ELCT1-100-20-NEWR-TS-02EN

Instruction Manual
Original instructions

ELCT1-100-20-NEWR
Electric parallel gripper for UR e Series

Be sure to read this instruction manual before using the product.

ELCT1-100-20-NEWR-TS-02EN

Contents
Contents ..................................................................................................................................1
Safety Precautions －Electric actuator－...............................................................................2
Warranty and Disclaimer .......................................................................................................10
1. Product Overview...........................................................................................................11
1.1. Feature ....................................................................................................................11
1.2. Operation Example .................................................................................................11
1.3. Release operation in case of emergency ..................................................................13
2. Product Structure ...........................................................................................................14
3. List of Bundled Items .....................................................................................................15
4. Product Specifications ....................................................................................................16
4.1. Specifications ..........................................................................................................16
4.2. About selection of gripping force and the work mass. ............................................174.3. Effective Gripping Force .........................................................................................18
4.4. Grip Limit Range ....................................................................................................19
4.5. Allowable load and allowable moment ....................................................................19
5. Outside dimension .........................................................................................................20
5.1. Outside drawing ......................................................................................................20
5.2. The position of center of gravity .............................................................................23
6. Installation ......................................................................................................................24
6.1. Installing electric gripper on a robot .......................................................................24
6.2. Installing Connectors ..............................................................................................27
6.3. Mounting Finger and Lever Attachments ...............................................................28
7. Input / Output Interface ................................................................................................29
7.1. Connector Pin Arrangement ...................................................................................29
7.2. Input / Output Circuit Specifications .....................................................................29
7.3. Connection Example ...............................................................................................31
8. Control Panel .................................................................................................................32
8.1. How to Operate the Control Panel .........................................................................32
8.2. Instruction of LED Band.........................................................................................34
9. Installation of URCaps（Plug-in Software） .................................................................35
9.1. Preparation for URCaps Installation.......................................................................35
9.2. Installation of URCaps ............................................................................................35
9.3. Robot Setting ..........................................................................................................37
9.4. Gripper Setting (Installation) .................................................................................40
9.5. Gripper Setting (Program) .....................................................................................41
9.6. UR Script ................................................................................................................44
10.
Failure Diagnosis and Troubleshooting......................................................................46
10.1. Phenomenon, Possible Cause, and the Remedy .....................................................46
10.2. Error Code and Remedy ..........................................................................................48
11.
Declarations and Certificates......................................................................................49
11.1. Declaration of Incorporation ..................................................................................49
11.2. Declaration of Conformity ......................................................................................49

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ELCT1-100-20-NEWR-TS-02EN

Safety Precautions－Electric actuator－

The safety precautions stated below are to be followed to use the product safely andcorrectly and to prevent the harm or damage to other persons and property. The
precautions are classified into three categories, DANGER, WARNING and CAUTION, toindicate the degree of hazard, damage and imminence. Strictly observe these importantsafety precautions in addition to the safety requirements specified in applicableinternational or industry standards.

Expresses situations that can be clearly predicted as dangerous. If the noted!

DANGER

danger is not avoided, it could result in death or serious injury. It could also
result in damage or destruction of assets.
Expresses situations that, while not immediately dangerous, could become

WARNING!

dangerous. If the noted danger is not avoided, it could result in death orserious injury. It could also result in damage or destruction of assets.
Expresses situations that, while not immediately dangerous, could become

CAUTION!

dangerous. If the noted danger is not avoided, it could result in light or semiserious injury. It could also result in damage or destruction of assets.

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DANGER

Do not use the product in locations with or near dangerous substances such as
flammable or ignitable substances. It could ignite or burst into flames.
Do not use it in a place where the main body and controller may be splashed with wateror oil. Doing so can cause malfunction, resulting in personal injury, electric shock or
fire.
When mounting the product and workpiece, always firmly support and secure them inplace. Dropping or falling the product or improper operation could result in injury.
Do not enter the machine's operating area while the product is in operation.
Do not use the product for the purposes listed below:
1. Medical equipment related to maintenance or management of human lives or bodies.
2.

Mechanical devices or equipment designed for moving or transporting people.

3. Critical safety components in mechanical devices.
This product has not been planned or designed for purposes that require advanced
stages of safety. It could cause injury to human life.

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Persons who use a pacemaker, etc., should keep a distance of at least 1 meter [3.28 ft.]away from the product. There is a possibility that the pacemaker will malfunction due
to the strong magnet built in the product.
Never attempt inappropriate disassembly, or assembly of the product relating to basic
construction, its performance, or functions. It could result in injury, electric shock, fire,etc.
Do not use the product in excess of its specification range. Such use could result in
product breakdowns, function stop, or damage.
Design safety circuits and equipment systems so as to avoid equipment damage or
personal injury when the machine is shut down due to an emergency stop, power
outages, or other system abnormalities.
When wiring the product, see the wiring procedures stated in the instruction manual,and be careful not to wire it incorrectly. Connect the cables and connectors securely
so that they will not be disconnected or loosened. Failure to do so may cause productmalfunction or fire.
When operating or adjusting the system after installing the actuator, strictly observe
the safety precautions for the system. Failure to do so can cause serious personal injury.
Before supplying power to the product and starting it, ensure the safety in the productoperating range. If power is supplied to it carelessly, personal injury may be caused byelectric shock or contact with moving parts.
Do not touch any connector while the power is on the actuator. Doing so can cause
electric shock and malfunction.
When the actuator is installed in a system (machinery, equipment or robot), maintainthe actuator in a safe and correct manner in accordance with the laws and standards
relating to the system safety measures.

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DANGERWARNING

Use the compatibility of the product with your system based on the verification andjudgement at your own risk.
After reading the catalog and instruction manuals, keep them in a place accessible tothe operators.
The product was designed and manufactured as parts for use in General Industrial
Machinery.
In the selection and handling of the equipment, a system designer or other person withfully adequate knowledge and experience should always read the Safety Precautions,
Catalog, Owner's Manual and other literature before commencing operation. Making
mistakes in handling is dangerous.

