Modular End-of-Arm Automation

Single Acting Robotic Grippers

automation-image
The GTP-45 delivers 600# of grip force in a two or three finger configuration

Light Weight – At less than eight ounces, these featherweight grippers provide an unprecedented grip force to weight ratio.

Multiple Jaw Configurations – 6˚ Gripper available in two or three finger, expanding or contracting styles.  12˚ Gripper available in two finger contracting style.

 

automation-drawing

GTP grippers are designed to accommodate added tooling on the fingers and grip complex components using PFA’s Gripper Pads (page 11). “3X” Style units are excellent for ID and Inside Bore applications and Recess Mount “R” style units mate easily with our Compliance Devices to support “jam free” assembly.

single-acting-gripper-drawing

Identify Your Part Number

single-acting-grippers-part-number

Double Acting Robotic Grippers

Double Acting Robotic Grippers
Select the exact double acting grip force you need

1,000# of Grip Force* – DAG-80
800# of Grip Force* – DAG-45
250# of Grip Force* – DAG-30

*Based on 100psi air pressure – measured at tip of finger.

double-acting-gripper-drawing

double-acting-gripper-recessed-mount-2

Recessed Mount
Drawing Reference DAG-30 DAG-45 DAG-80
A 2.04 2.64 4.35
B 1.180
1.178
1.772
1.770
3.250
3.248
C 1.126 1.277 1.89
D .71 1.04 1.31
E 1.02 1.10 1.70
F .375 .550 1.050
G .275 .315 .511
H .20 .20 .34
I .56 .61 .75
J .34 .65 .90
K .250 .375 .60
L .250 .320 .50
M M4 x .07 thread M4 x .07 thread M6 x 1.0 thread
N .57 .85 1.50

 

Note: Dimensions are in inches except where noted.

Universal Mount
Drawing Reference DAG-30 DAG-45 DAG-80
AA 1.97 3.15 4.92
BB 1.263/1.260 Dia. x .10 DP C’Bore 1.972/1.969 Dia. x .10 DP C’Bore 3.153/3.150 Dia. x .20 DP C’Bore
CC 1.224 1.375 2.087
DD .157/.156 Dia. thru on 1.575 Dia. BC .236/.235 Dia. thru on 2.480 Dia. BC .315/.314 Dia. thru on 3.937 Dia. BC
EE .17 Dia. thru, 4 PLS EQ SP on a 1.575 Dia. BC .25 Dia. thru, 4 PLS EQ SP on a 2.480 Dia. BC .33 Dia. thru, 6 PLS EQ SP on a 3.937 Dia. BC

 

double-acting-gripper-universal-mount-1

Note: Dimensions are in inches except where noted.

Identify Your Part Number

double-acting-grippers-part-number

APG Double Acting Parallel Jaw Grippers

APG double acting parallel jaw grippers

Light Weight – At less than eight ounces, these featherweight grippers provide an unprecedented grip force to weight ratio.

Multiple Jaw Configurations – 6˚ Gripper available in two or three finger, expanding or contracting styles. 12˚ Gripper available in two finger contracting style.

 

rcc-mount-version

 

Cleanroom – Class 100 – Accepted for cleanroom use, the CR100 versions of the APG30 and 45 keep the lines running smoothly – no particle problems here!

Constant Force Application – Grip force is constant at any point along slide, allowing for very large finger travel without sacrificing grip force.

Also Available with Sensors – Hall Effect Sensors can be adjusted to sense the desired open and closed position.  The sensors detect part absence and ensure part release.

