Product details

Z-EFG-20

Grippers & End Effectors

HITBOT

Z-EFG-20

About this product

Z-EFG-20 by HITBOT. A parallel electric gripper with an adjustable 20 mm stroke, a stated 30–80 N gripping-force range and I/O control. Its manual describes stroke commands in 0.1 mm pulse increments and force adjustment through controlled-deformation material on the user fixture. The current page lists conflicting body masses of 0.34 and 0.46 kg. Some manufacturer page and manual ratings differ; revision applicability is unresolved and the source-specific values remain qualified. Cover image: Manufacturer reference illustration.

Model
Z-EFG-20
Category
Grippers & End Effectors, Components

Product family: Z-EFG Parallel Electric Grippers

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Allowable load moment mx

2.1 N·m

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 69; Manufacturer allowable-load table, using its local jaw-load axis diagram. Combined simultaneous loading is not specified.

HITBOT catalogue
Fz: 150 N Mx: My: Mz: 2.1 N·m 2.34 N·m 2 N·m

Allowable load moment my

2.34 N·m

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 69; Manufacturer allowable-load table, using its local jaw-load axis diagram. Combined simultaneous loading is not specified.

HITBOT catalogue
Fz: 150 N Mx: My: Mz: 2.1 N·m 2.34 N·m 2 N·m

Allowable load moment mz

2 N·m

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 69; Manufacturer allowable-load table, using its local jaw-load axis diagram. Combined simultaneous loading is not specified.

HITBOT catalogue
Fz: 150 N Mx: My: Mz: 2.1 N·m 2.34 N·m 2 N·m

Allowable vertical static load fz

150 N

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 69; Manufacturer allowable-load table, using its local jaw-load axis diagram. Combined simultaneous loading is not specified.

HITBOT catalogue
Fz: 150 N Mx: My: Mz: 2.1 N·m 2.34 N·m 2 N·m

Approximate maximum adjusted force (catalogue faq)

100–120 N

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 132; FAQ 39; Catalogue FAQ 39 claims approximately 100–120 N maximum adjusted force using a potentiometer, whereas the current model table states 30–80 N and the exact-model manual describes controlled-deformation fixture material. Exact variant/revision applicability is unresolved; this is not a verified upgrade, a combined force range or an instruction to exceed the current-page rating.

HITBOT catalogue
39.Z-EFG-20夹持力怎么调节? 答:在夹爪外壳侧面有三个小孔,最左侧的小孔是电位器旋钮。逆时针调大力,顺时针调小力,旋转角度不要超过正负 120度 ,用最小号的一字螺丝刀调节,最大可调整到100~120N左右。

Body mass

0.34 kg

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; occurrence 1; Manufacturer claim for the exact named model. The current product page contains two incompatible Body mass rows, 0.34 kg and 0.46 kg, without a configuration distinction. Both are preserved; no value is selected as definitive.

HITBOT z-efg-20
重量 0.34kg

Body mass

0.46 kg

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; occurrence 2; Manufacturer claim for the exact named model. The current product page contains two incompatible Body mass rows, 0.34 kg and 0.46 kg, without a configuration distinction. Both are preserved; no value is selected as definitive.

HITBOT z-efg-20
重量 0.46kg

Cable conductor count

5

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
出线规格 线长45cm,5芯线

Cable length

45 cm

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
出线规格 线长45cm,5芯线

Claimed cycle life

10,000,000 cycles

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 69; Manufacturer service-life claim; load, duty cycle, maintenance and test method are not specified.

HITBOT catalogue
千万次循环

Continuous-operation surface temperature

≤60 °C

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 10; Manufacturer reports approximately 30 °C ambient during continuous operation/holding. No duration, load or independent certification is given.