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ELCT1-100-20-NEWR-TS-02EN

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WARNING

Do not service or attempt to remove product and machinery equipment until safety is
confirmed.
1. The inspection and maintenance of machinery/equipment should only be
performed after measures to prevent falling or runaway of the driven objects havebeen confirmed.
2. When the product is to be removed, confirm that the safety measures as mentioned
above are implemented and the power from any appropriate source is cut, and readand understand the specific product precautions of all relevant products carefully.
Be sure to perform a safety check of the device’s operating range before supplying
power to the product. Inadvertently supplying power can cause electric shock or injury.
Contact us beforehand and take special consideration of safety measures if the productis to be used in any of the following conditions.
1. Conditions and environments outside of the given specifications, or use outdoors
or in a place exposed to direct sunlight.
2. Installation on equipment in conjunction with atomic energy, railways, airnavigation, space, shipping, vehicles, military, medical treatment, combustion andrecreation, or equipment in contact with food and beverages, emergency stop
circuits, clutch and brake circuits in press applications, safety equipment or otherapplications unsuitable for the standard specifications described in the productcatalog.
3. An application which could have negative effects on people, property, or animals
requiring special safety analysis.
4. Use in an interlock circuit, such as providing a mechanical protective function, andperiodical checks to confirm proper operation.
For inspection, maintenance, replacement, or other kinds of operations related to the
product, always completely cut off the power supply before proceeding. Otherwise, it
may cause damage, malfunction, or electric shock.
Do not use the product in excess of its specification range. Such use could result in
product breakdowns, function stop, and damage.
There is a possibility of dangerous sudden action by the product if the sliding parts ofthe machinery are twisted due to external forces, etc.
In such cases, human injury may occur, such as by hands or feet getting caught in themachinery, or damage to the machinery itself may occur. Design the machinery so as
to avoid such dangers.
Use a protective cover, etc. to ensure that the operating portions of mechanical devices,
etc., are isolated and do not come into direct contact with human bodies.
Consider the possibility of power source failure. Take measures to prevent bodily
injury or machine damage even in the event of a power failure.

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WARNING

Design safety circuits and equipment systems so as to avoid equipment damage or
personal injury when the machine is shut down due to an emergency stop, power
outages, or other system abnormalities.
Do not configure such a control that the work will drop upon occurrence of powerinterruption. Configure a control to prevent drop of work upon power interruption or
emergency stop of the equipment.
Consider the operation status when restarting after emergency or abnormal stops.
Design the system so that bodily injury or machine damage even in the event of apower failure.
Never disassemble the product or make any modifications, including additional
machining. Doing so may cause human injury and/or an accident. It may also cause
the deterioration of the product's performance.
When an external guide is used, connect the moving parts of the actuator and the loadin such a way that there is no interference at any point within the stroke.
Do not scratch or dent the sliding parts of the product tube, piston-rod, etc., by striking
or grasping them with other objects. The components are manufactured to precise
tolerances. Even a slight deformation may cause a malfunction or seizure.
Do not use the product until you confirm that the equipment can operate properly.
After mounting or repair, connect the power supply to the product and perform
appropriate functional inspections to check it is mounted properly.
Do not apply strong impact or an excessive moment while mounting the product or aworkpiece. If an external force over the allowable moment is applied, it may cause playin the guide or an increase in the sliding resistance.
When mounting the product, secure adequate working space. Failure to ensure theenough working space will make it more difficult to conduct daily inspections ormaintenance, which could eventually lead to system shutdown or damage to the
product.
Do not touch the motor during operation. The temperature may also increase due toenergization. It may cause burns.
If the product generates abnormal heat, smoke or odor, turn OFF the power
immediately. Otherwise, product damage or fire may result.
If abnormal noise occurs or vibrations are excessive, immediately cease operation.
Continued use in this condition may result in abnormal operation or runaway that
could lead to product damage or destruction.
Always implement D-class grounding work (ground resistance 100 Ω orless).Grounding should be performed near the actuator to shorten the grounding
distance. The cross-sectional area of this wire shall be a minimum of 2mm2. Avoid
common grounding with other devices.

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●WARNING

Avoid use in the following environments.
・ Areas with large amounts of dust or cutting chips that could enter the product.
・ Areas where the ambient temperature exceeds the specified range (Refer to the specifications).
・ Areas where the ambient humidity exceeds the specified range (RH: less than 85% and nocondensation).
・ Areas with corrosive gas, flammable gas, sea water, water, or steam that could adhere to the
product
・ Areas where strong magnetic or electric fields are generated
・ Areas where direct vibration or impact shock is applied to the product・ Areas where there are large amounts of dust or there is exposure to water/oil droplets

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・ Areas that are exposed to direct sunlight (ultraviolet rays)
Do not use in an environment where the product is directly exposed to liquid, such as
cutting oils. If cutting oil, coolant, or oil mist adheres to the product, failure or increaseof sliding resistance can be caused.
Install a protective cover when the product is used in an environment directly exposed
to foreign matters, such as dust, cutting chips, and spatter.
Shade the product from direct sunlight.
In locations near heat sources, block them off. When there is a heat source surrounding
the product, the radiated heat from the heat source can increase the temperature of
the product beyond the operating temperature range. Protect it with a cover, etc.
Levels of the base oil of grease may decrease due to the external environment andoperating conditions, causing a decline in lubrication performance and a shortened
lifetime of the product.
Do not store the product in a place in direct contact with rain or water drops or where
it is exposed to harmful gas or liquid.
Store in an area that is shaded from direct sunlight and has a temperature and humidity
within the specified range (5℃ to 50℃ and RH 35% to 85% no condensation or
freezing).
Do not apply vibration or impact to the product during storage.

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Do not disassemble or repair the product. Fire or electric shock can be caused. Contact
New-Era if the disassembly of the product is required for maintenance.

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If power interruption occurs during operation, turn off the power. Otherwise, when
the power is restored, the product may suddenly start moving, thereby damaging theequipment or causing personal injury.
Before modifying or checking the wiring, the voltage should be checked with a tester
5 minutes after the power supply is turned off. Failure to do so may result in electricalshock.

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ELCT1-100-20-NEWR-TS-02EN!

