Index Manuals KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (EN) v1.05

Content .. 3 4 5 6 ..

KAWASAKI ROBOTS. ORIGINAL INSTRUCTION (v1.05) - page 5

Additional Software Options

130

Hardware Specification

131

Hardware Specification

9.1

Technical sheets

Gecko .............................................132

HEX-E QC ........................................135

HEX-H QC........................................137

Quick Changer ................................139

Quick Changer for I/O .....................139

Dual Quick Changer ........................139

Quick Changer - Tool side ................139

RG2-FT ...........................................141

RG2 ................................................146

RG6 ................................................149

VG10 ..............................................152

VGC10 ............................................159

Hardware Specification

132

Gecko

NOTE:

Avoid preloading the gripper with an inverted robot or in non-vertical
loading conditions. If preloaded whilst inverted, preload sensor will not
meet typical performance standards.

* Smoother surfaces require less preload force for a desired payload force.

General Properties

Unit

Gripper

Workpiece Material

Polished
Steel

Acrylic

Glass

Sheet Metal

Maximum payload (x2 safety factor)

6.5
14.3

5.5
12.1

[kg]
[lb]

Preload required for max adhesion

140

[N]

Detachment time

300

[msec]

Holds workpiece on power loss?

yes

Pads

Change-out interval

150 000 to 200 000 cycles for HIGH preload
200 000 to 250 000 cycles for LOW preload

[cycles]

Manual Cleaning

Isopropyl alcohol and lint free cloth

Robotic cleaning system

Cleaning Station

Robotic cleaning interval and %
recovery

Refer to Cleaning Station User Guide

Sensors

Pre-load sensor

Ultrasonic Range sensor

Range

45 [N]
9 [lb]

140 [N]
31 [lb]

260 [mm]
10 [inch]

[N][mm]

[lb][inch]

Error

IP Classification

Dimensions (HxW)

187 x 146
7.3 x 5.7

[mm]

[inch]

Weight

2.85
6.3

[kg]
[lb]

Operating Conditions

Minimum

Typical

Maximum

Unit

Temperature

0
32

-
-

50
122

[°C]
[°F]

Surface Characteristics*

Matte finish Highly

polished

Hardware Specification

133

Specification or Feature

Target value

Parts Presence Sensing

Yes (Ultrasonic)

Pad Material

Proprietary silicone blend

Wear Properties

Depends on surface roughness and preload

Pad Attachment Mechanism

Magnetic

Change-out interval

150000

–

200000 for HIGH PRELOAD

200000

–

250000 for LOW PRELOAD

Cleaning system

Cleaning station

Cleaning interval and % recovery

See Cleaning Station Manual

Effectiveness on Different Materials

The Gecko Gripper is best suited for smooth, low surface roughness substrates that are generally flat, stiff,
and rigid. For other materia

ls, the Gecko Gripper’s effectiveness drops depending the stiffness and

roughness of  the  picking  surface.  The  table  below  shows  a  relationship  between rigid  and  flexible
substrates, surface finish, payload and the required preload to pick up said substrate . For example, if the
customer knows that their part/substrate is rigid,  with a mirror-like finish and weighs 2kg, the preload
required to pick up the part/substrate is a medium-level preload.

Flexibility

Surface finish

Payload (kg)

Required Preload

Rigid

Mirror-like finish

0 to 2

Low

2 to 4

Medium

4 to 6

High

Smooth

0 to 2

Medium

2 to 4

High

4 to 6

N/A

Matte

0 to 2

High

2 to 4

N/A

4 to 6

N/A

Flexible

Mirror-like finish

0 to 2

Medium

2 to 4

High

4 to 6

N/A

Smooth

0 to 2

High

2 to 4

N/A

4 to 6

N/A

Matte

0 to 2

N/A

2 to 4

N/A

4 to 6

N/A

To further elaborate the significance between preload and payload, the table below shows visual matrix
that displays the capability of the gecko gripper to pick up different materials with varying stiffness and
roughness, at three different preload values (low 40N, medium 90N, high 140N).

