Product feature
Attachment orientation
Main specification
| Heading | Contents | |
|---|---|---|
| Gripping Motion | Max. Gripping Force (N)(Both sides) | 20 |
| Grip operation time (s)(Both sides) | 0.03 or less | |
| Operation frequency (CPM) | 120 | |
| Stroke (Per side) | Min. Stroke (mm)(Per side) | 2 |
| Max. Stroke (mm)(Per side) | 2 | |
CPM：Cycle per minute
| Heading | Contents |
|---|---|
| Drive system | Gripping mechanism (Chuck): Compressed spring + Cam mechanism Releasing mechanism (Unchuck): Solenoid electromagnetic force + Cam mechanism |
| Accuracy of Repeating Positioning. | ±0.1mm |
| Homing precision | － |
| Backlash | 0.5mm or less per side |
| Lost motion | － |
| Finger guide | Slide guide |
| Allowable static moment value | Ma：1.08N･m |
| Mb：1.08N･m | |
| Mc：2.64N･m | |
| Dynamic allowable moment | － |
| － | |
| － | |
| Allowable thrust load (Vertical payload) | 240N |
| Ambient operating temperature and humidity | 0 - 40℃, RH 85% and below (no condensation) |
| Protection grade | IP20 |
| Vibration resistant/Shock resistant | 4.9m/s2 |
| Compatible to overseas standards | CE mark, RoHS compliant |
| Motor type | － |
| Encoder type | － |
| Encoder pulse No. | － |
| Delivery | Written in [Reference for delivery] section of the homepage |
Direction of the Moment for Slider Type
Correlation Diagram of Gripping Force and Opening/Closing Stroke
Outer diameter gripping force (per side)
(Note) The gripping force changes depending on the opening/closing stroke of the finger.
Inner diameter gripping force (per side)
Checking the Gripping Point Distance
When using, make sure that the distance (L, H) from the finger (claw) mounting surface to the gripping point is within the range of the graph.
(Note) Please note that if the limit range is exceeded, an excessive moment will act on the finger sliding part and the internal mechanism, which may adversely affect the service life.
Adaptive controller
(Note) A driver box is required to operate the GRS series. Refer to page 5-85 for further details.
Important notes on selection
 | (1) The outer diameter grip opens when energized and closes when not energized (always closed). The inner diameter grip closes when energized and opens when not energized (always open). (2) Due to spring used for the gripping mechanism, the gripping force changes depending on the opening/closing stroke of the finger. Refer to "Correlation Diagram of Gripping Force and Opening/Closing Stroke" for further information. (3) Be sure to use push-motion operation to grip the work. Refer to page 1-311 for further details. (4) A driver box is required to operate the solenoid gripper. Refer to page 5-85 for further details. (5) Refer to 1-311 for gripper selection method. |
Oversea specification
Dimension drawing
※1 The actuator cable is a robot cable. The standard cable length is 1000mm, and it can be changed to 2000mm or 5000mm by specifying the option (model: AC2 / AC5).
Sensor attachment (optional)
※1 The actuator cable is a robot cable. The standard cable length is 1000mm, and it can be changed to 2000mm or 5000mm by specifying the option (model: AC2 / AC5).
Rubber cover mounting (optional)
※1 The actuator cable is a robot cable. The standard cable length is 1000mm, and it can be changed to 2000mm or 5000mm by specifying the option (model: AC2 / AC5).
Mass
| Heading | Contents |
|---|---|
| Mass | 0.27kg |