Festo builds three standard families of two-jaw pneumatic gripper: DHPS parallel grippers, DHWS angle grippers and DHRS radial grippers. They look similar in a catalogue and they are not interchangeable in a machine. This guide sets the three families side by side, lists every size and every variant that RendatSP supplies with its Festo part number and its published technical data, and explains how to pick the right one.
All 34 models below are new original Festo parts. Prices are quoted on request. Send us a part number, or a photo of the gripper on your machine, and we will identify it and quote it.
The three families at a glance
| Feature | DHPS parallel gripper | DHWS angle gripper | DHRS radial gripper |
|---|---|---|---|
| Jaw movement | Straight line, parallel | Swing, 20 degrees per jaw | Swing, 90 degrees per jaw |
| Total opening | 2 to 12.5 mm stroke per jaw | 40 degrees | 180 degrees |
| Sizes | 6, 10, 16, 20, 25, 35 | 10, 16, 25, 32, 40 | 10, 16, 25, 32, 40 |
| Gripping force or torque at 6 bar | 25 to 910 N closing | 30 to 1362 Ncm closing | 15 to 660 Ncm closing |
| Repetition accuracy | 0.02 mm | 0.04 mm | 0.1 mm |
| Variants | A, NC, NO | A, NC | A, NC |
| Operating pressure | 2 to 8 bar, spring versions 4 to 8 bar | 2 to 8 bar, NC 4 to 8 bar | 2 to 8 bar, NC 4 to 8 bar |
| Best for | Precise assembly and pick and place | Releasing the part clear of the jaws | Withdrawing the gripper in tight machines |
How to choose
- Choose DHPS when the workpiece position has to be repeatable to hundredths of a millimetre, and the part fits inside a short parallel stroke.
- Choose DHWS when the jaws have to move out of the way on release, for example when the gripper is lifted straight up out of a fixture.
- Choose DHRS when there is no room to lift the gripper clear, and it has to be pulled out sideways past the workpiece.
- Choose the NC variant whenever dropping the workpiece on an air or power failure would damage the part, the tooling or the operator.
- Choose the NO variant when the part must be released on a failure, or when the gripper holds a ring or tube from the inside.
- Choose the A variant for the fastest cycle, the widest pressure range and the lowest cost, where the air supply is reliable.
Festo DHPS parallel grippers, all 16 models
Two-jaw self-centring parallel grippers with a positively driven lever mechanism and a plain-bearing T-slot guide. Repetition accuracy 0.02 mm on every size.
| Model | Festo part number | Size | Stroke per jaw | Gripping force at 6 bar, closing / opening | Operating pressure | Weight | Version |
|---|---|---|---|---|---|---|---|
| DHPS-6-A | 1254039 | 6 | 2 mm | 25 / 30 N | 2 to 8 bar | 19 g | Double-acting |
| DHPS-10-A | 1254040 | 10 | 3 mm | 70 / 80 N | 2 to 8 bar | 67 g | Double-acting |
| DHPS-10-A-NO | 1254041 | 10 | 3 mm | 70 / 80 N | 4 to 8 bar | 68 g | Spring opening (NO) |
| DHPS-10-A-NC | 1254042 | 10 | 3 mm | 70 / 80 N | 4 to 8 bar | 68 g | Spring closing (NC) |
| DHPS-16-A | 1254043 | 16 | 5 mm | 190 / 210 N | 2 to 8 bar | 184 g | Double-acting |
| DHPS-16-A-NO | 1254044 | 16 | 5 mm | 190 / 210 N | 4 to 8 bar | 188 g | Spring opening (NO) |
| DHPS-16-A-NC | 1254045 | 16 | 5 mm | 190 / 210 N | 4 to 8 bar | 188 g | Spring closing (NC) |
| DHPS-20-A | 1254046 | 20 | 6.5 mm | 290 / 320 N | 2 to 8 bar | 380 g | Double-acting |
| DHPS-20-A-NO | 1254047 | 20 | 6.5 mm | 290 / 320 N | 4 to 8 bar | 387 g | Spring opening (NO) |
| DHPS-20-A-NC | 1254048 | 20 | 6.5 mm | 290 / 320 N | 4 to 8 bar | 387 g | Spring closing (NC) |
| DHPS-25-A | 1254049 | 25 | 7.5 mm | 450 / 500 N | 2 to 8 bar | 700 g | Double-acting |
| DHPS-25-A-NO | 1254050 | 25 | 7.5 mm | 450 / 500 N | 4 to 8 bar | 713 g | Spring opening (NO) |
| DHPS-25-A-NC | 1254051 | 25 | 7.5 mm | 450 / 500 N | 4 to 8 bar | 713 g | Spring closing (NC) |
| DHPS-35-A | 1254052 | 35 | 12.5 mm | 910 / 970 N | 2 to 8 bar | 1285 g | Double-acting |
| DHPS-35-A-NO | 1254053 | 35 | 12.5 mm | 910 / 970 N | 4 to 8 bar | 1345 g | Spring opening (NO) |
| DHPS-35-A-NC | 1254054 | 35 | 12.5 mm | 910 / 970 N | 4 to 8 bar | 1345 g | Spring closing (NC) |
Festo DHWS angle grippers, all 9 models
Two-jaw angle grippers with a total opening angle of 40 degrees, 20 degrees per jaw. Repetition accuracy 0.04 mm on every size.