HITBOT z-efg-20-manual-1
扫 码 直 联 客 服 09 1. 旋转有同心度要求,如果两边靠近,是否每次都在中间位置停止? 答:是的,存在<0.1mm的对称误差,重复精度0.02。 2. 产品包含前端的夹具部分吗? 答:不包含,用户需根据实际夹取的物品自行进行夹具的设计。另外,慧灵也会提供少许夹具库,请联系销售人员获取。 3. 驱动控制器是否包含在内,需要额外付钱吗? 答:内置,不需要额外收费,夹爪金额已包含控制器费用。 4. Z-EFG-20可以单指运动吗? 答:不可以,单指运动的夹爪正在研发中,具体情况请联系销售人员。 5. Z-EFG-20的运行速度是多少? 答:Z-EFG-20单向走完全行程,用时0.45s,来回0.9s。 6. Z-EFG-20的夹持力是多少,如何调节? 答:Z-EFG-20的夹持力由于夹具前方添加可控形变材料,可根据形变量和力的对应曲线获得。 7. Z-EFG-20的夹持行程如何调节? 答:200个脉冲对应20mm行程,1个脉冲对应0.1mm行程。 8. Z-EFG-20的夹爪,行程20mm对应200个脉冲,如果发送300的脉冲会如何? 答:多出的脉冲不会执行,没有任何影响。 9. Z-EFG-20的夹爪,行程20mm对应200个脉冲,如果发送200个脉冲,但是夹爪走到100个脉冲就夹住东西,夹住后是否 会停下来,而剩下的100个脉冲还会继续发送吗?是否有影响? 答:剩下的脉冲不会执行,没有任何影响。 10. 如何判断是否电动夹爪夹住东西? 答:对于Z-EFG-20,反馈脉冲数量反映的是夹爪当前位置,所以用户可以通过反馈脉冲计数来判断是否夹到物体。 11. 该电动夹爪是否防水? 答:IP防护等级20。 12. Z-EFG-20使用什么电机? 答:伺服电机。 13. 被夹取物品大于20mm是否可以用Z-EFG-8S或者Z-EFG-20的夹爪? 答:可以,8mm和20mm都是指有效行程,而非被夹取物体的尺寸,被夹取对象最大到最小的尺寸差在8mm之内,可以 用Z-EFG-8S夹取,被夹取对象最大到最小的尺寸差在20mm之内,可以用Z-EFG-20夹取。 14. 如果一直工作,电动夹爪的电机是否会发热过度? 答:经过专业测试,Z-EFG-20在大约30度的气温环境下一直工作,表面温度不会超过60度。 电动夹爪Z-EFG-20常见问题汇总

Control interface

I/O input/output

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
控制方式 I/O输入输出

Controller integration

Integrated controller

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 69; Exact-model catalogue feature; no controller inheritance across models.

HITBOT catalogue
控制器内置

Current (electrical section)

0.4 A

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 9; Section does not label this as rated or peak. It differs from the rated-current table; do not silently equate the conditions.

HITBOT z-efg-20-manual-1
电流0.4A

Dimensions

44 × 30 × 124.7 mm

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model. Printed dimension order; axes are not labelled.

HITBOT z-efg-20
尺寸规格 44*30*124.7mm

Force adjustment method

Controlled-deformation material at the front of the fixture

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 3; Manual qualification of adjustable gripping force; force follows the deformation/force curve. Do not imply closed-loop electrical force control for this model. Catalogue FAQ 39 claims approximately 100–120 N maximum adjusted force using a potentiometer, whereas the current model table states 30–80 N and the exact-model manual describes controlled-deformation fixture material. Exact variant/revision applicability is unresolved; this is not a verified upgrade, a combined force range or an instruction to exceed the current-page rating.

HITBOT z-efg-20-manual-1
*Z-EFG-20夹持力:可由夹具前方添加可控形变材料对夹持力进行调节,根据形变量和力的对应曲线获得。

Force adjustment method (catalogue faq)

Potentiometer adjusted by a small flat-head screwdriver

Manufacturer specification

Configuration: Z-EFG-20; manufacturer catalogue PDF page 132; FAQ 39; Catalogue FAQ 39 claims approximately 100–120 N maximum adjusted force using a potentiometer, whereas the current model table states 30–80 N and the exact-model manual describes controlled-deformation fixture material. Exact variant/revision applicability is unresolved; this is not a verified upgrade, a combined force range or an instruction to exceed the current-page rating.

