Airtac HFCQ series: hollow-center three-jaw parallel gripper - HFCQ32E

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Description

Specifications: HFCQ32E is an AirTAC 32 mm hollow-center three-jaw parallel gripper. It is double acting. The specification and dimensions below apply to the 2022 catalog configuration identified by the individual code elements.

Product Catalog

Download Airtac Product Catalog (PDF)

Download AirTAC 2022 Sensor and Mounting Compatibility Guide (PDF)

For detailed product dimensions and mounting drawings, please download and refer to the PDF catalog.

This model code

Parameter Details
HFCQ hollow-center three-jaw parallel gripper; double acting
32 32 mm nominal bore
E Pneumatic central push rod; catalog option limited to 32–63 mm

Design and operating features

  • Three synchronized jaws surround a central through bore, allowing a rod, air passage or workpiece-related tool to pass through the center.
  • A dust-protection boot covers the sliding mechanism. The dust-boot relaxed outline differs from its working outline and is shown separately in the catalog.
  • The 32–63 mm versions can use the separately coded pneumatic E or spring V central push-rod mechanism; small bores do not share those ordering options.

Technical specifications

Parameter Details
Nominal bore 32 mm
Actuation double acting
Working medium Compressed air, filtered through a 40 μm filter element
Operating temperature −20 to +70 °C
Port thread M5×0.8
Operating pressure 0.15–0.7 MPa
Lubrication No oil supply required
Repeatability ±0.01 mm
Maximum operating frequency 60 cycles/min
Number of jaws 3
Center through bore 6 (+0.05/0) mm
Opening / closing force, one jaw 77 / 62 N
Combined opening/closing travel 8 mm
Gripping-force rating condition 0.5 MPa; gripping point L = 30 mm
Central push-rod action Double-acting pneumatic
Central push-rod stroke 7 mm
Pusher force at 0.5 MPa 45 N
Pusher operating pressure 0.2–0.7 MPa
Pusher port M5×0.8
Pusher maximum frequency 60 cycles/min
Pusher sensor DMSH(S), as named in the dedicated pusher table

Compatible position sensors

The 2022 selection information for HFCQ32 lists DMSH or EMSH for gripper-jaw position; the dedicated pusher table lists DMSH(S) for an E pneumatic pusher. Select the full sensor code for the required output, supply voltage, cable length and connector. Sensors are ordered separately; a matching mounting profile alone does not specify the electrical configuration.

Gripping-force and gripping-point selection

Select effective gripping force for the actual air pressure, jaw contact position and friction. The catalog uses F ≥ a × m × g / (n × μ), where F is force per jaw, n is the number of contacting jaws, μ is the attachment/workpiece friction coefficient, m is workpiece mass and g = 9.8 m/s². With two jaws and safety factor a = 4, μ = 0.2 requires approximately 10 × m × g per jaw and μ = 0.1 requires 20 × m × g. Allow a larger safety margin for high acceleration or impact; even at higher friction the catalog retains the conservative 10–20 times guideline.

Use the hollow-center HFCQ opening and closing curves for the selected bore. The jaw gripping force is separate from the central pusher force; the E pusher chart plots output against supply pressure and the V chart plots spring force against push-rod travel.

Dimensions for this configuration

Linear drawing dimensions are in mm unless a thread or angle is stated. Letter labels retain their meaning in the corresponding catalog view. Only the current action and attachment form are selected; parenthesized single-acting values from the source are resolved to this model.

Parameter Details
A 63
AB 3
AC 24
AD 54
B 55
C 8 (−0.01/−0.03)
CA 20
D 2 (+0.04/+0.01)
DA 2 (+0.2/0)
DB 9
E M4×0.7
EA 8
EB 11
EC 4.5
J 4.2
JA 8
JB 7
JC 44
K 4 (+0.04/+0.01)
KA 4
KB 22
L M5×0.8
LA 10
LB 44
N 34 (+0.05/0)
NA 2
O M4×0.7
OA 8
OB 44
P M5×0.8
PA 10
PB 19
R 76
UA 15.5
UB 11.5
T 9
TA 15.5
V 62
W 14
Z 5
ZA 7.4
ZB 6 (+0.05/0)

Central push-rod installation drawing

Parameter Details
A 36
AB 9
AC 9
B 54.5
BA 32 (0/−0.05)
BB 30
C 4 (+0.04/+0.01)
CA 4
CB 22
D M3×0.5
DA 6
E 6
EA 5
EB 3.5
EC 14
ED 7
EF 20
EG 13
J M5×0.8
JA 10
JB 5.5
K 9.5

UA and UB are the jaw spans in the standard outline. V, W, Z and ZA describe the dust-cover view in its unused / relaxed condition; ZB is the center through bore. Do not treat the relaxed boot envelope as a rigid mounting surface.

For detailed product dimensions and mounting drawings, please download and refer to the PDF catalog.

