DATASHEET
3FG15

v1.6

DATASHEET

1. Datasheet
1.1. 3FG15
General Properties

Minimum

TypicalMaximum

Unit

Grip-

-

1022[kg][lb]

Flexible grip--

817[kg][lb]--

1533[kg][lb]

External

40.16-

152
5.98

[mm]
[inch]

Internal

35
1.38-

176
6.93[mm][inch]

Finger position resolution-

0.10.004-[mm][inch]

Diameter repetition accuracy-

0.10.004

0.2
0.007

[mm]
[inch]

Grip10-240[N]

Flexible grip

10-

140

[N]

Gripping force (adjustable)

1-

100[%]

Gripping speed (diameter change)

--

125

[mm/s]

Gripping time (including brake activation)**

-500-

[ms]

Minimum necessary finger movement

4--[mm]Hold workpiece if power loss?

Yes

Storage temperature

032-

60
140

[°C]
[°F]

Motor

Integrated, electric BLDCIP Classification

IP67

Dimensions [L, W, Ø]

156 x 158 x 180
6.14 x 6.22 x 7.08[mm][inch]

Weight

1.15
2.5

[kg]
[lb]

Payload Force Fit

Payload Form Fit

Grip Diameter*

Gripping force* With the scope of delivery.
** 10 mm diameter distance. Also see section Gripping methods.

2DATASHEET

Operating Conditions

Minimum

TypicalMaximum

Unit

Power supply

202425[V]

Current consumption

43-

1500 ***[mA]

Operating temperature

541-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

0-

95

[%]

Calculated operation life

30 000--[Hours]*** 600 mA set as default.
Fingers
The supplied fingers can be mounted in 3 different positions to achieve different Gripping
Forces and different Gripping Diameters.

The delivered finger length is 49 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. Theneeded screws are M4x8mm (use 3 Nm tightening torque):3

DATASHEET

Fingertips
The supplied fingertips are listed below. Different fingertips will allow to achieve different
Gripping Forces and different Gripping Diameters.
••••

Ø10 mm steel
Ø13 mm steel
Ø13.5 mm silicone
Ø16.5 mm silicone

If custom fingertips are required, they can be made to fit the gripper’s fingers according to thedimensions (mm)[inch] shown below. The needed screws are M4x8mm (use 2.5 Nm tighteningtorque):4

DATASHEETIn the graph below, the maximum payload allowed for customized fingertip given a length isshown.

In the graph below, how the % of maximum achievable force decreases as the finger length
increases when customized fingertips are used.

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DATASHEET

X-shape Fingertips
These fingertips improve the gripper's ability to pick and place round workpieces with collar
like features. By combining the force fit and the form fit gripping approaches, the fingertips
increase the stability and payload of the workpiece to be gripped.

When these fingertips are used, set the fingertip diameter to 16 mm in the robot program.
These fingertips are optional accessories and need to be purchased separately. To purchasethese fingertips, please contact the distributor.
•3FG X-Shape Fingertips PN 106963.

Knurled Fingertip Set
Designed with a knurled surface, these fingertips increase friction and payload capacity,
making them optimal for gripping and moving raw and oil-coated workpieces in CNC
machines.
NOTE:
The knurled fingertip may leave marks on the material.

Set the robot program to a 13 mm diameter when using these fingertips. They are optional
accessories, sold separately. Contact the distributor for purchase.
•6

Knurled Fingertip Set PN 113929.

DATASHEETInternal/External grips
In the document the internal and external grip terms are used. These grips are related to how
the workpiece is gripped.
External grip

Internal grip

Gripping methods
There are two different gripping methods how the 3FG15 can be operated. With each method,both internal and external gripping can be used.
Normal gripFlexible grip

Use this gripping method if:

Use this gripping method if:••

the diameter of the object is known
and does not vary
more than 140 N gripping force isneeded••

the diameter of the object is not known orvaries significantly
up to 140 N gripping force is sufficient

Normal grip
The gripping action has two phases:
Phase 1: For a safety reason, the fingers will start moving with a lower force (<140 N) to avoid
damaging anything that could get clamped between the gripper fingers and the workpiece.
The 3FG15 will apply a force of 50 N during this phase.
Phase 2: When the gripper diameter is very close to the programed target diameter, thegripper will increase the force to grip with the programed target force. After the grip, a break
will be activated (tic sound). The activation of the brake, also known as, Force grip detected,
can be verified in the provided functions. This brake will hold the workpiece with the applied
force, with no power consumption and holding the workpiece in case of power loss. This
brake will automatically be deactivated when the gripper performs a release or a new grip
command. While programming the gripper, the brake can be deactivated by using thefeatures in the GUI.
Flexible grip
The fingers will start moving with the set target force. If the gripper gets in contact with theobject, it will grip with the programmed target force. After the grip, a break will be activated(tic sound). The activation of the brake, also known as, Force grip detected, can be verified in
the provided functions. This brake will hold the workpiece with the applied force, with nopower consumption and holding the workpiece in case of power loss. This brake will

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DATASHEET

automatically be deactivated when the gripper performs a release or a new grip command.
While programming the gripper, the brake can be deactivated by using the features in theGUI.
NOTE:The achievable gripping speed is affected by the following parameters:
1. Using lower target force (F) than 100% can reduce the gripping speed.
2. The size of the target diameter: the bigger the target diameter (grippingnear to fully open position), the lower the achievable gripping speed.

Gripping Force
The total gripping force highly depends on the finger angle θ. For
both internal and external grip, the lower the finger angle, thehigher the force that will be applied as shown in the graph below.
Although the fingers can move from 0 to 180, the angle range ofan external grip is 30º-165º and for an internal grip 20º-160º

8DATASHEET

Graph plotted using measurements with 1 A current, silicone fingertips and a metal workpiece.
The percetages shown on the graph stand for the target force percentage. The blue line
stands for the normal Grip function and the dashed line stands for the Flexible grip function.
NOTE:
The total force applied depends on the finger angle, the input current (limited
in some robots' tool flange connection) and the friction coefficient between thematerials of the fingertips and the workpiece.
Gripping Diameter
The different configurations of the delivered finger and fingertips allow to achieve a wide
range of diameters.
Finger Position Fingertip (mm) External Gripping range
(mm)
123

Internal Gripping range(mm)

Ø1010 - 117

35 - 135

Ø137 - 114

38 - 138

Ø16.5

4 - 11141 - 140

Ø1026 - 13449 - 153

Ø1323 - 131

52 - 156

Ø16.520 - 128

55 - 158

Ø1044 - 152

65 - 172Ø1341 - 149

68 - 174Ø16.5

38 - 146

71 - 176

9DATASHEETBased on:••Angle for external gripping min 165º (Pos 1), 163 º (Pos 2), 161 º (Pos 3) and max 30º (all 3positions)Angle for internal gripping min 160º and max 30º

The closer to the maximum diameter range, the lower the angle and, therefore, the higher theforce.

1.2. 3FG15 box content

10DATASHEET

1.3. 3FG1511

DATASHEETAll dimensions are in mm and [inches].

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