Beruflich Dokumente
Kultur Dokumente
Features
• Plug n’ play
• Simple installation
Mount, connect, run script - Automate
Runs directly from the robot.
Technical specifications
Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved
RG2 gripper datasheet – Version 1.4
200
180
Gripper Spped [mm/s]
160
140
Gripping speed 120
100
80
The Speed table are illustrating the difference in
60
speed relative to the gripper finger position. 40
20
0
48
88
0
8
16
24
32
40
56
64
72
80
96
104
112
Gripper finger gab [mm]
Load capacity
Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved
RG2 gripper datasheet – Version 1.4
Fingers
Standard fingers
For a variety of workpieces
Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved
RG2 gripper datasheet – Version 1.4
Mechanical dimensions
Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved
RG2 gripper datasheet – Version 1.4
Teach Mode
Teach Mode Tool Outputs
When the robot is turned on, you can use the gripper UR Version 3 0 1
without programming it first. Use the tool output I/O’s. The UR Version 1 & 2 DO8 DO9
table to the right is shows the preset configuration. Open Gripper (110mm) Off -
1) Go to the I/O screen on the teach pendant Close Gripper (0mm) On -
2) Turn on 24V in the tool section High Force (40N) - Off
3) Use DO8(0) to move the gripper Low Force (5N) - On
I/O Feedback
Digital status Feedback Tool Inputs
The gripper uses DI8, DI9 and AI3 to give feedback on its
UR Version 3 0 1
status and finger position.
UR Version 1 & 2 DI8 DI9
Use DI8 to detect if the gripper grabbed a workpiece or Position Reached LO -
stopped at a given position. Force Reached HI -
Gripper Busy - LO
DI9 will go LO (Busy) when the gripper is programmed, Gripper Ready - HI
moving or changing force.
Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved
RG2 gripper datasheet – Version 1.4
Analog feedback
Analog Feedback
UR Input Voltage Width
Actual Width @ 0V:5V AI2 0…3.7V* 0…110mm
Actual Width @ 0V:10V AI2 0…3.0V* 0…110mm
* Due to the gripper analog output resistance (10kΩ), the analog feedback voltage will be affected by the robot
input resistance. For the robots from Universal Robots, the input resistance is 29kΩ @ 0V:5V and 15kΩ @ 0V:10V,
29kΩ
that result in a maximum input voltage of 5V ∙ 10kΩ+29kΩ = 3.7V @ 0V: 5V and
15kΩ
5V ∙ 10kΩ+15kΩ = 3.0V @ 0V: 10V which correspond to the maximum width of 110mm.
voltage
The actual width can be calculated by maximum input voltage
∙ 110mm.
Specifications is periodically reviewed and may change without notice Copyright © 2015 by On Robot ApS. All rights reserved