Trossen Robotics PGC Series Short Manual page 4

Opening/closing stroke (both sides)
Position repeatability (both sides)
Communication protocols
In the actual gripping, you should take the gripping angle and gripping position into account.
The following right-angle coordinate system is established, and the corresponding directions
of the X-axis, Y-axis, and Z-axis are shown in Figure 1.2 below. The force perpendicular to the
gripped flat surface is used as Fz, the x-axis direction torque is Mx, the y-axis direction torque is
My, and the z-axis direction torque is Mz. The PGC-140 finger load table is shown in Table 1.2:
Max allowable vertical load (static)
Max allowable moment Mx (static)
Max allowable moment My (static)
Max allowable moment Mz (static)
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Table 1.1 PGC-140 specifications
PGC-140 performance parameters.
Gripping force (per jaw)
Opening/Closing time
Weight
Noise emission
Ingress protection rating
Nominal voltage
Nominal current
Peak current
Figure 1.2 Finger load diagram
Table 1.2 PGC-140 Finger load.
PGC-140
40-140N
0-50mm
0.6s/0.6s
1 kg
± 0.03mm
< 50 dB
IP54
Modbus RTU(RS485), I/O
24V DC± 10%
0.25 A
0.5 A
300 N
7 N·m
7 N·m
7·N m
3
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