Parallel Gripper

HP04V

RoHS Compliant

Registered Design

With a Solenoid Valve

Series （Old Type HP13）
Earth-friendly
Consideration toresource saving

Pipe Saving

・Short distance between thesolenoid valve and the actuator.
・Requisite minimum pressureusing a pressure reducing valve.

HP04V
SeriesParallel Gripper (With a Solenoid Valve)

Highly Responsive

It is h a rd to d o p ip e w o rk .
●Troublesome piping●Joint and tubes required●Easier work

If you have HP04V gripper, only thing you need to do is to makeone connection.

51

Parallel Gripper (With a Solenoid Valve)

HP04V Series (Old Type HP13)■ Model Code No.

HP04V 10 PSL 12V ※ HAE ZE135 A 2Series Name

Number ofSwitches

Bore Size

Voltage

10：10mm
16：16mm
20：20mm

12V：DC12V
24V：DC24V

1:1 Switch
2:2 Switches

HP04V Series

Switch lead wire
length
A：1m
B：3m●Wiring method
Lead wire length: 300mm(standard)
Grommet type

Grommet typewith LED indicator●Gripper adaptor type
No code: No Gripper adaptor
HAE●Switch type
ZE135

No code: No switch
ES132 Wire System Solid State Switch, Straight Type

ZE155

ES（P）15

Parallel Gripper (With a Solenoid Valve)

3 Wire System Solid State Switch, Straight TypeBlank
Straight connector
with LED indicator-L
L connector withLED indicator

HFE
HFE-L：Large diameter type(φ16 only)

ZE235

ES23

2 Wire System Solid State Switch, L-shaped

ZE255

ES（P）25

3 Wire System Solid State Switch, L-shaped

-PSL

-PLL
●Detailed speciﬁcations→P.56●Switch details→P.521〜528

52■Speciﬁcations
Action typeDouble acting type (Closed when applying current)

Working Fluid

Air

Maximum operating pressure

［MPa］

0.7

Proof pressure

［MPa］

1.05

Operating Temperature

［℃］

5～50

Lubrication

Not required (Required for sliding parts of the machine)

Pipe Bore

M5×0.8Maximum Operating Cycle

120［mm］±0.07

Repeatability Accuracy

［mm］

±0.01

Applicable Switch［mm］

ZE, ES Type (Solid State Switch)

Bore Size［mm］

Minimum
OperatingPressure［MPa］

Opening/
Closing
Stroke［mm］

HP04V-10

100.2

HP04V-1616

HP04V-20

20

Grip Force［N］
Close Open

Outside Dimensions(T x W x L)
［mm］

Product
Mass
［g］

6.5

1015.630.2×50.4×51

105

0.15

1026

39

35.2×51.9×59

1800.214456043×65×70

360

Parallel Gripper (With a Solenoid Valve)

DoubleactingModelSeriesAction
type

HP04V

Centering AccuracyNote) The grip force is measured at the intermediate position of the opening/closing stroke. It is an eﬀective value
when the grip point L is 30 mm and the pressure is 0.5 MPa.

53

Parallel Gripper (With a Solenoid Valve)

HP04V Series (Old Type HP13)■Response Speed
HP04V-16

0.3

ON̶Start

Gripper + Valve0.20.1
HP04V-10
023ON̶Start

Gripper + Valve0.20.1

HP04V-160123

Response Time0.2ON̶Start

Gripper + Valve
0.1

Tube Length［m］

HP04V-200123Tube Length［m］(Tube size Inner diameter 2.5mm)■Eﬀective Gripping Force
Closing Force (Double Acting Type)

0.7MPa0.5MPa100.3MPa

503060

Gripping Force [N]40800.7MPa

300.5MPa

200.3MPa

10090

HP04V-16

Gripping Point L ［mm］

306090

Gripping Force [N]

HP04V-100.7MPa
0.5MPa400.3MPa

200120HP04V-2060

50100150

Gripping Point L ［mm］

Gripping Point L ［mm］

Opening Force (Double Acting Type)600.7MPa

200.5MPa
0.3MPa100306090

Gripping Point L ［mm］

HP04V-160.7MPa

450.5MPa

300.3MPa

150306090120

Gripping Point L ［mm］

90

Gripping Force [N]Gripping Force [N]

HP04V-10
Gripping Force [N]Parallel Gripper (With a Solenoid Valve)

1530540.3

Tube Length［m］

Gripping Force [N]

HP04V Series

1

HP04V-20

Response Time

Response Time [S]Response Time

Response Time [S]Response Time [S]HP04V-10

HP04V-20
0.7MPa750.5MPa

500.3MPa

25050100150

Gripping Point L ［mm］

■Gripping Point Limit Range
HP04V-10

HP04V-165020P

10020aaPPPPP

M

M

M

M

M

M.2.3.4.5.6.700000aOverhang H［mm］

030aaa406080904030200204060

Overhang H［mm］

2M

4MPaPa

5M Pa
6M Pa
7M Pa
Pa

0.

