Product details

Z-EFG-130

Grippers & End Effectors

HITBOT

Z-EFG-130

About this product

Z-EFG-130 is a HITBOT two-finger swinging electric gripper for robot handling. Its current page specifies a 130 mm adjustable stroke, 40–130 N gripping force and ±0.02 mm repeat positioning accuracy. RS-485 (Modbus RTU) and I/O provide control; its body weighs 0.8 kg. The manual gives inconsistent 256000/25600 baud notation and a literal ISO94049 flange designation; these source labels remain qualified. Cover image: Manufacturer reference illustration.

Model
Z-EFG-130
Category
Grippers & End Effectors, Components

Specifications & evidence

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

Allowable load moment mx

2 N·m

Manufacturer specification

Configuration: Z-EFG-130; linked exact-model manual PDF page 5; Manufacturer load limits use the local jaw-load axis sketch; simultaneous combined loading is not specified.

HITBOT z efg 130 Product Manual
Fz: 200N Mx: My: Mz: 2 N·m 2 N·m 2 N·m

Allowable load moment my

2 N·m

Manufacturer specification

Configuration: Z-EFG-130; linked exact-model manual PDF page 5; Manufacturer load limits use the local jaw-load axis sketch; simultaneous combined loading is not specified.

HITBOT z efg 130 Product Manual
Fz: 200N Mx: My: Mz: 2 N·m 2 N·m 2 N·m

Allowable load moment mz

2 N·m

Manufacturer specification

Configuration: Z-EFG-130; linked exact-model manual PDF page 5; Manufacturer load limits use the local jaw-load axis sketch; simultaneous combined loading is not specified.

HITBOT z efg 130 Product Manual
Fz: 200N Mx: My: Mz: 2 N·m 2 N·m 2 N·m

Allowable vertical static load fz

200 N

Manufacturer specification

Configuration: Z-EFG-130; linked exact-model manual PDF page 5; Manufacturer load limits use the local jaw-load axis sketch; simultaneous combined loading is not specified.

HITBOT z efg 130 Product Manual
Fz: 200N Mx: My: Mz: 2 N·m 2 N·m 2 N·m

Body mass

0.8 kg

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
重量 0.8kg

Cable conductor count

12

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
出线规格 线长2m,12芯线

Cable length

2 m

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
出线规格 线长2m,12芯线

Claimed cycle life

10,000,000 cycles

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 4; Manufacturer cycle-life claim; load, duty cycle and test method are not stated.

HITBOT z efg 130 Product Manual
千万次循环

Control interface

RS-485 (Modbus RTU), I/O

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
控制方式 485(Modbus RTU)、I/O

Controller integration

Integrated controller

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 4; Exact-model manufacturer feature.

HITBOT z efg 130 Product Manual
控制器内置

Default modbus address

1

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 9; Defaults for the Modbus version/configuration described by this exact manual; no separate interface SKU or protocol interoperability is inferred.

HITBOT z efg 130 Product Manual
06 电动夹爪 Z-EFG-130 夹持状态指示灯 夹持指示灯 夹持状态 上位机显示状态 红灯常亮 N/A 未进行初始化 绿灯常亮 到位 夹爪执行到指定位置 序号 名称 默认值 1 RS485 物理接口 2 115200(默认) 波特率 3 8 数据位 4 无 奇偶校验 5 1 停止位 6 无 数据流控制 7 0x01 ID 8 0x03:读取寄存器功能码 0x06、0x10:控制寄存器功能码 功能码 9 1(张开) 初始化方向 11 0(关闭) IO开关 10 0(上电自动校准) 初始化设置 绿灯闪烁 运动中 夹爪正在运行当中 蓝灯常亮 夹持中 夹爪受阻停止或已夹取到物品 蓝灯闪烁 掉落 夹持物体掉落 注:运行过程中出现蓝灯常亮问题但并未夹取到物体时,可以先断电以后,排查是否是手指间出现了卡顿现象。 Z-EFG-130(以下简称EFG130)夹爪RS485串口默认配置如下: 指示灯定义 RS485默认配置 485通讯与Modbus控制

Default serial baud rate

115,200 bit/s

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 9; Defaults for the Modbus version/configuration described by this exact manual; no separate interface SKU or protocol interoperability is inferred.

