OnRobot HANWHA 3FG15 User Manual page 85

Hardware Specification
RG2-FT
General Properties
Payload Force Fit
Payload Form Fit
Total stroke (adjustable)
Finger position resolution
Repetition accuracy
Reversing backlash
Gripping force (adjustable)
Gripping speed*
Gripping time**
Adjustable bracket tilting accuracy
Ambient operating temperature
Storage temperature
Motor
IP Classification
Dimensions
Product weight
* see speed table 84
** based on 8mm total movement between fingers. The speed is linearly proportional to the
force. For more details see speed table on page 84.
Force Sensor Properties
Nominal capacity (N.C.)
Single axis overload
Noise free resolution
Single axis deformation at
N.C.
Full scale nonlinearity
Temperature compensation
Min
-
-
-
-
0
0
-
-
-
-
0.2
0.007
3
55
0.04
-
5
0
Integrated, electric BLDC
IP54
219 x 149 x 49
8.6 x 5.9 x 1.9
0.98
2.16
Fxy Fz
20 40
200 200
0.1 0.4
0.4 0.1
0.015 0.04
< 2
Typical Max
- 2
- 4.4
- 4
- 8.8
- 100
- 3.93
0.1 -
0.004 -
0.1 0.2
0.004 0.007
0.4 0.6
0.015 0.023
- 40
110 184
0.07 0.11
< 1 -
- 50
- 60
Txy Tz
0.7 0.5
200 200
0.008 0.005
2 5
Units
[kg]
[lb]
[Kg]
[lb]
[mm]
[inch]
[mm]
[inch]
[mm]
[inch]
[mm]
[inch]
[N]
[mm/s]
[s]
°
[°C]
[°C]
[mm]
[inch]
[kg]
[lb]
Units
[N] [Nm]
[%]
[N] [Nm]
[mm] [°]
[inch] [°]
[%]
85