2000.

0.

300.

60

90120Pa80

100120Parallel Gripper (With a Solenoid Valve)

60

40

M

Gripping Point L［mm］

700.

.2

M

10HP04V-20

3M.4.3P.5 MP a
M a0.6
Pa0.7 MPM aPa0

Gripping Point L［mm］

0.

000

HP04V Series

Overhang H［mm］

40150

Gripping Point L［mm］●Mounting of the attachment

Workpiece
Gripping PointLH

L (distance gripping point) and H (overhang distance)of the attachment to be mounted to the lever shall bewithin the range speciﬁed in the above drawing(Gripping point limit range). If they exceed the limit
range, excess moment will be applied to the guide,causing troubles that have a bad inﬂuence on the life
and accuracy (e.g. ﬁnger backlash). Even if they arewithin the limit range, the attachment shall be as small
and light as possible.

●Guide for selecting a model for the workpiece weight

It shall be 5 to 10% of the eﬀective gripping force or
any value less than that although it diﬀers dependingon the coeﬃcient of friction between the attachment
and the workpiece and the shape. It shall be greaterthan that when great acceleration or impact is applied
during workpiece transportation.

55

Parallel Gripper (With a Solenoid Valve)

HP04V Series (Old Type HP13)■Main Body Mounting Method
1 When the through-hole of the main body is used

2 When the screw on the bottom face of the main body is used
(Only φ8 requires a space such as a relief because theswitch protrudes.)MountingShaft

HAE Type

Mounting Hole

HFE, HFE-L Type

DJICA

B

CodeF−0

φE−0.03−0.01

HAE Type
φG −0.04

Parallel Gripper (With a Solenoid Valve)■Outline Dimensional Drawing of Gripper Adaptor 2−φL

K

HP04V Series

3 When a gripper adaptor is used for mounting

H

Ancillary Bolt
(x2)

Product Mass［g］(Including Bolts)

A

B

C

DEF

GH

I

JK

L

HAE-10

1515

3

1.3

10

11

11

23

1710

163.4

M3×0.5×8L

11HAE-16

1515

3

1.3

1016173426

1422

4.5

M4×0.7×10L

20

HAE-20

1515

3

1.3

10182145

35

16265.5

M5×0.8×10L

28

Type

φE2−φL

1.3AKJ

φG−0.01−0.04

HFE Type

I
H

56

CodeAncillary Bolt (x3)
Gripper Mounting (x2) Adapter Fixing (x1)

Product Mass［g］(Including Bolts)

A

E

G

H

I

JK

L

HFE-10

156

1123

1710

16

3.4

M3×0.5×16L

M3×0.5×12L

14

HFE-16

1881734

26

14

22

4.5

M4×0.7×20L

M4×0.7×16L

35

HFE-16L

1810173426

14

224.5

M4×0.7×20L

M4×0.7×16L

33

HFE-20191321453516265.5

M5×0.8×20L

M5×0.8×20L

55

TypeCAD data provided■Dimensions

HP04V-10

Manual Switch Button

LED Indicator＊2

Solenoid Valve＊1
View on Arrow A

Lead Wire＊3

Depth 1.5
(Positioning Hole)(Positioning Pin)

Depth 6
Depth 4.5

(Ｅxhaust Ｐort)
Straight connector
with LED indicator

Parallel Gripper (With a Solenoid Valve)(Supply Port)

HP04V Series

When opened: 15.8 ＋1.500
When closed : 9.4 −0.6

Depth 4

Depth 5Depth 5Depth 2.5
(Positioning Hole)

L connector withLED indicator

Depth 6＊1) The wiring method of the solenoid valve in the drawing is the grommet type. See the lower right in the drawing for other wiring methods.
＊2) Types with a LED indicator are categorized into only L type, PLL type and PSL type.
＊3) The lead wire length shall be 300 mm. The black lead wire is − and the brown (red) lead wire is + .
(When the brown lead wire is 12 V and the red lead wire is 24 V.)

