PEHElectrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1054 w w w . s c h u n k . c o m
Size30 .. 50
Weight5.3 kg .. 15.5 kg
Gripping force100 N .. 1800 N
Stroke per finger60 mm .. 100 mm
Workpiece weight4.5 kg .. 9.52 kg
Application example
Fully electrically driven gantry axis for palletizing and depalletizing variouscomponents
PEH 40 servo-electric 2-Finger Parallel Gripper
MLD 200-T Linear Motor Drive
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PEHElectrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1055w w w . s c h u n k . c o m
Gripping force control in the range of 100 N – 1800 Nfor the powerful gripping of various workpieces
Long stroke of 200 mmfor flexible workpiece handling
Fully integrated control and power electronicsfor creating a decentralized control system
Versatile actuation optionsfor simple integration in existing servo-controlled concepts via Profibus-DP, CAN-Bus or RS-232
Robust guidancefor the precise handling of all kinds of workpieces
High maximum momentssuitable for the use of long gripper fingers
Mounting from two sides in three screw directionsfor universal and flexible gripper assembly
Servo-electric 2-finger parallel gripper with long jaw stroke for largeparts and/or a broad range of parts
Long-stroke Gripper
Area of applicationUniversal, ultra-flexible gripper for great part variety in clean toslightly dirty working environments
Your advantages and benefits
General information on the seriesWorking principleBall screw drive synchronized by rack and pinion principle
Housing materialAluminum alloy, hard-anodized
Base jaw materialSteel
ActuationServo-electric, by brushless DC servo-motor
Warranty24 months
Scope of deliveryGuide centering sleeves and ‘’Mechatronik DVD’’ (contains an Assembly andOperating Manual with manufacturer’s declarartion and MC-Demo software withdescription)
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PEHElectrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1056 w w w . s c h u n k . c o m
Kinematicsrack and pinion principle for centric gripping
Guidancefor precise gripping with minimum play andhigh load capacity
Humidity protection caplink to the customer’s system
Communication electronicsintegrated control and power electronics foractuating the servo-motor
DriveDC servo-motor with hall-effect sensors andencoders
Geartransmits power from the servo-motor to thedrive spindle
The brushless servo-motor drives the ball screw on the opposite side via a gearmechanism. A base jaw is moved by means of a carrier on the spindle. The jawstroke is synchronized by means of rack and pinion kinematics.
Function descriptionThe PEH gripper is electrically actuated by the fully integrated control and powerelectronics. In this way, the module does not require any additional external controlunits.A varied range of interfaces, such as Profibus-DP, CAN-Bus or RS-232 are available as methods of communication. For the communication over Bus-System the SMP - SCHUNK Motion Protocol - is used. This enables you to create industrial busnetworks, and ensures easy integration in control systems.If you wish to create combined systems (e.g. a rotary gripper module), various othermodules from the Mechatronik-Portfolio are at your disposal.
Electrical actuation
Sectional diagram
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PEHElectrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1057w w w . s c h u n k . c o m
Gripping forceis the arithmetic total of the gripping force applied to each base jaw at distance P(see illustration), measured from the upper edge of the gripper.
Finger lengthis measured from the upper edge of the gripper housing in the direction of the mainaxis.
Repeat accuracyis defined as the spread of the limit position after 100 consecutive strokes
Workpiece weightThe recommended workpiece weight is calculated for a force-type connection with acoefficient of friction of 0.1 and a safety factor of 2 against slippage of theworkpiece on acceleration due to gravity g. Considerably heavier workpiece weightsare permitted with form-fit gripping.
Control or PLC reaction timesControl or PLC reaction times are purely the times that the base jaws or fingers are inmotion. Valve switching times, hose filling times or PLC reaction times are notincluded in the above times and must be taken into consideration when determiningcycle times.
General information on the series
Accessories from SCHUNK –the suitable supplement formaximum functionality,reliability and performance ofall automation modules.
Centering sleeves
Finger blanks
Accessories
Hybrid cable
� For the exact size of the required accessories, availability of this size and the designation and ID, please refer to the additional views at the end of the size in question. You will find more detailed information on our accessory range in the „Accessories“ catalog section.
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PEH 30Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1058 w w w . s c h u n k . c o m
Technical data
Finger load
� Moments and forces apply per base jaw and may occursimultaneously. My may arise in addition to the momentgenerated by the gripping force itself. If the max.permitted finger weight is exceeded, it is imperative tothrottle the air pressure so that the jaw movement occurswithout any hitting or bouncing. Service life may bereduced.