WARNING●

Do not step onto the packing box of the product or do not place object on the box.
Accidents such as falling and tripping over could result in injury. Dropping the productmay result in injury, or also may damage or break the product resulting in abnormal or
erratic operation, or runaway, etc.
Wire the product securely while confirming with this catalog and the instruction
manual and ensuring that there is no miswiring or loose connectors.
Be sure to insulate unused wires. Failure to do so may cause malfunction, failure, or
electric shock.
Avoid scratching the cords of cables, etc. Letting the cords be subject to scratching,excessive bending, pulling, rolling up, or being placed under heavy objects or squeezed
between two objects, may result in current leaks or defective continuity that lead tofire, electric shock, or abnormal operation.
Mount the product before wiring. It may lead to electric shock.

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Do not throw the product into fire. It may rupture or generate toxic gas.

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Do not hold the moving parts or cable parts of the product during transportation. It
may cause injury or disconnection.
When the protective device (alarm) of the product works, immediately turn off thepower. The product may malfunction, resulting in personal injury and property
damage. After turning off the power, reveal the causes. Do not reapply the power until
the causes are removed.

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Our products are offered for the manufacturing industry. It is provided mainly forpeaceful use for the manufacturing industry. If you are considering using it in nonmanufacturing industry, please consult with us and exchange specifications and makea contract as necessary.
For export or provision of products or related technologies subject to EAR regulations,
we request that the US Export Administration Regulations (EAR) be observed
appropriately.
Wiring should be done correctly. For each terminal, voltages other than those
stipulated in the operation manual should not be applied.
Connect the connector securely. Check for correct connector wiring and polarity.
Do not connect power or high-voltage cables in the same wiring path as the unit. The
product can malfunction due to noise and surge voltage interference in the signal linefrom power and high-voltage cables. Separate the wiring of the controller and its
peripheral device from that of power and high-voltage cables.
Be careful that cables are not caught by actuator movement.

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ELCT1-100-20-NEWR-TS-02EN

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CAUTIONFix the cable so as not to be moved easily. Avoid bending cables at sharp angles where
they enter the product.
Avoid twisting, folding, rotating, or applying external force to the cable. Electric shock,wire breakage, contact failure, or a loss of product control may occur.
To fix the cable from actuator, make it larger than minimum fixing radius of 29.5mm.
When moving it, make it lager than the minimum movable bending radius of 59mm.
If it is smaller than the specified radius, there is a risk of electric shock, and problem
such as cable disconnection, poor contact, and runaway may occur.
Confirm wiring insulation. Insulation failure (interference with other circuits, poor
insulation between terminals, etc.) could introduce excessive voltage or current to thecontroller or its peripheral devices, which may cause damage to them.
When checking the conductivity of the cable, be careful not to deform the connector's
mating hole and terminals. Inserting a non-compatible connector, tool, cylindershaped object, etc., into the connector's mating hole can cause the hole or terminals to
become deformed, which may cause contact failure or disconnection.
Operate within the limits of the maximum usable stoke. The product will be damaged
if it is used with a stroke which exceeds the maximum stroke. Refer to the specificationsof the product.
When the product repeatedly cycles with partial strokes, operate it at a full stroke atleast once a day or every 1000 strokes. Otherwise, lubrication may run out.
Do not use the product in applications where excessive external force or impact force
is applied to it, or the product can be damaged. The components, including the motor,
are manufactured to precise tolerances. Even a slight deformation may cause a
malfunction or seizure.
Always use the robot designated for the product. Use of a non-designated robot could
lead to product breakdown or runaway operation.
Conduct the following inspection before operation.
1. Confirm that the power supply line and each signal line is not damaged.
2. Confirm that the power supply line and each signal line is not loosened.
3. Confirm that the electric actuator/cylinder/controller/driver is not mounted loosely.
4. Confirm that the electric actuator/cylinder/controller/driver is operating correctly.
5. Confirm the function of the emergency stop of the whole system.
If several persons are to be working conjointly, determine the procedure, signs,
measures against abnormality, and restarting measures in advance. Then, havesomeone else to supervise the work.
Do not remove the name plate.
Operation tests should be done at a low speed. Start operation by predefined speed
after confirming there are no problems.

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CAUTION

Do not apply forces of impact, collision, or resistance to the moving parts of an actuatorin operation. Doing so will cause a decrease in product lifetime, damage to the product,etc.
Check that the received product is as ordered. Installation of different product can
result in injury or damage.
Perform maintenance and inspection according to the procedures indicated in theoperation manual. Improper handling can cause an injury, damage, or the malfunctionof equipment and machinery.
Do not manually move the actuator slider (lever, finger, attachment, etc.). The productmay be damaged.
The product has been lubricated for the lifespan by the manufacturer and does not
require any further lubrication. Special grease must be used for lubrication. Pleasecontact us when you apply it.
Durability varies with transported load and environment. The transport load, etc.,
should be at a setting well within the margin.
When disposing of the product, comply with laws pertaining to waste treatment andcleaning. Consign it to a specialized waste disposal company for processing.
Frequently turning the power ON/OFF can cause damage to the elements inside thecontroller.
The relationships between pressing force (gripping power) and pressing rate describedin this catalog are merely guidelines. Fluctuation in motor torque, etc., may cause
errors even at the same set values.
Do not bring floppy disks or magnetic media, etc., within one meter [3.28ft.] of the
product. There is the possibility that the data on the floppy disks will be destroyed dueto the magnetism of the magnet.
When handling the product, wear protective gloves, safety glasses, safety boots, etc. tokeep safety.
Perform daily inspections to make sure that the system meets the required functions
to prevent accidents.

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Warranty and Disclaimer

1）

Warranty Period
A warranty period of our products are 12 months after our shipment.

2）

Range of Warranty and Disclaimer● If any malfunction or damage due to our responsibility becomes clear during thewarranty period, we will repair or replace without charge. Although it is still within
the warranty period, we set the lifespan of the product according to the number ofoperation. Please contact us to check that.
● Warranty of our products are applied only to our product itself. We will not bear
responsibility at all against the damage caused by functional deterioration or mal
function of our products, or the damage of other equipment caused by those.
We will not bear responsibility at all against the cost to repair or replace our products
at customer's side.
● We will not bear responsibility at all against the damage caused by remodeling,
modifying or repairing by a customer.
● We will not bear responsibility at all against the usage, storage or mounting which isexceeding the limit of product specification indicated on a catalog and an instruction
manual.
● We will not bear responsibility at all against the damage or malfunction occurred byfires, earthquakes, thunderbolts or other natural disasters.
● We will not bear responsibility at all against malfunction of product occurred byhandling negligence.

