RG6 Gripper
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The RG6 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 objects, 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 are controlled from the Universal Robots software. • Simple installation Runs directly from the robot. • Integrated control board No need for wiring or external programming. • Plug n’ produce Mount, connect, - Automate. • Failsafe operation In case of power loss the gripping force is maintained. • Flexible Allows handling of multiple sized objects. • Supports dual grippers Two grippers can be operated without any extra wiring. • Adjustable force Is set in the URcap. • Quick finger change Replace the standard fingertips by loosening two screws. • Force and Width detection Uses I/O’s to give feedback on reached force and width. • Analog width feedback One of the analog inputs on the robot is always corresponding to the present finger position. • Tool output extension The robot tool connecter is extended to

RG6 gripper datasheet – Version 1.6 Technical specifications Technical data Total stroke (adjustable) Finger position resolution Repetition accuracy Reversing backlash Gripping force (adjustable) Gripping force accuracy Operating voltage* Power consumption Maximum Current Ambient operating temperature Storage temperature Product weight *At 12V the gripper runs at approximately half the normal speed Specifications is periodically reviewed and may change without notice Copyright © 2017 by On Robot ApS. All rights reserv

RG6 gripper datasheet – Version 1.6 Gripper work range External Grip Internal Grip Load capacity The parameters in the fingertips 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 © 2017 by On Robot ApS. All rights reserved

RG6 gripper datasheet – Version 1.6 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. Tool connector pinout 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 © 2017 by On Robot ApS. All rights reserved

RG6 gripper datasheet – Version 1.6 Mechanical dimensions Gripper output connector Slave Master 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. Slave connected to master Master connected to robot Specifications is periodically reviewed and may change without notice Copyright © 2017 by On Robot ApS. All rights reserved

RG6 gripper datasheet – Version 1.6 Feedback from the gripper I/O Feedback Digital status Feedback UR Version 3 UR Version 1 & 2 Position Reached Force Reached Gripper Busy Gripper Ready The gripper uses DI8, DI9 and AI3 to give feedback on its status and finger position. Use DI8 to detect if the gripper grabbed a workpiece or stopped at a given position. DI9 will go LO (Busy) when the gripper is programmed, moving or changing force. Analog feedback AI2 outputs a voltage corresponding to the gripper width. Analog Feedback UR Input Actual Width @ 0V:5V Actual Width @ 0V:10V * Due to the...