Sensor Specifications
Supply Voltage Operating: 4.5V – 24VDC
Supply Voltage (max): 24VDC
Current (max): 14mA @ 24VDC
Interconnect Cable: 3 conductor, 24 AWG, with shield.
48 in (122mm) long
Output Configuration: Open collector, current sinking
Output Voltage (max): 24VDC
Current (max): 25mA
Operating Temperature: 0˚C (32˚F) -70˚C (158˚F)
Output Switching Time (max): .04 microseconds

apg-double-acting-parallel-jaw-grippers-drawing

Recessed Mount (R)
APG-30, APG-45 only
Reference APG-30R APG-45R
A 1.80
1.78
1.772
1.770
C 1.25 1.48
D 2.60 3.11
E 2.44 3.44
F .50 1.00
G 1.25 1.96
H .25 2 PLCS .25 2 PLCS
J .709 Centered 1.181 Centered
K .197 .315
L .492 .610
M .787 .906
N .97 1.22
P M4 x 0.7 THD
.27DP 4 PLCS
Each Finger Block
M5 x 0.8 THD
.33 DP 4 PLCS
Each Finger Block
R 4.05
4.01
x .27 DP 2 PLCS
Each Finger Block
4.05
4.01
x .33 DP 2 PLCS
Each Finger Block
S .78 .78
T .32 .32
U 2.32 3.15
W N/A .159
.158
2 PLCS equally
V 1.70 Thru
4 EQ. SP. 2.4 B.C.
.170 Thru 6 PLS. EQ. SP.
3.07 B.C.

NOTE: DIMENSIONS ARE IN INCHES EXCEPT WHERE NOTED.

Universal Mount (U)
.
Reference APG-30U APG-45U APG-80U
A 1.97 3.00 4.92
B .22 .30 0.50
C 1.35 1.58 3.30
D 2.69 3.20 5.57
E 2.44 3.44 6.50
F .50 1.00 2.0
G 1.25 1.96 3.25
H .41 2 PLCS .58 2 PLCS .75 2 PLCS
J .709 Centered 1.181 Centered 2.165 Centered
JJ .709 Centered 1.181 Centered 1.575 Centered
K .197 .315 .433
KK .866
L .492 .610 1.083
M .787 .906 1.299
MM 1.732
N .97 1.22 2.250
P M4 x 0.7 THD
.27DP 4 PLCS
Each Finger Block
M5 x 0.8 THD
.33 DP 4 PLCS
Each Finger Block
M6 x 1.0 THD
.40 DP 8 PLCS
Each Finger Block
R .159
.158
x .27 DP 2 PLCS
Each Finger Block
.159
.158
x .33 DP 2 PLCS
Each Finger Block
.199
0.197
x 0.40 DP 2 PLCS
Each Finger Block
S .78 .78 1.40
T .32 .32 .47
U N/A 2.64 N/A
V .17 Dia. thru
4 PLCS
equally spaced on a
1.575 Dia. B.C.
.25 Dia. thru
4 PLCS
equally spaced on a
2.480 Dia. B.C.
0.33 Dia. thru
6 PLCS
equally spaced on a
3.937 Dia. B.C.
W .157
.156
thru on a
1.575 Dia. B.C.
.236
.235
thru on a
2.480 Dia. B.C.
0.315
0.314
thru on a
3.937 Dia. B.C.

NOTE: DIMENSIONS ARE IN INCHES EXCEPT WHERE NOTED.

Identify Your Part Number

apg-double-acting-part-number

Gripper Pads

gripper pads

Durable, non-slip elastomer gripper pads for industrial robots provide an efficient means of grasping work pieces. Elastomers are selected to operate over a broad temperature range and resist oils, other liquids, and corrosive elements. The elastomer is adhered to a metal plate for ease of attachment to a gripper. The pad is easily machined to match custom applications, and holes may be drilled to provide quick attachment and removal. Gripper pads are also available without metal backplates for specialized applications.

