HSP en

Handling modules HSP

Key features at a glance
Field of application
Special features
The handling module is a new gener

ation of function modules for the auto
matic transfer, feed and removal of
small parts in extremely confined
spaces.
This is achieved by means of a guided
vertical and horizontal motion
sequence. A backlash-free cross-guide
with recirculating ball bearing

elements ensures high precision and
good rigidity.
The combination of a semi-rotary drive
and a slotted guide system produces a
compact unit for a complete pick and
place cycle.

Compact design
Extremely short cycle times
Low cost
Simple commissioning
For working loads up to 1.6 kg
Stroke adjustment along Y- and

Z-axes
Wait positions possible
No planning costs
Conveyor belt
Rotary indexing table
Three drive variants are available

Pneumatic: HSP--AP,
with swivel module DSM
Without drive: HSP--AS,

with drive shaft

Advantages
Technical data
Stroke
Fast
Cost-effective
Ready to install
No system planning required
Simple commissioning
Y [mm]
52 170
[mm]
20 70
Min. cycle time
[s]
0.6 1.0
Working load
[g]
0 1600
Repetition accuracy at end

positions
Wait positions
[mm]
0.02
Function of wait position

Repetition accuracy at
wait positions
Data sheet
[mm]
Compact
Universal compatibility
Variable drive interface
On request:
Drive options in combination with servo motors EMMS-AS
Depends on drive
Max. 2
Depends on drive
Pulling with return cylinder

1
Depends on drive
Depends on drive
18
Internet: www.festo.com/catalogue/...
Subject to change 2014/10

Typical applications
HSP--AP, pneumatic
Linear transfer
Belt-type part positioning

Fast feed and removal, e.g. for
linear transfer or rotary indexing
table
HSP--AS, without drive

Linear transfer
Fast belt-type part positioning of

small parts
Rotary indexing table, linear transfer

Fast and flexible pick and place unit
with servo motor EMMS-AS
Electrical variant using third-party
motor
Compact twin pick and place unit

for linear transfer
2014/10 Subject to change

HSP--AP pneumatic with swivel module DSM
1
2
7
3
4
5
6
1
2
3
4
5
6
7
8
9
aJ
Slotted guide plate

Adjustable stop
Shock absorber YSRW
Stop sleeve
Sensor rail
Pressure piece
Swivel module DSM
Swivel lever
Cable binder holder
Cross-guide
1
2
3
4
5
Back plate
Shaft with Woodruff key
Slotted guide plate
Ball bearings
Aluminium rail for alignment of
slotted guide plates
aJ
HSP--AS without drive (rear side)
4
2

The technology in detail
1 Proximity sensor cables are
installed via profile slots in the
side and back plate.
2 The pressure piece guarantees

freedom from backlash and
precision at the end positions
and in the effective linear
stroke along the Z-axis.
2
3 Cable binder holders facilitate

the secure routing of tubing
and cables.
4 The adjustable slotted guide

plate permits precise stroke
setting.

Peripherals overview
aC
4
3
5
aB
aA
7
8
7
aJ
9

Peripherals overview
Accessories
Page/Internet
Brief description
1
Standard module without accessories
Handling module
HSP
Adapter kit
HAPG
Swivel module
DSM
Installation kit
MKRP
Wait position module
BWL-/BWR-HSP
Cover kit
BSD-HSP
Adapter kit
Gripper
Parallel/Three-point/Radial/Angle gripper, appropriate gripper for every application
Semi-rotary drive
DRQD
Suction cups
Semi-rotary drive for transferring parts
Proximity sensor
SME-/SMT-8
Slot nut
HMBN
Non-return and flow control valve
GRLA
Sensing facility for end positions
2
3
4
5
6
Interface for grippers, semi-rotary drives, etc.

Pneumatic drive, adapted to each size
21
dsm
Conduit to protect electric cables and tubing

With pneumatic drive:
Function for retracting the swivel arm from operating area
To protect against accidental contact
Interface between HSP and gripper or semi-rotary drive
21
22
22
gripper
drqd
aJ
aA
aB
aC
gripper
drqd
Appropriate suction cup for every application
suction cup
23
Mounting element
23
Speed setting of pneumatic drives
grla
Handling modules HSP, pneumatic

Type codes
HSP
12
AP
SD
WR
Type
HSP
Handling module, double-acting
Size
Drive
AP
Pneumatic drive
Function
SD
Protective cover
Function
WR
WL
Wait position on right

Wait position on left

Technical data
-W-
Function
-N-T-T-
www.festo.com
Size
12, 16 and 25
Y-stroke length
52 170
Z-stroke length
20 70
General technical data

