1. Datasheet 1.1. 3FG15 General Properties Flexible grip Finger position resolution Diameter repetition accuracy Flexible grip Gripping force (adjustable) Gripping speed (diameter change) Gripping time (including brake activation)** Hold workpiece if power loss? Storage temperature Integrated, electric BLDC Grip Diameter* Gripping force * With the scope of delivery ** 10 mm diameter distance. Also see section Gripping methods.

Operating Conditions Power supply Current consumption Operating temperature Relative humidity (non-condensing) Calculated operation life *600 mA set as default. Fingers The supplied fingers can be mounted in 3 different positions to achieve different Gripping Forces and different Gripping Diameters. The delivered finger length is 49 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. The needed screws are M4x8mm (use 3 Nm tightening torque):

Fingertips The supplied fingertips are listed below. Different fingertips will allow to achieve different Gripping Forces and different Gripping Diameters. • • • • Ø10 mm steel Ø13 mm steel Ø13.5 mm silicone Ø16.5 mm silicone If custom fingertips are required, they can be made to fit the Gripper’s fingers according to the dimensions (mm)[inch] shown below. The needed screws are M4x8mm (use 2.5 Nm tightening

In the graph below, the maximum payload allowed for customized fingertip given a length is shown. In the graph below, how the % of maximum achievable force decreases as the finger length increases when customized fingertips are used.

X-shape fingertips These fingertips improve the gripper's ability to pick and place round workpieces with collar like features. By combining the force fit and the form fit gripping approaches, the fingertips increase the stability and payload of the workpiece to be gripped. When these fingertips are used, set the fingertip diameter to 16 mm in the robot program. These fingertips are optional accessories and need to be purchased separately. To purchase these fingertips, please contact the distributor. 3FG X-Shape fingertips PN 105877 Internal/External grips In the document the internal and external...

Normal grip The gripping action has two phases: Phase 1: For a safety reason, the fingers will start moving with a lower force (>140 N) to avoid damaging anything that could get clamped between the gripper fingers and the workpiece. Phase 2: When the gripper diameter is very close to the programed target diameter, the gripper will increase the force to grip with the programed target force. After the grip, a break will be activated (tic sound). The activation of the brake, also known as, Force grip detected, can be verified in the provided functions. This brake will hold the workpiece with the...

Gripping Force The total gripping force highly depends on the finger angle θ. For both internal and external grip, the lower the finger angle, the higher the force that will be applied as shown in the graph below. Although the fingers can move from 0 to 180, the angle range of an external grip is 30º-165º and for an internal grip 20º-160º Graph plotted using measurements with 1 A current, silicone fingertips and a metal workpiece. The percetages shown on the graph stand for the target force percentage. The blue line stands for the normal Grip function and the dashed line stands for the Flexible...

Finger Position Fingertip (mm) External Gripping range (mm) Internal Gripping range (mm) Angle for external gripping min 165º (Pos 1), 163 º (Pos 2), 161 º (Pos 3) and max 30º (all 3 positions) Angle for internal gripping min 160º and max 30º The closer to the maximum diameter range, the lower the angle and, therefore, the high