Powered by a stepper driver with integrated motion control, closed-loop encoder and torque control mode · No PLC required · Adjustable, verifiable gripping force · Programmed via host PC software · Standalone operation in production
Conventional pneumatic grippers offer poorly regulated gripping force that drifts with air supply fluctuations and fixed opening strokes; conventional electric grippers usually need a layered "controller + drive" architecture with complex wiring and high cost. This solution is built around a closed-loop stepper driver with integrated motion control, now adding a torque control mode: path editing, coordinate management, IO trigger logic and torque-clamping logic all run inside the driver. Together with the gripper body and a handful of sensors, it forms a complete smart electric gripper system. The approach phase uses position control for accurate jaw opening; on workpiece contact the drive automatically switches to torque hold, making gripping force precisely determined by the target torque — controllable, adjustable and repeatable — while a "torque reached" output gives production lines hard evidence of whether the part is really held. Engineering is done with host PC software; once downloaded, programs run standalone in production. Widely used in machine tending, sorting and picking, assembly pressing, and fragile-part handling.
Control and drive merged into one: sensors and buttons connect straight to the driver's IO — no motion controller or PLC programming required
Each segment is a motion segment or a wait segment. Motion segments define wait-before-start time, target revolutions, absolute/relative mode, speed and accel/decel, with optional smooth blending between segments.
Motion segments can carry a torque limit / target torque: the approach phase uses position control for accurate opening; on workpiece contact the drive automatically switches to torque hold, so gripping force is precisely determined by the target torque, and a "torque reached" status output lets the line verify the result.
Machine coordinates are established at power-up; users define their own workpiece coordinates (jaw zero / part datum) and write path programs in workpiece coordinates.
A return-to-origin command, combined with the origin sensor and the standard homing procedure, quickly re-establishes the jaw-zero reference at every power-up.
Multiple path programs can be stored in the driver and switched as assigned in the host PC software.
External sensors, buttons or PLC signals trigger gripping or stopping directly; the active trigger level (high/low) is selectable, and bindings are programmed in the host software.
The built-in encoder feeds position back in real time: no lost steps during opening/closing and stable repeat positioning; stall detection raises an alarm on abnormal position.
Online during commissioning: path editing, single-segment trial runs, coordinate teaching, torque level tuning and status monitoring. In production, programs run standalone after download.
Up to 100 segments per cycle — a complete sequence in one pass
Constant target torque — consistent gripping force
Machine coordinates set the boundaries; workpiece coordinates program the grip
Works with chucks and fixtures: part-present signal triggers gripping, the "torque reached" output releases the cycle — firm grip, stable takt time.
Grip as soon as parts arrive on the conveyor; multiple path sets adapt to multiple product variants without stopping the line.
Glass bottles, thin-wall stampings, soft rubber parts: torque level set by part stiffness — held firmly without damage or deformation.
Press bushings and snap-fits at low speed under torque limit, stop right at seating — verified by both position and torque.
Workpiece coordinates + torque levels switch with the product; path programs unchanged — changeover in minutes.
| Terminal | Function | Signal Type | Role |
|---|---|---|---|
| IN1 | E-stop | NC | Trigger stop (failsafe: stops on wire break) |
| IN2 / IN3 | + / − Limit switches | NC | Travel boundary protection, trigger stop |
| IN4 | Origin sensor | NO | Power-up homing reference (jaw zero) |
| IN5 | Start button / foot switch | NO | Triggers the gripping path |
| IN6 | Part-present sensor | NO | Grip only when part is present / interlock |
| OUT1 | Grip done (torque reached) | — | Releases the PLC / line to proceed |
| OUT2 | Alarm output | — | Grip failure or stall — buzzer or reject interlock |
| Seg | Type | Target (Absolute) | Speed / Notes | Action |
|---|---|---|---|---|
| 1 | Motion | +12 mm (open standby) | High speed | Open to standby |
| 2 | Motion | +4 mm (pre-grip) | High speed | Fast close to just beside the part |
| 3 | Motion | +3 mm (contact) | Low speed · torque limit | Low-speed closing; auto switch to torque hold on contact |
| 4 | Wait | — | Torque hold 0.5~2 s | Clamp at target torque and transfer |
| 5 | Motion | +12 mm | High speed | Open and release |
The position–time profile maps one-to-one to the path table: the slow-close segment touches the part under torque limit, and the torque-hold segment completes clamping and transfer
＊Example configuration only; actual terminals, segment count and parameters depend on the selected model. At changeover, only re-teach the jaw zero and adjust the torque level — paths remain unchanged.
Sizing tips:
· Tune torque levels from low to high until parts are "held firmly without damage", then archive per product;
· Power-off drop prevention: choose a self-locking (trapezoidal) screw or add a brake;
· Validate torque levels on empty jaws / soft test parts before running production parts; size the stroke
for the largest part plus 5~10 mm margin.
Note: Actual feature configuration depends on the selected model.