HITBOT catalogue
39.Z-EFG-20夹持力怎么调节? 答:在夹爪外壳侧面有三个小孔,最左侧的小孔是电位器旋钮。逆时针调大力,顺时针调小力,旋转角度不要超过正负 120度 ,用最小号的一字螺丝刀调节,最大可调整到100~120N左右。

Full-stroke pulse command count

200 pulses

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 10; 20 mm total commanded travel. The FAQ says surplus pulses do not execute; actual motion may stop upon gripping.

HITBOT z-efg-20-manual-1
200个脉冲对应20mm行程,1个脉冲对应0.1mm行程。

Gripping force

30~80 N

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model. Adjustable. Catalogue FAQ 39 claims approximately 100–120 N maximum adjusted force using a potentiometer, whereas the current model table states 30–80 N and the exact-model manual describes controlled-deformation fixture material. Exact variant/revision applicability is unresolved; this is not a verified upgrade, a combined force range or an instruction to exceed the current-page rating.

HITBOT z-efg-20
夹持力 30~80N(可调)

Independent single-finger motion

Not supported

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 10; FAQ applies to the named model; the separate development statement is not acquired as another product.

HITBOT z-efg-20-manual-1
扫 码 直 联 客 服 09 1. 旋转有同心度要求,如果两边靠近,是否每次都在中间位置停止? 答:是的,存在<0.1mm的对称误差,重复精度0.02。 2. 产品包含前端的夹具部分吗? 答:不包含,用户需根据实际夹取的物品自行进行夹具的设计。另外,慧灵也会提供少许夹具库,请联系销售人员获取。 3. 驱动控制器是否包含在内,需要额外付钱吗? 答:内置,不需要额外收费,夹爪金额已包含控制器费用。 4. Z-EFG-20可以单指运动吗? 答:不可以,单指运动的夹爪正在研发中,具体情况请联系销售人员。 5. Z-EFG-20的运行速度是多少? 答:Z-EFG-20单向走完全行程,用时0.45s,来回0.9s。 6. Z-EFG-20的夹持力是多少,如何调节? 答:Z-EFG-20的夹持力由于夹具前方添加可控形变材料,可根据形变量和力的对应曲线获得。 7. Z-EFG-20的夹持行程如何调节? 答:200个脉冲对应20mm行程,1个脉冲对应0.1mm行程。 8. Z-EFG-20的夹爪,行程20mm对应200个脉冲,如果发送300的脉冲会如何? 答:多出的脉冲不会执行,没有任何影响。 9. Z-EFG-20的夹爪,行程20mm对应200个脉冲,如果发送200个脉冲,但是夹爪走到100个脉冲就夹住东西,夹住后是否 会停下来,而剩下的100个脉冲还会继续发送吗?是否有影响? 答:剩下的脉冲不会执行,没有任何影响。 10. 如何判断是否电动夹爪夹住东西? 答:对于Z-EFG-20,反馈脉冲数量反映的是夹爪当前位置,所以用户可以通过反馈脉冲计数来判断是否夹到物体。 11. 该电动夹爪是否防水? 答:IP防护等级20。 12. Z-EFG-20使用什么电机? 答:伺服电机。 13. 被夹取物品大于20mm是否可以用Z-EFG-8S或者Z-EFG-20的夹爪? 答:可以,8mm和20mm都是指有效行程,而非被夹取物体的尺寸,被夹取对象最大到最小的尺寸差在8mm之内,可以 用Z-EFG-8S夹取,被夹取对象最大到最小的尺寸差在20mm之内,可以用Z-EFG-20夹取。 14. 如果一直工作,电动夹爪的电机是否会发热过度? 答:经过专业测试,Z-EFG-20在大约30度的气温环境下一直工作,表面温度不会超过60度。 电动夹爪Z-EFG-20常见问题汇总

Jaw motion

Two-finger parallel motion

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
运动方式 二指平动

Jaw symmetry error

<0.1 mm

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 10; Manufacturer FAQ claim about both jaws approaching the centre; measurement setup not stated.

HITBOT z-efg-20-manual-1
存在<0.1mm的对称误差

Minimum one-way stroke time

0.45 s

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
单向行程运动最短时间 0.45s

Motor type

Servo motor

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
电机类型 伺服电机

Operating humidity

35~80 %RH

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model. No frosting as stated by the manufacturer.