HITBOT z efg 130 Product Manual
06 电动夹爪 Z-EFG-130 夹持状态指示灯 夹持指示灯 夹持状态 上位机显示状态 红灯常亮 N/A 未进行初始化 绿灯常亮 到位 夹爪执行到指定位置 序号 名称 默认值 1 RS485 物理接口 2 115200(默认) 波特率 3 8 数据位 4 无 奇偶校验 5 1 停止位 6 无 数据流控制 7 0x01 ID 8 0x03:读取寄存器功能码 0x06、0x10:控制寄存器功能码 功能码 9 1(张开) 初始化方向 11 0(关闭) IO开关 10 0(上电自动校准) 初始化设置 绿灯闪烁 运动中 夹爪正在运行当中 蓝灯常亮 夹持中 夹爪受阻停止或已夹取到物品 蓝灯闪烁 掉落 夹持物体掉落 注:运行过程中出现蓝灯常亮问题但并未夹取到物体时,可以先断电以后,排查是否是手指间出现了卡顿现象。 Z-EFG-130(以下简称EFG130)夹爪RS485串口默认配置如下: 指示灯定义 RS485默认配置 485通讯与Modbus控制

Dimensions

177 × 187 × 72 (open); 224 × 66.5 × 72 (closed) mm

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model. Printed dimension order; axes are not explicitly labelled.

HITBOT z efg 130
尺寸规格 177*187*72mm(张开)224*66.5*72mm(闭合)

Finger through-thread callout

4-M5 through

Manufacturer specification

Configuration: Z-EFG-130; linked manual drawing PDF page 6; Exact manual native drawing, PDF page 6. Thread designations and literal mounting tokens are retained. No general linear-unit heading is visible; no millimetre unit is inferred for unlabelled lengths. Repeated patterns across views are not added together.

HITBOT z efg 130 Product Manual
4-M5通

Flange pitch-circle callout

Φ50

Manufacturer specification

Configuration: Z-EFG-130; linked manual drawing PDF page 6; Exact manual native drawing, PDF page 6. Thread designations and literal mounting tokens are retained. No general linear-unit heading is visible; no millimetre unit is inferred for unlabelled lengths. Repeated patterns across views are not added together.

HITBOT z efg 130 Product Manual
Φ50

Flange through-hole callout

4-Φ6.5 through; associated token Φ14.5×90°

Manufacturer specification

Configuration: Z-EFG-130; linked manual drawing PDF page 6; Exact manual native drawing, PDF page 6. Thread designations and literal mounting tokens are retained. No general linear-unit heading is visible; no millimetre unit is inferred for unlabelled lengths. Repeated patterns across views are not added together.

HITBOT z efg 130 Product Manual
4-Φ6.5贯穿 Φ14.5×90°

Gripping-current command range

0.1~0.5 A

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 11; Protocol command range for the exact manual configuration; not an independently measured physical performance limit.

HITBOT z efg 130 Product Manual
单位 A,取值范围:0.1~0.5

Gripping force

40~130 N

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model. Adjustable.

HITBOT z efg 130
夹持力 40~130N(可调)

Gripping-speed command range

1~200 mm/s

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 11; Protocol command range for the exact manual configuration; not an independently measured physical performance limit.

HITBOT z efg 130 Product Manual
单位 mm/s,取值范围:1~200

Jaw motion

Two-finger swinging motion

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
运动方式 二指摆动

Manufacturer flange standard text

ISO94049-1-50-4-M6 (literal manufacturer designation)

Manufacturer specification

Configuration: Z-EFG-130; linked manual drawing PDF page 6; Exact manual native drawing, PDF page 6. Thread designations and literal mounting tokens are retained. No general linear-unit heading is visible; no millimetre unit is inferred for unlabelled lengths. Repeated patterns across views are not added together. The manufacturer prints ISO94049, not ISO9409; no conformance to a corrected standard is asserted.

HITBOT z efg 130 Product Manual
符合ISO94049-1-50-4-M6标准

Minimum one-way stroke time

0.9 s

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
单向行程运动最短时间 0.9s

Modbus address range

1–247

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 12; Configuration saved and restart required as described by the manual.

HITBOT z efg 130 Product Manual
取值范围 [1~247]

Modbus function codes

0x03, 0x06, 0x10

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 9; Defaults for the Modbus version/configuration described by this exact manual; no separate interface SKU or protocol interoperability is inferred.