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ELCT1-100-20-NEWR-TS-02EN

1. Product Overview
1.1. Feature・ This product is electric gripper installed with controller.
・ It memorizes operation stroke every open/close, and decelerates right before the last
stopping position.
・ You can set the gripping force and open/close speed in 3 levels for each by URCaps (plugin software) or the front panel of body.

1.2. Operation Example◆ Gripping and releasing operation of identical work piece.
It operates with set gripping force and operation speed. During operation, an LED
lights up green, and it moves in set operation speed. It grips work piece with set gripping
force and decelerates right before touching work piece.
＜Gripper starts from fully opened position＞
Close movement

Last stopping position

Moving with set speed

Speed
Deceleration

Work Piece

Operation

Grip with set gripping force

Time
LED：Light Blue

LED：Green

LED：Light Blue◆ Movement after turning on the power
It runs the memorizing operation of work piece position as first action after turning on
the power. During operation, an LED lights up yellow and moving at low speed. After
this, in case of gripping identical work piece, it decelerates right before touching workpiece after moving at set operating speed.
＜Gripper starts from fully opened position＞
Close movement
Operation
Turning on the power

Moving with low speed

Work Piece

Speed

Grip with set gripping force

Time
LED：Light Blue

LED：Yellow

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LED：Light Blue

ELCT1-100-20-NEWR-TS-02EN◆ The procedure at the time of work piece change.
In case operation stroke need to be changed due to work piece change, reset deceleration
position when making gripping order of work piece.
＜Gripper starts from fully opened position＞
Deceleration position reset
Close movement

Speed

Work Piece

Moving with low speed

Operation

Grip with set gripping force

Time
LED：Light Blue!

LED：Yellow

LED：Light Blue

CautionPlease be careful if gripping bigger work piece than the last operation stroke without
deceleration position reset, there will be possibility about damaging the work piece due
to excessive gripping force created by the last operation speed.
＜Gripper starts from fully opened position after changing work piece.＞
Close movement

Moving with low speed
Last stopping position

Work Piece

Operation
Speed

Grip with gripping force
depending on set speed

Time
LED：Light Blue!

LED：Green

LED：Light Blue

CautionIf gripping smaller work piece than the last operation stroke without deceleration position
reset, the operation time at low speed will be longer because it starts deceleration rightbefore the last stopped position.
＜Gripper starts from fully opened position＞
Moving with set speed

Last stopping position

Close movement
Moving with low speed

Speed
Deceleration

Work Piece

Operation

Gripping with set gripping force

Time
LED：Light Blue

LED：Green

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LED：Light Blue

ELCT1-100-20-NEWR-TS-02EN

1.3. Release operation in case of emergency
If you need to release the fingers due to some trouble, please follow the steps below.
◆ When energized (when the LED band is lit in light blue)
Press and hold any button on the control panel for 3 seconds to move the fingers in the
opposite direction of the previous action.
After operation, the LED band lights up in red and cannot accept commands from the robot.
This state is canceled by restarting the gripper.

Long press for 3
seconds or more

◆ When not energized (when the LED band is off)
Perform this operation after removing the main body cover.
・ Loosen the two screws and remove the plate. (Figure 1)
・ Fingers can be opened and closed manually by using a flathead screwdriver. (Figure 2)
Figure 1 plate removal

Figure 2 emergency release action

close

open

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2. Product Structure① Connection connector④ Mounting Adaptor
B-1)Adapter Plate
B-2)Fixing Bolt
B-3)Positioning Pin⑤ Electric GripperA-1)Gripper Body
② Control Panel

B-4)Fixing Bolt

⑥ Body Cover③ LED Band

B-5)Body Cover
B-6)Fixing Bolt

※Options for "-PIT"⑧ Finger Cover⑦ FingerB-7)Finger Cover
B-8)Fixing Bolt

◆ The name of each part
① Connection
Connector② Control Panel

To connect Tool Connector
Reference ☞P.27 ”Installing Connectors”
Gripping force and operation time of electric gripper can beset.（Setting from plug-in software is given priority.）
Reference ☞P.32 ”How to Operate the Control Panel”③ LED BandThe state of the electric gripper is indicated with the color of
the LED band.
Reference ☞P.34 "Instruction of LED Band"④ Mounting Adapter

An adapter for installing to the Tool Flange.
Reference ☞P.24 "Installation of an adapter plate"⑤ Electric Gripper

ELCT1 Electric Gripper⑥ Body CoverBody cover made of resin
Reference ☞P.25 "Installation of a body cover"⑦ FingerAn aluminum open/close finger.
Please use it for gripping work piece and installing an
attachment.
Reference ☞P.28 "Mounting Finger and Lever Attachments"⑧ Finger Cover

A plastic finger cover.
Reference ☞P.26 "Installation of a finger cover"14

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3. List of Bundled Items

A-1)

×1
Gripper Body

B-1)

B-2)

×1

B-3)

B-4)

×4

×1

×4

Adapter plate

Mounting bolt for adapter
plate (M6×12L)

Bearing pin for adapter
plate（φ6×10L）

Mounting bolt for gripper
body（M5×40L）

B-5)

B-6)

B-7)

B-8)

※Options for "-PIT"※Options for "-PIT"

×1
Body cover×4
Mounting bolt for body cover(M4×16L)

×2
Finger cover◆ Please prepare a necessary tool for installation.
C-1)

Hexagonal wrench
Opposite side 2 mm (For M4) ，Opposite side 2.5 mm (For M5)，Opposite
side 3 mm (For M6)

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×4
Mounting bolt for finger
cover（M5×14L）

ELCT1-100-20-NEWR-TS-02EN

4. Product Specifications

4.1. Specifications
Model

ELCT1-100-20-NEWR
ELCT1-100-20-NEWR-PIT(with finger cover)Connection cable/connector

300mm shield wire / M8 connector(e series for tool connector joint)

