OnRobot RG2-FT - Hex-E Qc

Phase 2: When the gripper diameter is very close to the programed target diameter, the
gripper 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 GUI. 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 the features in the
GUI.
Gripping Diameter
The
dierent configurations of the delivered finger and fingertips allow to achieve a wide
range of diameters.
Finger Position
Fingertip (mm) External Gripping range
(mm)
Internal Gripping range
(mm)
1
Ø10 10 - 117 35 - 135
Ø13 7 - 114 38 - 138
Ø16.5 4 - 111 41 - 140
2
Ø10 26 - 134 49 - 153
Ø13 23 - 131 52 - 156
Ø16.5 20 - 128 55 - 158
3
Ø10 44 - 152 65 - 172
Ø13 41 - 149 68 - 174
Ø16.5 38 - 146 71 - 176
Based on:
•
Angle for external gripping min 165º (Pos 1), 163 º (Pos 2), 161 º (Pos 3) and max 30º (all 3
positions)
•
Angle for internal gripping min 160º and max 30º
The closer to the maximum diameter range, the lower the angle and, therefore, the higher the
force.
8.1.2. HEX-E QC
General Properties
6-Axis Force/Torque Sensor Unit
Fxy Fz Txy Tz
Nominal Capacity (N.C) 200 200 10 6.5 [N] [Nm]
Single axis deformation at N.C (typical) ± 1.7
± 0.067
± 0.3
± 0.011
± 2.5
± 2.5
± 5
± 5
[mm] [°]
[inch] [°]
Single axis overload 500 500 500 500 [%]
Signal noise* (typical) 0.035 0.15 0.002 0.001 [N] [Nm]
Noise-free resolution (typical) 0.2 0.8 0.01 0.002 [N] [Nm]
HARDWARE SPECIFICATION
170