Parallel Linear Gripper (Dust-proof Cover Mount Type)

HP04FSeries

Finger(Long Attachment)Type（Old Type HP11）

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

Long Life
HP04F Series

Piping Port on 2 faces◆Excluding φ8mm

Positioning Hole
◆Rear Face
◆Bottom Face

◆NBR
◆Silicon◆Fluorine

Sensor Switch Groove

Use ofExcellent◆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.

CENTERINGAccuracy◆±0.07mm or less

LINEAR GUIDE〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

Dust-proof Cover37

Parallel Linear Gripper (Dust-proof Cover Mount Type)

HP04F Series (Old Type HP11)■ Model Code No.

HP04F 10 C ※ JN

HAE

ZE135 A 2

Series Name

Number ofSwitches

Bore Size
8： 8mm10：10mm
16：16mm
20：20mm

HP04F Series〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

38

1:1 Switch
2:2 Switches

Action TypeA : Single Acting Normally OpenC : Double Acting

Switch Lead
Wire Length

Dust-proof Cover Type

A：1m
B：3m

No Code: No Cover
JN: With NBR Rubber Cover
JS: With Silicon Rubber Cover
JF: With Fluorine Rubber Cover●Switch Type

●Gripper Adaptor TypeNo Code: No Gripper Adaptor
HAE

No Code: No Switch

ZE135

HFE (excluding φ8)
HFE-L：Large Diameter Type(φ16 only)

ES13

2 Wire System Solid State Switch, Straight Type

ZE155

ES（P）15

3 Wire System Solid State Switch, Straight Type

●Detailed speciﬁcations→P.42〜43●Dust-proof Cover Set

ZE235

ES23

2 Wire System Solid State Switch, L-shaped

ZE255

ES（P）25

3 Wire System Solid State Switch, L-shaped●Switch details→P.521〜528

Model Code No. JS − 04F 16Material
JN: With NBR Rubber CoverJS: With Silicon Rubber Cover
JF: With Fluorine Rubber Cover■Internal Structure Diagram

Series Name
04FSize
08：φ 810：φ1016：φ1620：φ20

Parts List

19141591012738616

13

5417

18

2111NO
1234567
8910
1112
13
1415
16
1718Name
Main Body
Head Cover
Piston Rod
PistonMagnetPressure CoverAction Lever
Fulcrum Pin
Press Fit Pin
Press Fit Pin
Hole Locating Snap Ring
Hexagon Socket Head Bolt
SpringLinear Guide
KnuckleRod Packing
Piston Packing
O Ring19 Dust-proof CoverMaterial
Aluminum Alloy
Aluminum Alloy
Stainless Steel
Aluminum Alloy
Resin
Aluminum Alloy
Carbon SteelCarbon Tool SteelCarbon Tool SteelCarbon Tool SteelCarbon Tool SteelStainless SteelPiano Wire (Single Acting only)
Bearing SteelStainless Steel
NBR
NBR
NBR
NBR
SiliconFluorine

■Speciﬁcations
Fluid

Air

Maximum Operating Pressure ［MPa］
Proof Pressure［MPa］

Operating Temperature

［℃］

0.7
1.05
0〜60 (No Freezing)

Lubrication

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

Pipe Bore

M3×0.5（HP04F-8, HP04F-10）
M5×0.8（HP04F-16, HP04F-20）［Cycle/min］

120

Centering Accuracy

［mm］

±0.07

Repeat Accuracy［mm］±0.01

Applicable Switch

ActionTypeModelZE, ES Type (Solid State Switch)coverDouble
Acting

HP04F-8C

80.220.3

45.8 9.9

13×20×4427

JN：28.5、JS：28.5、JF：29

HP04F-10C

100.2

0.25

6.5

10 15.6 20×36×67.5

90

JN：94.5、JS：94、JF：96.5

HP04F-16C

160.12 0.151026

3925×50×77

180 JN：186.5、JS：186、JF：189

HP04F-20C

200.1

0.15

14456032×62×97

370 JN：382.5、JS：380、JF：388.5

HP04F-8A

80.40.5

44.1 1.3

13×20×4428JN：29.5、JS：29.5、JF：30

100.350.4

6.5

6.8 2.4

20×36×67.5

91

JN：95.5、JS：95、JF：97.5

160.250.3

1020 5.4

25×50×77

181 JN：187.5、JS：187、JF：190

200.250.31434 7.3

32×62×97

371 JN：383.5、JS：381、JF：389.5

SingleHP04F-10AActing
Normally
HP04F-16A
Open
HP04F-20ANote) 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.

〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

Product Mass
Minimum Operating Opening/ Gripping Force
OutsideBore［g］［N］
Pressure［MPa］ Closing
Dimensions
Size(T x W x L) Without
Without
WithStroke［mm］ dust-proof
dust-proof ［mm］ Close OpenWith dust-proof coverdust-proof［mm］covercover

HP04F Series

Maximum Operating Cycle■Allowable Load and Allowable Moment
FXLoad andMoment

MAModelMBMCMAMBMCFX［N］ ［N・m］ ［N・m］ ［N・m］

HP04F-8120.040.040.08

HP04F-10500.40.40.8

HP04F-16120112

HP04F-202001.51.5339

Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04F Series (Old Type HP11)■Eﬀective Gripping Force10

Gripping Force [N]0.3MPa1020300.7MPa

5040

Gripping Point L ［mm］

HP04F-10C0.5MPa

100.3MPa

503060

Gripping Force [N]150.7MPa

0.5MPa200.3MPa

100306090

100.3MPa

050100150

Gripping Point L ［mm］

4060900.7MPa

400.5MPa
0.3MPa20050100150

Gripping Point L ［mm］

0.7MPa0.3MPa306090HP04F-16C0.7MPa

450.5MPa

300.3MPa

150120306090120

Gripping Point L ［mm］

HP04F-20A

6040

HP04F-10C

10

Gripping Point L ［mm］

Gripping Force [N]Gripping Force [N]0.3MPa2030300.5MPa

600.5MPa20

Gripping Point L ［mm］

HP04F-16A0.7MPa

102009020800.5MPa

4060300HP04F-20C0.7MPa

30

Gripping Point L ［mm］

120600.3MPa

Gripping Point L ［mm］

HP04F-10A

300.5MPa

100400.5MPa

Gripping Point L ［mm］

80305400.7MPa

200.7MPa090

HP04F-16C301010

Gripping Point L ［mm］

400.5MPa

HP04F-8C0.7MPa

Gripping Point L ［mm］

Gripping Force [N]〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

Gripping Force [N]1520

Gripping Force [N]

5HP04F-8A

Gripping Force [N]0.5MPaOpening Force (Double Acting Type)

Gripping Force [N]

HP04F-8C
0.7MPa0

Gripping Force [N]

HP04F Series

Gripping Force [N]10

Closing Force (Single Acting Type)

Grippingping Force [N]Closing Force (Double Acting Type)90

HP04F-20C
0.7MPa750.5MPa

500.3MPa

25050100150

Gripping Point L ［mm］

■Gripping Point Limit Range
HP04F-8

HP04F-10400020.400.7100.5.60M

M.3M

M

PPaaPaPPM

Overhang H［mm］

30aa

1020304003020020

Gripping Point L［mm］

HP04F-16aa40608090

HP04F-2070300000.4.3.2

M

M

P.5 MP a
M a.
P0 6M a.7P
M aPa020

Overhang H［mm］

40Pa10204060

8010012060

400.

2M

3MPaPaPa

4M

5M
0.
6M Pa
7M PaPa0.

20030

Gripping Point L［mm］

6090120

Gripping Point L［mm］●Mounting of the attachment

Workpiece
Gripping Point

150LHL (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.

0.

0.

0.

〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

Overhang H［mm］aPa

Gripping Point L［mm］

500P10aaPPPPMMMMMM.2.3.4.5.6.700000

HP04F Series

Overhang H［mm］

40●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.

41

Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04F Series (Old Type HP11)■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

HP04F Series

Mounting Plate〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

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

φ16

M4×0.71.37

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.)

CO

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

φ8

M2.5×0.40.34φ10

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 mountingMountingShaft

HAE Type

42Mounting
HoleHFE, HFE-L Type (Excluding φ8)

■Outline Dimensional Drawing of Gripper Adaptor
HAE Type

A

BCodeB

CD

HAE-8

10103

HAE-1015153

HAE-161515

HAE-201515KH

EF

0.8

8

1.3

103

1.331.3

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

28GH

I

10920111123101617101821

HFE Type

J

1.3

A

K

2−φL

φG−0.01
−0.04

φE

I
H

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

Product Mass［g］(Including Bolts)

A

E

G

H

IJK

L

HFE-101561123

1710163.4

M3×0.5×16L

M3×0.5×12L

14HFE-16

18817342614224.5

M4×0.7×20L

M4×0.7×16L

35

HFE-16L

18101734

26

14224.5

M4×0.7×20L

M4×0.7×16L

33

HFE-2019132145

35

16265.5

M5×0.8×20L

M5×0.8×20L

55

Type〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

ATypeJIC

HP04F Series

DF−0

φE−0.03−0.01

φG −0.042−φL

43

Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04F Series (Old Type HP11)■Attachment Design Method
Attachment Mounting Method
When you mount the attachment,
hold the attachment with a spanner orthe like to remove load to the lever.