Features
  • Compliant surface
  • Resistance to specific types of harsh industrial environments
  • Easy installation/replacement
  • Adaptable to custom applications
Specifications
  • Operating temperature: -20˚F (-29˚C) to +180˚F (+82˚C)
Materials
  • Plate: 6061-T6 Aluminum/low carbon steel as indicated above
  • Elastomer: 60 ±5 Duro, Shore A

To Order Specify Part No. and Quantity. (Example: Qty. 2 GP-702-1A)

Weight per square inch
Part Number Weight (oz./in.2)
GP-701-1 .76
GP-703-1 .18
GP-705-1 .13
GP-702-1A .82
GP-704-1A .22
GP-706-1A .17
GP-706-2A .07
GP-801-1 .82
GP-803-1 .22
GP-805-1 .17
GP-805-2 .07
Gripper Pad Coefficient of Friction

The coefficient of friction for an application in which steel fingers grip a steel part is estimated as .28. Gripper pads provide additional friction for those applications in which grip force and finger friction are not sufficient to grasp the part. The coefficient of friction for two sample part materials was calculated for the three gripper pads types in the chart listed here.

Finger Material Coefficient of Part Material: Steel Coefficient of Part Material: Aluminum
Steel Fingers .28 .32
Knurled Pad .53 .78
Waffled Pad .48 .87
Pebbled Pad .52 .76

The coefficients of friction determined in the chart are application dependent. The test results were generated under ideal laboratory conditions. Actual performance may differ. In this test situation a metal sheet with a 63 microinch ground finish was placed between two 72 square inch gripper pads and a compressive load of 200 lbs was applied perpendicular to the contact area. All surfaces were clean and dry. In other situations the coefficient may be lower due to lubricants introduced into the system; or much higher if the rubber is able to conform to the part.

The coefficient of friction is used in conjunction with tooling weight and robot acceleration to calculate the required grip force for a specific application. The following formula can be applied when attempting to determine the approximate minimum grip force for an application. Note: An additional safety factor of 10X may be required depending upon the application.

Grip Force (lbs)  =  [Tooling Weight (lbs)]  /  [Coefficient of Friction]

gripper-pad-knurled-surface
Knurled Surface Dimensions mm (inches)
P/N A** B** C D E Notes
GP-702-1A 304.8
(12.0)
152.4
(6.0)
13.5
(0.53)
10.2
(0.40)
3.3
(0.13)
w/Steel backplate
GP-704-1A 304.8
(12.0)
152.4
(6.0)
6.4
(0.25)
4.8
(0.19)
1.5
(0.06)
w/Alum. backplate
GP-706-1A 304.8
(12.0)
152.4
(6.0)
n/a
n/a
6.4
(0.25)
n/a
n/a
Elastomer pads only**
GP-706-2A 304.8
(12.0)
152.4
(6.0)
n/a
n/a
3.3
(0.13)
n/a
n/a
Elastomer pads only**

*No metal plate
**Elastomer only pads may show some dimensional contraction. Use A=115/8” and B=53/4” actual for planning

gripper-pad-waffled-surface
Waffled Surface Dimensions mm (inches)
P/N A** B** C D E Notes
GP-701-1 304.8
(12.0)
152.4
(6.0)
12.7
(0.50)
9.4
(0.37)
3.3
(0.13)
w/Steel backplate
GP-703-1 304.8
(12.0)
152.4
(6.0)
6.4
(0.25)
4.8
(0.19)
1.5
(0.06)
w/Alum. backplate
GP-705-1 304.8
(12.0)
152.4
(6.0)
n/a
n/a
6.4
(0.25)
n/a
n/a
Elastomer pads only**

*No metal plate
**Elastomer only pads may show some dimensional contraction. Use A=115/8” and B=53/4” actual for planning

gripper-pad-pebbled-surface
Pebbled Surface Dimensions mm (inches)
P/N A** B** C D E Notes
GP-801-1 304.8
(12.0)
152.4
(6.0)
13.5
(0.53)
10.2
(0.40)
3.3
(0.13)
w/Steel backplate
GP-803-1 304.8
(12.0)
152.4
(6.0)
6.4
(0.25)
4.8
(0.19)
1.5
(0.06)
w/Alum. backplate
GP-805-1 304.8
(12.0)
152.4
(6.0)
n/a
n/a
6.4
(0.25)
n/a
n/a
Elastomer pads only**
GP-805-2 304.8
(12.0)
152.4
(6.0)
n/a
n/a
3.3
(0.13)
n/a
n/a
Elastomer pads only**

*No metal plate
**Elastomer only pads may show some dimensional contraction. Use A=115/8” and B=53/4” actual for planning

For detailed information on how the Remote Center of Compliance (RCC) functions along with some application examples and calculations, please download “Remote Center Compliance Application Manual (S2103)”.

