Parallel Linear Gripper

HP04L SeriesLong Stroke Type

Gripping at a long point is available
by the use of the linear guide.

CENTERINGＡccuracy◆±0.07mm or less

Piping Port on 2 faces◆Excluding φ8mm

◆Rear Face
◆Bottom Face

Sensor Switch Groove

Parallel Linear Gripper (Long Stroke Type)

Positioning HoleHP04L Series

ExcellentLong LifeUse ofLINEAR
GUIDE
About twice
the stroke than
the standard typeThe overall length is almost sameas the one of the standard type,but the stroke is double.

◆Withstand load, withstand moment(high rigidity)◆High accuracy(repeat accuracy: ±0.01 mm or less)◆Gripping at a long point and overhang
gripping are available.

23

Parallel Linear Gripper (Long Stroke Type)

HP04L Series■ Model Code No.

HP04L

10 C ※ HAE

ZE135 A 2

Series Name

Number ofSwitches

Bore Size

1:1 Switch
2:2 Switches

HP04L Series

8： 8mm10：10mm
16：16mm
20：20mmAction Type

Switch Lead Wire Length

C : Double Acting

A：1m
B：3m

●Switch Type

●Gripper Adaptor TypeNo Code: No Gripper Adaptor
HAE

ZE135

Parallel Linear Gripper (Long Stroke Type)HFE (excluding φ8)
HFE-L：Large Diameter Type(φ16 only)

No Code: No Switch
ES13

2 Wire System Solid State Switch, Straight Type

ZE155

ES（P）15

3 Wire System Solid State Switch, Straight Type

●Detailed speciﬁcations→P.28〜29

ES23ZE255

ES（P）25

3 Wire System Solid State Switch, L-shaped●Switch details→P.521〜528■Internal Structure Diagram
Parts ListName

NO

791312Material

1Main Body

Aluminum Alloy

2Head Cover

Aluminum Alloy

3Piston Rod

Stainless Steel

4

PistonAluminum Alloy

5MagnetResin

1110836

Pressure Cover

Aluminum Alloy

7Linear Guide

Bearing Steel

68Action Lever

Carbon Steel

9Knuckle

Stainless Steel

10 Fulcrum Pin

Carbon Tool Steel

16517411 Hexagon Socket Head Bolt

Stainless Steel

15212 Press Fit Pin

Carbon Tool Steel

13 Press Fit Pin

Carbon Tool Steel

1424

ZE235

2 Wire System Solid State Switch, L-shaped

1

14 Hole Locating Snap Ring Carbon Tool Steel
15 O Ring

NBR

16 Rod Packing

NBR

17 Piston Packing

NBR

■Speciﬁcations
Fluid

Air

Maximum Operating Pressure ［MPa］

0.7

Proof Pressure

［MPa］

1.05

Operating Temperature［℃］

0〜60 (No Freezing)

Lubrication

Not Required (Required for sliding parts of the machine) Only φ8 requiredPipe Bore

M3×0.5（HP04L-8, HP04L-10）
M5×0.8（HP04L-16, HP04L-20）［Cycle/min］ 120

Centering Accuracy

［mm］

±0.07

Repeat Accuracy

［mm］

±0.01

Applicable SwitchAction
TypeModel

Minimum Opening/ Gripping Force Outside Dimensions
Bore Size Operating Closing［N］(T x W x L)
Stroke［mm］ Pressure
［mm］
［MPa］
［mm］ Close Open

Product
Mass［g］

HP04L-8C

80.22

8

5.8

9.9

13×26×3227

HP04L-10C

100.2

121015.6

20×45×4990

HP04L-16C

160.12162639

25×56×56

168

HP04L-20C200.1224560

32×73×73368Note) 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.
The opening force of the single acting type indicates the spring force.
When this product is used with an extremely short stroke, it may work badly because of the lack of oil of the guide.

Parallel Linear Gripper (Long Stroke Type)DoubleActing

ZE, ES Type (Solid State Switch)

HP04L Series

Maximum Operating Cycle■Allowable Load and Allowable Moment
FXMA

Load andMoment

ModelMBMCMAMBMCFX［N］ ［N・m］ ［N・m］ ［N・m］

HP04L-8120.040.040.08

HP04L-1050

0.40.40.8

HP04L-16120112

HP04L-20

200

1.51.5325

Parallel Linear Gripper (Long Stroke Type)