Communication interface

RS-485 *Note 1、Digital I/O (2 points for each)Supply voltage

DC 24V ±10％

Consumption current

Max 35mA(at stand-by)
Instantaneous maximum

Max 1.8A

current / motor
Stroke *Note 220mm（one side 10mm）

Gripping force*Note 3

3 stage setting

1：60N

2：80N

3：100N

Operating time

3 stage setting

1：1.8s2：1.2s3：0.9s*Note 4

Deceleration stroke (time)
Repeated Gripping Accuracy*Note 5

Lever backlash amount*Note 61mm（About 0.2s）±0.01mm
One side 0.2mm

Operating temperature range

5～50℃（No dew condensation）

Sound noise

70dB(A)or lessMaximum load mass

One side 150 g

Static allowable moment

Mp：4.0N・m

Product mass

1.35kg（-PIT:1.49kg）
Breakdown(-PIT)

My：5.0N・m

Mr：8.0N・m

Gripper body（without finger）：0.86 kg

Finger（Including mounting part）：0.14 kg（2 pcs）

Body cover：0.11 kg

Adapter plate（Including mounting part）：0.24 kg

Finger cover（Including mounting part）：0.14 kg（2 pcs）

Note1)

Control by special plug-in software(URCaps) is needed.

Note2)

Please use a stroke by more than 3 mm.

The usage for extremely short stroke leads to operation malfunction

due to grease shortage.
Note3)

Gripping force at the time of shipment: L=30mm.

It fluctuates about ±20% due to the change of sliding

friction etc by repeated swinging.
Note4)

No load, rough indication of maximum stroke at the time of shipment.

It fluctuates about ±20% due to thechange of sliding friction etc by repeated swinging.
Note5)

Variation of repeated 10 times operation at an identical operation condition with an identical work piece.

Note6)The backlash amount of opening/closing direction at the lever intermediate position.

16

ELCT1-100-20-NEWR-TS-02EN

4.2. About selection of gripping force and the work mass.
Force F acting while gripping a work piece is called gripping force as shown in the figure
below. It's necessary to select proper gripping force to grip a work piece, to transport, andto assemble.
The standard of the selection is indicated on below, so please refer.

Ｆ

Ｆ

Ｆ

Ｆ

W

W

F：

Gripping force

W：

Work mass [kg]g：Gravitational acceleration [m/s2][N]◆ Standard of selection
When a gripper just gripping

F ＞ 10×W×g ～ 20×W×g

When a gripper involves usual movement

F ＞ 20×W×g ～ 30×W×g

When a gripper involves urgent
acceleration and deceleration movement

F ＞ 30×W×g ～ 50×W×g※When the friction coefficient of finger and the work piece is 0.1-0.2.

17

ELCT1-100-20-NEWR-TS-02EN

4.3. Effective Gripping Force◆

Effective gripping force in the grip point L direction.
Accuracy±20％
140
120
100

Gripping
Force
[N]

80

Force3Force2Force1

60
40

L

20
Gripping point

0
0

20

40

60
L

◆

80

100

[mm]

Effective gripping force in the overhang Hf direction.（L=10）
Accuracy±20％
140
120
100

Gripping
80

Force
[N]

Force3Force2Force160
40Gripping point
L

20
Hf

0
0

20

40

60
Hf

◆

80

100

[mm]

Effective gripping force in the overhang Hb direction.（L=10）
Accuracy±20％
140
120
100

Gripping
Force[N]

Force3Force2Force1

80
60

Gripping point
L

40
20

Hb

0
0

20

40

60
Hb

80

100

[mm]

18

ELCT1-100-20-NEWR-TS-02EN

4.4. Grip Limit Range
Please use within the grip limit range. There is a possibility of damage because a moment
which applies to a lever becomes bigger when a grip point (L direction) and an overhang(H direction) become bigger.
◆

Grip Limit Range

100
80
Hf
Hb

60

[mm]

40

Hf

0

Hb

20
0
0

20

40

60
L

80

L

100

[mm]

4.5. Allowable load and allowable moment
When adding external force to a lever, please make sure that it'll be within the range ofallowable load and allowable moment.
Static allowable moment

Static allowable load

Fx

Fp

Fy

Fr

Mp

My

Mr

210 N

50 N

50 N

100N

4.0 N・m

5.0 N・m

8.0 N・m

Lr

Lp
Fp

Fr
Mp

Mr

Fx

Mp＝Fp×Lp
Ly

My＝Fy×Ly
Mr=Fr×Lr

Fy
My

19

ELCT1-100-20-NEWR-TS-02EN

5. Outside dimension

5.1. Outside drawing◆ Finger and body cover assembled (outside drawing)

20

ELCT1-100-20-NEWR-TS-02EN◆

Finger cover assembled (outside drawing)

21

ELCT1-100-20-NEWR-TS-02EN◆ Accessories not assembled (outside drawing)

22

ELCT1-100-20-NEWR-TS-02EN

5.2. The position of center of gravity

X

Y

Z

Z
X

Y

position of center ofgravity [mm]

Assembled condition of accessories

Finger and body cover assembled
Finger cover assembled
Accessories not assembled

23

Product mass
[kg]

X

Y

Z

1.0

-1.5

31.0

1.35

1.0

-1.5

36.5

1.49

1.0

-2.0

25.0

1.10

ELCT1-100-20-NEWR-TS-02EN

6. Installation

6.1. Installing electric gripper on a robot
As to installation to a robot, make a robot arm move to the location where an electric gripper
is easily installed, and install it after confirming the safety.

1） Installation of an adapter plate
1-1）

B-3. positioning pin

1-2）

B-1. adapter plateis inserted flange pin hole at the tip of robot.
is installed according to the location of the long hole.

1-3） Adapter plate is fixed by attachedB-2. fixing bolts※Tightening torque：9.6 N・mFlange

B-2)

B-3)

B-1)

24

4 pcs.

ELCT1-100-20-NEWR-TS-02EN

2） Installation of an electric gripper
2-1）

A-1. gripper bodyis installed according to 2 positioning pin of an adapter

plate.
2-2） Gripper body is fixed by attachedB-4. fixing bolts

4pcs.

※Tightening torque：2.9 N・ｍ

B-4)

A-1)

3） Installation of a body cover
3-1）

B-5. body coveris installed on the gripper body.

3-2） Body cover is fixed by attachedB-6. fixing bolts※Tightening torque：1.4 N・ｍ

B-6)

B-5)

25

4pcs.