HP04F SeriesBolt to be Used

Maximum Tightening Torque［N・m］

φ8

M2×0.40.315

φ10

M3×0.51.14

φ16

M3×0.51.14

φ20

M4×0.7

2.7

Positioning Hole
Positioning Hole for Mounting Examples 1 and 2 (P.42)

Positioning Hole for Mounting Examples 4 (P.42)〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

Positioning Hole D

Positioning
HoleUse this positioning hole for Mounting
Examples 1 and 2.
Model44

Model

Use this positioning hole forMounting Example 4.
Model

Positioning Hole

φ8φ1.5＋0.02
depth 10φ8

φ9＋0.05
depth 1.50

φ10φ2.5＋0.02
depth 2.50

φ10

φ11＋0.05
depth 1.50φ16

φ3＋0.02
depth 30

φ16

φ17＋0.05
depth 1.50φ20

φ4＋0.02
depth 3.50φ20

φ21＋0.05
depth 1.50

Positioning HoleCAD data provided■Dimensions

HP04F-8□（Closing Port）

Depth 4Through-Hole

Depth 3〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

When opened: 18.6 ＋2.400
When closed : 15.8 −1.4

Depth 1(Positioning Hole)

HP04F Series（Opening Port）＊1

Through-Hole

Depth 1(Positioning Hole)With a dust-proof cover＊1) For the single acting type, the opening port cannot be used because it is used for the exhaust plug.

45

Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04F Series (Old Type HP11)■Dimensions

CAD data provided

HP04F-10□

HP04F Series〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

When opened: 29.9 ＋2.400
When closed : 24.4 −1.4

Plug＊1

Depth 1.5
(Positioning Hole)（Closing Port）＊2（Opening Port）

Depth 6

Through-Hole

Depth 5Depth 2.5
(Positioning Hole)2−M4×0.7 Depth 6
Lower Hole φ3.4,
Through-Hole＊3

With a dust-proof cover＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) For the single acting type, the opening port cannot be used because it is used for the exhaust plug.
＊3) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

46

CAD data provided■Dimensions

HP04F-16□

Plug＊1

When opened: 40.2 ＋3.700
When closed : 31.8 −1.8

Through-Hole

Depth 7

Depth 62−M4×0.7 Depth 6
Lower Hole φ3.4,
Through-Hole＊3

Depth 3(Positioning Hole)〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper（Opening Port）＊2

HP04F Series

Depth 1.5
(Positioning Hole)（Closing Port）

With a dust-proof cover＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) For the single acting type, the opening port cannot be used because it is used for the exhaust plug.
＊3) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

47

Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04F Series (Old Type HP11)■Dimensions

CAD data provided

HP04F-20□
Plug＊1

Depth 1.5
(Positioning Hole)〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

When opened: 51.2 ＋4.400
When closed : 39.2 −2.2

HP04F Series（Closing Port）（Opening Port）＊2

Through-Hole

Depth 9Depth 82−M5×0.8 Depth 8Lower Hole φ4.2,
Through-Hole＊3

Depth 3.5
(Positioning Hole)With a dust-proof cover＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) For the single acting type, the opening port cannot be used because it is used for the exhaust plug.
＊3) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

48

■Switch Groove Dimensions
φ5BB

Size

8101620A

15172430B

31012.516

CodeA■Switch Protrusion Distance ■Switch Mounting

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".
Cylinder Maximum
Response
Bore Diﬀerence（mm） （mm）

Switch Fixing Screw（M2.5×0.45）
Switchφ8φ10

φ16φ202000

SwitchMounting
GrooveResponse
Diﬀerence

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].

〈 Finger(Long Attachment)Type〉
Parallel Linear Gripper

L
CylinderBore（mm）
MaximumProtrusion（mm）■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.

HP04F 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.

49