1. Datasheet 1.1. 2FG7 General Properties Payload form fit Total stroke Fingers inwards Gripping repeatability Gripping force ** Gripping force tolerance Gripping speed *** Gripping time (including brake activation) **** Hold workpiece if power loss? Storage temperature Integrated, electric BLDC Clean room ***** Grip width range * Fingers inwards Fingers outwards Fingers outwards

General Properties Gear grease: NSF H1 approved; meets FDA regulation 21 CFR 178.3570 for incidental food contact applications Dimensions [L x W x D] * 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...

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...

External grip range [mm] Internal grip range [mm] 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.

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.

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.

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, ESD and Cleanroom (Silicone) Bellow, Standard (NBR) Greases Silicone Oils Vegetable Oils Alcohols Brake Fluids Diester Lubricants Ethylene Glycol Fluids Petroleum Oils Animal Oils Hydraulic Fluids Diluted Alkalines Aliphatic Hydrocarbons Mineral Oils Common...

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.