Hardware Specification

134

Stiffness

Roughness

Example of
material

Preload - 140N

Preload - 90N

Preload - 40N

Payload [kg]

0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6

Mylar

✓

Transparency
sheet

✓

Polished
mirror-like
steel, solar
panel

✓

Cling film,
ziploc bags

✓

Glossy
carboard
(cereal box)

✓

Printed circuit
board

✓

Laminating
plastic / film

Corrugated
cardboard

Sandblasted
aluminum

✓

the gripper can easily pick up the material

the gripper can pick up the material in some cases (requires caution and testing to verify)

Nothing

the gripper cannot pick up this type of material.

NOTE:

This table is to be utilized as a guide to better understand the payload
capacity and substrate type for the Gecko Gripper.

The criteria for stiffness and roughness is a basic scale from 1-10, here are the benchmarks used to
determine the values.

Stiffness

Description

Example

Flexible

Fabric

Semi-flexible

Cardboard

Stiff

Metal

Roughness

Description

Example

RMS Value

Polished/Smooth Polished Metal

0.1 micron

Textured

Carboard

7 microns

Rough

Sandblasted Metal 28 microns

Hardware Specification

135

HEX-E QC

* Signal noise is defined as the standard deviation (1 σ) of a typical one second no

-load signal.

Complex loading

During single-axis loading, the sensor can be operated up to its nominal capacity. Above the nominal
capacity the reading is inaccurate and invalid.

During complex loading (when more than one axis is loaded) the nominal capacities are reduced. The
following diagrams show the complex loading scenarios.

General Properties

6-Axis Force/Torque Sensor

Unit

Fxy

Txy

Nominal Capacity (N.C)

200

6.5

[N] [Nm]

Single axis deformation at N.C
(typical)

± 1.7
± 0.067

± 0.3
± 0.011

± 2.5
± 2.5

± 5
± 5

[mm] [°]
[inch] [°]

Single axis overload

500

[%]

Signal noise* (typical)

0.035

0.15

0.002

0.001

[N] [Nm]

Noise-free resolution (typical)

0.2

0.8

0.01

0.002

[N] [Nm]

Full scale nonlinearity

< 2

[%]

Hysteresis (measured on Fz axis ,
typical)

< 2

[%]

Crosstalk (typical)

< 5

[%]

IP Classification

Dimensions (H x W x L)

50 x 71 x 93
1.97 x 2.79 x 3.66

[mm]
[inch]

Weight (with built-in adapter plates)

0.347
0.76

[kg]
[lb]

Operating Conditions

Minimum

Typical

Maximum

Unit

Power supply

[V]

Power consumption

0.8

[W]

Operating temperature

0
32

-
-

55
131

[°C]
[°F]

Relative humidity (non-condensing)

[%]

Calculated MTBF (operating life)

30.000

[Hours]

Hardware Specification

136

The sensor cannot be operated outside of the Normal Operating Area.

2,5

7,5

100

150

200

)

Fxyz (N)

Txy & Fxyz

1,625

3,25

4,875

6,5

100

150

200

)

Fxyz (N)

Tz & Fxyz

Normal

Operating Area

Normal

Operating Area

Hardware Specification

137

HEX-H QC

* Signal noise is defined as the standard deviation (1 σ) of a typical one second no

-load signal.

Complex loading

During single-axis loading, the sensor can be operated up to its nominal capacity. Above the nominal
capacity the reading is inaccurate and invalid.

During complex loading (when more than one axis is loaded) the nominal capacities are reduced. The
following diagrams show the complex loading scenarios.

