CAT. NO. 395E

General-purpose gripper

Robot Hand TRXⓇ

New Product

CAT. NO. 395E

Realizes "pinch", "grip" and "hold" operation with one unitAchieves high gripping force with compact sizeEquipped with SEED Driver

Simple operation

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Robot Hand TRXⓇ

Grip diameterTRX-S: φ10 to 100mm TRX-L: φ15 to 150mm

General-purpose gripper

Features

Pinch Grip Hold

TRX-S

Pinching force [N] *1

Maximum gripping power [N] *1 *2

Maximum payload [kg] *1

320

5

10

30

3

24

0.2

TRX-L

10

40

100

10

24

0.4

1200*1 The pinching force, maximum gripping power, and maximum payload may decrease depending on the size and posture of the object.*2 Power to hold the object between the second joint and the palm

Power-supply voltage [V]

Power consumption [A]

Power capacity [W]

Weight [g] Urethane rubber

SEED Driver

Ball screw

Smart Actuator BA seriesSmall and high-thrust linear motion actuator

using ball screws and a stepping motor

1. Realizes "pinch", "grip" and "hold" operation with one unitUse of curling link mechanism in the fingers enables to grip objects of various shapes and sizes by one unit.

2. Achieves high gripping force with compact sizeThe linear motion actuator Smart Actuator BA and link mechanism realizes high grip force in a compact body.Continuous gripping with maximum force is possible by utilizing stepper motor.

3. Equipped with SEED DriverThe small distribution allocation motor controller driver, SEED Driver, is implemented, which enables to store scripts. Since the opening and closing operations are stored in SEED Driver, the grip operation can be per formed by not only commands from a upper controller such as the robot arm but also by the script independently stored to the SEED Driver.

4. Simple operationSince the operation type of SEED Editor (PC software) is selection based, even beginners can create scripts easily.Also standalone control by scripts stored internally by SEED Editor is possible.For SEED Editor, see the catalog "SEED+Picsel."

Operation to pinch a thin plate, etc. with fingertips

Operation to grip the target by curling the fingertips

Operation to hold the target between the palm and fingertips without curling fingers

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Configuration

Model Number Coding

TRXTRX

Switching hub

Switching hub

Basic Configuration I/O connection with PLC

SEED EditorSEED Editor

・Creating script・Parameter settings・Editor function

・Creating script・Parameter settings・Editor function

Execute by I/Oinput/outputafter writing

Independentoperation enabled

after writing

4P cable

PLC

Communication module

Communication module

On PC

USB

EH cable unbundled end Power supply

Switching powerDC24V

4P cable

4P cable

EH-DC jack

Terminating connector

External input/output

module

Terminating connector

For the options such as the communication module and cable, see the catalog "SEED+Picsel."

*1 The screw-in depth of the mounting bolts shall be kept between 3mm and 5mm.

(1) Model numberTRX

TRX-S TRX-L

(2) SizeS

S: S type grip diameter φ10 to 100mm/Compatible with the PH connector

L: L type grip diameter φ15 to 150mm/Compatible with the EH connector

Dimensions

58

12

180

243

61165

6713

9

47

16

29

50 18

118

10638

314116

910

0

35

18φ 8-M4x0.7 depth 2.5 (through) *1(Mounting hole)PCD30,45° equal distribution

12φ8-M3x0.5 depth 2 (through) *1(Mounting hole)PCD20,45° equal distribution

8

Power supply

Switching powerDC24V

On PC

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TRXⓇPrecautions on Use

●Safety precautions・Take care not to drop or strike this product. This could cause injury or product damage. Giving an impact to it could also cause damage to

its function even if the product looks intact.・Do not rework nor disassemble this product. This causes intrusion of foreign materials and loss of functionality. The driver may get an

electric shock.・At the time of installation, adjustment, inspection, and maintenance work of TRX and the related equipment connected, be sure to remove all

power plugs from the outlet and prepare a lock, safety plug, etc. to make it impossible for any other persons than the operator to restore the power.

・Since a communication system is used for SEED, there is a risk that forced outage becomes impossible due to a failure, etc., so prepare a circuit to stop operation immediately in the case of emergency to block the power supply.

・The surface of the driver may get very hot. Confirm that the temperature has dropped sufficiently during energization and after turning the power off before performing work, etc.

・Depending on the size, hardness, and friction coefficient of the target, Robot Hand TRX could not grip it and then could drop, so be careful of gripping of the target.

・Do not use TRX in any other combinations than that with the installed driver. This causes loss of functionality.・Read the manual carefully, understand their contents well, and observe strictly the safety precautions.

●Service environment・The power supply voltage is DC24V. Use a noise filter to prevent influences of noises.・The ground line shall not be grounded in common with the strong electricity system.・At the time of wiring, be careful enough of the radiation noises from other devices.・Please use TRX only in the following places because bad environments may cause failures.

Indoor, ambient temperature between 0 and 40℃, ambient humidity 90％RH or less (without freezing nor condensation)Place without corrosive gas nor combustible gasPlace where dielectric powders such as iron powders, dust, oil mist, cutting fluid, water, salt, and organic solvent do not scatterPlace where there is no device which causes strong noisesPlace not exposed to direct sunlight nor radiant heatPlace where intense electric field nor ferromagnetic field occursPlace where shock and vibration are not transmitted to the body.Place where inspection and cleaning are easy

・Read the manual carefully, understand the contents well, and strictly observe the installation/operation environment.

●Storage・When storing the unit, enclose it in a package designated by THK and store it in a horizontal orientation in a place with power off and

without condensation while avoiding high temperature, low temperature and high humidity.

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●"LM Guide," "SEED," and "TRX" are registered trademarks of THK CO., LTD.●The actual products may differ from the pictures and photographs in this catalog.●Outward appearances and specifications are subject to change without notification for the purpose of improvement.●Although great care has been taken in the production of this catalog, THK will not take any responsibility for damage resulting from typographical errors or

omissions.●In exporting our products and technology, or selling them for the purpose of export, THK has a basic policy of observing laws relating to foreign exchange, trade

and other laws.For export of THK products as single items, please contact THK in advance.

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