# RobustMotion RM-EGB Series 24VDC Compact Finger Gripper, 20D, PNP + RS-485 Interface **Type:** Product page · **SKU:** POLOLU-5406 · **Brand:** [Pololu](https://core-electronics.com.au/brands/pololu-australia) **Page:** https://core-electronics.com.au/robustmotion-rm-egb-24vdc-finger-gripper-pnp-rs485.html ([markdown](https://core-electronics.com.au/robustmotion-rm-egb-24vdc-finger-gripper-pnp-rs485.html.md)) This gripper fits small cobots such as the Dobot MG400. The simple PNP-type PLC interface can connect directly to the MG400 I/O ports, and it can be... ## Pricing - **Price:** $1,939.95 (inc GST) — $1,763.59 AUD, exc GST - **Quantity discounts:** 3+ $1693.05 (exc GST) · 5+ $1640.14 (exc GST) ## Availability & dispatch - Available with a lead time — expect dispatch between Aug 20 and Aug 24. ## Description The compact RM-EGB Series grippers from RobustMotion operate by sliding a pair of fingers together or apart laterally to grip and release. These fingers, which are designed to serve as mounting points for customized (e.g. 3D-printed) extensions, are able to exert consistent force in both directions, allowing them to grab parts internally (by opening into a gap) or externally (by clamping down) with missed pickup and dropped part detection. | [![](https://core-electronics.com.au/attachments/localcontent/0J13100_1437205cd64.jpg)](https://core-electronics.com.au/attachments/localcontent/0J13100_12809e1956a.jpg) | |---| | Size comparison of the RobustMotion RM-EGB Series 16D (left) and 20D (right) Grippers. | These grippers are available in two different sizes and each size is available with or without an RS-485 interface (see comparison table below). They fit small collaborative robots (cobots) such as the [Dobot MG400](https://core-electronics.com.au/dobot-mg400-desktop-cobot-robotic-arm-pololu.html), and operate at 24 VDC, which can be supplied from the MG400. The simple PNP-type PLC interface can connect directly to the MG400 I/O ports. A simple 3D-printed adapter (139k STEP) can be used to mount a gripper to the MG400 arm. | RobustMotion RM-EGB gripper: | ![](https://core-electronics.com.au/attachments/localcontent/0J13078_331454a144.jpg) [\#5403: 16D, simple PNP](https://core-electronics.com.au/robustmotion-rm-egb-24vdc-compact-finger-gripper-pnp-interface.html) | ![](https://core-electronics.com.au/attachments/localcontent/0J13080_33186b3934.jpg) [\#5404: 16D, PNP + RS-485](https://core-electronics.com.au/robustmotion-rm-egb-24vdc-compact-finger-gripper-pnp-rs485.html) | ![](https://core-electronics.com.au/attachments/localcontent/0J13082_3836233a50.jpg) [\#5405: 20D, simple PNP](https://core-electronics.com.au/robustmotion-rm-egb-24vdc-finger-gripper-20d-pnp-interface.html) | ![](https://core-electronics.com.au/attachments/localcontent/0J13084_372074dd05.jpg) [\#5406: 20D, PNP + RS-485](https://core-electronics.com.au/robustmotion-rm-egb-24vdc-finger-gripper-pnp-rs485.html) | |---|---|---|---|---| | PNP-type PLC interface: | | | RS-485 Modbus RTU interface: | – | | – | | | Rated Voltage: | 24 V (±10%) | | Rated Current: | 0.3 A | 0.4 A | | Peak Current: | 0.6 A | 0.8 A | | Max. gripping force: | 60 N (±15%) | 80 N (±15%) | | Stroke: | 6 mm | 10 mm | | Repeat positioning accuracy: | ±0.02 mm | | Max. opening/closing time: | 0.1 s | 0.18 s | | Size: | 23.5 × 38 × 98 mm | 27.6 × 50 × 108 mm | | Weight: | 220 g | 320 g | | Protection Class: | IP40 | | Price: | **Details for item #5406** This is the larger of the two available gripper sizes, with a max stroke of 10 mm (both fingers combined) and a maximum gripping force of 80 N. It supports Modbus RTU over RS-485 (in addition to the PNP-type PLC interface). The gripper can cover its full 10 mm stroke length in under 0.18 s. In addition to the fully open and fully closed extremes, the simple PNP-type PLC interface offers two preset intermediate positions (at 4 mm and 8 mm) that are achievable with ±0.02 mm repeatability, and the grip strength can be controlled by selecting from four preset force levels up to 80 N. The RS-485 