DATASHEET
2FG7

v1.7

DATASHEET

1. Datasheet
1.1. 2FG7
General Properties

Minimum

TypicalMaximum

Unit

Payload force fit--

715.5[kg][lb]--1124.3

[kg]
[lb]

-

381.49-[mm][inch]

Payload form fit
Total stroke
Fingers inwards

10.039-391.53[mm][inch]

351.37-732.87[mm][inch]

110.43-

49
1.92

[mm]
[inch]

451.77-83
3.26[mm][inch]

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

Gripping force **20-

140[N]

Gripping force tolerance--+/-5[N]

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

Clean room *****ISO Class 5

ESD Safe *****

105

109

[Ohm]

External

Grip widthrange *Fingers inwards

Internal

2

Fingers outwards

Fingers outwards-DATASHEETGeneral Properties

Minimum

TypicalMaximum

Unit

Gear grease: NSF H1 approved; meets FDA regulation 21 CFR 178.3570 for incidental foodcontact applications
Dimensions [L x W x D]

144 x 90 x 71
5.67 x 3.54 x 2.79[mm][inch]

Weight

1.1
2.4

[kg]
[lb]

* Silicone fingertips add 1 mm in each direction.
** The required current is 2000 mA, less current will result in less gripping force. See theForce 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 distinguishthe different bellows, go to the Maintenance section.
Operating Conditions

Minimum

TypicalMaximum

Unit

Power supply

202425[V]

Current consumption--

2000 *[mA]

Operation temperature

541-

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

3

DATASHEET

Force Sensor
The gripper has a force sensor in the finger on the connector side as shown in the figurebelow.

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.

4DATASHEETInwards

Outwards

External grip range [mm]

1-39

35-73

Internal grip range [mm]

11-49

45-83

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.

5DATASHEET

Maximum Allowed TorqueThe maximum allowed torque applied to the gripper finger platforms is 5 Nm. The picturebelow shows the coordinate system from where the maximum allowed torque is calculated.
5 Nm corresponds to full gripping force at 36 mm from finger platform.

6

DATASHEET

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.

7DATASHEET

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 havegood resistance properties to. For example in CNC machines, mineral oils are often used ascooling liquids, which the Standard Bellow is appropriate for.
Bellow, Standard (NBR)

Bellow, ESD and Cleanroom (Silicone)
Greases
Silicone Oils
Vegetable Oils

Alcohols

Brake Fluids

Diester Lubricants

Ketones

Ethylene Glycol Fluids

OxygenPetroleum Oils

Animal Oils

Hydraulic Fluids

SunlightDiluted Alkalines

Compression Set

Aliphatic Hydrocarbons

Ozone

Mineral Oils
Common Fuels
Solvents
Acids8DATASHEETNOTE: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.
Current Requirements
Robot TypeMaximum Current

ABB2000 mA

FANUC CRX

2000 mA

Kassow

700 mAUR

600 mA

Additional Equipment
The 2FG7 features two mounting holes designed to accommodate peripheral equipment suchas small sensors or other lightweight devices. These holes can handle a maximum torque of 1Nm.
NOTE:Threads will be covered with screws when the gripper is delivered.

9DATASHEET

1.2. 2FG7 box content

10DATASHEET

1.3. 2FG7

All dimensions are in mm and [inches].

11