Type
HSP--AP
Pneumatic connection
Mode of operation
Operating medium
Note on operating/pilot medium
Constructional design
Cushioning
Position sensing
Type of mounting
Mounting position
M5
Double-acting
Compressed air in accordance with ISO 85731:2010 [7::]
Operation with lubricated medium possible (in which case lubricated operation will always be required)
Swivel module
Cross-guide
Guided motion sequence
Shock absorber at both ends, soft characteristic curve
For proximity sensing
With through-holes
With slot nuts
Guide rail, vertical/horizontal
Operating and environmental conditions

Type
HSP--AP
Operating pressure
Ambient temperature
[bar]
[C]
48
0 +60
Stroke [mm]
Size
12
16
25
Y-axis
Stroke
52 68
90 110
130 170
20 30
5 15
35 50
5 20
50 70
5 25
Z-axis
Stroke
Working stroke
Z
Za
Forces [N]
Size
12
16
25
Z-axis
Effective force at 6 bar
40
50
65
Y-axis
Permissible process force
30
35
50

Technical data
Weight [g]
Size
12
16
25
HSP-...-AP
HSP-...-AP-SD
HSP-...-AP-SD-WR
HSP-...-AP-SD-WL
1,900
2,600
2,800
2,800
3,300
4,600
4,800
4,800
6,400
7,600
8,100
8,100
Repetition accuracy [mm]

To ensure low-vibration operation, the
working load should be mounted as
close as possible to the guide rail of
the handling module.
Repetition accuracy is guaranteed by
mounting the working load (adapter

plate, rotary drive and/or gripper,
gripper finger, workpiece) within the
mounting surface of the adapter kit
HAPG.
Mounting surface of HAPG

Size
12
16
25
Repetition accuracy at end positions
0.01
0.01
0.02
Travel times t as a function of working load m
The working load m is the load

attached to the vertical guide rail
(e.g. adapter, gripper, semi-rotary
drive and workpiece).
HSP-12-AP
HSP-16-AP
HSP-25-AP
m [kg]
The travel time t is the time taken

for the handling module to move
from one end position to the other
and back again.
t [ms]
Cycle times [s]

The cycle time tt comprises the travel
time t and the dwell time te at the
end positions.
tt = travel time t + dwell time te

The value must not fall below the
minimum cycle time.
Size
12
16
25
Min. cycle time
0.6
0.8
1.0
Example for HSP-12-AP

Step 1:
The following values are assumed:
Working load m = 0.15 kg
Dwell time te= 2 x 50 ms
(50 ms per end position)
10
Step 2:
The travel time can be determined
from the graph:
t = 400 ms
Step 3:
This gives us a cycle time:
tt = 400 ms + 100 ms = 500 ms
Step 4:
The table gives us a min. cycle time
of 600 ms. This means that the
movement has to be controlled.

Technical data
Permissible static/dynamic characteristic load values
Cross-guide
-H-
Note
The torques apply to the centre of the

vertical guide.
Combined load
The following torque equation must
be satisfied with combined load:
Dynamic characteristic load values
Size
Max. torques
Mxperm., Myperm., Mzperm.
[Nm]
Combined load
The following torque equation must
be satisfied with combined load:
Static characteristic load values
Size
Max. torques
Moxperm., Moyperm.,
Mozperm.
[Nm]
My
Mz
Mx
)
)
v1
Mx perm. Myperm. Mzperm.
12
16
25
1.1
2.4
3.2
12
16
25
10
15
Moy
M ox
Moz
)
)
Mox perm. Moyperm. Mozperm.
11

Technical data
Stroke adjustment
Y stroke:
Once the HSP has been mounted,
the Y strokes of the pick and place
position can be set independently
of each other.
Z stroke:
Differences in height, for example
between a rotary indexing table
and a transfer system, can be
compensated after mounting.
Transfer system
Rotary indexing table
Y-axis (horizontal)
Z-axis (vertical)
1+3
1+3
Guide rail
Procedure:
1 Loosen the screws
2 Adjust the slotted guide plate
using the adjustment screw
(the slotted guide plate must
always make contact with the
guide rail)
3 Tighten the screws
12
Procedure:
1 Loosen the lock nut
2 Set the desired Z stroke using
the set screw
3 Tighten the lock nut

