DATASHEET2FGP20v1.5

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1. Datasheet
1.1. 2FGP20
Finger Grip Properties

Minimum Typical

Maximum Unit

Payload-

-

20
44.1

Total stroke

-

260
10.24

Grip width range (1)

170
6.69

-

Gripping repeatability-+/- 0.5+/- 0.0197 -[mm][inch]

Gripping force (2)

80-

400

[N]

Gripping force tolerance--+/- 30[N]

Gripping speed

16-

180

[mm/s]

Gripping time (including brake activation) (3)

-

600-

[ms]

Finger gripper--58
63[dB(A)]Leq[dB(A)]Max

Vacuum gripper--7274[dB(A)]Leq[dB(A)]Max[mm][inch]
430
16.93

Noise level (4)

[kg]
[lb]

Hold workpiece in case of power loss?

Yes

Motor

Integrated, electric BLDC

[mm]
[inch](1) When pads are mounted, the minimum value is 158 mm and the maximum value is 418 mm.
(2) See Force vs Current Graph(3) At 6 mm stroke and 150 N. The typical value is 900 ms at 20 mm and 200 N.
(4) For more information, see the Noise level section.

Vacuum grip properties

Minimum Typical Maximum Unit

Vacuum5- 0.05
1.5

Air flow0-Payload (with delivered attachments)
Vacuum cups
Gripping time (measured with vacuum target 40 %)2-10.2560- 0.607
17.95[%Vacuum][Bar][inHg]

12[L/min]

2.5
5.51

[kg]
[lb]

4[pcs][s]

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Vacuum grip properties

Minimum Typical Maximum Unit

Release time

0.4[s]

Vacuum pumpIntegrated, electric BLDC

Dust filters

Integrated 50 µm, field replaceable

General properties

Minimum

TypicalMaximumUnit

Storage temperature

032-60140[°C][°F]IP Classification

54Dimensions [L x W x D]

400 x 121.6 x 188
15.75 x 4.79 x 7.4[mm][inch]

Standard
fingers
includingfour pads

Vacuumequipment

KLTFinger
set

Total
weight

Unit

Base unit with Standard 3.7
fingers including all pads 8.16

1.37
3.02

--

5.07
11.18

[kg]
[lb]

Base unit with Standard
fingers including all pads 3.7
and all vacuum
8.16
equipment

1.37
3.02

0.27
0.60

-

5.34
11.77

[kg]
[lb]

Base unit with KLT Finger 3.7
set
8.16--

0.43
0.95

4.13
9.11

[kg]
[lb]

Base unit with KLT Finger
3.7
set and all vacuum
8.16equipment

-

0.27
0.60

0.43
0.95

4.4
9.7[kg][lb]

Base unit with custom
fingers---User
defined[kg][lb]

Gripper combination

Baseunit

3.7
8.16

Operating Conditions

Minimum Typical Maximum Unit

Power supply

202425[V]

Current consumption

-

-

2000

[mA]

Operating temperature (gripper and vacuum cups)

541-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

0-

95[%]

Calculated operation life

30 000--[Hours]3DATASHEET

Force vs Current Graph

Noise Level
The noise level of the 2FGP20 depends on whether the finger or vacuum gripping part isused. Vacuum gripping noise depends on the set vacuum level and whether an object ispicked up or not. Higher speed and stroke increase the noise. The noise level also depends
on the surroundings and other equipment.
To measure the 2FGP20’s noise level, a test has been carried out by an external company.
The test setup was the following:••••

The test took place in a normal indoor production area.
The finger gripping test ran 4 cycles full stroke, 100 % speed and with no pause inbetween the cycles.
The vaccum gripping test was made with fully activated pump and with no pause.
The noise measurement equipment was located in 1 m distance away from the 2FGP20.

The test concludes that the average measured noise level was below 58 dB(A)Leq for thefinger gripper and 72 dB(A)Leq for the vacuum. The maximum noise level was measured
below 63 dB(A)Max for the finger gripper and 74 dB(A)Max for the vacuum, which is below themaximum allowed noise level of (80 dB(A)). The 2FGP20 will not run continuously in an
application which means that the average noise level will decrease significantly.
Force Sensor
The gripper has a force sensor in the moving finger as shown in the figure below.

4DATASHEET

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.
If the workpiece is picked sideways, make sure to orient the gripper with the moving finger on
top, as shown in the image below. Also ensure that the bottom finger makes contact with theworkpiece before the top finger.

Finger pads
Four finger pads are provided with the gripper and can be mounted in different configurations
to achieve the best grip for your workpiece.

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Some examples of how the pads can be mounted are shown below.

The pads are made of aluminum with a cover of silicone. The maximum force (equallydistributed in the blue area of the images below) that can be applied to the finger pads isshown in the table below.
Illustration

6Pad position

Maximum force (N)

0400

1300

DATASHEET

Illustration

Pad position

Maximum force (N)

2200

3100

4400

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Illustration

Pad position

Maximum force (N)5400

Finger set for KLT boxes
The Finger set for KLT boxes enhances the grip stability for KLT containers and other open
box types with groove. The fingertips can be adjusted to the open slots on the large variantsof boxes.

These fingers are accessories and need to be purchased separately. To purchase thesefingers, please contact the vendor from where the gripper has been purchased.
•2FGP20 - Finger set for KLT boxes PN 113294

See examples with 400 x 300 mm and 600 x 400 KLT boxes:

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DATASHEETIt is recommended to use KLT boxes using the VDA standard 4500. Because of the varianceof stiffness in the different KLT boxes, the application needs to be tested in regards to payload
and robot speed/acceleration.
Custom fingers
The standard fingers provided with the gripper have a height of 220 mm. For workpieces
taller than 220 mm, it is recommended to customize the fingers.
WARNING:
Observe ISO/TR 20218-1 and ISO/TS 15066 so custom fingers are not sharp orcreate pinching hazards in the gripping areas.
An example is shown in the picture below where the pressure is recommended to be appliedat the bottom of the workpiece. To achieve this, custom longer fingers are used, and thefingerpads are attached horizontally. This is the best way to get a firm grip.

By increasing the finger height, the allowed torque might be reduced as shown in theMoments in the finger base section.
Another example is shown in the image below for picking wrapped foil bottles. For thisworkpiece type, it is recommended to mount the pads horizontally to have as many contact
points as possible. By doing so, the applied force can be increased and a firmer grip is9DATASHEET

achieved. Place the pads as close to the bottom of the workpiece as possible, so theworkpiece structure is stronger and can resist more force.

If custom fingers are required, they can be made to fit the gripper according to thedimensions (mm) [inch] shown below. Use M6x10mm screws to attach the fingers.

Moments in the finger base
A maximum moment 80 Nm is allowed on each direction of the finger base.

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DATASHEET

Vacuum cups
The vacuum solution has been designed to handle interlayer sheets and similar items. Thetwo most common configurations with the delivered bracket and vacuum cups are shownbelow.
Square ShapeRow Shape

Better for cardboard interlayer sheets or
multiple layer paper

Better for paper or similar interlayer sheets

The provided tube length is adequate for the Square Shape. For using the Row Shape, please
cut two of the tubes to 83 mm length.
NOTE:
It is important to always use the four air sources together.

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DATASHEET

Custom Vacuum Bracket
If a custom bracket is required, it can be made to fit the gripper according to the dimensions(mm) [inch] shown below. Use M6x6mm screws to attach the fingers.

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1.2. 2FGP20 box content

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1.3. 2FGP20

All dimensions are in mm and [inches].

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