General Properties

6-Axis Force/Torque Sensor

Unit

Fxy

Txy

Nominal Capacity (N.C)

200

[N] [Nm]

Single axis deformation at N.C
(typical)

± 0.6
± 0.023

± 0.25
± 0.009

± 2
± 2

± 3.5
± 3.5

[mm] [°]
[inch] [°]

Single axis overload

500

400

300

[%]

Signal noise* (typical)

0.1

0.2

0.006

0.002

[N] [Nm]

Noise-free resolution (typical)

0.5

0.036

0.008

[N] [Nm]

Full scale nonlinearity

< 2

[%]

Hysteresis (measured on Fz axis ,
typical)

< 2

[%]

Crosstalk (typical)

< 5

[%]

IP Classification

Dimensions (H x W x L)

50 x 71 x 93
1.97 x 2.79 x 3.66

[mm]
[inch]

Weight (with built-in adapter plates)

0.35
0.77

[kg]
[lb]

Operating Conditions

Minimum

Typical

Maximum

Unit

Power supply

[V]

Power consumption

0.8

[W]

Operating temperature

0
32

-
-

55
131

[°C]
[°F]

Relative humidity (non-condensing)

[%]

Calculated MTBF (operating life)

30.000

[Hours]

Hardware Specification

138

The sensor cannot be operated outside of the Normal Operating Area.

3,25

6,5

9,75

100

150

200

)

Fxyz

Tz & Fxyz

Normal

Operating Area

100

150

200

)

Fxyz (N)

Txy & Fxyz

Normal

Operating Area

Hardware Specification

139

Quick Changer

Quick Changer for

I/O

Dual Quick Changer

Quick Changer -

Tool side

If not specified, the data represent the combination of the different Quick Changer types/sides.

Technical data

Min

Typical

Max

Units

Permissible force*

400*

[N]

Permissible torque*

50*

[Nm]

Rated payload*

-
-

20*
44

[kg]
[lbs]

Repeatability

±0.02

[mm]

IP Classification

Operating life (Tool change)

5.000

[cycles]

Operating life (Robot operation)

[M cycles]

* See load capacity graph below.

Quick
Changer

Quick Changer
for I/O

Dual Quick
Changer

Quick Changer -
Tool Side

Units

Weight

0.06

13.22

0.093

2.05

0.41

90.39

0.14

30.86

[kg]
[lb]

Dimensions See Mechanical dimension section

Load capacity

0,00

100

150

200

250

300

350

400

450

500

Di s tance from center [mm]

Static

Acceleration 2g

Acceleration 4g

Hardware Specification

140

RG2-FT

* see speed table 140

** based on 8mm total movement between fingers. The speed is linearly proportional to the force. For
more details see speed table on page 140.

Force Sensor Properties

Fxy

Txy

Units

Nominal capacity (N.C.)

0.7

0.5

[N] [Nm]

Single axis overload

200

[%]

Noise free resolution

0.1

0.4

0.008

0.005

[N] [Nm]

Single axis deformation at N.C.

0.4
0.015

0.1
0.04

[mm] [°]
[inch] [°]

Full scale nonlinearity
Temperature compensation

< 2

[%]

General Properties

Min

Typical

Max

Units

Payload Force Fit

-
-

2
4.4

[kg]
[lb]

Payload Form Fit

-
-

4
8.8

[Kg]
[lb]

Total stroke (adjustable)

0
0

-
-

100
3.93

[mm]
[inch]

Finger position resolution

-
-

0.1
0.004

-
-

[mm]
[inch]

Repetition accuracy

-
-

0.1
0.004

0.2
0.007

[mm]
[inch]

Reversing backlash

0.2
0.007

0.4
0.015

0.6
0.023

[mm]
[inch]

Gripping force (adjustable)

[N]

Gripping speed*

110

184

[mm/s]

Gripping time**

0.04

0.07

0.11

[s]

Adjustable bracket tilting accuracy

< 1

Ambient operating temperature

[°C]

Storage temperature

[°C]

Motor

Integrated, electric BLDC

IP Classification

IP54

Dimensions

219 x 149 x 49
8.6 x 5.9 x 1.9

[mm]
[inch]

Product weight

0.98
2.16

[kg]
[lb]

Hardware Specification

141

Proximity Sensor Properties

Min

Typical

Max

Units

Sensing range

0
0

-
-

100
3.93

[mm]
[inch]

Precision

-
-

2
0.078

-
-

[mm]
[inch]

Non-linearity*

[%]

* the non-linearity refers to the max value and depends on the object properties (e.g. surface type and
color)

Proximity sensor typical accuracy

-20

-10

100

ity

r r

)

Part distance (mm)

Ideal Response

White colour

Aluminium

Black colour

Operating Conditions

Minimum

Typical

Maximum

Unit

Power requirement (PELV)

[V]

Power consumption

6.5

[W]

Operating temperature

0
32

-
-

55
131

[°C]
[°F]

Relative humidity (non-condensing)

[%]

Calculated MTBF (operating life)

30.000

[Hours]

Hardware Specification

142

RG2-FT Gripping Speed Graph

Gripper Working Range

The dimensions are in millimeters.

