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Robot-Ready Gripper Compensation Devices
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Add these devices to your gripper to reduce jams and slowdowns caused by misaligned parts and other small discrepancies. With compression springs that let them flex slightly, they help your gripper adjust to reliably grab parts. Apply compressed air to lock these devices in place when you need your gripper to stay rigid, such as when moving a part. They’re ideal for machine tending and automated assembling. Mount them between your robot and gripper. All have standard ISO mounting patterns, so they work with FANUC CRX, Universal Robots (UR), and other common robot arms.
Locking force is the force keeping these devices rigid while your robot arm moves. To keep the device from shifting while handling a load, make sure the locking force is greater than the forces created by the load as your robot arm moves through its work cycle.
Z-Axis Compensation Devices
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Choose these devices when your grippers need to adjust up and down to handle parts with slightly different heights. They’re also useful for press fitting a part into a housing—these devices can compress to avoid errors such as collision faults. You can lock them in two positions—extended or retracted—with compressed air.
Locking Force @ Pressure | For End of Robot Arm | For Gripper | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
Z-Axis Compensation | Spring Force Range | Extended | Retracted | Bolt Circle Dia. (Robot Mounting Compatibility) | Mounting Fasteners Included | Bolt Circle Dia. (Robot Mounting Compatibility) | Mounting Fasteners Included | Air Inlet Thread Size | Each | |||
Anodized Aluminum Housing—Spring and Air Actuation | ||||||||||||
| ±8 mm | 4.5 lbf to 9 lbf/2 kgf to 4 kgf | 110 lbf @ 87 psi | 65 lbf @ 87 psi | 50 mm (ISO 50) | Yes | 50 mm (ISO 50) | No | M5 × 0.8 mm | 6190N118 | 000000000 | ||
| ±8 mm | 9 lbf to 13.4 lbf/4 kgf to 6.1 kgf | 110 lbf @ 87 psi | 60 lbf @ 87 psi | 50 mm (ISO 50) | Yes | 50 mm (ISO 50) | No | M5 × 0.8 mm | 6190N119 | 00000000 | ||
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Add a sensor to detect when these devices are fully extended or retracted. You can use this information to trigger the next step in your robot’s cycle. Z-axis devices require a separate sensor for each position.
Connection Type | No. of Wire Leads | Switch Starting Position | Current, mA | Voltage, V DC | Cord Lg., ft. | No. of Sensing Positions | Each | |||
|---|---|---|---|---|---|---|---|---|---|---|
NPN Output Signal | ||||||||||
| Wire Leads | 3 | 1 Off | 50 | 24 | 6 1/2 | 1 | 7705N143 | 0000000 | ||
| 3-Pole M8 Plug In | — | 1 Off | 50 | 24 | 1 | 1 | 7705N141 | 000000 | ||
PNP Output Signal | ||||||||||
| Wire Leads | 3 | 1 Off | 50 | 24 | 6 1/2 | 1 | 7705N142 | 00000 | ||
| 3-Pole M8 Plug In | — | 1 Off | 50 | 24 | 1 | 1 | 7705N14 | 00000 | ||
Universal Compensation Devices
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Choose these devices when your grippers need to tilt, rotate, and slide in all directions. They’re useful for bin picking and other tasks where items may shift as your gripper grabs them. You can lock them in their default, non-flexing position with compressed air.
Compensation | For End of Robot Arm | For Gripper | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
X-Axis | Y-Axis | Z-Axis | Angular | Rotational | Spring Force Range | Locking Force @ Pressure | Bolt Circle Dia. (Robot Mounting Compatibility) | Mounting Fasteners Included | Bolt Circle Dia. (Robot Mounting Compatibility) | Mounting Fasteners Included | Air Inlet Thread Size | Each | |||
Anodized Aluminum Housing—Spring and Air Actuation | |||||||||||||||
| ±2.7 mm | ±2.7 mm | ±6.1 mm | ±3° | ±8° | 8.1 lbf to 20.6 lbf/3.7 kgf to 9.3 kgf | 160 lbf @ 87 psi | 50 mm (ISO 50) | Yes | 50 mm (ISO 50) | No | M5 × 0.8 mm | 6190N111 | 000000000 | ||
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Shown Installed on Universal Compensation Device |
Add a sensor to detect when these devices are fully extended or retracted. You can use this information to trigger the next step in your robot’s cycle. Z-axis devices require a separate sensor for each position.
Connection Type | No. of Wire Leads | Switch Starting Position | Current, mA | Voltage, V DC | Cord Lg., ft. | No. of Sensing Positions | Each | |||
|---|---|---|---|---|---|---|---|---|---|---|
NPN Output Signal | ||||||||||
| Wire Leads | 3 | 1 Off | 50 | 24 | 6 1/2 | 1 | 7705N143 | 0000000 | ||
| 3-Pole M8 Plug In | — | 1 Off | 50 | 24 | 1 | 1 | 7705N141 | 000000 | ||
PNP Output Signal | ||||||||||
| Wire Leads | 3 | 1 Off | 50 | 24 | 6 1/2 | 1 | 7705N142 | 00000 | ||
| 3-Pole M8 Plug In | — | 1 Off | 50 | 24 | 1 | 1 | 7705N14 | 00000 | ||