Gripping force v = 20 mm/s
Gripping force v = 200 mm/s
Gripping force
Finger length
Gripping force
Finger length
Mx max. 30.0 NmMy max. 95.0 NmMz max. 45.0 NmFz max. 1000.0 N
Description PEH 30Mechanical gripper operating data ID 0306045Stroke per finger [mm] 60.0Constant gripping force (100 % continuous duty) [N] 280.0Max. gripping force [N] 750.0Min. gripping force [N] 100.0Weight [kg] 5.3Recommended workpiece weight [kg] 3.75Closing time [s] 1.0Opening time [s] 1.0Max. permitted finger length [mm] 125.0Max. permitted weight per finger [kg] 2.0IP class 41Min. ambient temperature [°C] 5.0Max. ambient temperature [°C] 45.0Repeat accuracy [mm] 0.05Positioning accuracy [mm] on requestMax. velocity [mm/s] 210.0Max. acceleration [mm/s2] 10000.0Electrical operating data for gripper Terminal voltage [V] 24.0Nominal power current [A] 2.4Maximum current [A] 8.0Resolution [µm] 1.0Controller operating dataIntegrated electronics YesVoltage supply [VDC] 24.0Nominal power current [A] 0.5Sensor system EncoderInterface I/O, RS 232, CAN-Bus, Profibus DP
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PEH 30Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1059w w w . s c h u n k . c o m
� 24 VDC power provided by thecustomer
� Control (PLC or similar) provided bythe customer
� PAE 130 TB terminal block (ID No. 0307725) for connecting thepower supply, the communication andthe hybrid cable
� Hybrid cable for connecting the PowerCube modules
Main views
The drawing shows the gripper in the basic version with closed jaws, the dimensionsdo not include the options described below.
� Gripper connection� Finger connection�� M16x1.5 for cable gland
ActuationDescription ID LengthPowerCube Hybrid cable, coiled 0307753 0.3 mPowerCube Hybrid cable, coiled 0307754 0.5 mPowerCube Hybrid cable, straight (per meter) 9941120
� The ‘Hybrid cable’ is recommended for the use in CAN-Bus- or RS232-systems. For Profibus applications we recommend to use a separate standardized Profibus cablefor the communication.You can find further cables in the „Accessories“ catalog section.
Interconnecting cable
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PEH 30Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1060 w w w . s c h u n k . c o m
� Gripper connection� Finger connection�� M16x1.5 for cable gland
The optional intermediate jaws produce a symmetrical, centered screw connectiondiagram. This facilitates the design and manufacture of customized top jaws.Designation Material Scope of delivery IDZBH 40 16 MnCr 5 2 0300221
Intermediate jaws
You can find more detailed information and individual parts of the above-mentioned accessories in the „Accessories“ catalog section.
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PEH 30Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1061w w w . s c h u n k . c o m
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PEH 40Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1062 w w w . s c h u n k . c o m
Technical data
Finger load
� Moments and forces apply per base jaw and may occursimultaneously. My may arise in addition to the momentgenerated by the gripping force itself. If the max.permitted finger weight is exceeded, it is imperative tothrottle the air pressure so that the jaw movement occurswithout any hitting or bouncing. Service life may bereduced.
Gripping force v = 20 mm/s
Gripping force v = 200 mm/s
Gripping force
Finger length
Gripping force
Finger length
Mx max. 50.0 NmMy max. 100.0 NmMz max. 70.0 NmFz max. 1100.0 N
Description PEH 40Mechanical gripper operating data ID 0306050Stroke per finger [mm] 60.0Constant gripping force (100 % continuous duty) [N] 1000.0Max. gripping force [N] 1300.0Min. gripping force [N] 150.0Weight [kg] 7.8Recommended workpiece weight [kg] 6.5Closing time [s] 1.0Opening time [s] 1.0Max. permitted finger length [mm] 200.0Max. permitted weight per finger [kg] 3.0IP class 41Min. ambient temperature [°C] 5.0Max. ambient temperature [°C] 55.0Repeat accuracy [mm] 0.05Positioning accuracy [mm] on requestMax. velocity [mm/s] 210.0Max. acceleration [mm/s2] 10000.0Electrical operating data for gripper Terminal voltage [V] 24.0Nominal power current [A] 4.4Maximum current [A] 12.4Resolution [µm] 1.0Controller operating dataIntegrated electronics YesVoltage supply [VDC] 24.0Nominal power current [A] 0.5Sensor system EncoderInterface I/O, RS 232, CAN-Bus, Profibus DP
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PEH 40Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1063w w w . s c h u n k . c o m
� 24 VDC power provided by thecustomer
� Control (PLC or similar) provided bythe customer
� PAE 130 TB terminal block (ID No. 0307725) for connecting thepower supply, the communication andthe hybrid cable
� Hybrid cable for connecting the PowerCube modules
Main views
The drawing shows the gripper in the basic version with closed jaws, the dimensionsdo not include the options described below.