Internal structure and principal materials

Parameter Details
1 C-type retaining ring Spring steel
2 O-ring NBR
3 Hollow tube Stainless steel
4 Rear cover Aluminum alloy
5 O-ring NBR
6 Body Aluminum alloy
7 Magnet holder Stainless steel
8 Magnet Rare-earth material / plastic
9 Piston Aluminum alloy
10 Bumper TPU
11 Rod seal NBR
12 O-ring NBR
13 Piston seal NBR
14 O-ring NBR
15 Countersunk socket screw Alloy steel
16 Rod seal TPU
17 Front cover Aluminum alloy
18 Piston rod Stainless steel
19 Phillips screw Stainless steel
20 Cover plate Stainless steel
21 Jaw Stainless steel
22 Dust boot NBR
23 Locating pin Stainless steel
24 O-ring NBR
25 Dust cap Aluminum alloy

Central push-rod mechanism parts

Parameter Details
1 Rod seal NBR
2 O-ring NBR
3 Bumper TPU / NBR
4 Push rod Stainless steel
5 Piston seal NBR
6 Magnet pad NBR
7 Bumper TPU / NBR
8 Body Aluminum alloy
9 Magnet holder Brass / aluminum alloy
10 Magnet Rare-earth material
11 Piston Brass / aluminum alloy
12 Front cover Aluminum alloy
13 C-type retaining ring Spring steel
14 Countersunk socket screw Alloy steel

Part numbers refer to this series and the illustrated configuration. The parts list describes construction; it is not a supplied spare-parts kit or an independent ordering list.

Accessories and configuration boundaries

  • F-HFCQ32E is the separately ordered pneumatic central push-rod mechanism for the HFCQ32 body; F-HFCQ32V is the spring mechanism for the same bore.
  • The complete gripper codes are HFCQ32E or HFCQ32V. An F- code orders the pusher accessory rather than a complete gripper. Select the mechanism and bore together; the gripper body, jaw attachments and sensor are separate unless expressly included by the full product code.

Mounting screws and tightening limits

Parameter Details
Rear mounting M5×0.8; maximum 4.3 N·m; maximum engagement 10 mm
Alternate rear mounting M4×0.7; maximum 2.1 N·m; maximum engagement 8 mm
Front through mounting M4×0.7; maximum 2.1 N·m
Jaw attachment M4×0.7; maximum 1.4 N·m
Rear mounting with pusher M5×0.8; maximum 4.3 N·m; maximum engagement 10 mm; locating diameter 32 (0/−0.05) mm

The mounting method names above refer to cylinder-body attachment. Jaw suffix B, N, F, R, W or M describes the separate jaw attachment geometry. Use the dimensions of the selected jaw rather than treating these suffixes as a body-mount kit.

Installation and safe operation

  • Install a workpiece fall-prevention device wherever loss of circuit pressure could release the load. Do not rely on gripping force alone to keep a suspended part safe.
  • Prevent excessive external force, side load, impact and collision at the end of jaw or machine travel. Leave clearance around the workpiece and attachments throughout opening, transfer and reversal.
  • Keep custom fingers short and light. Align the workpiece with the jaw centerline, and make both contact surfaces engage together where the two-jaw arrangement is used. Do not use the gripper to force an off-center insertion.
  • Hold the jaw with an open-ended wrench when fastening an attachment; do not react the tightening torque through the gripper body. Use the specified screw length and torque to avoid internal damage.
  • Use a flow-control valve to limit opening and closing speed. Commission at reduced pressure and low speed, and verify there is no collision before normal operation.
  • Keep people and loose objects outside the moving envelope. Release the workpiece safely and exhaust the compressed air before removing the gripper.