Technical data
Wait position module
Application and mode of operation
Figure 1:
Figure 2:
Circuit diagram for HSP with wait position module
Actuating cylinder
Stroke
-H1 The handling module HSP is at

the right-hand end position. The
actuating cylinder is extended in
its initial position.
2 The 5/3-way valve is reset once
the handling module reaches the
left-hand end position. (Figure 1)
3 During retraction, the actuating
cylinder pulls the handling mod

ule upwards to its wait position.
The operating area is then free.
(Figure 2)
4 From the wait position, the
handling module can move
either to the initial position or to
the other end position.
Cycle
4
2
Note
When used in combination with the

wait position module, the handling
module HSP must be actuated using
a 5/3-way valve (normally pressur
ised). The actuating cylinder is
actuated using a 5/2-way valve.
The actuating cylinder may only be
used for pulling applications.
Size
HSP-12
HSP-16
HSP-25
Max. Z stroke of wait position module
15
25
25
Mounting options
1
2
1 Direct mounting via throughholes

2 Via slot nuts
3 User-specific
Examples:
With adapter kit HMBV
User-specific
13

Technical data
Materials
Sectional view of handling module HSP
1
aJ
aA
Handling module
1
2
3
4
5
6
7
8
9
aJ
aA
14
Back plate
Slotted guide plate
Swivel lever
Retainer
Flange
Adjusting screw
Stop sleeve
Pressure piece
Cross-guide
Sensor rail
Housing
Material note
Wrought aluminium alloy, anodised

Case-hardened steel, burnished
Case-hardened steel, burnished
High-alloy steel
High-alloy steel
High-alloy steel
Tempered steel
Copper and PTFE-free

Technical data
Materials
Sectional view of swivel module DSM
2
Swivel module
1
2
3
4
Housing
Shaft
Rotary vane
Stop lever
Cap
Seals
Material note
Wrought aluminium alloy

Steel with nickel-plated surface
Fibreglass reinforced plastic
Anodised aluminium
Fibreglass reinforced plastic
Polyurethane
Copper and PTFE-free
15

Technical data
Download CAD data www.festo.com
Dimensions
With swivel module DSM
1
2
3
4
6
7
8
Compressed air connections

Manual override (internal hex)
Mounting slot for slot nut
Sensor slot for SME-/SMT-8
Adjusting screw for Y stroke
Adjusting screw for Z stroke
Slot for proximity sensor cable
with slot cover
With swivel module DSM and protective cover
With wait position on right
16

Technical data
Size
B1
B2
B3
B4
B9
D6
D7
D8
D9
0.5
12
16
25
150
179
188
93
111
115
56
60
62
9 0.03
10.6 0.03
10 0.05
56
70
83
6.3
6.3
6.3
3.5
4.3
4.5
6.2
8
10
13
13
13
Size
EE
H1
H2
H3
H4
H5
H6
H7
H8
12
16
25
M5
M5
M5
120
160
200
34
44
75
66
88.5
110
40
20
40
40
100
100
12.5
20
20
25
40
30
30
33
13
Size
H9
L1
L2
L3
L4
L5
L6
L7
L8
12
16
25
44
65
101
0.6
0.2
200
280
370
170
250
340
7.5
7.5
7.5
15
15
15
85
75
30
100
280
12 0.01/0.05
15 0.01/0.05
23.2 0.05
65
73
80
Size
L9
L10
L111)
L12
R1
T3
12
16
25
122
142
153
150
200
250
141.5
210
277
64
69
79
200
306
484
6
6.5
6.3
6
8
8
2
2.5
2.5
3
3
4
0.2
0.2
1.2
1)
If the Y stroke is increased, the change in stroke must be added to the dimension.
Ordering data for HSP--AP

Size
12
Part No.
Type
16
Part No.
Type
25
Part No.
Type
Without protective cover

533599
533603
533604
HSP-12-AP
HSP-12-AP-WR
HSP-12-AP-WL
533607
533611
533612
HSP-16-AP
HSP-16-AP-WR
HSP-16-AP-WL
533615
533619
533620
HSP-25-AP
HSP-25-AP-WR
HSP-25-AP-WL
With protective cover

533600
533601
533602
HSP-12-AP-SD
HSP-12-AP-SD-WR
HSP-12-AP-SD-WL
533608
533609
533610
HSP-16-AP-SD
HSP-16-AP-SD-WR
HSP-16-AP-SD-WL
533616
533617
533618
HSP-25-AP-SD
HSP-25-AP-SD-WR
HSP-25-AP-SD-WL
17
Handling modules HSP, without drive

Type codes
HSP
12
AS
SD
Type
HSP
Handling module
Size
Drive
AS
Drive shaft
Function
SD
18
Protective cover

Technical data
-W-
Function
-N-T-T-
www.festo.com
Diameter
12, 16 and 25
Y-stroke length
52 170
Z-stroke length
20 70
General technical data