HP04L Series■Eﬀective Gripping Force
Closing Force (Double Acting Type)15

Gripping Force [N]0.5MPa50.3MPa

1020301050.3MPa

600.7MPa

300.3MPa

100900.5MPa

20

Gripping Point L ［mm］

306090120

Gripping Point L ［mm］

HP04L-20C0.7MPa
0.5MPa400.3MPa

20050100150

Gripping Point L ［mm］Opening Force (Double Acting Type)
HP04L-8C

300.7MPa
0.5MPa100.3MPa

10203040

Gripping Point L ［mm］

Gripping Force [N]90

HP04L-20C0.7MPa

750.5MPa

500.3MPa

25050

100150

Gripping Point L ［mm］

HP04L-10C

600.7MPa

200.5MPa
0.3MPa100306090

Gripping Point L ［mm］

Gripping Force [N]20

Gripping Force [N]Parallel Linear Gripper (Long Stroke Type)

Gripping Force [N]30

HP04L-16C

600260.7MPa

Gripping Point L ［mm］

80400.5MPa040

HP04L-10C
Gripping Force [N]

HP04L-8C0.7MPa0Gripping Force [N]

HP04L Series

Gripping Force [N]10HP04L-16C0.7MPa

450.5MPa

300.3MPa

150306090120

Gripping Point L ［mm］

■Gripping Point Limit Range
HP04L-8

HP04L-10

400020.4

00.7

100.5.6010

M

M

M

M

M.3PPaaPOverhang H［mm］

30aPaP

a2030400302010020

Gripping Point L［mm］

aaa4060

80

9070

30

00.500.4.3.2

M

M

M

20PP

M Pa0.
P0 6M a.7P
M aPaOverhang H［mm］

40aa

102040608010012060400.

2M

3M

4MPaPa

5M Pa
6M Pa
7M PaPa

0.

2000.

0.

0.

30

Gripping Point L［mm］

0.

6090120150

Parallel Linear Gripper (Long Stroke Type)

HP04L-2050

Overhang H［mm］

aPa

Gripping Point L［mm］

HP04L-160Pa

PP

P

P

M

M

M

M

M

M.2.3.4.5.6.7

00000

HP04L Series

Overhang H［mm］

40

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.

27

Parallel Linear Gripper (Long Stroke Type)

HP04L Series■Main Body Mounting Method
Mounting Example
1 When the through-hole of the main body is used

2 When the screw on the back face of the main body is used
(Excluding φ8)(Switch not mountable for φ10, φ16 and φ20)
Gripper Body

HP04L Series

Mounting
Plate

Parallel Linear Gripper (Long Stroke Type)

Model

Bolt to be Used

Maximum Tightening Torque［N・m］Model

Bolt to be Used

Maximum Tightening Torque［N・m］

φ8

M3×0.50.59

φ10

M4×0.71.37

φ10

M3×0.50.59

φ16M4×0.7

1.37

φ16

M3×0.50.59

φ20

M5×0.82.84

φ20

M4×0.7

1.37

3 When the screw on the side of the main body is used

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

C

Model

Bolt to be Used

Maximum Tightening Torque［N・m］

Model

Bolt to be Used

Maximum Tightening Torque［N・m］

φ8

M3×0.50.59φ8

M2.5×0.4

0.34

φ10

M3×0.50.59

φ10

M3×0.50.59

φ16

M4×0.71.37

φ16

M4×0.71.37

φ20

M5×0.82.84

φ20

M5×0.82.84

5 When a gripper adaptor is used for mounting
Mounting
HoleMounting
Shaft

HAE Type

28HFE, HFE-L Type(Excluding φ8)

■Outline Dimensional Drawing of Gripper Adaptor
HAE TypeA

B

CodeB

CD

HAE-8

10103

HAE-1015153

HAE-161515

HAE-201515KHEF

0.881.3

1031.331.3

Product Mass［g］(Including Bolts)

JKL

Ancillary Bolt(x2)159132.8

M2.5×0.45×6L

61710163.4

M3×0.5×8L

11342614224.5

M4×0.7×10L

20453516265.5

M5×0.8×10L

28

GH

I

10920

111123101617101821

HFE Type

J

1.3

AK

2−φL

φG−0.01−0.04

φE

Parallel Linear Gripper (Long Stroke Type)

A

Type

JI

C

HP04L Series

DF−0

φE−0.03−0.01

φG −0.04

2−φL

I
H

Code

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

Product Mass［g］(Including Bolts)

AEGHIJKL

HFE-101561123171016

3.4

M3×0.5×16L

M3×0.5×12L

14

HFE-16

188173426

14224.5

M4×0.7×20L

M4×0.7×16L

35

HFE-16L

18101734

26

14

22

4.5

M4×0.7×20L

M4×0.7×16L

33

HFE-2019132145

35

16

26

5.5

M5×0.8×20L

M5×0.8×20L

55

Type29Parallel Linear Gripper (Long Stroke Type)