Jaw-position sensors and matching cables

  • H-profile: DMSH — two-wire electronic sensors
    Two-wire electronic operation at 10–28 V DC.
    DMSH-020, DMSH-030, DMSH-050, DMSH-100, DMSH-M08, DMSH-M08010, DMSH-M08020, DMSH-M08030, DMSH-M12, DMSH-M12010, DMSH-M12020, DMSH-M12030, DMSH-020-W, DMSH-030-W, DMSH-050-W, DMSH-100-W, A05-DMSH-020, A05-DMSH-030, A05-DMSH-050, A05-DMSH-100, A06-DMSH-020, A06-DMSH-030, A06-DMSH-050, A06-DMSH-100
  • H-profile: DMSH — NPN electronic sensors
    NPN three-wire output with a 5–30 V DC supply.
    DMSH-N020, DMSH-N030, DMSH-N050, DMSH-N100, DMSH-NM08, DMSH-NM08010, DMSH-NM08020, DMSH-NM08030, DMSH-NM12, DMSH-NM12010, DMSH-NM12020, DMSH-NM12030, DMSH-N020-W, DMSH-N030-W, DMSH-N050-W, DMSH-N100-W
  • H-profile: DMSH — PNP electronic sensors
    PNP three-wire output with a 5–30 V DC supply.
    DMSH-P020, DMSH-P030, DMSH-P050, DMSH-P100, DMSH-PM08, DMSH-PM08010, DMSH-PM08020, DMSH-PM08030, DMSH-PM12, DMSH-PM12010, DMSH-PM12020, DMSH-PM12030, DMSH-P020-W, DMSH-P030-W, DMSH-P050-W, DMSH-P100-W
  • H-profile: EMSH — miniature two-wire sensors
    Miniature two-wire electronic operation at 10–28 V DC.
    EMSH-020, EMSH-030, EMSH-050, EMSH-100, EMSH-M08, EMSH-M08010, EMSH-M08020, EMSH-M08030, EMSH-M12, EMSH-M12010, EMSH-M12020, EMSH-M12030, EMSH-020-W, EMSH-030-W, EMSH-050-W, EMSH-100-W, EMSH-M08-W, EMSH-M08010-W, EMSH-M08020-W, EMSH-M08030-W, EMSH-M12-W, EMSH-M12010-W, EMSH-M12020-W, EMSH-M12030-W, A05-EMSH-020, A05-EMSH-030, A05-EMSH-050, A05-EMSH-100, A06-EMSH-020, A06-EMSH-030, A06-EMSH-050, A06-EMSH-100
  • Two-wire mating cables (B)
    For a matching M8 or M12 two-wire male sensor; ordered separately.
    F-ECM08B020, F-ECM08B030, F-ECM08B050, F-ECM08B100, F-ECM12B020, F-ECM12B030, F-ECM12B050, F-ECM12B100
  • Three-wire mating cables (C)
    For a matching M8 or M12 NPN/PNP male sensor; ordered separately.
    F-ECM08C020, F-ECM08C030, F-ECM08C050, F-ECM08C100, F-ECM12C020, F-ECM12C030, F-ECM12C050, F-ECM12C100

These separately ordered alternatives detect gripper-jaw position using DMSH or EMSH in the HFCQ body groove. They are not a required set. H denotes the sensor profile.

Two-wire DMSH and EMSH require 2.5–100 mA loads, up to 2.8 W and 1,000 Hz. Maximum consumption, residual voltage and leakage are 3 mA, 3.5 V and 0.06 mA respectively.

NPN/PNP DMSH outputs are rated to 30 V / 200 mA, 6 W and 1,000 Hz. Maximum consumption, residual voltage and leakage are 5 mA, 0.7 V and 0.01 mA respectively. Check controller input compatibility as well as load ratings.

Sensor and female-cable endings 020/030/050/100 mean 2/3/5/10 m. M08/M12 sensors have M8/M12 male connectors on 0.5 m leads; M08010/M08020/M08030 and M12010/M12020/M12030 give 1/2/3 m leads. Select lead length to suit the installation independently of gripper travel.

Match female cables to the male connector size and wire count; direct-lead sensors need none. B pinout: 1 brown (+), 4 blue (−), 3 unused. C pinout: 1 brown (+), 3 blue (−), 4 black output. Check the mating cable and connector ratings separately.

A05 flex-resistant robotics cable and A06 oil-resistant flex cable have a recommended minimum bend radius of 19 mm. Both are two-wire direct-lead types, without M8/M12, NPN/PNP or W options. W means waterproof: DMSH-W has direct leads only; the listed EMSH-W options also include connectors.

The listed sensors are rated for −10 to +70°C. Ordinary and A05 sensors are IP64; W/A06 are IP68. These ratings do not extend to the gripper, connectors or whole assembly; use their common limits.

DMS/EMS have reverse-polarity and surge protection, and EMS also has temperature-overload protection. Two-wire electronic, NPN and PNP circuits are not interchangeable. Complete and insulate wiring before powering it; keep it separate from power/high-voltage wiring. For direct leads, connect brown and blue in series with the load on two-wire types; do not connect the switch alone across the supply. On three-wire types, brown is positive supply, blue is negative and black is output; connect an NPN load to positive and a PNP load to negative.

Install the selected H-profile sensor in the matching sensor groove on the HFCQ gripper body, using its included jaw-position magnet; no separate sensor mounting bracket is required. Loosen the locking screw so it does not project below the sensor base. Slide the sensor to the required position, then tighten. Set detection at the actuation-range centre. Recommended sensor-screw torque is 0.15–0.20 N·m, never over 0.25 N·m; these are not gripper mounting torques. Prevent impacts; keep cables free of strain and avoid unnecessary movement or bending. Observe the stated bend-radius guidance for flex-resistant versions, and inspect fixings, cables and indication.

Keep ordinary sensors dry and do not immerse waterproof types for long periods. Avoid explosive gas, aggressive chemicals, sudden temperature changes, welding interference and magnetic debris. Provide suitable protection for A05 cables exposed to heat, dust, water or oil, and for A06 cables exposed to weld spatter.