� Gripper connection� Finger connection�� M16x1.5 for cable gland
ActuationDescription ID LengthPowerCube Hybrid cable, coiled 0307753 0.3 mPowerCube Hybrid cable, coiled 0307754 0.5 mPowerCube Hybrid cable, straight (per meter) 9941120
� The ‘Hybrid cable’ is recommended for the use in CAN-Bus- or RS232-systems. For Profibus applications we recommend to use a separate standardized Profibus cablefor the communication.You can find further cables in the „Accessories“ catalog section.
Interconnecting cable
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PEH 40Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1064 w w w . s c h u n k . c o m
� Gripper connection� Finger connection
The optional intermediate jaws produce a symmetrical, centered screw connectiondiagram. This facilitates the design and manufacture of customized top jaws.Designation Material Scope of delivery IDZBH 40 16 MnCr 5 2 0300221
Intermediate jaws
You can find more detailed information and individual parts of the above-mentioned accessories in the „Accessories“ catalog section.
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PEH 40Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1065w w w . s c h u n k . c o m
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PEH 50Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1066 w w w . s c h u n k . c o m
Technical data
Finger load
� Moments and forces apply per base jaw and may occursimultaneously. My may arise in addition to the momentgenerated by the gripping force itself. If the max.permitted finger weight is exceeded, it is imperative tothrottle the air pressure so that the jaw movement occurswithout any hitting or bouncing. Service life may bereduced.
Greifkraft v = 40 mm/s
Greifkraft v = 400 mm/s
Gripping force
Finger length
Mx max. 60.0 NmMy max. 100.0 NmMz max. 80.0 NmFz max. 1300.0 N
Description PEH 50Mechanical gripper operating data ID 0306055Stroke per finger [mm] 100.0Constant gripping force (100 % continuous duty) [N] 700.0Max. gripping force [N] 1800.0Min. gripping force [N] 150.0Weight [kg] 15.5Recommended workpiece weight [kg] 9.0Closing time [s] 1.5Opening time [s] 1.5Max. permitted finger length [mm] 270.0Max. permitted weight per finger [kg] 4.0IP class 41Min. ambient temperature [°C] 5.0Max. ambient temperature [°C] 45.0Repeat accuracy [mm] 0.05Positioning accuracy [mm] on requestMax. velocity [mm/s] 400.0Max. acceleration [mm/s2] 40000.0Electrical operating data for gripper Terminal voltage [V] 24.0Nominal power current [A] 11.6Maximum current [A] 15.0Resolution [µm] 1.0Controller operating dataIntegrated electronics YesVoltage supply [VDC] 24.0Nominal power current [A] 0.5Sensor system EncoderInterface I/O, RS 232, CAN-Bus, Profibus DP
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PEH 50Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1067w w w . s c h u n k . c o m
� 24 VDC power provided by thecustomer
� Control (PLC or similar) provided bythe customer
� PAE 130 TB terminal block (ID No. 0307725) for connecting thepower supply, the communication andthe hybrid cable
� Hybrid cable for connecting the PowerCube modules
Main views
The drawing shows the gripper in the basic version with closed jaws, the dimensionsdo not include the options described below.
� Gripper connection� Finger connection�� M16x1.5 for cable gland
ActuationDescription ID LengthPowerCube Hybrid cable, coiled 0307753 0.3 mPowerCube Hybrid cable, coiled 0307754 0.5 mPowerCube Hybrid cable, straight (per meter) 9941120
� The ‘Hybrid cable’ is recommended for the use in CAN-Bus- or RS232-systems.For Profibus applications we recommend to use a separate standardized Profibus cablefor the communication.You can find further cables in the „Accessories“ catalog section.
Interconnecting cable
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PEH 50Electrical · 2-Finger Parallel Gripper · Long-stroke Gripper
1068 w w w . s c h u n k . c o m
� Gripper connection� Finger connection
The optional intermediate jaws produce a symmetrical, centered screw connection dia-gram. This facilitates the design and manufacture of customized top jaws.Designation Material Scope of delivery IDZBH 50 16 MnCr 5 2 0300222
Intermediate jaws
You can find more detailed information and individual parts of the above-mentioned accessories in the „Accessories“ catalog section.
www.comoso.com
