The RM-GB-HF/F is a servo electric gripper in the RobustMotion SoftForce® precision force-control series (also called a force-control electric gripper or force-control servo gripper). It adds a force sensor to the RM-GB platform for closed-loop force control with real-time gripping force feedback, while capturing force–position–time data to generate process curves. Strokes are 20 / 40 / 60mm, the closed-loop gripping force range spans 0.2–98.9N depending on sensor range, and repeatability is ±0.05mm. With position hold on power loss and power-loss detection, it is suited to transfer, assembly, soldering and inspection of workpieces such as chips, dies and flexible flat cables. Used with the RM-CEPF / RM-CEMSF controllers, it supports EtherCAT, PROFINET, CC-LINK and Modbus TCP / RTU.
A precision force-control version of the RM-GB servo electric gripper with an added force sensor. It provides closed-loop control of gripping force and records force-position-time curves, making it well suited to fragile, high-value workpieces such as chips, dies and flexible flat cables.
High Gripping Force
Wide Stroke Range
High Rigidity
Position Hold on Power Loss
Models and Specifications
| Item | RM-GB-11-20-2-HF | RM-GB-11-40-2-HF | RM-GB-17-60-2-F |
|---|---|---|---|
| Size code | 11 | 11 | 17 |
| Spec | 2 | ||
| Stroke (mm) | 20 | 40 | 60 |
| Closed-loop gripping force range (N) | 0.2 ~ 45.5 (HF50) / 1.1 ~ 45.5 (HF100) | 0.2 ~ 49.8 (HF50) / 1.1 ~ 77 (HF100) | 0.2 ~ 49.8 (F50) / 1.1 ~ 98.9 (F100) |
| Max. speed (mm/s) | 80 | 80 | 100 |
| Repeatability (mm) | ±0.05 | ||
| Compatible controller | RM-CEPF-20, RM-CEMSF-20 | RM-CEPF-20, RM-CEMSF-20 | RM-CEPF-40, RM-CEMSF-40 |
| Supported communication | RM-CEPF: EtherCAT, Modbus RTU, I/O; RM-CEMSF: Modbus TCP, PROFINET, CC-LINK, Modbus RTU | ||
| Rated voltage (V) | DC24 ±10% | ||
| Rated current (A) | 2 | 2 | 4 |
| Weight (kg) | 0.9 | 1.2 | 2.3 |
| Dimensions (mm) | 110 × 105 × 36 | 110 × 125 × 36 | 157 × 185 × 50 |
| Operating environment | 0–40°C, 85%RH or less (non-condensing) | ||
| Protection rating | IP40 | ||
Highlighted rows differ between models; values shared by all models are merged into one cell.
Model suffixes HF (11 series) and F (17 series) both denote the precision force-control type. The closed-loop gripping force range depends on the selected sensor range: the 50N range (HF50 / F50) has an absolute force accuracy of ±0.1N, the 100N range (HF100 / F100) ±1N. All three models are the separate controller type (external controller) and must be used with an RM-CEPF or RM-CEMSF precision force-control controller.
Model Code
RM－GB－[size code]－[stroke]－[spec]－[cable outlet direction]－[cable outlet type & length]－[sensor range]－[absolute force accuracy]
| Field | Available codes |
|---|---|
| Size code | 11, 17 |
| Stroke | 20, 40 (11 series); 60 (17 series) |
| Spec | 2 |
| Cable outlet direction | 1 (side); 11-40 also available with 2 (bottom) |
| Cable outlet type & length | S0028 (adapter cable, 28cm), H (horizontal outlet), V (vertical outlet) |
| Sensor range | HF50, HF100 (11 series); F50, F100 (17 series) |
| Absolute force accuracy | 001 (±0.1N, 50N range), 010 (±1N, 100N range) |
Typical Applications
Precision transfer of chips and dies
With a minimum closed-loop gripping force of 0.2N, a constant gripping force can be set for each workpiece with real-time feedback — suited to transfer and inspection of fragile, high-value workpieces such as chips and wafer dies.
Assembly and soldering of flexible flat cables
Flexible workpieces such as flexible flat cables deform easily under excessive gripping force. Closed-loop force control maintains a stable gripping force during assembly and soldering, and each motion is recorded as a force–position–time curve for quality traceability.
Stations combining force control with larger workpieces
The 17-60 model offers a 60mm stroke, closed-loop gripping force up to 98.9N and a max. speed of 100mm/s, handling larger workpieces while maintaining precision force control. Position hold on power loss keeps the workpiece from being released during a power outage.
Frequently Asked Questions
What is the difference between the RM-GB-HF/F and the standard RM-GB?
The RM-GB-HF/F is based on the RM-GB servo electric gripper with an added force sensor, paired with a precision force-control controller (RM-CEPF/RM-CEMSF) for closed-loop force control, real-time gripping force feedback and capture of force-position-time data. The standard RM-GB works by setting a maximum gripping force and has a higher gripping force limit, but no force sensing or curve recording. Choose the HF/F version for fragile workpieces that need precise and stable gripping force; choose the standard RM-GB mainly for handling heavy parts.
How do I choose between the three RM-GB-HF/F models?
11-20 has a 20mm stroke, closed-loop gripping force of 0.2~45.5N and weight of 0.9kg; 11-40 has a 40mm stroke, 0.2~77N and 1.2kg; 17-60 has a 60mm stroke, 0.2~98.9N, maximum speed of 100mm/s and 2.3kg. These are the overall ranges across the sensors available for each model: the 50N range (HF50/F50) starts from 0.2N with an absolute force accuracy of ±0.1N; the 100N range (HF100/F100) starts from 1.1N with an absolute force accuracy of ±1N.
Will the workpiece drop from the RM-GB-HF/F during a power loss?
The RM-GB-HF/F has a position hold on power loss function that keeps the gripper closed when power is lost, so the workpiece will not come loose due to a power outage; it also has power loss detection. For stations where parts must not be dropped during transfer, we still recommend evaluating safety measures at the mechanism design stage.
Which controllers does the RM-GB-HF/F require, and which communication protocols are supported?
All three models are separate controller types. The 11 series uses the RM-CEPF-20 or RM-CEMSF-20, and the 17 series uses the RM-CEPF-40 or RM-CEMSF-40. The RM-CEPF supports EtherCAT, Modbus RTU and I/O; the RM-CEMSF supports Modbus TCP, PROFINET, CC-LINK and Modbus RTU. Rated voltage is DC24V ±10%, rated current is 2A for the 11 series and 4A for the 17 series, and protection rating is IP40.
Who distributes the RM-GB-HF/F in Taiwan? Can you help with model selection?
Utrun-Tech Co.,Ltd. distributes RobustMotion products and provides selection evaluation, mechanism integration advice and post-installation technical support for the RM-GB-HF/F precision force-control servo electric gripper in Taiwan. When requesting a quote or selection support, please provide the workpiece material, dimensions, weight and required gripping force range so we can confirm the suitable model and sensor range.