Specifications: HFY20 is an AirTAC 20 mm Y-type angular 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.
The HFY download contains the complete HFY section from the 2022 Chinese catalog, printed pages 319–323, including specifications and mounting drawings.
This model code
| Parameter |
Details |
| HFY |
Y-type angular gripper; double acting |
| 20 |
20 mm nominal bore |
Design and operating features
- Angular jaws with a Y-shaped opening suit pick-and-place tasks requiring a compact body.
- Built-in throttle adjustment permits jaw-speed control. Both jaws must contact a centered workpiece together.
Technical specifications
| Parameter |
Details |
| Nominal bore |
20 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 |
Cylinder: no oil supply required; grease jaw sliding-contact surfaces as directed |
| Maximum operating frequency |
180 cycles/min |
| Theoretical closing torque |
152 × P N·cm; P is the operating-pressure value used in the catalog |
| Opening angle |
30° (+3°/0°) |
| Closing angle |
−10° (0°/−3°) |
| Maximum gripping-point length L |
60 mm |
| Cushion |
Bumper |
| Theoretical opening torque |
252 × P N·cm |
Compatible position sensors
The 2022 selection information for HFY20 lists G profile: CMSG / DMSG / EMSG. 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.
The closing-force graphs distinguish the double-acting HFY and single-acting normally-open HFTY branches. Force decreases as the gripping-point distance grows. Check the actual pressure curve and the maximum L for this bore rather than using the torque coefficient as a direct workpiece-load rating.
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 |
78 |
| AB |
55 |
| B |
27.5 |
| C |
42 |
| CA |
30 |
| D |
10 |
| DA |
8 |
| E |
M4×0.7 |
| EA |
5 |
| EB |
9 |
| F |
20 |
| FA |
23.5 |
| K |
M5×0.8 |
| KA |
8 |
| KB |
30 |
| KC |
29 |
| L |
M5×0.8 |
| LA |
10 |
| LB |
32 |
| LC |
18 |
| M |
M5×0.8 |
| MA |
10 |
| MB |
18.5 |
| MC |
35 |
| N |
21 (+0.05/0) |
| NA |
1.5 |
| P |
M5×0.8 |
| PA |
22 |
| PB |
15 |
| UA |
30° |
| UB |
10° |
In the outline drawing UA = 30° and UB = 10° are geometric angle callouts. The specification separately states opening 30° (+3°/0°) and closing −10° (0°/−3°).
For detailed product dimensions and mounting drawings, please download and refer to the PDF catalog.
Internal structure and principal materials
| Parameter |
Details |
| 1 Jaw |
Stainless steel |
| 2 Pin |
Stainless steel |
| 3 Front cover |
Aluminum alloy |
| 4 Rod seal |
NBR |
| 5 Piston rod |
Aluminum alloy / stainless steel |
| 6 Bumper |
TPU |
| 7 Socket screw |
Alloy steel |
| 8 Magnet pad |
NBR |
| 9 Piston |
Aluminum alloy / stainless steel |
| 10 Bumper |
TPU |
| 11 C-type retaining ring |
Spring steel |
| 12 Rear cover |
Aluminum alloy |
| 13 Steel ball |
Stainless steel |
| 14 O-ring |
NBR |
| 15 O-ring |
NBR |
| 16 Hex nut |
Carbon steel |
| 17 Cushion-adjusting screw |
Brass |
| 18 Cushion retaining screw |
Brass |
| 19 O-ring |
NBR |
| 20 Piston seal |
NBR |
| 21 Magnet |
Sintered neodymium-iron-boron |
| 22 Body |
Aluminum alloy |
| 23 Socket set screw |
Alloy steel |
| 24 Pin |
Stainless steel |
| 25 Pin sleeve |
Stainless steel |
| 26 Magnet retaining plate |
Stainless steel |
| 27 O-ring |
NBR |
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
- Custom workpiece fingers mount to the current jaw attachment holes. The jaw suffix selects the factory attachment form; the drawings of fixture fingers do not establish a separately supplied accessory kit. Match screw threads, engagement depth and tightening torque to this bore and jaw form.
Mounting screws and tightening limits
| Parameter |
Details |
| Rear mounting |
M5×0.8; maximum 4.3 N·m; maximum engagement 10 mm |
| Front threaded mounting |
M5×0.8; maximum 4.3 N·m; maximum engagement 8 mm |
| Front through mounting |
M4×0.7; maximum 2.1 N·m; maximum engagement 8 mm |
| Side mounting |
M5×0.8; maximum 3.3 N·m; maximum engagement 8 mm |
| Jaw attachment |
M4×0.7; maximum 1.4 N·m |
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.
Optional magnetic sensors and matching cables
-
G-profile: CMSG — standard/A05 reed sensors
Two-wire reed operation at 5–240 V AC/DC.