| Model | Festo part number | Size | Opening angle | Gripping torque at 6 bar, closing / opening | Operating pressure | Weight | Version |
|---|---|---|---|---|---|---|---|
| DHWS-10-A | 1310177 | 10 | 40 deg | 30 / 43 Ncm | 2 to 8 bar | 40 g | Double-acting |
| DHWS-16-A | 1310178 | 16 | 40 deg | 114 / 129 Ncm | 2 to 8 bar | 110 g | Double-acting |
| DHWS-16-A-NC | 1310179 | 16 | 40 deg | 114 / 129 Ncm | 4 to 8 bar | 114 g | Spring closing (NC) |
| DHWS-25-A | 1310180 | 25 | 40 deg | 356 / 386 Ncm | 2 to 8 bar | 258 g | Double-acting |
| DHWS-25-A-NC | 1310181 | 25 | 40 deg | 356 / 386 Ncm | 4 to 8 bar | 265 g | Spring closing (NC) |
| DHWS-32-A | 1310182 | 32 | 40 deg | 746 / 810 Ncm | 2 to 8 bar | 452 g | Double-acting |
| DHWS-32-A-NC | 1310183 | 32 | 40 deg | 746 / 810 Ncm | 4 to 8 bar | 462 g | Spring closing (NC) |
| DHWS-40-A | 1310184 | 40 | 40 deg | 1362 / 1497 Ncm | 2 to 8 bar | 775 g | Double-acting |
| DHWS-40-A-NC | 1310185 | 40 | 40 deg | 1362 / 1497 Ncm | 4 to 8 bar | 790 g | Spring closing (NC) |
Festo DHRS radial grippers, all 9 models
Two-jaw radial grippers with a full 180 degree opening angle and lateral gripper jaw support for high torque loads. Repetition accuracy 0.1 mm on every size.
| Model | Festo part number | Size | Opening angle | Gripping torque at 6 bar, closing / opening | Operating pressure | Weight | Version |
|---|---|---|---|---|---|---|---|
| DHRS-10-A | 1310159 | 10 | 180 deg | 15 / 21 Ncm | 2 to 8 bar | 44 g | Double-acting |
| DHRS-16-A | 1310160 | 16 | 180 deg | 55 / 62 Ncm | 2 to 8 bar | 114 g | Double-acting |
| DHRS-16-A-NC | 1310161 | 16 | 180 deg | 55 / 62 Ncm | 4 to 8 bar | 118 g | Spring closing (NC) |
| DHRS-25-A | 1310162 | 25 | 180 deg | 215 / 233 Ncm | 2 to 8 bar | 270 g | Double-acting |
| DHRS-25-A-NC | 1310163 | 25 | 180 deg | 215 / 233 Ncm | 4 to 8 bar | 277 g | Spring closing (NC) |
| DHRS-32-A | 1310164 | 32 | 180 deg | 390 / 423 Ncm | 2 to 8 bar | 480 g | Double-acting |
| DHRS-32-A-NC | 1310165 | 32 | 180 deg | 390 / 423 Ncm | 4 to 8 bar | 490 g | Spring closing (NC) |
| DHRS-40-A | 1310166 | 40 | 180 deg | 660 / 725 Ncm | 2 to 8 bar | 829 g | Double-acting |
| DHRS-40-A-NC | 1310167 | 40 | 180 deg | 660 / 725 Ncm | 4 to 8 bar | 844 g | Spring closing (NC) |
Sizing a Festo gripper
The figures in the tables above are measured at 6 bar with a defined lever arm. Three things change the force you actually get. Operating pressure changes it almost linearly, so at 4 bar you have roughly two thirds of the 6 bar value. Longer gripper fingers increase the torque on the jaws and reduce the usable force, and each size has a published limit for static force Fz and for the torques Mx, My and Mz. The mass of the fingers themselves also counts, and the DHPS datasheets give a maximum mass per external gripper finger for every size.
As a working rule, size the gripper for at least twice the force needed to hold the part at rest, more if the handling system accelerates hard or the part is carried vertically. If you send us the workpiece weight, its shape and the cycle time, our engineers will do the calculation and recommend a size.
