DATASHEETRG2-FT

v1.2

DATASHEET

1. Datasheet
1.1. RG2-FT
General Properties

Minimum

TypicalMaximum

Unit-

-

2[kg]

-

-

4.4

[lb]

-

-

4[kg]

-

-

8.8

[lb]

0-

100

[mm]

0-

3.93

[inch]

-

0.1

-

[mm]

-

0.004

-

[inch]

-

0.1

0.2

[mm]

-

0.004

0.007

[inch]

0.2

0.4

0.6

[mm]

0.007

0.015

0.023

[inch]

Gripping force (adjustable)

3-

40[N]

Gripping speed *

55

110

184[mm/s]

Gripping time **

0.04

0.07

0.11

[s]

Adjustable bracket tilting accuracy-<1-°

Ambient operating temperature

5-50[°C]

Storage temperature

0-60[°C]

Motor

Integrated, electric BLDCIP Classification

IP54

Payload Force Fit

Payload Form Fit
Total stroke (adjustable)
Finger position resolution
Repetition accuracy
Reversing backlash

Dimensions
Product weight219 x 149 x 49[mm]

8.6 x 5.9 x 1.9[inch]

0.98[kg]

2.16[lb]* see RG2-FT Gripping Speed Graph** based on 8mm total movement between fingers. The speed is linearly proportional to theforce. For more details see RG2-FT Gripping Speed Graph.

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Force Sensor Properties

FxyFz

TxyTz

Units

Nominal capacity (N.C.)

20400.7

0.5[N] [Nm]DATASHEET

Force Sensor Properties

FxyFz

TxyTz

Units

Single axis overload

200200200200[%]

Noise free resolution

0.1

0.4

0.008

0.005

[N] [Nm]

0.4

0.1

25[mm] [°]

0.015

0.04

Single axis deformation at N.C.

[inch] [°]Full scale nonlinearity
Temperature compensation<2[%]

Sampling frequency

150[Hz]Proximity Sensor Properties

MinTypicalMax

Units0-100[mm]0-3.93[inch]-2-[mm]-0.078-[inch]

Non-linearity *-12-[%]

Sampling frequency-150-[Hz]

Sensing range
Precision* the non-linearity refers to the max value and depends on the object properties (e.g. surface
type and color)
Operating Conditions

Minimum

TypicalMaximum

Unit

Power requirement (PELV)

24-

24

[V]

Power consumption

6.5-

22

[W]

0-

55

[°C]

32-

131

[°F]

Relative humidity (non-condensing)

0-

95[%]

Calculated operation life

30 000--[Hours]Operating temperature

3DATASHEET

Proximity Sensor Typical Accuracy

4DATASHEETRG2-FT Gripping Speed Graph

Gripper Working Range

The dimensions are in millimeters.
Fingertips
The standard fingertips can be used for many different workpieces. If custom fingertips arerequired, they can be made to fit the Gripper fingers.

5DATASHEET

Dimensions of the Gripper’s finger, in millimeters.

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DATASHEETNOTE:During the fingertip design, the following shall be considered to maintain
optimal performance:
Clear optical path for the proximity sensors
Protect the proximity sensors from direct sunlight or strong light source
Avoid dust and liquid penetration

WARNING:
The proximity sensors are sensitive parts and shall be protected against:
Direct strong light (such as directional laser sources)
Direct high temperature
Mechanical contacts in any case
Expose to any liquid or fine conductive dust

NOTE:
Please clean regularly the proximity sensor surface with low pressurecompressed air (<5 bar) from a 5 cm distance. For stronger contamination use
isopropyl alcohol with a soft cotton swab to keep it clean.
Finger Thickness
The default fingertips are considered while the finger thickness has been set and could not
be changed in the software. In case when custom fingertips are used, the user should
manually compensate for the difference in the finger thickness.

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DATASHEET

1.2. RG2-FT box content

8DATASHEET

1.3. RG2-FT

All dimensions are in mm and [inches].

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