ELCT1-100-20-NEWR-TS-02EN

4） Installation of a finger cover（Options for "-PIT"）
4-1）

B-7. finger coveris installed on the finger.

4-2） Finger cover is fixed by attachedB-8. fixing bolts

2pcs.

※Tightening torque：2.9 N・ｍ

B-7)
B-8)

5） Attaching warning labels
Attach warning labels to locations where opening and closing operations of the gripper
pose a danger.(Please prepare the warning label by yourself.)
・

attaching example

warning label(example)

26

ELCT1-100-20-NEWR-TS-02EN

6.2. Installing Connectors
Connect the communication connector on the gripper body to the Tool Connector on
the tip of the robot. Tighten tightly so that there is no loosing.
Attach the cable not to be an acute angle more than the minimum bending radius(29.5mm when fixed).
※ Please connect the connector when not energized.
※ Please install the URCaps (Plug-in Software) before installing the connector.
See ☞P.35 "Installation of URCaps（Plug-in Software）"

Communication Connector

27

ELCT1-100-20-NEWR-TS-02EN

6.3. Mounting Finger and Lever Attachments
The assembled fingers are general-purpose products. Please use them depending on theapplication.
When mounting and removing finger and lever attachments, support with a spanner so thatthe lever will not be twisted.
When design lever attachment at your side, be careful not to exceed maximum load massand make small and light-weight as much as possible.
Please refer to the table below for the tightening torque of mounting bolt.

FingerLever◆ Tightening torque table
Mounting part

Bolt used

Tightening Torque

Lever

M3

1.14 N・m

Finger

M5

2.84 N・m◆ Maximum load (attachment) mass
Maximum load mass
150 g（per lever）

28

ELCT1-100-20-NEWR-TS-02EN

7. Input / Output Interface
7.1. Connector Pin Arrangement
5
6

4

7

3

8
1

2

M8 8 pin connector（socket）
Pin No.

Type

Tool Connector

Function

1

RS485 comm.(+)

Signal Name
RS485+

2

RS485 comm.(-)

RS485-

RS485 comm.（URCaps required)3

Output Signal 2

TI 1

Close End4

Output Signal 1

TI 0

Open End

5Power +24V

POWER

DC24V Power Supply

6

Input Signal 2

TO 1

Close Operation

7

Input Signal 1

TO 0Open Operation

8

Power GND

GND

DC0V Power Supply

RS485 comm.（URCaps required）

7.2. Input / Output Circuit Specifications
1） Power
Input Voltage：24V±10％
Input current：1.8A (Maximum instantaneous motor current 1sec or less)!

CAUTION
For safe use, install an overcurrent protection such as a fuse or circuit protector on
the power supply.

(Recommended rated current: 2A)

29

ELCT1-100-20-NEWR-TS-02EN

2） Input / Output Specification
Input Signal

Output Signal

Photo Coupler Input

Spec.

Spec.

（sink type input）

Photo Coupler Output（source type output）
H：26.4V MAX

Input

H：24V（19.6V～26.4V）

OutputVoltage

L：OPEN or 2V MAX

Voltage

Input

6mA MAX

Output3mA MIN

Current（input resistance：6.8kΩ）

Current（output resistance：3.3kΩ）

L：0.6V MAX（pull-down resistance 220kΩ）

3） Input / Output Equivalent Circuit
・Input Circuit

・Output Circuit
DC 24V

3.3k

Pin.6,7820
Pin.3,4

6.8k

220k

30

ELCT1-100-20-NEWR-TS-02EN

7.3. Connection Example
1） Connecting to the Tool connector
Refer to UR e Series Tool Interface Specifications.
2） Without connecting to Tool connector(digital input/output only)
DC 24VDC 24V

PLC

Gripper

Pin.5（Power+24V）
OUT

Pin. 6,7（Input Signal 2,1）

IN

Pin.3,4（Output Signal 2,1）

Pin.8（Power GND）

31

ELCT1-100-20-NEWR-TS-02EN

8. Control Panel

8.1. How to Operate the Control Panel
Press SET button to switch to the setting mode, you can set the gripping force andoperating speed.
※Be sure to check the safety before operating the control panel with the robot and gripper
stopped.
※The setting value by the URCaps is prioritized.

1） Press SET button to switch to the gripping force setting mode, and the LED above
FORCE and the LED above the L to H bars will light up. At the time of shipment,
the L to H bar LED is set to the far right (H).

2） Press ▶ button to move the L to H bar LED by one to the right.
Press ▶ button to move the LED from the far right to the far left.

LED Position
Gripping Force

60 N

80 N

32

100 N

ELCT1-100-20-NEWR-TS-02EN

3） Press SET button to determine the gripping force level and switch to the operating
speed setting mode. The LED above SPEED and the LED above the L to H bar willlight up. At the time of shipment, the L to H bar LED is set to the far right (H).

4） Press ▶ button to move the L to H bar LED by one to the right.
Press ▶ button to move the LED from the far right to the far left.

LED Position
Operating Time

1.8 sec

1.2 sec

0.9 sec5） Press SET button to determine the operating speed level, and all LEDs will turn off.
※ You can confirm the set value by pressing SET button. After checking, press SET
button until the LED turns off.

33

ELCT1-100-20-NEWR-TS-02EN

8.2. Instruction of LED BandYou can check the status of the gripper with the LED band on the control panel.
State
1）

StandbyColor

FunctionLight Blue（on）

Waiting for operation. Able to receive
operation commands from the robot.
Opening or closing. Unable to receive

2）

OperatingGreen（on）

operation commands from the robot
until the operation is completed.
Opening or closing at the minimum
speed. This operation is performed when
the power is turned on or when the3）

Memorizing

Yellow（on）

Workpiece

gripper receives the command to open or
close after resetting the deceleration
position. Unable to receive operationcommands from the robot until theoperation is completed.
There is an error. Refer to ☞P.48

4）

Error

Red（blinking）“Error Code and Remedy” for the detailsof the error and how to deal with andresolve.
Emergency operation in progress. It is

5）

Emergency

not possible to receive motion
Red (lighting)operationcommands from the robot until it isreleased. It is necessary to turn on the
power again to cancel.

