DATASHEET
2FG14v1.0

DATASHEET

1. Datasheet
1.1. 2FG14
General Properties

Payload force fit

Payload form fit
Total stroke
Fingers inwards

Minimum Typical

Maximum Unit

--

14
30.8

[kg]
[lb]

--

20
44.09

[kg]
[lb]

-

50
1.96-

[mm]
[inch]

50.196-

55
2.16

[mm]
[inch]

552.16-

105
4.13

[mm]
[inch]

17.60.69-

67.6
2.66

[mm]
[inch]

67.6
2.66-

117.6
4.62

[mm]
[inch]

Gripping repeatability-+/- 0.1+/- 0.004 -[mm][inch]

Gripping force *40-

280

[N]

Gripping force tolerance--+/-10[N]Around X--

30[Nm]

Around Y--25[Nm]Gripping speed ***16-

450[mm/s]

Gripping time (including brake activation) ****

-200-[ms]Hold workpiece if power loss?

Yes

Storage temperature

032-

60
140

[°C]
[°F]

Motor

Integrated, electric BLDCIP Classification

IP67

External

Grip widthrange

Fingers outwards

Fingers inwards
Internal

Allowed torque on finger
platform**

Fingers outwards

Gear grease: NSF H1 approved; meets FDA regulation 21 CFR 178.3570 for incidental foodcontact applications2DATASHEETGeneral Properties

Minimum Typical

Maximum Unit

Dimensions [L x W x D]

155.2 x 115 x 70
6.11 x 4.53 x 2.76[mm][inch]

Weight

1.5
3.3

[kg]
[lb]

* The required current is 2000 mA, less current will result in less gripping force. See the Forcevs Current Graph.
** See Maximum Allowed Torque for more details.
*** Relatively from the gripping object (both arms).
**** At 4 mm stroke and 80 N. The typical value is 300 ms at 80 mm and 150 N.
Operating Conditions

Minimum

TypicalMaximumUnit

Power supply202425[V]Current consumption--

2000 *[mA]

Operation temperature

032-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

0-

95[%]

Calculated operation life

30 000--[Hours]* Automatically adapts to the current requirements. For more information, see the Current
Requirements section.
Force vs Current Graph

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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 fingersof 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 thebottom finger touches the workpiece slightly before the top finger touches it, as shown in thefigure below.

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

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Inwards

Outwards

External grip range [mm]5-5555-105Internal grip range [mm]17,6-67,667,6-117,6

The delivered finger length is 12.50 mm (L in the drawing below). If custom fingers arerequired, 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.

Maximum Allowed Torque
The maximum allowed torque applied to the gripper finger platforms around X is 30 Nm andaround Y is 25Nm. The picture below shows the coordinate system from where the maximum
allowed torque is calculated.
The torque around Y results from gripping force and workpiece accelerations, while thetorque around X results only from workpiece accelerations.
25 Nm corresponds to full gripping force at 90 mm from finger platform.

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DATASHEET

Force vs Distance from finger platform
The graph below shows how the maximum allowable force decreases as the distance fromthe finger platform increases in case of customized fingers. The graph is valid for all types ofindividual distances shown in the image below.

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

6DATASHEET

External Grip

Internal Grip

Current Requirements
Robot TypeMaximum Current

ABB2000 mA

FANUC CRX

2000 mA

Kassow

700 mAUR

600 mA

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DATASHEET

1.2. 2FG14 box content

8DATASHEET

1.3. 2FG14All dimensions are in mm and [inches].

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