RG2 Gripper
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The RG2 gripper is a flexible electric gripper specially designed for robots from Universal Robots. The long stroke allows the gripper to handle a variety of object sizes. Adjusting the gripping force allows the gripper to handle both delicate and heavy object. The standard fingers can be used with many different object. It is also possible to fit custom fingers. The installation complexity is minimal as the cable attaches directly onto any robot from Universal Robots. All configurations of the gripper is controlled from the Universal Robots software. • Simple installation Runs directly from the robot. • Integrated control board No need for wiring or external programming. • Flexible handles many different object. Easily reconfigured. • Supports two grippers Two grippers can be operated without any extra wiring. • Adjustable force Is set in the Universal Robots software. • Wide work range Allows handling of multiple sized objects. • Quick finger change • Plug n’ play Mount, connect, run script - Automate • Simple programming As simple as setting variables. • Failsafe operation In case of powesr loss the gripping force is maintained. • Force and Width detection Uses I/O’s to give feedback on reached force or Width. • Analog width feedback One of the analog input on the robot is always corresponding to the present finger position. • Tool output extension The robot tool connecter is extend

RG2 gripper datasheet – Version 1.4 Technical specifications Technical data Total stroke (adjustable) Finger position resolution Repetition accuracy Reversing backlash Gripping force (adjustable) Gripping force accuracy Gripping speed* Gripping time** Operating voltage*** Power consumption Maximum Current Ambient operating temperature Storage temperature Product weight * see speed table ** based on 8mm total movement between fingers, see speed table ***At 12V the gripper runs at approximately half the normal speed Specifications is periodically reviewed and may change without notice...

RG2 gripper datasheet – Version 1.4 Gripper work range External Grip Internal Grip The Speed table are illustrating the difference in speed relative to the gripper finger position. Gripping speed Load capacity The parameters in the finger tips are calculated at the shown closed position and will change in relation to the finger positions. Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved

RG2 gripper datasheet – Version 1.4 Fingers The Standard fingers can be used for many different workpieces. If custom fingers are required, they can be made to fit the gripper finger tips. Standard fingers For a variety of workpieces Dimensions of the gripper aluminum finger tips Specifications is periodically reviewed and may change without notice wire White Brown Green Yellow Gray Pink Blue Red UR I/O V3 Tool analog input 2 Tool analog input 3 Tool input 1 Tool input 0 24V DC Tool output 1 Tool output 0 0V DC Copyright © 2015 by On Robot ApS. All rights reserved

RG2 gripper datasheet – Version 1.4 Mechanical dimensions Gripper output connector When one gripper is connected to another via the gripper output connector. The first gripper in the chain (from the robot) becomes master and the second slave. This makes it possible to use both grippers individually using only to digital outputs from the robot. Cable RKMV 8-354 Connector RSMEDG8 Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved

RG2 gripper datasheet – Version 1.4 Programming the gripper via the UR-interface Teach Mode When the robot is turned on, you can use the gripper without programming it first. Use the tool output I/O’s. The table to the right is shows the preset configuration. 1) Go to the I/O screen on the teach pendant 2) Turn on 24V in the tool section 3) Use DO8(0) to move the gripper Teach Mode UR Version 3 UR Version 1 & 2 Open Gripper (110mm) Close Gripper (0mm) High Force (40N) Low Force (5N) 4) And DO9(1) to select High or Low Force Controlling the gripper In the SubProg_2Pos_2Force.urp program you...

RG2 gripper datasheet – Version 1.4 Analog feedback AI2 outputs a voltage correspondingto the gripper width. Analog Feedback UR Input Actual Width @ 0V:5V Actual Width @ 0V:10V * Due to the gripper analog output resistance (10kΩ), the analog feedback voltage will be affected by the robot input resistance. For the robots from Universal Robots, the input resistance is 29kΩ @ 0V:5V and 15kΩ @ 0V:10V, 29kΩ that result in a maximum input voltage of 5V ∙ 10kΩ+29kΩ = 3.7V @ 0V: 5V and 15kΩ 5V ∙ 10kΩ+15kΩ = 3.0V @ 0V: 10V which correspond to the maximum width of 110mm. The actual width can be...