Two-Stage RCC Accommodator

two-stage-rcc-accommodator
Provides critical force axis de-coupling to reduce part stress during assembly

Lateral and Rotational Compensation – Because of the two stage configuration, the part being inserted can comply laterally and rotate around the center of compliance reducing wear of machinery and the need for highly accurate robots.

Automatic Compensation – RCC compensates for positioning errors in automated assembly, thus minimizing the required assembly forces and the possibility of parts jamming.

Variable Durometer Elastomers – Six elastomeric shear pads make RCC’s stiff in compression yet relatively soft in shear ensuring more accurate side to side accommodation. Choose from four different shear pad types to achieve the best compliance for your application.

rcc drawing
The Importance of the Remote Center of Compliance (RCC)

The critical aspect of PFA’s RCC is the true de-coupling of the lateral, shear, and rotational forces. The point of de-coupling occurs at a remote point called the Remote Center of Compliance (RCC). Although other compliant devices are flexible, PFA’s Accommodator provides the critical de-coupling effect necessary for critical assembly applications.

rcc drawing
Stiffness

The RCC design allows for a trade-off between the lateral and rotational stiffness values for a given projection distance and shear pad type. The units listed have been chosen to balance these two parameters. Stiffness selection should be based on tightness of fit, payload and operating speed. Units optimized for minimum rotation and torque transmission are also available in the anti-rotation (AR) option.

Mechanical Outline Specifications

Shear Pad (Elastomer) Selection

Properties CR Neoprene MO Silicone
Operating Temperature (Min.) -29˚C
(-20˚F)
-54˚C
(-65˚F)
Operating Temperature (Max.) +82˚C
(+180˚F)
+177˚C
(+350˚F)
Mechanical Properties Good Good
Oil Resistance Good Fair
Ozone Resistance Good Excellent
Resistance to Heat Aging Good Excellent
Compound Color Black Red
Durometer
Shore A ± 5
35-Red Stripe
45-Green Stripe
55-Blue Stripe
30
Accessories/Options

Cleanroom Capability – Cleanroom class 100 is available for contamination free assembly processes as part of PFA’s modular cleanroom line. Contact PFA for details.

Adaptor Plates – Blank adaptors that mate with the RCC pilot and bolt circle are available for both the machine and tooling interfaces. They are center-drilled so that the customer may adapt the unit to any mounting surface.

Shear Pads – Elastomer Shear Pads are available separately for a variety of custom compliance applications, simply ordered by name. (Example: CR35 Shear Pad)

Model AST-75 Specifications

RCC Drawing AST-75
Center-of-
Compliance
Projection
mm (in)
Shear Pad Type
MO-30
Shear Pad Type
CR-35
Shear Pad Type
CR-45
Shear Pad Type
CR-55
Lateral stiffness
N/mm (lb/in)
50 (2.0)
75 (3.0)
100 (3.9)
12.3 (70)
12.3 (70)
10.5 (60)
21.1 (120)
21.1 (120)
18.0 (103)
34.7 (197)
34.7 (197)
29.6 (169)
49.2 (280)
49.2 (280)
42.0 (240)
Rotational stiffness
N-mm/mrad
50 (2.0)
75 (3.0)
100 (3.9)
49 (436)
90 (797)
169 (1500)
84 (749)
155 (1370)
290 (2580)
139 (1230)
254 (2250)
477 (4230)
197 (1740)
360 (3190)
676 (6000)
Axial stiffness
N/mm (lb/in)
705 (4020) 1210 (6910) 1990 (11340) 2820 (16080)
Torsional stiffness
N-mm/mrac in-lb/rad)
4.5 (40) 7.7 (68) 12.7 (112) 18.0 (159)
Axial load (max usable)
N (lb)
1200 (275) 2000 (450) 3400 (775) 4900 (1100)
Weight 0.40 kg (0.87 lb)
Lateral travel ±2.5 mm (0.100 in)
Rotational travel ±17 mrad (1.0 deg)
Self-centering repeatability ±0.05 (0.002)
Structure material is anodized aluminum