Hardware Specification

143

Fingertips

The standard fingertips can be used for many different workpieces. If custom fingertips are required, they
can be made to fit the Gripper fingers.

Dimensions of the Gripper’s finger, in millimeters.

Hardware Specification

144

NOTE:

During the fingertip design, the following shall be considered to maintain
optimal performance:

Clear optical path for the proximity sensors

Protect the proximity sensors from direct sunlight or strong light source

Avoid dust and liquid penetration

WARNING:

The proximity sensors are sensitive parts and shall be protected against:

Direct strong light (such as directional laser sources)

Direct high temperature

Mechanical contacts in any case

Expose to any liquid or fine conductive dust

NOTE:

Please clean regularly the proximity sensor surface with low pressure
compressed air (<5 bar) from a 5 cm distance. For stronger contamination
use isopropyl alcohol with a soft cotton swab to keep it clean.

Finger Thickness

The default fingertips are considered while the finger thickness has been set and could not be changed in
the software. In case when custom fingertips are used, the user should manually compensate for the
difference in the finger thickness.

Hardware Specification

145

RG2

*See table on the next page

** based on 8mm total movement between fingers. The speed is linearly proportional to the force. For
more details see speed table on next page.

*Current spikes up to 3A (max 6mS) may occur during the release action.

General Properties

Minimum

Typical

Maximum

Unit

Payload Force Fit

-
-

2
4.4

[kg]
[lb]

Payload Form Fit

-
-

5
11

[kg]
[lb]

Total stroke (adjustable)

0
0

-
-

110
4.33

[mm]
[inch]

Finger position resolution

-
-

0.1
0.004

-
-

[mm]
[inch]

Repetition accuracy

-
-

0.1
0.004

0.2
0.007

[mm]
[inch]

Reversing backlash

0.1
0.004

-
-

0.3
0.011

[mm]
[inch]

Gripping force (adjustable)

[N]

Gripping force deviation

±25

Gripping speed*

127

[mm/s]

Gripping time**

0.06

0.21

[s]

Adjustable bracket tilting accuracy

< 1

Storage temperature

0
32

-
-

60
122

[°C]
[°F]

Motor

Integrated, electric BLDC

IP Classification

IP54

Dimensions

213 x 149 x 36
8.3 x 5.9 x 1.4

[mm]
[inch]

Weight

0.78
1.72

[kg]
[lb]

Operating Conditions

Minimum

Typical

Maximum

Unit

Power supply

[V]

Current consumption

600*

[mA]

Operating temperature

5
41

-
-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

[%]

Calculated MTBF (operating life)

30.000

[Hours]

Hardware Specification

146

RG2 Gripping Speed Graph

RG2 Work Range

Hardware Specification

147

Gripping on long objects can unintentionally activate the Safety switches. The maximum workpiece height
(calculated from the end of the fingertips) is dependent on the gripping width (w). For various width values
the height (h) limit is given below:

Fingertips

The standard fingertips can be used for many different workpieces. If custom fingertips are required, they

can be made to fit the Gripper’s fingers according to the dimensions (mm) shown below:

Hardware Specification

148

RG6

*See table on the next page

** based on 8mm total movement between fingers. The speed is linearly proportional to the force. For
more details see speed table on next page.

*Current spikes up to 3A (max 6mS) may occur during the release action.