These codes apply only to jaw-position detection. Do not apply them automatically to the separate pneumatic pusher. Its catalog designation DMSH(S) does not establish a complete electrical order code here; confirm the pusher-specific sensor and electrical code before selecting it.

Optional air connections and electrical direction control

These are separately ordered options for a selected 4 mm OD tube circuit, not a supplied or HFCQ-validated complete kit. Choose the valve flow capacity, tubing and control response for the actual jaw load and required opening/closing time. Thread and pressure compatibility alone do not establish the catalog maximum operating frequency or gripping performance.

  • PC4M5: M5×0.8 male; exact 4 mm tube OD
    Straight connection at separate valve P/A/B ports and at an M5 jaw or pneumatic-pusher port if a straight fitting is chosen
  • PTL4M5A-M: M5×0.8 male; exact 4 mm tube OD; mini A-type
    Meter-out control at an M5 jaw or pneumatic-pusher chamber port, as an alternative to a straight fitting
  • BSLM5: M5×0.8 male; 0–1 MPa, −20 to +70°C
    Optional silencer at selected 5V valve exhaust R/S only; not the gripper opening/closing work ports
  • US98A040025100MBU: Polyester PU; 4×2.5 mm; blue 100 m roll
    Optional tube packaging example, cut to installed length
  • UE95A040025100MBU: Polyether PU; 4×2.5 mm; blue 100 m roll
    Alternative tube packaging example, cut to installed length
  • 5V110M5A050, 5V110M5A200, 5V120M5A050, 5V120M5A200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
    Optional 220 V AC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
  • 5V110M5B050, 5V110M5B200, 5V120M5B050, 5V120M5B200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
    Optional 24 V DC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
  • 5V110M5C050, 5V110M5C200, 5V120M5C050, 5V120M5C200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
    Optional 110 V AC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
  • 5V110M5E050, 5V110M5E200, 5V120M5E050, 5V120M5E200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
    Optional 24 V AC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
  • 5V110M5F050, 5V110M5F200, 5V120M5F050, 5V120M5F200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
    Optional 12 V DC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system

Choose PC4M5 straight fittings or PTL4M5A-M controllers at the M5 gripper opening/closing ports, with PC4M5 at the separate valve ports. The A-type controller restricts gripper-to-tube exhaust and permits free charging. These fittings/controllers take exact 4 mm OD soft nylon or PU tube at 0–1 MPa and −20 to +70°C. Seat the M5 sealing gasket correctly; recommended controller-cap rotation torque is 0.05 N·m, not thread-tightening torque.

The listed 5V100 valves are 5/2 directional valves with M5×0.8 supply P, work A/B and exhaust R/S ports. Keep the two work lines separate and connect them to the gripper's opening and closing ports as required. The 5V110 version is single-solenoid spring return; 5V120 is double-solenoid with memory. Select the required switching and loss-of-power behavior; valve memory is not mechanical load retention.

Select one complete valve code for the installed supply. The final 050/200 means a 0.5/2 m terminal cable, not a DIN plug. AC tolerance is +15%/−10% at 2.0 VA; DC is ±10% at 1.6 W. Connect the selected voltage and control signals according to the valve wiring requirements.

The selected 5V100 valve is rated 0.15–0.8 MPa and −20 to +70°C. The jaw branch is rated 0.15–0.7 MPa; this E pusher requires 0.2–0.7 MPa. If the two circuits share a regulated supply, use their common 0.2–0.7 MPa range. Keep the listed pneumatic components within −20 to +70°C, subject to temperature derating and any lower installed-component limit.

The two blue 100 m tube codes are alternative packaging examples, not required installed lengths. US98A polyester-PU is rated −20 to +70°C and UE95A polyether-PU −40 to +70°C; both are rated 1 MPa at 23°C. Minimum bend radii (US/UE) are 10/8 mm. Apply temperature derating and the lowest component limit.

The E central pusher is a separate double-acting mechanism with two M5×0.8 ports. A separately sized 5/2 valve circuit may use the same listed M5 fittings, meter-out controllers and tube options for pusher extension and retraction. Keep its two work lines distinct from the jaw opening/closing lines; select the sequence and control response for the application. The codes are listed once as component options, not as a quantity or a combined valve kit. Confirm pusher flow and timing independently of jaw motion.

Catalog reference weight

560 g. Catalog reference only; the actual product governs. This is not a measured packed shipping weight.

Product form

Specifications: HFCQ32E is an AirTAC 32 mm hollow-center three-jaw parallel gripper. It is double acting. The specification and dimensions below... Read more

SKU: HFCQ32E

$455.53 Incl. VAT

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    Description

    Specifications: HFCQ32E is an AirTAC 32 mm hollow-center three-jaw parallel gripper. It is double acting. The specification and dimensions below apply to the 2022 catalog configuration identified by the individual code elements.