HITBOT z efg 130 Product Manual
06 电动夹爪 Z-EFG-130 夹持状态指示灯 夹持指示灯 夹持状态 上位机显示状态 红灯常亮 N/A 未进行初始化 绿灯常亮 到位 夹爪执行到指定位置 序号 名称 默认值 1 RS485 物理接口 2 115200(默认) 波特率 3 8 数据位 4 无 奇偶校验 5 1 停止位 6 无 数据流控制 7 0x01 ID 8 0x03:读取寄存器功能码 0x06、0x10:控制寄存器功能码 功能码 9 1(张开) 初始化方向 11 0(关闭) IO开关 10 0(上电自动校准) 初始化设置 绿灯闪烁 运动中 夹爪正在运行当中 蓝灯常亮 夹持中 夹爪受阻停止或已夹取到物品 蓝灯闪烁 掉落 夹持物体掉落 注:运行过程中出现蓝灯常亮问题但并未夹取到物体时,可以先断电以后,排查是否是手指间出现了卡顿现象。 Z-EFG-130(以下简称EFG130)夹爪RS485串口默认配置如下: 指示灯定义 RS485默认配置 485通讯与Modbus控制

Motor type

Servo motor

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
电机类型 伺服电机

Operating humidity

35~80 %RH

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model. Non-frosting, as printed; no non-condensing equivalence is inferred.

HITBOT z efg 130
使用湿度范围 35~80%RH(不结霜)

Operating temperature

5~55 °C

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
使用温度范围 5~55℃

Operating voltage

24±10% V

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model. DC is explicit in this row.

HITBOT z efg 130
工作电压 DC24V±10%

Peak current

2 A

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
峰值电流 2A

Position command range

0~130 mm

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 11; Protocol command range for the exact manual configuration; not an independently measured physical performance limit.

HITBOT z efg 130 Product Manual
单位 mm,取值范围:0~130

Power

10 W

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
功率 10W

Power-off self-locking

Claimed

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 4; Manufacturer feature; holding force and permissible power-loss load are not specified.

HITBOT z efg 130 Product Manual
断电自锁

Protection rating

IP40

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
防护等级 IP40

Rated current

0.4 A

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
额定电流 0.4A

Recommended gripping mass

≤1 kg

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model. Recommended handling mass; contact fixture, orientation and test method are not specified.

HITBOT z efg 130
推荐夹持重量 ≤1kg

Relubrication interval

Every six months or one million operations

Manufacturer specification

Configuration: Z-EFG-130; linked exact-model manual PDF page 5; Exact-model maintenance interval; manufacturer does not state whichever-first semantics.

HITBOT z efg 130 Product Manual
每六个月或者动作一百万次/回

Repeat positioning accuracy

±0.02 mm

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
重复定位精度 ±0.02mm

Rs-485 to supply isolation

Not internally isolated

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 8; The exact manual states external isolation requires separate equipment; no galvanic isolation is claimed.

HITBOT z efg 130 Product Manual
扫 码 直 联 客 服 05 接线方式 注: 1.该图说明了通过两种方式Modbus、IO控制夹爪的接线说明,输入与输出通过NPN和PNP的连接时,表示有效是刚好相反 的,具体看IO介绍的章节(第七章); 2.485与24V夹爪内部未进行隔离,如需隔离需用户使用其他设备进行隔离。

Serial data bits

8 bits

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 9; Defaults for the Modbus version/configuration described by this exact manual; no separate interface SKU or protocol interoperability is inferred.

HITBOT z efg 130 Product Manual
06 电动夹爪 Z-EFG-130 夹持状态指示灯 夹持指示灯 夹持状态 上位机显示状态 红灯常亮 N/A 未进行初始化 绿灯常亮 到位 夹爪执行到指定位置 序号 名称 默认值 1 RS485 物理接口 2 115200(默认) 波特率 3 8 数据位 4 无 奇偶校验 5 1 停止位 6 无 数据流控制 7 0x01 ID 8 0x03:读取寄存器功能码 0x06、0x10:控制寄存器功能码 功能码 9 1(张开) 初始化方向 11 0(关闭) IO开关 10 0(上电自动校准) 初始化设置 绿灯闪烁 运动中 夹爪正在运行当中 蓝灯常亮 夹持中 夹爪受阻停止或已夹取到物品 蓝灯闪烁 掉落 夹持物体掉落 注:运行过程中出现蓝灯常亮问题但并未夹取到物体时,可以先断电以后,排查是否是手指间出现了卡顿现象。 Z-EFG-130(以下简称EFG130)夹爪RS485串口默认配置如下: 指示灯定义 RS485默认配置 485通讯与Modbus控制

Serial parity

None

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 9; Defaults for the Modbus version/configuration described by this exact manual; no separate interface SKU or protocol interoperability is inferred.