interface gives more precise control of the position (0% to 100%) and force (25% to 100%). See the [RM-EGB user’s manual](https://core-electronics.com.au/attachments/localcontent/RobustMotionRM-EGBgripperusermanual_15955713214.pdf) (2MB pdf) for more information. | [![](https://core-electronics.com.au/attachments/localcontent/0J13092_17696da29ef.jpg)](https://core-electronics.com.au/attachments/localcontent/0J13092_15462367327.jpg) | |---| - RobustMotion part number: RM-EGB-06L-20D-1-D0200-PRTU - 3 PNP inputs and 3 PNP outputs for direct connection to a PNP-type PLC: - Four preset stroke positions: 0, 4, 8, and 10 mm - Four preset gripping force levels: 25%, 50%, 75%, and 100% - RS-485 interface: - Full position control from 0% to 100% - Force levels from 25% to 100% - Operating voltage: 24 VDC - Peak current: 0.8 A - Maximum gripping force: 80 N - Maximum stroke length: 10 mm - Repeat positioning accuracy of ±0.02 mm - Maximum opening/closing time: 0.18 s over the full 6mm range - Capable of gripping internally or externally with consistent force output and detection of missed pickup/dropped part - Size: 27.6 × 50 × 108 mm (1.09" × 1.97" × 4.25") - Cable length: 200 cm (75") - Weight: 320 g (390 g including the cable) **Dimensions** | [![](https://core-electronics.com.au/attachments/localcontent/0J13089_10259307c98.jpg)](https://core-electronics.com.au/attachments/localcontent/0J13089_190617a2937.jpg) | |---| | Dimensions (in mm) of the RobustMotion RM-EGB Series 20D Gripper. | **Connections** | \| [![](https://core-electronics.com.au/attachments/localcontent/0J13094_45371c9ce8e.jpg)](https://core-electronics.com.au/attachments/localcontent/0J13094_129999982e4.jpg) \| \|---\| | \| [![](https://core-electronics.com.au/attachments/localcontent/0J13087_28610f3d8cc.jpg)](https://core-electronics.com.au/attachments/localcontent/0J13087_97479ecc6be.jpg) \| \|---\|---\| | |---| The grippers have a 200 cm (80") cable with ten conductors terminating in a 12-pin, 2mm-pitch A2008H-12P connector. RobustMotion recommends cutting the connector off and using the individual wires. | [![](https://core-electronics.com.au/attachments/localcontent/0J13098_32929da7a71.jpg)](https://core-electronics.com.au/attachments/localcontent/0J13098_99373b56ca1.jpg) | |---| **Dimensions** | Size: | 27.6 × 50 × 108 mm (1.09" × 1.97" × 4.25") | |---|---| | Weight: | 320 g[1](https://core-electronics.com.au/#note1) | **General specifications** | Interface: | simple PNP + RS-485 | |---|---| | Voltage: | 24 V | | Lead length: | 200 cm | | Version: | 20D | **Notes:** 1390 g including cable. **File downloads** - **[User’s manual for the RobustMotion RM-EGB grippers](https://core-electronics.com.au/attachments/localcontent/RobustMotionRM-EGBgripperusermanual_15955713214.pdf) (2MB pdf)** - **3D-printable adapter for connecting RobustMotion RM-EGB grippers to the Dobot MG400 robot arm (139k STEP)** | ![](https://core-electronics.com.au/attachments/localcontent/0J13090_6497a17495.jpg) | |---| This adapter is designed to work with the [Dobot MG400 robot arm](https://core-electronics.com.au/dobot-mg400-desktop-cobot-robotic-arm-pololu.html) and the [RobustMotion RM-EGB Series Grippers](https://core-electronics.com.au/robustmotion-rm-egb-24vdc-compact-finger-gripper-pnp-interface.html). - **3D-printable adapter for connecting RobustMotion RM-EGB grippers to the Dobot MG400 robot arm (200k STL)** | ![](https://core-electronics.com.au/attachments/localcontent/0J13090_6497a17495.jpg) | |---| This adapter is designed to work with the [Dobot MG400 robot arm](https://core-electronics.com.au/dobot-mg400-desktop-cobot-robotic-arm-pololu.html) and the [RobustMotion RM-EGB Series Grippers](https://core-electronics.com.au/robustmotion-rm-egb-24vdc-compact-finger-gripper-pnp-interface.html). - **3D model of the RobustMotion RM-EGB Series 16D Gripper (2MB STEP)** - **3D model of the RobustMotion RM-EGB Series 20D Gripper (3MB STEP)** ## Images - [Product image 1](https://core-electronics.com.au/media/catalog/product/P/O/POLOLU-5406-1.jpg)