HITBOT z-efg-20
使用湿度范围 35~80%RH(不结霜)

Operating temperature

5~55 °C

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
使用温度范围 5~55℃

Operating voltage

24±2 V

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 9; Electrical-section value; the main table gives 24 V ±10%. Their tolerance claims differ and remain source-qualified. The manual electrical section states 24±2 V while the page/main table state 24 V ±10%; exact tolerance applicability is unresolved.

HITBOT z-efg-20-manual-1
额定电压24±2V

Operating voltage

24V±10%

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model. The manual electrical section states 24±2 V while the page/main table state 24 V ±10%; exact tolerance applicability is unresolved.

HITBOT z-efg-20
工作电压 24V±10%

Peak current

1 A

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
峰值电流 1A

Power

5 W

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
功率 5W

Protection rating

IP40

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model. Official product-page and linked-manual protection rating claims differ; hardware revision applicability is unresolved. Values remain source-qualified.

HITBOT z-efg-20
防护等级 IP40

Protection rating

IP20

Manufacturer specification

Configuration: Z-EFG-20; linked product manual; PDF page 3; Manufacturer-linked exact-model manual, PDF page 3. The document revision is not a product release or proof of interchangeability with the current-page hardware. Official product-page and linked-manual protection rating claims differ; hardware revision applicability is unresolved. Values remain source-qualified.

HITBOT z-efg-20-manual-1
*Z-EFG-20夹持力:可由夹具前方添加可控形变材料对夹持力进行调节,根据形变量和力的对应曲线获得。 Mx My Fz Mz 说明项 参数 总行程 20mm(可调) 30~80N(可调) ±0.02mm ≤0.8kg 0.45s 伺服电机 齿轮齿条+交叉滚子导轨 二指平动 0.46kg 44*30*124.7mm 24V±10% 0.2A 1A IP20 5W 每六个月或者动作一百万次/回 5~55℃ 35~80%RH(不结霜) 夹持力 推荐夹持重量 单向行程运动最短时间 电机类型 传动方式 重量 运动方式 尺寸规格 工作电压 额定电流 峰值电流 功率 防护等级 运动元件油脂补给 使用温度范围 使用湿度范围 重复定位精度 垂直方向容许静负荷 Fz: 150 N Mx: My: Mz: 2.1 N.m 2.34 N.m 2 N.m 负载允许力矩 易碎场景一(如试管) 易碎场景二(如鸡蛋) 凌乱摆放,零件的排序和选别 狭窄场景下的夹持 易变形场合(如圆环) 软接触高频率场合 医疗、新零售、3C行业等应用场合 应用场景图 规格参数 02 电动夹爪 Z-EFG-20

Pulse command resolution

0.1 mm/pulse

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 10; Pulse-control command increment, not positioning accuracy. This does not create a separate undocumented pulse-interface SKU.

HITBOT z-efg-20-manual-1
200个脉冲对应20mm行程,1个脉冲对应0.1mm行程。

Rated current

0.2 A

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
额定电流 0.2A

Recommended gripping mass

≤0.8 kg

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model. Recommended handling mass; fixture/contact conditions are not specified. Not an independently tested maximum payload.

HITBOT z-efg-20
推荐夹持重量 ≤0.8kg

Relubrication interval

Every six months or one million operations

Manufacturer specification

Configuration: Z-EFG-20; linked product manual; PDF page 3; Manufacturer-linked exact-model manual, PDF page 3. The document revision is not a product release or proof of interchangeability with the current-page hardware.