Model ASP-85 Specifications

RCC Drawing ASP-85
Center-of-
Compliance
Projection
mm (in)
Shear Pad Type
MO-30
Shear Pad Type
CR-35
Shear Pad Type
CR-45
Shear Pad Type
CR-55
Lateral stiffness
N/mm (lb/in)
75 (3.0)
100 (3.9)
125 (4.9)
12.2 (70)
13.6 (78)
10.5 (60)
21.1 (120)
23.4 (134)
18.0 (103)
34.4 (197)
38.4 (220)
29.6 (169)
48.8 (280)
54.4 (312)
42.0 (240)
Rotational stiffness
N-mm/mrad
75 (3.0)
100 (3.9)
125 (4.9)
86 (766)
130 (1140)
233 (2060)
148 (1320)
223 (1960)
400 (3540)
243 (2160)
367 (3220)
657 (5810)
344 (3060)
520 (4560)
932 (8240)
Axial stiffness
N/mm (lb/in)
720 (4080) 1240 (7020) 2030 (11500) 2880 (16300)
Torsional stiffness
N-mm/mrac in-lb/rad)
5.8 (55) 9.9 (94) 16.3 (154) 23.1 (218)
Axial load (max usable)
N (lb)
1600 (350) 2700 (600) 4400 (1000) 6400 (1400)
Weight 0.40 kg (0.81 lb)
Lateral travel ±2.5 mm (0.100 in)
Rotational travel ±17 mrad (1.0 deg)
Self-centering repeatability ±0.05 (0.002)
Structure material is anodized aluminum

Model AST-100 Specifications

RCC Drawing AST-100
Center-of-
Compliance
Projection
mm (in)
Shear Pad Type
MO-30
Shear Pad Type
CR-35
Shear Pad Type
CR-45
Shear Pad Type
CR-55
Lateral stiffness
N/mm (lb/in)
75 (3.0)
100 (3.9)
125 (4.9)
150 (5.9)
14.9 (85)
14.9 (85)
16.9 (97)
10.5 (60)
25.6 (147)
25.6 (147)
29.0 (166)
18.0 (103)
42.0 (241)
42.0 (241)
47.7 (272)
29.6 (169)
59.6 (341)
59.6 (341)
67.6 (386)
42.0 (240)
Rotational stiffness
N-mm/mrad
75 (3.0)
100 (3.9)
125 (4.9)
150 (5.9)
81 (720)
128 (1130)
175 (1550)
338 (2990)
140 (1240)
220 (1940)
301 (2660)
581 (5140)
230 (2030)
361 (3190)
494 (4370)
953 (8430)
326 (2880)
512 (4220)
700 (6200)
1350 (11960)
Axial stiffness
N/mm (lb/in)
670 (3800) 1140 (6530) 1800 (10720) 2660 (15200)
Torsional stiffness
N-mm/mrac in-lb/rad)
8.8 (78) 15.2 (135) 25.0 (221) 35.4 (313)
Axial load (max usable)
N (lb)
2200 (500) 3700 (850) 6200 (1400) 8800 (2000)
Weight 0.60 kg (1.30 lb)
Lateral travel ±2.5 mm (0.100 in)
Rotational travel ±17 mrad (1.0 deg)
Self-centering repeatability ±0.05 (0.002)
Structure material is anodized aluminum

NOTE: DIMENSIONS ARE IN INCHES EXCEPT WHERE NOTED.