Type
Constructional design
HSP--AS
Mounting position
Drive shaft
Cross-guide
Guided motion sequence
Noise reduction via buffers
With through-holes
With slot nuts
Guide rail, vertical/horizontal
Weight [g]
Size
12
16
25
HSP--AS
HSP--AS-SD
1800
2500
3100
4300
6200
7400
Cushioning
Type of mounting
Permissible static/dynamic characteristic load values
-H-
Note
Technical data for mechanical

components 11.
Characteristic load values

Size
Max. axial force FYperm.
Max. radial force FZperm.
Max. drive torque MYperm.
[N]
[N]
[Nm]
12
16
25
18
45
1.25
30
75
2.5
50
120
5
19

Technical data
Mass moment of inertia J0 as a function of working load m (for cylinder sizing)
J [kgcm2]
HSP-12
HSP-16
HSP-25
m [g]
Download CAD data www.festo.com
Dimensions
Basic dimensions
16
3 Mounting slot for slot nut
5 Woodruff key
Size
B5
B6
B7
B8
D1
g7
D2
D3
12
16
25
29
35
44
22
28
36
3
3
4
17.5
23
30
8
10
12
12.5
14
17
M3
M3
M4
Size
D4
f8
D5
D10
L2
T1
T2
TK
max.
0.1
12
16
25
45
60
70
65
80
95
M4
M4
M5
8.8
11.2
13.5
55
70
82
Ordering data for HSP--AS

Size
Without protective cover
With protective cover
20
0.2
170
250
340
9
9
10
12
Part No.
Type
16
Part No.
Type
25
Part No.
Type
533605
533 06
HSP-12-AS
HSP-12-AS-SD
533613
533614
HSP-16-AS
HSP-16-AS-SD
533621
533622
HSP-25-AS
HSP-25-AS-SD

Accessories
Adapter kit HAPG-B
HAPG-70-B
HAPG-71-B
HAPG-72-B
Material:
Tolerance for centring

hole 0.02
8 Centring hole for centring
sleeve ZBH
Dimensions and ordering data

Type
B1
B2
B3
D1
D2
D3
D4
D5
H1
H2
50
63.5
60
28.5
35.5
41.5
+0.2
HAPG-70-B
HAPG-71-B
HAPG-72-B
5
8
8
6
9.5
9.5
11.5
14.5
15
42
56
56
4.5
7
7
M4
M3
M4
M4
M4
M4
M4
Type
H3
H4
H5
H6
H7
L1
L2
Weight
+0.2
0.2
+0.2
0.2
15.5
40
15
20.5
20.5
25
40
30
HAPG-70-B
HAPG-71-B
HAPG-72-B
12
12
12
39
47
47
+0.1
[g]
12
15
23.2
55
110
115
Part No.
Type
540881
540882
540883
HAPG-70-B
HAPG-71-B
HAPG-72-B
21

Accessories
Installation kit MKRP
Material:
Conduit/fitting: Polyamide
Reducer/lock nut:
Nickel-plated brass
Adapter plate/bracket:
Powder-coated steel
Ordering data
For size
Max. bending radius for conduit1)
12
16
25
1)
Tubing I.D.
Weight
[mm]
[g]
55
75
75
12
16.5
16.5
150
160
160
Part No.
Type
533632
533633
533634
MKRP-1
MKRP-2
MKRP-3
Part No.
Type
533635
533636
533637
BSD-HSP-12
BSD-HSP-16
BSD-HSP-25
Part No.
Type
533623
533624
533625
533626
533627
533628
BWR-HSP-12
BWL-HSP-12
BWR-HSP-16
BWL-HSP-16
BWR-HSP-25
BWL-HSP-25
The conduit must not be filled beyond 70%.
Dimensions
Cover kit BSD-HSP
HSP--AP 16
HSP--AS 20
Material:
Ordering data
For size
Weight
[g]
12
16
25
825
1 350
1 770
Dimensions 16
Wait position module BWL-/BWR-HSP

for HSP--AP
Material:
Ordering data
For size
Wait position
Weight
[g]
12
16
25
22
Right
Left
Right
Left
Right
Left
75
75
135
135
275
275

Accessories
Electrical connection
Cable length
[m]
Part No.
Technical data Internet: smt

Type
Cable, 3-wire
Plug M8x1, 3-pin
Plug M12x1, 3-pin
Cable, 3-wire
Plug M8x1, 3-pin
2.5
0.3
0.3
2.5
0.3
574335
574334
574337
574338
574339
SMT-8M-A-PS-24V-E-2,5-OE
SMT-8M-A-PS-24V-E-0,3-M8D
SMT-8M-A-PS-24V-E-0,3-M12
SMT-8M-A-NS-24V-E-2,5-OE
SMT-8M-A-NS-24V-E-0,3-M8D
Cable, 3-wire
7.5
574340
SMT-8M-A-PO-24V-E-7,5-OE
Electrical connection
Cable length
[m]
Part No.
Technical data Internet: sme