34

ELCT1-100-20-NEWR-TS-02EN

9. Installation of URCaps（Plug-in Software）

IMPORTANT：Polyscope version 5.11.0 or newer is required.
9.1. Preparation for URCaps Installation
1） Download the URCaps from our website (http://www.newera.co.jp/en/) and savethe unzipped file to a USB memory that can be used with the UR e series.

9.2. Installation of URCaps
1） Connect the USB memory storing the URCaps “New-Era_ELCT1-*.*.*.urcap” to the
USB port of the Polyscope.
2） Select [Setting]＞[System]＞[URCaps] and press the [+] button.

3） Select “New-Era_ELCT1-*.*.*.urcap” from the URCaps saved file and press the[Open] button.

35

ELCT1-100-20-NEWR-TS-02EN4） Press the [Restart] button to restart the robot.

36

ELCT1-100-20-NEWR-TS-02EN

9.3. Robot Setting1） Select [Installation]＞[General]＞[Tool I/O].

(A)A) Press the [▼] button and select [NewEra ELCT1].
If selected, the settings will be as follows.
・[Communication Interface]
Baud Rate：[9600], Parity：[None], Stop Bits：[1]・Tool Output Voltage：[24]・[Standard Output]：[Sourcing (PNP)]

37

ELCT1-100-20-NEWR-TS-02EN

2） Select [Installation]＞[General]＞[Payload].

(A)
(B)

A) Set the Mass.
B) Set the Center of Gravity.
（The image shows the Finger and Body Cover assembly.）
For the payload setting parameters of the gripper, refer to “The position of center ofgravity” in this instruction manual. If you install an attachment matching theworkpiece, set the position of center of gravity and the mass by adding the attachment
mass to set value of the gripper. Refer to ☞P.23 “The position of center of gravity”

38

ELCT1-100-20-NEWR-TS-02EN

3） Select [Installation]＞[General]＞[TCP].

Set the TCP Position.
（The image is an example of Finger and Body Cover assembly.）

39

ELCT1-100-20-NEWR-TS-02EN

9.4. Gripper Setting (Installation)
1） Select [Installation]＞[URCaps]＞[NEWERA ELCT1].

(A)

(B)

A) Select [RS485 ON].
B) Press the [comm test] button to check the gripper status.
Turn on the power of the robot, and if there is no problem with communication withthe gripper, [Comm info] will display [OK].
If it is [NG],refer to ☞P.48 “Error Code and Remedy” in this manual.

40

ELCT1-100-20-NEWR-TS-02EN

9.5. Gripper Setting (Program)
1） Operation command
Selecting [Program]＞[URCaps]＞[ELCT1] inserts a command in the program tree.
This command is used to operate the gripper.

(A)
(B)
(C)
(D)

(E)
(F)

A) Select the gripper movement direction.
B) Select the operating speed value.
Set Value

1

2

3

1.8 s

1.2 s

0.9 s

Set Value1

2

3

Gripping Force

60 N

80 N

100 N

Operating Time
（Full Stroke）
C) Select the gripping force value.

D) Reset of Deceleration position.
Select it when you change the workpiece. If you select it, this the operating
speed becomes low as the workpiece memorizing movement (with LED bandyellow).

41

ELCT1-100-20-NEWR-TS-02EN

Note）If the deceleration position is not reset when the workpiece is changed,
unintended gripping force may be applied to the workpiece. Be sure to select“Reset” when you change the workpiece.
E) Wait option
Select to move to the next operation without waiting for the completion
signal of the gripper when releasing the workpiece.
F) Operation test
Able to test the operation. When you press [Open] button or [Close] button,
the gripper will move according to the button. The first operation after
turning on the power is the workpiece memorizing movement at low speed.
From the next operation, it will decelerate before the previous stop position.
◆

Reference[Operation test] can also be performed from [UR+] toolbar.

42

ELCT1-100-20-NEWR-TS-02EN

2） Activation command
Selecting [Program] ＞ [URCaps] ＞ [ELCT1 Activate] inserts a command in the
program tree.
This command is used to exchange tools during a program. Executing this commandchanges settings such as tool I/O communication and voltage, and waits until thegripper is ready.

(A)A) Press the [Activate] button to enable the ELCT1 operation settings.

43

ELCT1-100-20-NEWR-TS-02EN

9.6. UR Script
After installing URCap, you can use the dedicated script code. If you wish to use it, please
set the communication interface as per 9.3 (1) and select [RS485 ON] as per 9.4 (1).
◆

Script code List

スクリプト名説明

elct_open()

The gripper opens

elct_close()

The gripper closes.

elct_open_with_p(<speed>, <gforce>)

The gripper opens at the set speed andgripping force.
Setting range:<speed>1~3,<gforce>1~3

elct_close_with_p(<speed>, <gforce>)

The gripper closes at the set speed andgripping force.
Setting range:<speed>1~3,<gforce>1~3

elct_set_speed(<speed>)

Set the speed.
Setting range:1～3

elct_set_grippingforce(<gforce>)

Set the gripping force.
Setting range:1～3

elct_reset_dec_pos()

Reset the deceleration position.

elct_is_ready()

Returns “True” if the gripper has completed
its operation and is stopped. Otherwise,
returns “False”.

elct_is_err()

Returns “True” if the gripper is in error. If
normal returns “False”.

elct_activate()

Activate the setting for the gripper tooperate and wait until it is ready. Returns“True” if the gripper is ready.

44

ELCT1-100-20-NEWR-TS-02EN◆

Use case
This is an example using script code in Polyscope.
Line.2～4
Before running the program, activate communication
settings and set speed and gripping force.
If the settings of 9.3(1) are valid, [elct_activate()] is
not necessary.
Line.8The gripper opens.
Line.9Wait until the gripper is ready.
Line.12
Reset the deceleration position.
From now on, it is not necessary when gripping
workpieces of the same size.
Line.13
The gripper closes.(grip the workpiece)
Line.14
Wait until the gripper is ready.
Line.19
The gripper opens.(release the workpiece)
Line.20
Wait 0.1 sec and run next program.