Identify Your Part Number

two-stage-rcc-accommodator-part-number

For elimination of “setting time” in high speed applications, see PFA’s Lock-Out System below.

RCC Accommodator with Lock-Out System

rcc-accommodator-with-lock-out-system

Increased productivity of RCC Accommodator with Reduced Cycle Times

The Lock-Out/RCC System (ALS) has been developed to alleviate the effects of inertia and solve operational problems, such as the need for shorter cycle times, for automated assembly tasks. The system consists of a lock-out device and the incomparable Accommodator RCC. The lock-out device is pneumatically activated and electronically sensed as it locks the X, Y, and Z planes of the RCC on command.

The lock-out device is locked during movement and unlocked immediately before part insertion to allow the RCC to compensate for misalignment during assembly.

Features
  • Reduces cycle times
  • Permits rapid accelerations/decelerations
  • Integrates with modified AST-100 Accommodator RCC’s
  • Prevents X, Y, Z, and rotational travel during transition
  • Allows a high degree of repeatability

 

lock-out-system-drawings

rcc-accommodator-with-lock-out-system-drawing

Mechanical Specifications
Mechanical
Locked Repeatability (at center of RCC) X, Y, Z axis ± 0.03mm (±0.001 in.), rotationally ± 30’
Unlocked Repeatability (at center of RCC) X, Y, Z axis ± 0.05mm (0.002 in.), rotationally ± 17’
Operating Pressure 350 – 800 KPA (50 – 120 PSI)
Weight (ALS) 0.95kg (2.1 lbs)
Weight (ALOD-2) 0.34kg (0.75 lbs)
Material Lock-out device – Teflon impregnated hardcoat aluminum.
RCC Accommodator – Anodized aluminum

Caution: failure to observe supply voltage and output current limits may lead to sensor failure!

Electronic
Supply voltage (operation) 4.5 – 24VDC
Supply current (max) 14mA
Interconnect cable 3 conductor, 24 AWG, with shield 48 in. (122mm) long
Output configuration 24VDC; open collector (current sinking) 25 mA max.
Output switching time (max) .04 microseconds
Cable connections red – +DC
black – ground
white – output

Identify Your Part Number

rcc-accommodator-with-lock-out-part-number

Robotic Crash Protection

Robotic Crash Protection
Safeguard Your Tooling, Robot & Assembly System with an Overload Protection Device (OPD)

How It Works – The OPD’s mechanical wrist is held rigid pneumatically during normal operation. Varied stiffness to accommodate payload is achieved by adjusting the input air pressure. Once an overload is detected, a signal is generated to shut down, or correct your process, and the mechanical wrist transforms to a compliant state, protecting equipment and end-of-arm tooling. The OPD is easily reset by placing the mechanical wrist and interface module in their ready positions.

Two Modes of Protection – PFA’s OPD provides for independent adjustment of both pneumatic rigidity and electronic sensitivity, thus allowing you independent control of the amount of force and the amount of tooling plate travel required to initiate a protective function. As applications vary, this flexibility ensures the best possible performance under all conditions.

Modular Interface – The interface module provides all the necessary components for “plug and play” operation. Multiple signal outputs (source, sink, and NO/NC relay contacts), three point sensor adjustments, and integrated air valve, vent valve controls, ensure that all the work is done for you. Install, apply services, and you’re protected.

overload-protection-device-nested-configuration
OPD-MS-1A Mechanical Unit
Load Capacity: 10 lbs. (dynamic load)
Operating Pressure: 5 – 50 psi.
Weight: 0.8 lbs.
Operating Temp: -4˚ to +248˚ F
Sensitivity:
(at interface center)
0.002 in. axial
Repeatability:
(at interface center)
X, Y, Z, Axis +/-0.0005 in.
Rotationally +/-20’.
Material: Aluminum and Nickel Plated Aluminum