HITBOT z efg 130 Product Manual
06 电动夹爪 Z-EFG-130 夹持状态指示灯 夹持指示灯 夹持状态 上位机显示状态 红灯常亮 N/A 未进行初始化 绿灯常亮 到位 夹爪执行到指定位置 序号 名称 默认值 1 RS485 物理接口 2 115200(默认) 波特率 3 8 数据位 4 无 奇偶校验 5 1 停止位 6 无 数据流控制 7 0x01 ID 8 0x03:读取寄存器功能码 0x06、0x10:控制寄存器功能码 功能码 9 1(张开) 初始化方向 11 0(关闭) IO开关 10 0(上电自动校准) 初始化设置 绿灯闪烁 运动中 夹爪正在运行当中 蓝灯常亮 夹持中 夹爪受阻停止或已夹取到物品 蓝灯闪烁 掉落 夹持物体掉落 注:运行过程中出现蓝灯常亮问题但并未夹取到物体时,可以先断电以后,排查是否是手指间出现了卡顿现象。 Z-EFG-130(以下简称EFG130)夹爪RS485串口默认配置如下: 指示灯定义 RS485默认配置 485通讯与Modbus控制

Serial stop bits

1 bits

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 9; Defaults for the Modbus version/configuration described by this exact manual; no separate interface SKU or protocol interoperability is inferred.

HITBOT z efg 130 Product Manual
06 电动夹爪 Z-EFG-130 夹持状态指示灯 夹持指示灯 夹持状态 上位机显示状态 红灯常亮 N/A 未进行初始化 绿灯常亮 到位 夹爪执行到指定位置 序号 名称 默认值 1 RS485 物理接口 2 115200(默认) 波特率 3 8 数据位 4 无 奇偶校验 5 1 停止位 6 无 数据流控制 7 0x01 ID 8 0x03:读取寄存器功能码 0x06、0x10:控制寄存器功能码 功能码 9 1(张开) 初始化方向 11 0(关闭) IO开关 10 0(上电自动校准) 初始化设置 绿灯闪烁 运动中 夹爪正在运行当中 蓝灯常亮 夹持中 夹爪受阻停止或已夹取到物品 蓝灯闪烁 掉落 夹持物体掉落 注:运行过程中出现蓝灯常亮问题但并未夹取到物体时,可以先断电以后,排查是否是手指间出现了卡顿现象。 Z-EFG-130(以下简称EFG130)夹爪RS485串口默认配置如下: 指示灯定义 RS485默认配置 485通讯与Modbus控制

Stored gripping-position selection range

1~4

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 11; Protocol command range for the exact manual configuration; not an independently measured physical performance limit. This 1–4 command-selection range is not a complete inventory of all stored positions: the detailed command section describes positions 0–3, while the later stored-point/UI section includes positions through 7. Mapping and firmware applicability remain unresolved.

HITBOT z efg 130 Product Manual
值范围:1~4

Supported serial baud rates

9600, 19200, 38400, 57600, 115200, 153600, 256000 bit/s

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 12; Only the literal enumerated baud rates are retained; document indexing is not used to invent omitted rates. The same manual lists 256000 in its table but 25600 in the detailed explanation; no corrected value or index mapping is inferred.

HITBOT z efg 130 Product Manual
0~6:9600,19200,38400, 57600,115200,153600, 256000

Supported serial baud rates

9600, 19200, 38400, 57600, 115200, 153600, 25600 bit/s

Manufacturer specification

Configuration: Z-EFG-130; linked manual PDF page 21; The detailed register explanation prints 25600, while the parameter table lists 256000. This source disagreement is unresolved. The same manual lists 256000 in its table but 25600 in the detailed explanation; no corrected value or index mapping is inferred.

HITBOT z efg 130 Product Manual
应9600、19200、38400、57600、 115200、153600、25600

Total stroke

130 mm

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model. Adjustable.

HITBOT z efg 130
总行程 130mm(可调)

Transmission mechanism

Lead screw + linkage mechanism

Manufacturer specification

Configuration: Z-EFG-130; current exact-model product page; Manufacturer claim for the exact named model.

HITBOT z efg 130
传动方式 丝杆+连杆机构

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