General Properties

Minimum

Typical

Maximum

Unit

Payload Force Fit

-
-

6
13.2

[kg]
[lb]

Payload Form Fit

-
-

10
22.04

[Kg]
[lb]

Total stroke (adjustable)

0
-

-
-

160
6.3

[mm]
[inch]

Finger position resolution

-
-

0.1
0.004

-
-

[mm]
[inch]

Repetition accuracy

-
-

0.1
0.004

0.2
0.007

[mm]
[inch]

Reversing backlash

0.1
0.004

-
-

0.3
0.011

[mm]
[inch]

Gripping force (adjustable)

120

[N]

Gripping force deviation

±25

Gripping speed*

160

[mm/s]

Gripping time**

0.05

0.15

Adjustable bracket tilting accuracy

< 1

Storage temperature

0
32

60
122

[°C]
[°F]

Motor

Integrated, electric BLDC

IP Classification

Dimensions

262 x 212 x 42
10.3 x 8.3 x 1.6

[mm]
[inch]

Weight

1.25
2.76

[kg]
[lb]

Operating Conditions

Minimum

Typical

Maximum

Unit

Power supply

[V]

Current consumption

600*

[mA]

Operating temperature

5
41

-
-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

[%]

Calculated MTBF (operating life)

30.000

[Hours]

Hardware Specification

149

RG6 Gripping Speed Graph

RG6 Work Range

Hardware Specification

150

Fingertips

The standard fingertips can be used for many different workpieces. If custom fingertips are required, they

can be made to fit the Gripper’s fingers according to the dimensions (mm) shown below:

Hardware Specification

151

VG10

Operating Conditions

Minimum

Typical

Maximum

Unit

Power supply

20.4

28.8

[V]

Current consumption

600

1500

[mA]

Operating temperature

0
32

-
-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

[%]

Calculated MTBF (operating life)

30.000

[hours]

Positioning the VG10 arms and channels

The arms can be folded to the preferred position simply by pulling in the arms. The torque needed to
overcome the friction in the rotatable joints of the arm is high (6 N/m) to ensure that the arms do not
move when handling 15 kg payloads.

The VG10 suction cups are grouped into two independent channels.

General Properties

Minimum

Typical

Maximum

Unit

Vacuum

5 %
-0.05
1.5

-
-
-

80 %
-0.810
24

[Vacuum]
[Bar]
[inHg]

Air flow

[L/min]

Arms adjustment

270

[°]

Arm holding torque

[Nm]

Payload

Rated

10
22

[kg]
[lb]

Maximum

15
33

[kg]
[lb]

Vacuum cups

[pcs.]

Gripping time

0.35

[s]

Releasing time

0.20

[s]

Foot-inch-foot

1.40

[s]

Vacuum pump

Integrated, electric BLDC

Arms

4, adjustable by hand

Dust filters

Integrated 50µm, field replaceable

IP Classification

IP54

Dimensions (folded)

105 x 146 x 146
4.13 x 5.75 x 5.75

[mm]
[inch]

Dimensions (unfolded)

105 x 390 x 390
4.13 x 15.35 x 15.35

[mm]
[inch]

Weight

1.62
3.57

[kg]
[lb]

Hardware Specification

152

When the four arms are adjusted to preferred angles, it is recommended to add the accompanied arrow
stickers. This allows for easy realignment and exchanging between different work items.

Payload

The lifting capacity of the VG grippers depends primarily on the following parameters:

•

Vacuum cups

•

Vacuum

•

Air flow

Vacuum Cups

Choosing the right vacuum cups for your application is essential. The VG grippers come with common 15,
30 and 40 mm silicone vacuum cups (see table below) which are good for hard and flat surfaces, but not
good for uneven surfaces and it might leave microscopic traces of silicone on the workpiece which can
cause issues with some types of painting processes afterwards.

B A

6Nm

Hardware Specification

153

Image

External Diameter
[mm]

Internal Diameter
[mm]

Gripping Area
[mm2]

110

200

450

For non-porous materials, the OnRobot suction cups are highly recommended. Some of the most common
non-porous materials are listed below:

•

Composites

•

Glass

•

High density cardboard

•

High density paper

•

Metals

•

Plastic

•

Porous materials with a sealed surface

•

Varnished wood

In an ideal case, working with non-porous material workpieces where there are no air flow going through
the workpiece, the table below shows the number of cups and the cup size needed depending on the
payload (workpiece mass) and the vacuum used.

