Overview

This compact RM-EGB Series gripper from RobustMotion fits small collaborative robots (cobots) such as the Dobot MG400. It operates at 24 VDC, which can be supplied from the MG400, and the simple PNP-type PLC interface can connect directly to the MG400 I/O ports. A simple 3D-printed adapter (139k STEP) can be used to mount the gripper to the MG400 arm.

The gripper operates by sliding a pair of fingers together or apart laterally to grip and release. These fingers, which are designed to serve as mounting points for customized (e.g. 3D-printed) extensions, are able to exert consistent force in both directions, allowing them to grab parts internally (by opening into a gap) or externally (by clamping down) with missed pickup and dropped part detection.

The gripper can cover its full 6 mm stroke length in under 0.1 s, and in addition to the fully open and fully closed extremes, two preset intermediate positions (at 2 mm and 4 mm) are achievable with ±0.02 mm repeatability. The grip strength can be controlled by selecting from four preset force levels up to 60 N. See the RM-EGB user’s manual (2MB pdf) for more information.

Specifications

• Operating voltage: 24 VDC
• Peak current: 0.6 A
• Maximum stroke length: 6 mm
• Maximum opening/closing time: 0.1 s over the full 6mm range
• Four preset stroke positions: 0, 2, 4, and 6 mm with repeat positioning accuracy of ±0.02 mm
• Maximum gripping force: 60 N
• Four preset gripping force levels: 25%, 50%, 75%, and 100%
• Capable of gripping internally or externally with consistent force output and detection of missed pickup/dropped part
• Interface: 3 PNP inputs and 3 PNP outputs for direct connection to a PNP-type PLC
• Cable length: 200 cm
• Size: 23.5 × 38 × 98 mm (0.93″ × 1.50″ × 3.86″)
• Weight: 220 g (290 g including the cable)
• RobustMotion part number: RM-EGB-06H-16D-1-D0200-P

Connections

The gripper has a 200 cm (80″) cable with ten conductors terminating in a 12-pin, 2mm-pitch A2008H-12P connector. RobustMotion recommends cutting the connector off and using the individual wires. Note: pins 9 and 10 (DSW+/-) are not used on this version of the gripper.

Dimensions