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    Datasheet 2FG7 v1.4 EN

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    alex
    The document provides specifications for the 2FG7 gripper including: - Minimum, typical, and maximum values for payload, stroke, grip width, repeatability, force, and speed. - Integrated electric BLDC motor with IP67 rating and operating temperatures from 0-60°C. - Dimensions of 144 x 90 x 71 mm and weight of 1.1 kg. - Force sensor located in one finger and guidelines for accurate force measurement. - Adjustable finger positions and compatibility with various lubricants and liquids.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Datasheet 2FG7 v1.4 EN

    Uploaded by

    alex
    27 views9 pages
    The document provides specifications for the 2FG7 gripper including: - Minimum, typical, and maximum values for payload, stroke, grip width, repeatability, force, and speed. - Integrated electric BLDC motor with IP67 rating and operating temperatures from 0-60°C. - Dimensions of 144 x 90 x 71 mm and weight of 1.1 kg. - Force sensor located in one finger and guidelines for accurate force measurement. - Adjustable finger positions and compatibility with various lubricants and liquids.

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    Datasheet_2FG7_v1.4_EN

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    The document provides specifications for the 2FG7 gripper including: - Minimum, typical, and maximum values for payload, stroke, grip width, repeatability, force, and speed. - Integrated electric BLDC motor with IP67 rating and operating temperatures from 0-60°C. - Dimensions of 144 x 90 x 71 mm and weight of 1.1 kg. - Force sensor located in one finger and guidelines for accurate force measurement. - Adjustable finger positions and compatibility with various lubricants and liquids.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    27 views9 pages

    Datasheet 2FG7 v1.4 EN

    Uploaded by

    alex
    The document provides specifications for the 2FG7 gripper including: - Minimum, typical, and maximum values for payload, stroke, grip width, repeatability, force, and speed. - Integrated electric BLDC motor with IP67 rating and operating temperatures from 0-60°C. - Dimensions of 144 x 90 x 71 mm and weight of 1.1 kg. - Force sensor located in one finger and guidelines for accurate force measurement. - Adjustable finger positions and compatibility with various lubricants and liquids.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 9

    DATASHEET

    2FG7

    v1.4
    DATASHEET

    1. Datasheet

    1.1. 2FG7

    General Properties Minimum Typical Maximum Unit


    - - 7 [kg]
    Payload force fit - - 15.5 [lb]

    - - 11 [kg]
    - - 24.3 [lb]
    Payload form fit
    - 38 - [mm]
    Total stroke
    1.49 [inch]
    Fingers inwards
    1 39 [mm]
    -
    0.039 1.53 [inch]
    External
    Fingers outwards
    35 73 [mm]
    -
    1.37 2.87 [inch]
    Grip width
    range * Fingers inwards
    11 49 [mm]
    -
    0.43 1.92 [inch]
    Internal
    Fingers outwards
    45 83 [mm]
    -
    1.77 3.26 [inch]

    - +/- 0.1 - [mm]


    Gripping repeatability
    - +/- 0.004 - [inch]
    Gripping force ** 20 - 140 [N]
    Gripping force tolerance - - +/-5 [N]
    Gripping speed *** 16 - 450 [mm/s]
    Gripping time (including brake activation) - 200 - [ms]
    ****
    Hold workpiece if power loss? Yes
    0 - 60 [°C]
    Storage temperature
    32 - 140 [°F]
    Motor Integrated, electric BLDC
    IP Classification IP67
    Clean room ***** ISO Class 5
    ESD Safe ***** 105 - 109 [Ohm]

    2
    DATASHEET

    General Properties Minimum Typical Maximum Unit


    Gear grease: NSF H1 approved; meets FDA regulation 21 CFR 178.3570 for incidental food
    contact applications
    144 x 90 x 71 [mm]
    Dimensions [L x W x D]
    5.67 x 3.54 x 2.79 [inch]
    1.1 [kg]
    Weight
    2.4 [lb]

    * Silicone fingertips add 1 mm in each direction.


    ** The required current is 2000 mA, less current will result in less gripping force. See the
    Force vs Current Graph.
    *** Relatively from the gripping object (both arms).
    **** At 4 mm stroke and 80 N. The typical value is 300 ms at 38 mm and 80 N.
    ***** When the ESD-marked bellow is mounted. For more information on how to distinguish
    the different bellows, go to the Maintenance section.

    Operating Conditions Minimum Typical Maximum Unit


    Power supply 20 24 25 [V]
    Current consumption - - 2000 * [mA]
    5 - 50 [°C]
    Operation temperature
    41 - 122 [°F]
    Relative humidity (non-condensing) 0 - 95 [%]
    Calculated operation life 30 000 - - [Hours]

    * Automatically adapts to the current requirements when UR CB3 tool connector is used (600
    mA).

    Force vs Current Graph

    3
    DATASHEET

    Force Sensor

    The gripper has a force sensor in the finger on the connector side as shown in the figure
    below.

    Consider the presence of the force sensor when the workpiece is aligned by using the fingers
    of the gripper or when the workpiece is picked sideways since the gravity can affect the force
    measurement.
    In the latter case, orient the gripper so the finger with the sensor is on top. Make sure that the
    bottom finger touches the workpiece slightly before the top finger touches it, as shown in the
    figure below.

    Fingers

    The supplied fingers can be mounted in two different positions to achieve different gripping
    ranges.

    4
    DATASHEET

    Inwards Outwards

    External grip range [mm] 1-39 35-73

    Internal grip range [mm] 11-49 45-83

    The delivered finger length is 8.5 mm (L in the drawing below). If custom fingers are required,
    they can be made to fit the gripper according to the dimensions (mm)[inch] shown below. Use
    M4x8mm screws and 1 Nm torque to attach the fingers.

    NOTE:
    If customized fingers are made, these must not touch the bellow.

    5
    DATASHEET

    Maximum Allowed Torque

    The maximum allowed torque applied to the gripper finger platforms is 4.5 Nm. The picture
    below shows the coordinate system from where the maximum allowed torque is calculated.

    6
    DATASHEET

    Force vs Finger Length

    The graph below shows how the maximum allowable force decreases as the finger length
    increases in case of customized fingertips. The graph is valid for all types of individual lengths
    shown in the image of the gripper below.

    Types of Grips

    In this document, we use the internal and external grip terms, which indicates how the tool
    grips the workpiece.

    7
    DATASHEET

    External Grip Internal Grip

    Bellow Compatibility of Different Lubricants, Oils and Additives

    See the table below for a recommendation overview of what lubricants the two bellows have
    good resistance properties to. For example in CNC machines, mineral oils are often used as
    cooling liquids, which the Standard Bellow is appropriate for.

    Bellow, Standard (NBR) Bellow, ESD and Cleanroom (Silicone)

    Greases

    Silicone Oils

    Vegetable Oils

    Alcohols Brake Fluids

    Diester Lubricants Ketones

    Ethylene Glycol Fluids Oxygen

    Petroleum Oils Animal Oils

    Hydraulic Fluids Sunlight

    Diluted Alkalines Compression Set

    Aliphatic Hydrocarbons Ozone

    Mineral Oils

    Common Fuels

    Solvents

    Acids

    8
    DATASHEET

    NOTE:
    The list of fluids and additives shown in the table above is non-exhaustive, as
    all combinations cannot be tested.
    Make sure to mix cooling liquid and water according to supplier specification,
    and change regularly.

    1.2. 2FG7

    All dimensions are in mm and [inches].

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