    Product Catalog

    Download Airtac Product Catalog (PDF)

    Download AirTAC 2022 Sensor and Mounting Compatibility Guide (PDF)

    For detailed product dimensions and mounting drawings, please download and refer to the PDF catalog.

    This model code

    Parameter Details
    HFCQ hollow-center three-jaw parallel gripper; double acting
    32 32 mm nominal bore
    E Pneumatic central push rod; catalog option limited to 32–63 mm

    Design and operating features

    • Three synchronized jaws surround a central through bore, allowing a rod, air passage or workpiece-related tool to pass through the center.
    • A dust-protection boot covers the sliding mechanism. The dust-boot relaxed outline differs from its working outline and is shown separately in the catalog.
    • The 32–63 mm versions can use the separately coded pneumatic E or spring V central push-rod mechanism; small bores do not share those ordering options.

    Technical specifications

    Parameter Details
    Nominal bore 32 mm
    Actuation double acting
    Working medium Compressed air, filtered through a 40 μm filter element
    Operating temperature −20 to +70 °C
    Port thread M5×0.8
    Operating pressure 0.15–0.7 MPa
    Lubrication No oil supply required
    Repeatability ±0.01 mm
    Maximum operating frequency 60 cycles/min
    Number of jaws 3
    Center through bore 6 (+0.05/0) mm
    Opening / closing force, one jaw 77 / 62 N
    Combined opening/closing travel 8 mm
    Gripping-force rating condition 0.5 MPa; gripping point L = 30 mm
    Central push-rod action Double-acting pneumatic
    Central push-rod stroke 7 mm
    Pusher force at 0.5 MPa 45 N
    Pusher operating pressure 0.2–0.7 MPa
    Pusher port M5×0.8
    Pusher maximum frequency 60 cycles/min
    Pusher sensor DMSH(S), as named in the dedicated pusher table

    Compatible position sensors

    The 2022 selection information for HFCQ32 lists DMSH or EMSH for gripper-jaw position; the dedicated pusher table lists DMSH(S) for an E pneumatic pusher. Select the full sensor code for the required output, supply voltage, cable length and connector. Sensors are ordered separately; a matching mounting profile alone does not specify the electrical configuration.

    Gripping-force and gripping-point selection

    Select effective gripping force for the actual air pressure, jaw contact position and friction. The catalog uses F ≥ a × m × g / (n × μ), where F is force per jaw, n is the number of contacting jaws, μ is the attachment/workpiece friction coefficient, m is workpiece mass and g = 9.8 m/s². With two jaws and safety factor a = 4, μ = 0.2 requires approximately 10 × m × g per jaw and μ = 0.1 requires 20 × m × g. Allow a larger safety margin for high acceleration or impact; even at higher friction the catalog retains the conservative 10–20 times guideline.

    Use the hollow-center HFCQ opening and closing curves for the selected bore. The jaw gripping force is separate from the central pusher force; the E pusher chart plots output against supply pressure and the V chart plots spring force against push-rod travel.

    Dimensions for this configuration

    Linear drawing dimensions are in mm unless a thread or angle is stated. Letter labels retain their meaning in the corresponding catalog view. Only the current action and attachment form are selected; parenthesized single-acting values from the source are resolved to this model.

    Parameter Details
    A 63
    AB 3
    AC 24
    AD 54
    B 55
    C 8 (−0.01/−0.03)
    CA 20
    D 2 (+0.04/+0.01)
    DA 2 (+0.2/0)
    DB 9
    E M4×0.7
    EA 8
    EB 11
    EC 4.5
    J 4.2
    JA 8
    JB 7
    JC 44
    K 4 (+0.04/+0.01)
    KA 4
    KB 22
    L M5×0.8
    LA 10
    LB 44
    N 34 (+0.05/0)
    NA 2
    O M4×0.7
    OA 8
    OB 44
    P M5×0.8
    PA 10
    PB 19
    R 76
    UA 15.5
    UB 11.5
    T 9
    TA 15.5
    V 62
    W 14
    Z 5
    ZA 7.4
    ZB 6 (+0.05/0)

    Central push-rod installation drawing

    Parameter Details
    A 36
    AB 9
    AC 9
    B 54.5
    BA 32 (0/−0.05)
    BB 30
    C 4 (+0.04/+0.01)
    CA 4
    CB 22
    D M3×0.5
    DA 6
    E 6
    EA 5
    EB 3.5
    EC 14
    ED 7
    EF 20
    EG 13
    J M5×0.8
    JA 10
    JB 5.5
    K 9.5

    UA and UB are the jaw spans in the standard outline. V, W, Z and ZA describe the dust-cover view in its unused / relaxed condition; ZB is the center through bore. Do not treat the relaxed boot envelope as a rigid mounting surface.