HITBOT z-efg-20-manual-1
*Z-EFG-20夹持力:可由夹具前方添加可控形变材料对夹持力进行调节,根据形变量和力的对应曲线获得。 Mx My Fz Mz 说明项 参数 总行程 20mm(可调) 30~80N(可调) ±0.02mm ≤0.8kg 0.45s 伺服电机 齿轮齿条+交叉滚子导轨 二指平动 0.46kg 44*30*124.7mm 24V±10% 0.2A 1A IP20 5W 每六个月或者动作一百万次/回 5~55℃ 35~80%RH(不结霜) 夹持力 推荐夹持重量 单向行程运动最短时间 电机类型 传动方式 重量 运动方式 尺寸规格 工作电压 额定电流 峰值电流 功率 防护等级 运动元件油脂补给 使用温度范围 使用湿度范围 重复定位精度 垂直方向容许静负荷 Fz: 150 N Mx: My: Mz: 2.1 N.m 2.34 N.m 2 N.m 负载允许力矩 易碎场景一(如试管) 易碎场景二(如鸡蛋) 凌乱摆放,零件的排序和选别 狭窄场景下的夹持 易变形场合(如圆环) 软接触高频率场合 医疗、新零售、3C行业等应用场合 应用场景图 规格参数 02 电动夹爪 Z-EFG-20

Repeat positioning accuracy

±0.02 mm

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
重复定位精度 ±0.02mm

Total stroke

20 mm

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model. Adjustable.

HITBOT z-efg-20
总行程 20mm(可调)

Transmission mechanism

Rack and pinion + crossed-roller guide

Manufacturer specification

Configuration: Z-EFG-20; current product-page table; Manufacturer claim for the exact named model.

HITBOT z-efg-20
传动方式 齿轮齿条+交叉滚子导轨

User fixture inclusion

Front-end user fixture is not included

Manufacturer specification

Configuration: Z-EFG-20; linked manual PDF page 10; Manufacturer FAQ distinguishes the user-designed gripping fixture from the gripper itself.

HITBOT z-efg-20-manual-1
扫 码 直 联 客 服 09 1. 旋转有同心度要求,如果两边靠近,是否每次都在中间位置停止? 答:是的,存在<0.1mm的对称误差,重复精度0.02。 2. 产品包含前端的夹具部分吗? 答:不包含,用户需根据实际夹取的物品自行进行夹具的设计。另外,慧灵也会提供少许夹具库,请联系销售人员获取。 3. 驱动控制器是否包含在内,需要额外付钱吗? 答:内置,不需要额外收费,夹爪金额已包含控制器费用。 4. Z-EFG-20可以单指运动吗? 答:不可以,单指运动的夹爪正在研发中,具体情况请联系销售人员。 5. Z-EFG-20的运行速度是多少? 答:Z-EFG-20单向走完全行程,用时0.45s,来回0.9s。 6. Z-EFG-20的夹持力是多少,如何调节? 答:Z-EFG-20的夹持力由于夹具前方添加可控形变材料,可根据形变量和力的对应曲线获得。 7. Z-EFG-20的夹持行程如何调节? 答:200个脉冲对应20mm行程,1个脉冲对应0.1mm行程。 8. Z-EFG-20的夹爪,行程20mm对应200个脉冲,如果发送300的脉冲会如何? 答:多出的脉冲不会执行,没有任何影响。 9. Z-EFG-20的夹爪,行程20mm对应200个脉冲,如果发送200个脉冲,但是夹爪走到100个脉冲就夹住东西,夹住后是否 会停下来,而剩下的100个脉冲还会继续发送吗?是否有影响? 答:剩下的脉冲不会执行,没有任何影响。 10. 如何判断是否电动夹爪夹住东西? 答:对于Z-EFG-20,反馈脉冲数量反映的是夹爪当前位置,所以用户可以通过反馈脉冲计数来判断是否夹到物体。 11. 该电动夹爪是否防水? 答:IP防护等级20。 12. Z-EFG-20使用什么电机? 答:伺服电机。 13. 被夹取物品大于20mm是否可以用Z-EFG-8S或者Z-EFG-20的夹爪? 答:可以,8mm和20mm都是指有效行程,而非被夹取物体的尺寸,被夹取对象最大到最小的尺寸差在8mm之内,可以 用Z-EFG-8S夹取,被夹取对象最大到最小的尺寸差在20mm之内,可以用Z-EFG-20夹取。 14. 如果一直工作,电动夹爪的电机是否会发热过度? 答:经过专业测试,Z-EFG-20在大约30度的气温环境下一直工作,表面温度不会超过60度。 电动夹爪Z-EFG-20常见问题汇总

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