Details	HAND-E	2F-85	2F-140	3-FINGER
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Grip opening width	0~50mm	0~85mm	0~140mm	0~155mm
Inclusion gripping object diameter	18~50mm	43~84mm	90~140mm	20~155mm
Body mass	1.0kg	900g	1.0kg	2.3kg
Recommended maximum payload [included grip] diameter	5kg	5kg	2.5kg	10kg
Recommended maximum payload [fingertip grip]	3kg	5kg	2.5kg	2.5kg
Gripping force [fingertip] * 3	60-130N	20-235N	10-125N	10-60N
Opening and closing speed [fingertips]	20-150 mm / sec	20-150 mm / sec	30-250 mm / sec	22-110 mm / sec
Parallel gripping iteration accuracy	0.5 mm	0.05 mm	0.08 mm	0.05 mm
Operating temperature conditions	-10~50℃	-10~50℃	-10~50℃	-10~50℃
Controllers	Built-in	Built-in	Built-in	Built-in
Nominal supply voltage	24VDC (± 10%)	24VDC (± 10%)	24VDC (± 10%)	24VDC (± 10%)
Maximum rated supply voltage	28VDC	28VDC	28VDC	28VDC
Minimum power consumption	1W	1W	1W	4.1w
Maximum current	1.1A	1A	1A	36W (maximum power)

[Equipment configuration] ・ Gripper body ・ Finger tip ・ UR mounting coupling ・ Device cable (10m) ・ RS485 / USB conversion adapter ・ UR embedding software
* 1: Friction coefficient between gripper grip surface and steel parts is 0.3 (grip surface material is silicon), safety factor 2.6
* 2: Friction coefficient between gripper grip surface and steel parts is 0.4 (grip surface material is silicon), safety factor 2.0
* 3: Gripping force specifications are ± 15% (varies depending on speed and force)