    For detailed product dimensions and mounting drawings, please download and refer to the PDF catalog.

    Internal structure and principal materials

    Parameter Details
    1 C-type retaining ring Spring steel
    2 O-ring NBR
    3 Hollow tube Stainless steel
    4 Rear cover Aluminum alloy
    5 O-ring NBR
    6 Body Aluminum alloy
    7 Magnet holder Stainless steel
    8 Magnet Rare-earth material / plastic
    9 Piston Aluminum alloy
    10 Bumper TPU
    11 Rod seal NBR
    12 O-ring NBR
    13 Piston seal NBR
    14 O-ring NBR
    15 Countersunk socket screw Alloy steel
    16 Rod seal TPU
    17 Front cover Aluminum alloy
    18 Piston rod Stainless steel
    19 Phillips screw Stainless steel
    20 Cover plate Stainless steel
    21 Jaw Stainless steel
    22 Dust boot NBR
    23 Locating pin Stainless steel
    24 O-ring NBR
    25 Dust cap Aluminum alloy

    Central push-rod mechanism parts

    Parameter Details
    1 Rod seal NBR
    2 O-ring NBR
    3 Bumper TPU / NBR
    4 Push rod Stainless steel
    5 Piston seal NBR
    6 Magnet pad NBR
    7 Bumper TPU / NBR
    8 Body Aluminum alloy
    9 Magnet holder Brass / aluminum alloy
    10 Magnet Rare-earth material
    11 Piston Brass / aluminum alloy
    12 Front cover Aluminum alloy
    13 C-type retaining ring Spring steel
    14 Countersunk socket screw Alloy steel

    Part numbers refer to this series and the illustrated configuration. The parts list describes construction; it is not a supplied spare-parts kit or an independent ordering list.

    Accessories and configuration boundaries

    • F-HFCQ32E is the separately ordered pneumatic central push-rod mechanism for the HFCQ32 body; F-HFCQ32V is the spring mechanism for the same bore.
    • The complete gripper codes are HFCQ32E or HFCQ32V. An F- code orders the pusher accessory rather than a complete gripper. Select the mechanism and bore together; the gripper body, jaw attachments and sensor are separate unless expressly included by the full product code.

    Mounting screws and tightening limits

    Parameter Details
    Rear mounting M5×0.8; maximum 4.3 N·m; maximum engagement 10 mm
    Alternate rear mounting M4×0.7; maximum 2.1 N·m; maximum engagement 8 mm
    Front through mounting M4×0.7; maximum 2.1 N·m
    Jaw attachment M4×0.7; maximum 1.4 N·m
    Rear mounting with pusher M5×0.8; maximum 4.3 N·m; maximum engagement 10 mm; locating diameter 32 (0/−0.05) mm

    The mounting method names above refer to cylinder-body attachment. Jaw suffix B, N, F, R, W or M describes the separate jaw attachment geometry. Use the dimensions of the selected jaw rather than treating these suffixes as a body-mount kit.

    Installation and safe operation

    • Install a workpiece fall-prevention device wherever loss of circuit pressure could release the load. Do not rely on gripping force alone to keep a suspended part safe.
    • Prevent excessive external force, side load, impact and collision at the end of jaw or machine travel. Leave clearance around the workpiece and attachments throughout opening, transfer and reversal.
    • Keep custom fingers short and light. Align the workpiece with the jaw centerline, and make both contact surfaces engage together where the two-jaw arrangement is used. Do not use the gripper to force an off-center insertion.
    • Hold the jaw with an open-ended wrench when fastening an attachment; do not react the tightening torque through the gripper body. Use the specified screw length and torque to avoid internal damage.
    • Use a flow-control valve to limit opening and closing speed. Commission at reduced pressure and low speed, and verify there is no collision before normal operation.
    • Keep people and loose objects outside the moving envelope. Release the workpiece safely and exhaust the compressed air before removing the gripper.