45

ELCT1-100-20-NEWR-TS-02EN

10. Failure Diagnosis and Troubleshooting

10.1. Phenomenon, Possible Cause, and the Remedy
If the product does not work as intended, or if the operation is unstable, refer to this section
and take appropriate measures. If it still does not work properly, or if you have any otherquestions, please contact our distributor or New-Era office.
Phenomenon

Possible Cause

RemedyLED band does not

Unconnected

Check if the comm connector on thelight when the power

connector

gripper is properly attached to theis turned on.

Tool Connector on the robot.
Disconnected cable

Check the cable for cracks, damage,or breaks

Incorrect wiring

Check if the connected robot is UR eseries Tool Connector or anequivalent signal interface wiring.

Broken/damaged

Needs repairing. Contact our

product

distributor or New-Era office.

When the power is

Low voltage protection

Check if the power supply voltage isturned on, LED bandis working

appropriate.

flashes red and theerror code: E101

gripper does not

Overvoltage protection

Check if the power supply voltage iswork.

is working

appropriate.

error code :E102
LED band flashes

Product isNeeds repairing. Contact our

after the gripper

broken/damaged

distributor or New-Era office.

moves, and then theerror code: E201

gripper doesn’t work.
Not working even if

Communication error

Check if the comm connector on thethe gripper is inerror code: E301

gripper is properly attached to thestandby (LED light

Tool Connector on the robot.

blue) and thecommand is sent.

46

ELCT1-100-20-NEWR-TS-02EN

Phenomenon

Possible Cause

RemedyNot working even if

Disconnected cable

Check the cable for cracks, damage, or

the gripper is instandby (LED light

breaksIncorrect wiring

Check if the connected robot is UR eblue) and theseries Tool Connector or an equivalentcommand is sent.

signal interface wiring.
Broken/damaged

Needs repairing. Contact our distributor

productor New-Era office.

Operating speed of

The first operation

For the first operation after turning on

the gripper is very

after turning on thethe power, the LED band lights yellow

slow.

power.

and the gripper operates at the minimum
speed. This is not a malfunction

A deceleration

Operating at the minimum speed when

position reset signal

the power is turned on or after thehas been input.

deceleration position reset signal is input.
Check if the signal input is performed at
the appropriate timing.

Operating speed of

Trying to grip theMemorizing the workpiece for eachthe gripper

smaller workpiece

movement and decelerating just before

becomes very slow

than that is gripped

gripping. This is not a malfunction.

in the middle of thejust before.

If the workpiece is changed, the gripper

operation.

needs to grip the workpiece in advance at
the minimum speed with the deceleration
position reset signal input.

Sometimes the

Trying to grip the

Unable to grip the workpiece with thegripping force ofbigger workpiecesetting force without the deceleration

the gripper isthan that is gripped

operation just before its gripping.

stronger than thejust before.

If the workpiece is changed, the gripper

setting.

needs to grip the workpiece in advance at
the minimum speed with the deceleration
position reset signal input.

The gripper does

RS-485 is not valid

not open and closein robot settings.

Check if the robot setting is appropriate.

when using the
URCaps.

47

ELCT1-100-20-NEWR-TS-02EN

10.2. Error Code and Remedy
If the LED band is blinking red, there is an error. You can check the error code on theplug-in software.
You need to turn off the power and then on again to cancel the error. After removing thecauses of the problem, turn off the power of the robot, and then turn it on again.
Error CodeError Details

RemedyE101[Low Voltage Error]

Check if the power supply＜LED band＞

The input voltage is below thevoltage is appropriate.

Blinking red twice

rated voltage

E102[Overvoltage Error]

Check if the power supply＜LED band＞

The input voltage exceeds thevoltage is appropriate.

Blinking red three

rated voltage.

times[Operation Error]

Motor or opening-closing

E201

The operation completion signal

mechanism may be broken or＜LED band＞

is not returned for 5 seconds ordamaged, and needs

Blinking red four times

more after the operation

repairing. Contact ourcommand.

distributor or New-Era office.

[Communication Error]

Check if the comm

The communication between

connector on the gripper isrobot and gripper fails.

properly attached to the Tool

E301
Can only be confirmedwith URCaps

Connector on the robot.
E401[Emergency operation error]＜LED band＞

Displayed when an emergency

Red lighting

operation is performed.

Turn on the power again.

◆ Blinking LED when an error occurs
You can check the details of the error by counting the number of times the LED band
blinks in red. It lights on for 0.25 seconds, blinks specific number times in 0.25 seconds,
and repeats them at intervals of about 1 second.
ON
0.25s

0.25s

LED

0.25s

OFF

1.0s

48

ELCT1-100-20-NEWR-TS-02EN

11. Declarations and Certificates

11.1. Declaration of Incorporation
In terms of the EU Machinery Directive 2006/42/EC Annex II 1 B.
The manufacturer :New-Era Co., Ltd.
1-7-21 Nakagawa-higashi, Ikuno-ku,
Osaka, 544-0006 Japan

Product designation :Electric parallel gripper

Type designation :ELCT1-100-20-NEWR

Serial number:

1000000-1999999

The product is partly completed machinery according to 2006/42/EC.
Do not use the product until the entire machine fully complies with all essential
requirements of 2006/42/EC.

11.2. Declaration of Conformity
In terms of the EU Directive 2014/30/EU(EMC) , 2011/65/EU(RoHS).
The manufacturer

New-Era Co., Ltd.
1-7-21 Nakagawa-higashi, Ikuno-ku,
Osaka, 544-0006 Japan

Product designation

Electric parallel gripper

Type designation

ELCT1-100-20-NEWR

Serial number:

1000000-1999999

The product is in conformity with, and CE marked according to, the following directives:
2014/30/EU

Electromagnetic Compatibility Directive (EMC)

2011/65/EU

Restriction of the use of certain hazardous substances (RoHS)

Signature: see original declaration

49

ELCT1-100-20-NEWR-TS-02EN

MEMO

50

ELCT1-100-20-NEWR-TS-02EN

New-Era Co., Ltd.
1-7-21 Nakagawa-higashi, Ikuno-ku, Osaka, 544-0006 Japan
URL http://www.newera.co.jp
E-mail eigyo2@newera.co.jp
TEL +81-6-6754-8585 FAX +81-6-6754-3030★The specifications shall be changed without prior notice due to continuous technical research and development.
★Copylight©2022 New-Era Co., Ltd. All rights reserved.