Sensors and accessories
The parts most often ordered together with a Festo gripper are listed below. Send us the gripper part number and we will quote the matching items in the same offer.
- Proximity switches SMT-8G, SMAT-8M and SDBT-MSX for the integrated sensor slots, and the SMH-S1 Hall sensor for the smallest sizes
- Connecting cables of the NEBU and NEBA families
- Centring sleeves ZBH for accurate mounting of the gripper and of the gripper fingers
- Adapter kits DHAA and HAPG for mounting the gripper on rotary drives, linear axes and robot flanges
- Proportional pressure regulator VPPM, where the gripping force has to be set for delicate workpieces
- Air preparation and fittings, so the gripper receives compressed air to ISO 8573-1:2010 [7:4:4]
Frequently asked questions
What is the difference between the Festo DHPS, DHWS and DHRS grippers?
All three are two-jaw self-centring pneumatic grippers from Festo, and they differ in how the jaws move. DHPS is a parallel gripper: the jaws slide towards each other in a straight line, with a stroke of 2 to 12.5 mm per jaw depending on size. DHWS is an angle gripper: each jaw swings out 20 degrees, 40 degrees in total. DHRS is a radial gripper: the jaws swing right back through 180 degrees so they fold almost flat against the body.
Which Festo gripper should I choose for precise assembly?
The DHPS parallel gripper. Its repetition accuracy is 0.02 mm, against 0.04 mm for the DHWS and 0.1 mm for the DHRS, and the parallel motion keeps the workpiece axis in the same place through the whole stroke. Its short stroke is the trade-off: the part has to be within a few millimetres of the jaw opening.
Which Festo gripper works in a tight machine?
The DHRS radial gripper. Because the jaws swing back through 180 degrees, the gripper can be pulled straight out past the workpiece, which a parallel gripper with its short stroke cannot do. The DHWS angle gripper is the middle option: 40 degrees of total opening is enough to clear most parts without the long swing time of a radial gripper.
What do the suffixes A, NC and NO mean on a Festo gripper?
A is the standard double-acting version with no spring, working from 2 bar. NC has a compression spring that closes the jaws when the gripper is depressurised, so the workpiece stays held after an air or power failure. NO has a spring that opens the jaws instead, used for internal gripping and where the part must be released on a failure. Both spring versions need at least 4 bar. The DHPS is available in A, NC and NO; the DHWS and DHRS are available in A and NC only.
How do I work out the gripping force I need?
Start from the mass of the workpiece and multiply by the acceleration the handling system applies, then divide by the friction coefficient of the jaws, and apply a safety factor of at least 2 for horizontal handling and more for fast or vertical motion. Then check the lever arm: the gripping force in the tables is measured at a defined distance from the jaw face, and it falls as the gripper fingers get longer. Festo publishes a force curve for every size, and our engineers will size the gripper for you if you send the workpiece weight and dimensions.
Which sensors fit Festo DHPS, DHWS and DHRS grippers?
All sizes except the smallest have integrated sensor slots on both sides of the body, which take SMT-8G, SMAT-8M or SDBT-MSX proximity switches. The smallest size of each family, DHPS-6, DHWS-10 and DHRS-10, uses the SMH-S1 Hall sensor instead. Two sensors are normally fitted, one for the open position and one for the closed position.
Does RendatSP supply genuine Festo grippers?
Yes. Every gripper listed here is a new original Festo part in factory packaging, identified by its Festo part number and GTIN. We do not sell copies or refurbished units, and we supply the matching sensors, cables, centring sleeves and adapter kits from the same catalogue.
Can you ship Festo grippers to Iraq, Saudi Arabia, Egypt and other Arab markets?
Yes. RendatSP ships worldwide and has local agents in 11 countries: Saudi Arabia, Iraq, the United Arab Emirates, Egypt, Oman, Libya, Morocco, Mauritania, Yemen, Algeria and Jordan. Send the part number and quantity and we will quote the price and delivery time to your city, normally within 24 hours.
Ordering Festo grippers from RendatSP
RendatSP is an industrial spare parts supplier based in Yiwu, China, serving more than 500 factories with over 100,000 parts available on request. We supply genuine Festo grippers and the matching sensors, cables and mounting accessories, and we ship worldwide with local agents in Saudi Arabia, Iraq, the United Arab Emirates, Egypt, Oman, Libya, Morocco, Mauritania, Yemen, Algeria and Jordan.
To request a price, send the Festo part number and the quantity to info@rendatsp.com, message us on WhatsApp at +86 181 5871 1787, or use the order form on our home page. We normally reply with a price and a delivery time within 24 hours.