Type
Cable, 3-wire
Cable, 2-wire
Plug M8x1, 3-pin
Cable, 3-wire
Plug M8x1, 3-pin
2.5
5.0
2.5
0.3
2.5
0.3
543862
543863
543872
543861
150855
150857
SME-8M-DS-24V-K-2,5-OE
SME-8M-DS-24V-K-5,0-OE
SME-8M-ZS-24V-K-2,5-OE
SME-8M-DS-24V-K-0,3-M8D
SME-8-K-LED-24
SME-8-S-LED-24
Cable, 3-wire
7.5
160251
SME-8-O-K-LED-24
Electrical connection, right
Cable length
[m]
Part No.
Technical data Internet: nebu

Type
Straight socket, M8x1, 3-pin
Cable, open end, 3-wire
Straight socket, M12x1, 5-pin
Angled socket, M8x1, 3-pin
Angled socket, M12x1, 5-pin
2.5
5
2.5
5
2.5
5
2.5
5
541333
541334
541363
541364
541338
541341
541367
541370
NEBU-M8G3-K-2.5-LE3
NEBU-M8G3-K-5-LE3
NEBU-M12G5-K-2.5-LE3
NEBU-M12G5-K-5-LE3
NEBU-M8W3-K-2.5-LE3
NEBU-M8W3-K-5-LE3
NEBU-M12W5-K-2.5-LE3
NEBU-M12W5-K-5-LE3
Ordering data Proximity sensors for T-slot, magneto-resistive

Type of mounting
Switch
output
N/O contact
Insertable in the slot from above, flush
with cylinder profile, short design
PNP
NPN
N/C contact
with cylinder profile, short design
PNP
Ordering data Proximity sensors for T-slot, magnetic reed

Type of mounting
Switch
output
N/O contact
with cylinder profile
Contacting
Insertable in the slot lengthwise, flush

with the cylinder profile
Contacting
Insertable in the slot lengthwise, flush

with the cylinder profile
Contacting
N/C contact
Ordering data Connecting cables

Electrical connection, left
Brief description
Part No.
Technical data Internet: abp, hmbn

Type
For protecting against ingress of dirt and securing proximity sensor

cables.
Scope of delivery: 2x 0.5 m
151680
ABP-5-S
Inserted from above
189654
HMBN-5-M5
Ordering data
Slot cover for T-slot
Slot nut for back plate
23

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Handling modules HSP

Handling modules HSP

The handling module is a new gener

with recirculating ball bearing

Stroke adjustment along Y- and

Three drive variants are available

Without drive: HSP--AS,

Min. cycle time

Repetition accuracy at end

Function of wait position

Pulling with return cylinder

Subject to change 2014/10

Handling modules HSP

Belt-type part positioning

HSP--AS, without drive

Fast belt-type part positioning of

Rotary indexing table, linear transfer

Compact twin pick and place unit

2014/10 Subject to change

Handling modules HSP

Slotted guide plate

HSP--AS without drive (rear side)

Subject to change 2014/10

Handling modules HSP

2014/10 Subject to change

2 The pressure piece guarantees

3 Cable binder holders facilitate

4 The adjustable slotted guide

Handling modules HSP

Subject to change 2014/10

Handling modules HSP

Standard module without accessories

Parallel/Three-point/Radial/Angle gripper, appropriate gripper for every application

Semi-rotary drive for transferring parts

Sensing facility for end positions

Interface for grippers, semi-rotary drives, etc.

Conduit to protect electric cables and tubing

2014/10 Subject to change

Appropriate suction cup for every application

Speed setting of pneumatic drives

Handling modules HSP, pneumatic

Handling module, double-acting

Wait position on right

Subject to change 2014/10

Handling modules HSP, pneumatic

General technical data

Operating and environmental conditions

2014/10 Subject to change

Handling modules HSP, pneumatic

Repetition accuracy [mm]

mounting the working load (adapter

Mounting surface of HAPG

Repetition accuracy at end positions

Travel times t as a function of working load m

The working load m is the load

The travel time t is the time taken

Cycle times [s]

tt = travel time t + dwell time te

Min. cycle time

Example for HSP-12-AP

Subject to change 2014/10

Handling modules HSP, pneumatic

The torques apply to the centre of the