57

Parallel Gripper (With a Solenoid Valve)

HP04V Series (Old Type HP13)■Dimensions

CAD data provided

HP04V-16

Manual Switch Button

LED Indicator＊2View on Arrow A

Solenoid Valve＊1
Lead Wire＊3

Depth 1.5
(Positioning Hole)

Parallel Gripper (With a Solenoid Valve)(Positioning Pin)

HP04V Series

When opened: 22.0 ＋2.200
When closed : 12.4 −0.6

Depth 5Depth 7(Supply Port)

Depth 5(Ｅxhaust Ｐort)
Straight connector
with LED indicator

Depth 6

Depth 5Depth 3
(Positioning Hole)

Depth 6

L connector with
LED indicator＊1) The wiring method of the solenoid valve in the drawing is the grommet type. See the lower right in the drawing for other wiring methods.
＊2) Types with a LED indicator are categorized into only L type, PLL type and PSL type.
＊3) The lead wire length shall be 300 mm. The black lead wire is − and the brown (red) lead wire is + .
(When the brown lead wire is 12 V and the red lead wire is 24 V.)

58

CAD data provided■Dimensions

HP04V-20

Manual Switch Button

LED Indicator＊2

Depth 7

Solenoid Valve＊1

Depth 1.5
(Positioning Hole)(Ｅxhaust Ｐort)
Depth 9(Supply Port)
Depth 7

Straight connector
with LED indicator

Parallel Gripper (With a Solenoid Valve)(Positioning Pin)

Lead Wire＊3

HP04V Series

When opened: 30.2 ＋2.400
When closed : 16.6 −1.0

View on Arrow A

Depth 8Depth 6
Depth 3.5(Positioning Hole)

Depth 8Lower Hole φ3.4 Through-Hole

L connector withLED indicator＊1) The wiring method of the solenoid valve in the drawing is the grommet type. See the lower right in the drawing for other wiring methods.
＊2) Types with a LED indicator are categorized into only L type, PLL type and PSL type.
＊3) The lead wire length shall be 300 mm. The black lead wire is − and the brown (red) lead wire is + .
(When the brown lead wire is 12 V and the red lead wire is 24 V.)

59

Parallel Gripper (With a Solenoid Valve)

HP04V Series (Old Type HP13)■Switch Groove Dimensions
φ5φ50
B

101620172430B

1012.516B

B

B

SizeA

CodeAA

HP04V Series■Switch Protrusion Distance ■Switch Mounting
The maximum switch protrusionfrom the switch body end face(when the levers are full closed)
is shown in the table below. Use
it as a guide for mounting.

■Switch Response Diﬀerence

Insert the switch into the switch
mounting groove. After setting
the mounting position, tighten
the switch ﬁxing screw with aprecision screwdriver.
The tightening torque shall be
0.1 N・m or less.

The distance from the position wherethe levers move and the switch turns
on to the position where the levers
move in the reverse direction and theswitch turns oﬀ is called "response
diﬀerence".

Switch Fixing Screw（M2.5×0.45）

Parallel Gripper (With a Solenoid Valve)

L
CylinderBore（mm）
Maximum
Protrusion（mm）

Switchφ10

φ16φ20000SwitchMounting
GrooveResponse
Diﬀerence

Cylinder Maximum
Response
Bore Diﬀerence（mm） （mm）
φ100.3φ160.4

φ200.4

Switch Operation Position (ON)
Switch Return Position (OFF)■Switch Mounting Position Adjustment Method
For external gripping①Check the workpieceexternal gripping andfull close.

②Insert the switch into theswitch mounting grooveof the main body in thearrow direction.

③The LED lamp lights
up by turning on theswitch in the arrow
direction.

④Fix the switch by a switch ﬁxing
screw at the position where theswitch is moved 0.6 mm in thearrow direction from the position
where the lamp lights up in [3].

②Insert the switch into theswitch mounting grooveof the main body in thearrow direction.

③The LED lamp lights
up by moving theswitch in the arrow
direction. It goes oﬀ
by moving it further.

④Fix the switch at the position thatis 0.6 mm moved from the position
where the LED lamp lights up when
it is returned in the arrow direction(reverse direction) in [3].

For internal gripping①Check the workpiece
internal gripping andfull opening.

①Indicates the position where you need to check if the switch is ON. Mount the switch by adjusting it in the order from ① to ④.

60