4L5L6L7L8L9L10L11L12L13L14L15L16L17

in17.3143.5001.900.165.787

4.920.141

1.0701.2175.2542.2091.1503.6184.5506.2343.95 lb7.90 lb3.9601.06

GRRx2-x-63 X 150MODEL NUMBER

GRRx2-x-63 X 200mm

539.888.948.34.220.0149.93.627.230.9133.556.141.991.9115.6158.3

1.91 kg3.83 kg100.627.1

in21.2513.5001.900.165.787

5.900.141

1.0701.2175.2542.2091.1503.6184.5506.2344.22 lb8.44 lb3.9601.06

GRRx2-x-63 X 250mm

660.888.948.341.420.0184.93.627.230.9133.556.141.991.9115.6158.3

1.97 kg3.95 kg100.627.1

in26.0163.5001.9001.630.7877.280.1411.0701.2175.2542.2091.1503.6184.5506.2344.35 lb8.70 lb3.9601.06

GRRx2-x-63 X 350mm

860.888.948.385.620.0235.03.627.230.9133.556.141.991.9115.6158.3

2.11 kg4.22 kg100.627.1

in33.8903.5001.9003.370.7879.250.1411.0701.2175.2542.2091.1503.6184.5506.2344.65 lb9.30 lb3.9601.06

ACCESSORIES - RODLOK®

The Series GRR is -H47 ready as standard. The followingitems may be added to the Design 2 [6] GRR or may be used asreplacement parts. Note that the kits below are for one jaw only.

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PHD’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.

SPP99 JAW POSITION SENSOR


Ø 2.000 [Ø 51.0] MIN HOLETO ALLOW REMOVAL OFPOSITION SENSOR

mm161.919.036.5254

LETTERDIMJ8

SP1SP2SP3

in6.375.7481.43710.000

GRRx2-x-63MODEL NUMBER

+ VDC (PIN 1)

SIGNAL OUT (PIN 2)

GROUND (PIN 3)

CONNECTORINTERFACE

3mm HEX SIZE

1

MALE QUICK CONNECT

SP2

J8

Ø 1.500 [Ø 38.1] MIN HOLETO PROVIDE CLEARANCE FORPOSITION SENSOR

SP3

[M8 X 1]THREAD

Ø SP1

3

5

2

6

4

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.

REPEATABILITYMaximum variation of reported grip dimension when repeatedly

gripping 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] of

grip changeOutput Voltage Offset: <10mV typicalOutput Linearity: ± 0.3%

GUARDIANGRIPPER

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Becky

Becky

Becky



Series GRR is supplied -SPP99 ready. Kit below provides thesame jaw position sensor and mounting hardware supplied pre-assembled with the -SPP99 option. See option details for furtherinformation.

ACCESSORIES - JAW POSITION SENSOR

Provides a cordset with female quick connect and additionalcable. Perfect for use with the Set Point Module.

ACCESSORIES - CORDSET

ACCESSORIES: SERIES GRR GRIPPERS

SET POINT MODULE

JAW POSITIONSENSOR

CORDSET ACCESSORYSOLD SEPARATELYSEE BELOW

MODEL NO.63549-0263549-05

LETTER DIM.L

78.74 [2 m]196.85 [5 m]

PIN 2/4WIRE COLOR

BLACK

BLACK CABLE

PIN 3WIRE COLORBLUE L

1.299[34.8]

Ø .402[10.2]

.689[19.3]

BLACK CONNECTORPIN 1WIRE COLORBROWN

Set 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. DESCRIPTION

9800-01-0300 4.5-24 VDC, Sink Type Output9800-01-0400 4.5-24 VDC, Source Type Output

See Switches and Sensors section in main catalogfor more information.

ACCESSORIES - SET POINT MODULE

JAW POSITION SENSOR KITSTANDARD CORROSION RESISTANT74209-31 74209-32

Kit includes 1 jaw position sensor, 2mounting screws, 1 seal, and 1 coupling.

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PROXIMITY SWITCHES - EXTERNALThis accessory provides for the external mounting of 8 or

12 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] GRR Grippers.

THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS

TARGETS & BRACKETS MAY BELOCATED ON BOTH SIDES OF JAWS

3

4 2

1

SHOWN AS 8mmPROX

SHOWN AS12mm PROX

5

6

4mm HEX SIZETARGET & BRACKET

DIMLETTER

B3SW1SW2SW3SW4SW5SW6SW7SW8

in3.544.920.4101.125.8521.9203.080.9001.211

mm90.023.410.428.621.648.878.222.930.8

GRRx2-x-63

PART NUMBER51422-005-0251422-006-02

DESCRIPTIONNPN (Sink) 5-30 VDC, 2 meter cablePNP (Source) 5-30 VDC, 2 meter cable


PART NUMBER15561-00115561-00215561-003

DESCRIPTIONNPN (Sink) 10-30 VDC, 3 meter cablePNP (Source) 10-30 VDC, 3 meter cable20-250 VAC, 3 meter cable


STANDARD74994-31


THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS

8mm SWITCH74992-31


74992-3212mm SWITCH

74993-31


74993-32

Kit includes 1 proximity switch target and 2 target mounting screws.

Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw.

SW5SW6

SW8

SW2

SW3

B3

SW1

SW7

SW4

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TRAVEL ADJUSTMENT COLLARSThis accessory provides travel adjustment stop collars for use

in limiting jaw travel on open or close. The travel adjustment stopcollars provide infinite adjustment. Synchronized model (GRR12)requires travel adjustment collars to be identically located for bothjaws, in the same direction of travel. Non-synchronized models(GRR02 & GRR22) 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.

DIMLETTER

B2SA1SA2SA3SA4

in3.500.630

1.7402.900.035

mm88.916.044.273.7.9

GRRx2-x-63

6

5

24

6mm HEX SIZE

3

1

SA1

SA4

SA3 B2

SA2

STANDARD74211-01


STROKE ADJUSTMENT COLLAR KITS

POSSIBLE CONFIGURATIONFOR GRR02, GRR12, ORGRR22, SHOWN WITH STROKELIMITED ON OPEN

POSSIBLE CONFIGURATIONFOR GRR22, SHOWN WITH 1JAW RESTRICTED

Kit includes 2 stroke adjustment collars and4 mounting screws.

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Becky



EXPLODED VIEW: SERIES GRR GRIPPERS

Full unit description required -H610017831-095

Sold as part of seal kit onlyFull unit description required -H4810Full unit description required -H2000

Sold as part of seal kit only74221

Full unit description required -H2040Full unit description required -H3310Full unit description required -H1300Full unit description required -H4720Full unit description required -H4710

Sold as part of seal kit only74213

Full unit description required -H6210Full unit description required -H6220Full unit description required -H2605

75038Full unit description required -H2020Full unit description required -H4740Full unit description required -H4740Full unit description required -H2030Full unit description required -H9110Full unit description required -H9100

Sold as part of jaw position sensor kit 74209-xxSold as part of seal kit and as part of

jaw 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 -H1755

PART 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 Tube

PART NUMBERKEY123456789

1011121314151617181920212225

25E3032

404142434445

COMPLETERODLOK® KIT

RODLOK® ADAPTOR KIT(MOUNTING ONLY)

RODLOK® KIT(LOCKING DEVICE ONLY)

25E

25

1314

22

21

20

1519

1817

9

10

4

2

2

3

9

1819

17

16

20

21

22

1314

1

6

7

5

8

30

32

11

12

40

42

44

41 45

43

10

Note: 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.

DESCRIPTIONComplete Rodlok Kit (per jaw)Rodlok Kit (per jaw)Rodlok Adaptor Kit (per jaw)Rodlok Seal Kit (per jaw)Seal Kit

PART NUMBERFull unit description required -H9110Full unit description required -H9100Full unit description required -H9105Full unit description required -H9115Full unit description required -H9000

KITS

GUARDIANGRIPPER

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GRIPPER FOR HIGH FORCEAND HIGH JAW LOADS

The Series GRR 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 SeriesGRR 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.

APPLICATION EXAMPLES: SERIES GRR GRIPPERS

1

2 34

5

GRIPPER FOR LONG TRAVEL,HIGH FORCE CAPABILITY

The Series GRR 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.

GUARDIANGRIPPER

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5M-I 500-A4 5/05 6523

CUSTOM PRODUCTS & SOLUTIONSIllustrations shown are for concept only. Other variations

include:Smaller or larger bore sizesMetallic rod scrapersShorter or longer jaw travelsFluid compatibilityAlternate materials

Contact PHD, Inc. with your productrequirements.

CUSTOM PRODUCTS & SOLUTIONS: SERIES GRR

LONGER THANSTANDARD JAWTRAVEL

SHOCK PADS ONOPEN OR CLOSED

UNEQUAL JAW TRAVELS(NON-SYNCHRONIZED)

LOW PROFILE UNIT

DOUBLE FORCE UNIT ENCLOSED UNIT

PHD, Inc. PHD GmbH9009 Clubridge Drive Arnold-Sommerfeld-Ring 2

P.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 805 232

[email protected] • www.phdinc.com [email protected]

GUARDIANGRIPPER

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Documents

SERIES GRR GRIPPER GUARDIANold.servicatalogue.com/Katalogdata/pdf/201300-1-1-15.pdf · 8mm SWITCH 74992-32 12mm SWITCH 74993-31 CORROSION RESISTANT 12mm SWITCH 74993-32 Kit includes