    Jaw-position sensors and matching cables

    • H-profile: DMSH — two-wire electronic sensors
      Two-wire electronic operation at 10–28 V DC.
      DMSH-020, DMSH-030, DMSH-050, DMSH-100, DMSH-M08, DMSH-M08010, DMSH-M08020, DMSH-M08030, DMSH-M12, DMSH-M12010, DMSH-M12020, DMSH-M12030, DMSH-020-W, DMSH-030-W, DMSH-050-W, DMSH-100-W, A05-DMSH-020, A05-DMSH-030, A05-DMSH-050, A05-DMSH-100, A06-DMSH-020, A06-DMSH-030, A06-DMSH-050, A06-DMSH-100
    • H-profile: DMSH — NPN electronic sensors
      NPN three-wire output with a 5–30 V DC supply.
      DMSH-N020, DMSH-N030, DMSH-N050, DMSH-N100, DMSH-NM08, DMSH-NM08010, DMSH-NM08020, DMSH-NM08030, DMSH-NM12, DMSH-NM12010, DMSH-NM12020, DMSH-NM12030, DMSH-N020-W, DMSH-N030-W, DMSH-N050-W, DMSH-N100-W
    • H-profile: DMSH — PNP electronic sensors
      PNP three-wire output with a 5–30 V DC supply.
      DMSH-P020, DMSH-P030, DMSH-P050, DMSH-P100, DMSH-PM08, DMSH-PM08010, DMSH-PM08020, DMSH-PM08030, DMSH-PM12, DMSH-PM12010, DMSH-PM12020, DMSH-PM12030, DMSH-P020-W, DMSH-P030-W, DMSH-P050-W, DMSH-P100-W
    • H-profile: EMSH — miniature two-wire sensors
      Miniature two-wire electronic operation at 10–28 V DC.
      EMSH-020, EMSH-030, EMSH-050, EMSH-100, EMSH-M08, EMSH-M08010, EMSH-M08020, EMSH-M08030, EMSH-M12, EMSH-M12010, EMSH-M12020, EMSH-M12030, EMSH-020-W, EMSH-030-W, EMSH-050-W, EMSH-100-W, EMSH-M08-W, EMSH-M08010-W, EMSH-M08020-W, EMSH-M08030-W, EMSH-M12-W, EMSH-M12010-W, EMSH-M12020-W, EMSH-M12030-W, A05-EMSH-020, A05-EMSH-030, A05-EMSH-050, A05-EMSH-100, A06-EMSH-020, A06-EMSH-030, A06-EMSH-050, A06-EMSH-100
    • Two-wire mating cables (B)
      For a matching M8 or M12 two-wire male sensor; ordered separately.
      F-ECM08B020, F-ECM08B030, F-ECM08B050, F-ECM08B100, F-ECM12B020, F-ECM12B030, F-ECM12B050, F-ECM12B100
    • Three-wire mating cables (C)
      For a matching M8 or M12 NPN/PNP male sensor; ordered separately.
      F-ECM08C020, F-ECM08C030, F-ECM08C050, F-ECM08C100, F-ECM12C020, F-ECM12C030, F-ECM12C050, F-ECM12C100

    These separately ordered alternatives detect gripper-jaw position using DMSH or EMSH in the HFCQ body groove. They are not a required set. H denotes the sensor profile.

    Two-wire DMSH and EMSH require 2.5–100 mA loads, up to 2.8 W and 1,000 Hz. Maximum consumption, residual voltage and leakage are 3 mA, 3.5 V and 0.06 mA respectively.

    NPN/PNP DMSH outputs are rated to 30 V / 200 mA, 6 W and 1,000 Hz. Maximum consumption, residual voltage and leakage are 5 mA, 0.7 V and 0.01 mA respectively. Check controller input compatibility as well as load ratings.

    Sensor and female-cable endings 020/030/050/100 mean 2/3/5/10 m. M08/M12 sensors have M8/M12 male connectors on 0.5 m leads; M08010/M08020/M08030 and M12010/M12020/M12030 give 1/2/3 m leads. Select lead length to suit the installation independently of gripper travel.

    Match female cables to the male connector size and wire count; direct-lead sensors need none. B pinout: 1 brown (+), 4 blue (−), 3 unused. C pinout: 1 brown (+), 3 blue (−), 4 black output. Check the mating cable and connector ratings separately.

    A05 flex-resistant robotics cable and A06 oil-resistant flex cable have a recommended minimum bend radius of 19 mm. Both are two-wire direct-lead types, without M8/M12, NPN/PNP or W options. W means waterproof: DMSH-W has direct leads only; the listed EMSH-W options also include connectors.

    The listed sensors are rated for −10 to +70°C. Ordinary and A05 sensors are IP64; W/A06 are IP68. These ratings do not extend to the gripper, connectors or whole assembly; use their common limits.

    DMS/EMS have reverse-polarity and surge protection, and EMS also has temperature-overload protection. Two-wire electronic, NPN and PNP circuits are not interchangeable. Complete and insulate wiring before powering it; keep it separate from power/high-voltage wiring. For direct leads, connect brown and blue in series with the load on two-wire types; do not connect the switch alone across the supply. On three-wire types, brown is positive supply, blue is negative and black is output; connect an NPN load to positive and a PNP load to negative.

    Install the selected H-profile sensor in the matching sensor groove on the HFCQ gripper body, using its included jaw-position magnet; no separate sensor mounting bracket is required. Loosen the locking screw so it does not project below the sensor base. Slide the sensor to the required position, then tighten. Set detection at the actuation-range centre. Recommended sensor-screw torque is 0.15–0.20 N·m, never over 0.25 N·m; these are not gripper mounting torques. Prevent impacts; keep cables free of strain and avoid unnecessary movement or bending. Observe the stated bend-radius guidance for flex-resistant versions, and inspect fixings, cables and indication.