 

OPD-MS-2HD Mechanical Unit
Load Capacity: 65 lbs. (dynamic load)
Operating Pressure: 5 – 60 psi.
Weight: 2.0 lbs.
Operating Temp: -4˚ to +248˚ F
Sensitivity:
(at interface center)
0.002 in. axial
Repeatability:
(at interface center)
X, Y, Z, Axis +/-0.0008 in.
Rotationally +/-20’.
Material: Aluminum and Nickel Plated Aluminum

 

OPD-MS-3 Mechanical Unit
Load Capacity: 350 lbs. (dynamic load)
Operating Pressure: 10 – 80 psi.
Pilot for Valve: 20 psi. minimum
Weight: 30.0 lbs.
Operating Temp: -4˚ to +248˚ F
Sensitivity:
(at interface center)
0.002 in. axial
Repeatability:
(at interface center)
X, Y, Z, Axis +/-0.001 in.
Rotationally +/-20’
Material: Aluminum, Nickel Plated Aluminum,
and Steel

 

OPD-EM-U Interface Module
Signal Outputs: 12 VDC Current Source, 50 mA max.
5 – 24 VDC Current Sink. 75 mA max.
Pulsed Signal for 1 second or continuous
2 Relay NO or NC, 110 VAC, 1 A max.
Response Speed: Signal – 5 microseconds max.
Relay – 6 milliseconds max.
Supply Voltage: +12 VDC or +24 VDC
Maximum Current: 250 mA.
Operating Temp: +35˚ to +112˚ F
Weight: 20 oz.
typical-overload-conditions
With PFA’s Overload Protection Device (OPD), save time, save money, save your tooling!
overload-protection-drawings
Customer Interface Wiring Diagram
customer-interface-wiring-diagram

Identify Your Part Number

robotic-crash-protection-part-number

Application Data

To estimate the approximate input air pressure for your specific application perform the following steps.

Purely Lateral Overloads

Step 1: Determine the total weight in lbs. of your end of arm tooling. This will give you your mass at the end of the tooling.
Let this = M.
M = Weight of Tooling + Part (lbs) / 32

Step 2: Determine the maximum acceleration in ft/sec2 under full payload for your application at the end of the robot arm.
Let this = A

Step 3: Use the following formula to determine your known expected force in lbs.
Force (Fy) = M x A

Step 4: Use your Force (Fy) in the following equation to determine P in psi, your ideal input pressure.

application-data
Note: D = Distance from OPD plate to Cg (center of gravity) in inches.

Model
OPD-MS-1A P = Fy [(D) x (.581) + .389]
OPD-MS-2HD P = Fy [(D) x (.172) + .166]
OPD-MS-3 P = Fy [(D) x (0.019) + 0.05]

 

Purely Axial or Torsional Overloads

To approximate the operational input air pressure (P) for pure Z axis axial overloads, or purely torsional overloads about the Z axis, determine your maximum torque (Mz) in in-lbs or axial force (Fz) lbs. and apply it to the appropriate formula listed below.

Model Pure Axial Overload Pure Torsional Overload
OPD-MS-1A P = Fz (.389) P = Mz (.512)
OPD-MS-2HD P = Fz (.166) P = Mz (.247)
OPD-MS-3 P = Fz (.05) P = Mz (.024)

Note: Input air pressure settings were determined under laboratory conditions. Your performance settings may vary. The input air pressure may be varied in process to achieve the most sensitive overload protection without sacrificing high payload capacities.

Electrical Interface. The OPD Electronic Interface Module can be used on 12 VDC or 24 VDC Systems. Module outputs are both current sinking, sourcing, and isolated relay contacts. The outputs are independently selectable to (1) a momentary off pulse typically interfaced to the systems emergency stop circuit or (2) a continuous off signal when faulted (until reset).