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Friction grasp and form-fit grasp
8.2.2. Center of mass and tool center point
Details are available for this CNC Machine Tending Kit in table Values of center of mass, tool center point and mass for kits.
8.2.3. Moment and force limits
Hand-E has limits for moment and force values. The maximum moment and force values are independent of the grasp force applied by
the Gripper on its payload. For payload calculation, see section Payload and force. Moments in x and y are calculated from the base of
the fingers.
8.3. Electrical specifications
8.3.1 . Hand-E Electrical Specifications
Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 8-9: Left: friction grasp; right: form-fit grasp.
Grasp Type
Friction grasp
Form-fit grasp
Table 8-1: Maximum payload by grasp type.
SPECIFICATION
Operating supply voltage
Quiescent power (minimum power con-
Maximum Payload
3 kg
5 kg
VALUE
24 V DC
±1 0%
1 W
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