Hardware Specification

154

Number of Cups needed for non-porous materials depending on payload and vacuum:

NOTE:

To use more than 7 (15mm), 4 (30mm) or 3 (40mm) vacuum cups with
the VGC10 a customized adaptor plate is needed.

The table above is created with the following formula that equalizes the lifting force with the payload
considering 1.5g of acceleration.

Amount

Cups

. Area

Cup

[mm} = 19600

Payload [kg]

Vacuum [kPa]

It is often a good idea to use more vacuum cups than needed, to accommodate for vibrations, leaks and
other unexpected conditions. However, the more vacuum cups, the more air leakage (air flow) is expected
and the more air is moved in a grip resulting in longer gripping times.

When using porous materials, the vacuum that can be achieve by using the OnRobot suction cups will
depend on the material itself and will be between the range stated in the specifications. Some of the most
common non-porous materials are listed below:

•

Fabrics

•

Foam

•

Foam with open cells

15mm

30mm

40mm

Payload
(kg)

Vacuum (kPa)

Hardware Specification

155

•

Low density cardboard

•

Low density paper

•

Perforated materials

•

Untreated wood

See the table below with general recommendations, in case other suction cups are needed for specific
materials.

Workpiece surface

Vacuum cup shape

Vacuum cup material

Hard and flat

Normal or dual lip

Silicone or NBR

Soft plastic or plastic bag

Special plastic bag type

Hard but curved or uneven

Thin dual lip

Silicone or soft NBR

To be painted afterwards

Any type

NBR only

Varying heights

1.5 or more bevels

Any type

NOTE:

It is recommended to consult a vacuum cup specialist to find the
optimal vacuum cup where the standard types are insufficient.

Fittings and Blind Screws.

It is possible to change suction cups simply by pulling them off the fittings. It might be a bit challenging to
remove the 15 mm Diameter vacuum cups. As suggestion try to stretch the silicon to one of the sides and
then pull it out.

Unused holes can be blinded using a blind screw, and each fitting can be changed to a diffe rent type to
match the desired suction cup. The fittings and the blinding screws are mounted or dismounted by
screwing (2Nm tightening torque) or unscrewing them with the provided 3 mm Allen key.

The thread size is the commonly used G1/8”; allowing f

or standard fittings, blinders and extenders to be

fitted directly to the VG grippers.

Hardware Specification

156

Vacuum

Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.:

The vacuum in kPa setting is the target vacuum. The pump will run at full speed until the target vacuum
is achieved, and then run at a lower speed necessary to maintain the target vacuum.

The pressure in the atmosphere varies with weather, temperature and altitude. The VG g rippers
automatically compensate for altitudes up to 2km, where the pressure is about 80% of sea level.

Air flow

Air flow is the amount of air that must be pumped to maintain the target vacuum. A completely tight
system will not have any air flow, whereas real life applications have some smaller air leakages from two
different sources:

•

Leaking vacuum cup lips

•

Leaking workpieces

The smallest leak under a vacuum cup can be hard to find (see picture below).

Leaking workpieces can be even harder to identify. Things that look completely tight might not be tight at
all. A typical example is coarse cardboard boxes. The thin outer layer is often requiring a lot of air flow to
create a pressure difference over it (see figure below).

Therefore, the users must be aware of the following:

•

VG grippers are not suitable for most uncoated, coarse cardboard boxes.

% vacuum

Bar

kPa

inHg

Typically used for

0.00rel.
1.01 abs.

0.00rel.
101.3 abs.

0.0rel.
29.9 abs.

No vacuum / No lifting capacity

20%

0.20rel.
0.81 abs.

20.3rel.
81.1 abs.

6.0rel.
23.9 abs.

Cardboard and thin plastics

40%

0.41rel.
0.61 abs.

40.5rel.
60.8 abs.

12.0rel.
18.0 abs.

Light workpieces and long suction cup life span

60%

0.61rel.
0.41 abs.

60.8rel.
40.5 abs.