CMSG-020, CMSG-030, CMSG-050, CMSG-100, CMSG-M08, CMSG-M08010, CMSG-M08020, CMSG-M08030, CMSG-M12, CMSG-M12010, CMSG-M12020, CMSG-M12030, A05-CMSG-020, A05-CMSG-030, A05-CMSG-050, A05-CMSG-100
-
G-profile: CMSG — high-temperature reed sensors (final -H suffix)
Two-wire reed operation at 5–240 V AC/DC.
CMSG-020-H, CMSG-030-H, CMSG-050-H, CMSG-100-H, CMSG-M08-H, CMSG-M08010-H, CMSG-M08020-H, CMSG-M08030-H, CMSG-M12-H, CMSG-M12010-H, CMSG-M12020-H, CMSG-M12030-H
-
G-profile: DMSG — two-wire electronic sensors
Two-wire electronic operation at 10–28 V DC.
DMSG-020, DMSG-030, DMSG-050, DMSG-100, DMSG-M08, DMSG-M08010, DMSG-M08020, DMSG-M08030, DMSG-M12, DMSG-M12010, DMSG-M12020, DMSG-M12030, DMSG-020-W, DMSG-030-W, DMSG-050-W, DMSG-100-W, A05-DMSG-020, A05-DMSG-030, A05-DMSG-050, A05-DMSG-100, A06-DMSG-020, A06-DMSG-030, A06-DMSG-050, A06-DMSG-100
-
G-profile: DMSG — NPN electronic sensors
NPN three-wire output with a 5–30 V DC supply.
DMSG-N020, DMSG-N030, DMSG-N050, DMSG-N100, DMSG-NM08, DMSG-NM08010, DMSG-NM08020, DMSG-NM08030, DMSG-NM12, DMSG-NM12010, DMSG-NM12020, DMSG-NM12030, DMSG-N020-W, DMSG-N030-W, DMSG-N050-W, DMSG-N100-W
-
G-profile: DMSG — PNP electronic sensors
PNP three-wire output with a 5–30 V DC supply.
DMSG-P020, DMSG-P030, DMSG-P050, DMSG-P100, DMSG-PM08, DMSG-PM08010, DMSG-PM08020, DMSG-PM08030, DMSG-PM12, DMSG-PM12010, DMSG-PM12020, DMSG-PM12030, DMSG-P020-W, DMSG-P030-W, DMSG-P050-W, DMSG-P100-W
-
G-profile: EMSG — miniature two-wire sensors
Miniature two-wire electronic operation at 10–28 V DC.
EMSG-020, EMSG-030, EMSG-050, EMSG-100, EMSG-M08, EMSG-M08010, EMSG-M08020, EMSG-M08030, EMSG-M12, EMSG-M12010, EMSG-M12020, EMSG-M12030, EMSG-020-W, EMSG-030-W, EMSG-050-W, EMSG-100-W, EMSG-M08-W, EMSG-M08010-W, EMSG-M08020-W, EMSG-M08030-W, EMSG-M12-W, EMSG-M12010-W, EMSG-M12020-W, EMSG-M12030-W, A05-EMSG-020, A05-EMSG-030, A05-EMSG-050, A05-EMSG-100, A06-EMSG-020, A06-EMSG-030, A06-EMSG-050, A06-EMSG-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
The listed options are alternatives, not a required set. The G in CMSG/DMSG/EMSG identifies the sensor profile; a final -H on a CMS order code instead selects the high-temperature reed version.
CMSG reed sensors are limited to 100 mA, 10 W and 200 Hz, with no internal consumption or leakage. Standard/A05 voltage drop is at most 2.5 V at 100 mA DC; versions with the final -H suffix have no residual voltage or indicator LED.
Two-wire DMSG and EMSG 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 DMSG 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 the jaw opening angle.
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; A05-CMSG also excludes the final high-temperature -H suffix. W means waterproof: DMSG-W has direct leads only; the listed EMSG-W options also include connectors.
Sensor temperature limits are −10 to +70°C, or −10 to +125°C for CMSG versions with the final -H suffix. The HFY/HFTY gripper remains limited to +70°C. Ordinary, high-temperature 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.
CMS has no protection circuit; DMS/EMS have reverse-polarity and surge protection, and EMS also has temperature-overload protection. Reed, 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 G-profile sensor in the matching sensor groove on the HFY/HFTY body, using its included 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.
Optional air connections and electrical direction control
These are separately ordered options for a selected 4 mm OD tube circuit, not a supplied or HFY-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 the separate valve P/A/B ports; also at the M5 gripper work port
-
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
Use PC4M5 straight fittings at the M5 gripper opening/closing ports and at the separate valve ports. The fittings 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.
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 common operating pressure range of this selected HFY branch is 0.15–0.7 MPa. Keep the selected branch 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.
Catalog reference weight
172.6 g. Catalog reference only; the actual product governs. This is not a measured packed shipping weight.
