Tools technical specifications
****************************************

Tools Overview
==============================================================

Ned2 is compatible with 5 different sorts of tools:

- 3 x Grippers
- 1 x Electromagnet
- 1 x Vacuum Pump

Specifications
==============================================================

Custom Gripper
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.. |pic1| image:: /images/ned2/Tool/GRIPPER12.png
   :width: 350px

.. |pic2| image:: /images/ned2/Tool/GRIPPER1.png
   :width: 600px

|pic1| |pic2|

.. |br| raw:: html

    <br>
    
.. list-table::
   :header-rows: 1
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   :align: center

   *  - Parameter
      - Description

   *  - Max operating width
      - 43 mm 

   *  - Picking distance from end effector base 
      - 85 mm 

   *  - Motor  
      - XL330 Servo Motor

   *  - Weight  
      - 87 g 

   *  - Power Supply   
      - 5 V

   *  - Operating temperature  
      - 5-45°C

Large Gripper
############################################################

.. |pic14| image:: /images/ned2/Tool/GRIPPER2.png
   :width: 450px

.. |pic15| image:: /images/ned2/Tool/GRIPPER23.png
   :width: 450px

.. |pic16| image:: /images/ned2/Tool/GRIPPER22.png
   :width: 750px

|pic14| |pic15| |pic16|

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   *  - Parameter
      - Description

   *  - Max operating width
      - 79.2 mm

   *  - Picking distance from end effector base 
      - 109.35 mm

   *  - Motor  
      - XL330 Servo Motor

   *  - Weight  
      - 72.5 g

   *  - Power Supply   
      - 5 V

   *  - Operating temperature  
      - 5-45°C

Adaptive Gripper
############################################################

.. |pic17| image:: /images/ned2/Tool/GRIPPER3.png
   :width: 400px

.. |pic18| image:: /images/ned2/Tool/GRIPPER32.png
   :width: 350px

.. |pic19| image:: /images/ned2/Tool/GRIPPER33.png
   :width: 750px

|pic17| |pic18| |pic19|

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   :header-rows: 1
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   *  - Parameter
      - Description

   *  - Max operating width
      - 97.49 mm

   *  - Picking distance from end effector base 
      - 113.79 mm

   *  - Motor  
      - XL330 Servo Motor

   *  - Weight  
      - 83 g

   *  - Power Supply   
      - 5 V

   *  - Operating temperature  
      - 5-45°C

Electromagnet
############################################################

.. |pic20| image:: /images/ned2/Tool/ELECTROAIMANT1.png
   :width: 200px

.. |pic21| image:: /images/ned2/Tool/ELECTROAIMANT2.png
   :width: 200px

.. |pic22| image:: /images/ned2/Tool/ELECTROAIMANT3.png
   :width: 500px

|pic20| |pic21| |pic22|

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   :header-rows: 1
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   *  - Parameter
      - Description

   *  - Max operating width
      - 20 mm

   *  - Picking surface 
      - 20 mm

   *  - Picking distance from end effector base 
      - 27 mm

   *  - Control interface  
      - Digital output

   *  - Weight  
      - 44.5 g

   *  - Power Supply   
      - 5 V

   *  - Operating temperature  
      - 5-45°C

Vacuum Pump
############################################################

.. |pic23| image:: /images/ned2/Tool/VP.png
   :width: 250px

.. |pic24| image:: /images/ned2/Tool/VP2.png
   :width: 250px

.. |pic25| image:: /images/ned2/Tool/VP3.jpg
   :width: 400px

|pic23| |pic24| |pic25|

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   :header-rows: 1
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   :align: center

   *  - Parameter
      - Description

   *  - Vacuum Pump control
      - Integrated XL330 servo motor 

   *  - Weight  
      - 18 g

   *  - Total weight  
      - 183 g

   *  - Payload  
      - 300 g

   *  - Power Supply   
      - 5 V

   *  - Operating temperature  
      - 5-45°C

   *  - Vacuum Tube dimension   
      - 20 mm

   *  - Picking distance from end effector base  
      - 47.5 mm



.. admonition:: Advice
   :class: Advice

      .. image:: /images/picto/ned2_conseil.png
         :width: 50px
         :align: left

   In order to program the different tools, please refer to :ref:`Software documentation <source/software/advanced_programming:Advanced programming>`.