    Keep ordinary sensors dry and do not immerse waterproof types for long periods. Avoid explosive gas, aggressive chemicals, sudden temperature changes, welding interference and magnetic debris. Provide suitable protection for A05 cables exposed to heat, dust, water or oil, and for A06 cables exposed to weld spatter.

    These codes apply only to jaw-position detection. Do not apply them automatically to the separate pneumatic pusher. Its catalog designation DMSH(S) does not establish a complete electrical order code here; confirm the pusher-specific sensor and electrical code before selecting it.

    Optional air connections and electrical direction control

    These are separately ordered options for a selected 4 mm OD tube circuit, not a supplied or HFCQ-validated complete kit. Choose the valve flow capacity, tubing and control response for the actual jaw load and required opening/closing time. Thread and pressure compatibility alone do not establish the catalog maximum operating frequency or gripping performance.

    • PC4M5: M5×0.8 male; exact 4 mm tube OD
      Straight connection at separate valve P/A/B ports and at an M5 jaw or pneumatic-pusher port if a straight fitting is chosen
    • PTL4M5A-M: M5×0.8 male; exact 4 mm tube OD; mini A-type
      Meter-out control at an M5 jaw or pneumatic-pusher chamber port, as an alternative to a straight fitting
    • BSLM5: M5×0.8 male; 0–1 MPa, −20 to +70°C
      Optional silencer at selected 5V valve exhaust R/S only; not the gripper opening/closing work ports
    • US98A040025100MBU: Polyester PU; 4×2.5 mm; blue 100 m roll
      Optional tube packaging example, cut to installed length
    • UE95A040025100MBU: Polyether PU; 4×2.5 mm; blue 100 m roll
      Alternative tube packaging example, cut to installed length
    • 5V110M5A050, 5V110M5A200, 5V120M5A050, 5V120M5A200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
      Optional 220 V AC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
    • 5V110M5B050, 5V110M5B200, 5V120M5B050, 5V120M5B200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
      Optional 24 V DC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
    • 5V110M5C050, 5V110M5C200, 5V120M5C050, 5V120M5C200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
      Optional 110 V AC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
    • 5V110M5E050, 5V110M5E200, 5V120M5E050, 5V120M5E200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
      Optional 24 V AC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system
    • 5V110M5F050, 5V110M5F200, 5V120M5F050, 5V120M5F200: 5/2 valve; M5×0.8 main/exhaust ports; terminal cable
      Optional 12 V DC direction control; 050/200 = 0.5/2 m leads; select for the installed supply and control system

    Choose PC4M5 straight fittings or PTL4M5A-M controllers at the M5 gripper opening/closing ports, with PC4M5 at the separate valve ports. The A-type controller restricts gripper-to-tube exhaust and permits free charging. These fittings/controllers take exact 4 mm OD soft nylon or PU tube at 0–1 MPa and −20 to +70°C. Seat the M5 sealing gasket correctly; recommended controller-cap rotation torque is 0.05 N·m, not thread-tightening torque.

    The listed 5V100 valves are 5/2 directional valves with M5×0.8 supply P, work A/B and exhaust R/S ports. Keep the two work lines separate and connect them to the gripper's opening and closing ports as required. The 5V110 version is single-solenoid spring return; 5V120 is double-solenoid with memory. Select the required switching and loss-of-power behavior; valve memory is not mechanical load retention.

    Select one complete valve code for the installed supply. The final 050/200 means a 0.5/2 m terminal cable, not a DIN plug. AC tolerance is +15%/−10% at 2.0 VA; DC is ±10% at 1.6 W. Connect the selected voltage and control signals according to the valve wiring requirements.

    The selected 5V100 valve is rated 0.15–0.8 MPa and −20 to +70°C. The jaw branch is rated 0.15–0.7 MPa; this E pusher requires 0.2–0.7 MPa. If the two circuits share a regulated supply, use their common 0.2–0.7 MPa range. Keep the listed pneumatic components within −20 to +70°C, subject to temperature derating and any lower installed-component limit.

    The two blue 100 m tube codes are alternative packaging examples, not required installed lengths. US98A polyester-PU is rated −20 to +70°C and UE95A polyether-PU −40 to +70°C; both are rated 1 MPa at 23°C. Minimum bend radii (US/UE) are 10/8 mm. Apply temperature derating and the lowest component limit.

    The E central pusher is a separate double-acting mechanism with two M5×0.8 ports. A separately sized 5/2 valve circuit may use the same listed M5 fittings, meter-out controllers and tube options for pusher extension and retraction. Keep its two work lines distinct from the jaw opening/closing lines; select the sequence and control response for the application. The codes are listed once as component options, not as a quantity or a combined valve kit. Confirm pusher flow and timing independently of jaw motion.

    Catalog reference weight

    560 g. Catalog reference only; the actual product governs. This is not a measured packed shipping weight.

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