18.0rel.
12.0 abs.

Heavy workpieces and strongly secured grips

80%

0.81rel.
0.20 abs.

81.1rel.
20.3 abs

23.9rel.
6.0 abs.

Max. vacuum. Not recommended

Hardware Specification

157

•

Extra attention must be paid to leakages, e.g. vacuum cup shape and surface roughness

The air flow capability of a VG grippers is shown in the graph below:

NOTE:

The easiest way to check if a cardboard box is sufficiently tight is simply
to test it using the VG grippers.

A high vacuum percentage setting does not give a higher lifting
capacity on corrugated cardboard. In fact, a lower setting is
recommended, e.g. 20%.

A low vacuum setting results in less air flow and less friction below the
vacuum cups. This means VG gripper filters and vacuum cups will last
longer.

VG pump, air flow performance

Vacuum percentage

Hardware Specification

158

VGC10

* By using three 40mm cups. More info in a table on

page 151

2 channels

The VGC10 has 4 holes to use fittings with vacuum cups or blinding screws as needed. It also has lines
which show the holes that are communicated together. This is useful when using channels A and B
independently for vacuum.

General Properties

Minimum

Typical

Maximum

Unit

Vacuum

5 %
-0.05
1.5

-
-
-

80 %
-0.810
24

[Vacuum]
[Bar]
[inHg]

Air flow

[L/min]

Payload

With default attachments

-
-

6 *
13.2 *

[kg]
[lb]

With customized attachments

-
-

10
22

15
33.1

[kg]
[lb]

Vacuum cups

[pcs.]

Gripping time

0.35

[s]

Releasing time

0.20

[s]

Vacuum pump

Integrated, electric BLDC

Dust filters

Integrated 50µm, field replaceable

IP Classification

IP54

Dimensions

101 x 100 x 100
3.97 x 3.94 x 3.94

[mm]
[inch]

Weight

0.814
1.79

[kg]
[lb]

Operating Conditions

Minimum

Typical

Maximum

Unit

Power supply

20.4

28.8

[V]

Current consumption

600

1500

[mA]

Operating temperature

0
32

-
-

50
122

[°C]
[°F]

Relative humidity (non-condensing)

[%]

Calculated MTBF (operating life)

30.000

[hours]

Hardware Specification

159

Adaptor Plate

The VGC10 comes with an Adaptor Plate which provides extra flexibility to locate the vacuum cups in
different configurations.

The Adaptor Plate has 7 holes to use fittings with vacuum cups or blinding screws as needed. It also has
lines which show the holes that are communicated together. This is useful when using channel A and B
independently for vacuum.

The Adaptor Plate can be placed in different positions by rotating it 90º. Having as reference the letters A
and B written on the gripper housing, the Adaptor Plate can be placed to separate both channels or to
communicate them. If the Adaptor Plate is placed as in picture below on the left, both channels will  be
separated, and they can be used independently or combined. If the Adaptor Plate is placed as in picture
below on the right, both channels will  be communicated and a higher air flow can be achieved, although
both channels will have to be used combined.

Hardware Specification

160

To mount the Adaptor Plate simply remove the 4 fittings or blinding screws from the gripper, place the
Adaptor Plate by choosing the right angle according to the desired configuration, and tighten the 4 screws
with 4 Nm tighten torque.

NOTE:

Please, note that the O-Ring in the Adaptor Plate is not glued therefore
it can be pulled out. If that happens simply put it back in place and the
gripper will work as before.

Extension Pipe

The Extension Pipe provides an extra length of 50 mm to reach narrow spaces.

NOTE:

Remember to use the Adaptor Plate rotated to achieve a higher air flow
when using both channels together.

Hardware Specification

161

The Extension Pipe can be mounted in any of the holes by simply screwing it in and adding a fitting on top
as shown in the image below.

Below different mounting configurations with the provided attachments are shown.

Customized Adaptor Plates and Push-in Fittings

The design of the VGC10 is meant to facilitate the users to make their own adaptor plates to create
different kinds of configurations. The dimensions needed to create a customized adaptor plate are shown
in the image below.

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