HP04L Series■Attachment Design Method
Example of Attachment Design
For Fixing Bolt
Through-HoleOCCO

Positioning in theOpening/Closing Direction

Vertical Positioning

Fixing Bolt

HP04L SeriesLever

Elongate Hole

Pressing
Face
Positioning
PinAttachment

Vertical Direction

Opening/Closing Direction
Reference Line

Parallel Linear Gripper (Long Stroke Type)Attachment Mounting Method
When you mount the attachment, hold theattachment with a spanner or the like toremove load to the lever.
Model

Bolt to be Used

Maximum Tightening Torque［N・m］

φ8

M2×0.40.315

φ10

M3×0.51.14

φ16

M4×0.72.7

φ20

M5×0.8

5.4

Positioning Hole
Positioning Hole for Mounting Examples 1 and 2 (P.28)

Positioning Hole for Mounting Examples 4 (P.28)
Positioning Hole D
Positioning Hole dPositioning HoleModel30

Model

Positioning Hole D

φ8

φ1.5＋0.02
depth 10φ8

φ9＋0.05
depth 1.50̶φ10

φ2.5＋0.02
depth 2.50

φ10

φ11＋0.05
depth 1.50

φ2 ＋0.04
depth 20

φ16

φ3＋0.02
depth 30

φ16

φ17＋0.05
depth 1.5
0

φ2.5＋0.04
depth 30

φ20

φ4φ20

φ21

Positioning Hole＋0.020

depth 3.5＋0.050

depth 1.5

Positioning Hole d

φ3 ＋0.04
depth 30

CAD data provided

HP04L-8C（Opening Port）

Depth 1(Positioning Hole)

Depth 4

Parallel Linear Gripper (Long Stroke Type)(Positioning Pin)

（Closing Port）

HP04L Series

When opened: 12.8 ＋1.800
When closed : 5.4 −0.6

■Dimensions

Depth 3Depth 3.5

View on Arrow A

Depth 1
(Positioning Hole)Through-Hole31

Parallel Linear Gripper (Long Stroke Type)

HP04L Series■Dimensions

CAD data provided

HP04L-10C

Depth 1.5
(Positioning Hole)ep
Dth（Closing Port）

Parallel Linear Gripper (Long Stroke Type)(Positioning Pin)

2

HP04L Series

When opened: 20.8 ＋1.500
When closed : 9.4 −0.6

Plug＊1（Opening Port）

Depth 2
(Positioning Hole)

Depth 6

Depth 4.5

Depth 5Depth 2.5

Depth 4

View on Arrow A

Depth 6Lower Hole φ3.4 Through-Hole
Depth 2.5
(Positioning Hole)

Depth 5

＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

32

CAD data provided■Dimensions

HP04L-16C

Depth 1.5
(Positioning Hole)

thep

D3

（Closing Port）

HP04L Series（Opening Port）

Depth 7

Depth 5Depth 6

Depth 3Parallel Linear Gripper (Long Stroke Type)

Depth 3
(Positioning Hole)(Positioning Pin)

When opened: 27.2 ＋2.400
When closed : 12.4 −0.6

Plug＊1

Depth 5View on Arrow A

Depth 6
Depth 3
(Positioning Hole)

Lower Hole φ3.4 Through-Hole＊2
Depth 5 (Both Sides)＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

33

Parallel Linear Gripper (Long Stroke Type)

HP04L Series■Dimensions

CAD data provided

HP04L-20C

Depth 1.5
(Positioning Hole)thep
D3（Opening Port）

Parallel Linear Gripper (Long Stroke Type)（Opening Port）(Positioning Pin)

HP04L Series

When opened: 37.5 ＋2.200
When closed : 16.6 −1.0

Plug＊1

Depth 3(Positioning Hole)

Depth 9Depth 7

Depth 8Depth 3.5

Depth 7

View on Arrow A

Depth 8Depth 3.5
(Positioning Hole)

Lower Hole φ4.2 Through-Hole

Depth 6 (Both Sides)＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

34

■Switch Groove Dimensions
φ5φ50
B

810162015172430

B

31012.5

16B

B

BSizeACodeAA■Switch Protrusion Distance ■Switch Mounting■Switch Response Diﬀerence

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

The distance from the position wherethe levers move and the switch turnson 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）

CylinderBore（mm）
MaximumProtrusion（mm）

Switch

φ8

φ10

φ16

φ20

2000

SwitchMounting
GrooveResponseDiﬀerence

φ80.3

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].

Parallel Linear Gripper (Long Stroke Type)L

Cylinder Maximum
Bore Response
Diﬀerence（mm） （mm）

HP04L Series

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.

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.

35