Collaborative Tweezers, RG2, Load (nominal / max.) 2 / 4kg, Force 3-40N (resolution 1N), Total stroke 110mm (resolution 1mm), Stroke time (0-110 / 40-20) 950ms / 200ms, Repeat accuracy + 0.1mm, Product weight / support 650g / 100g, Operation 24vcc, Feedback for Force (3-40N) and aperture (0-110mm), Compatible with all Robots Universal Robots, - On Robot.