Why teams retrofit
Many cells still run parallel pneumatic grippers because the hardware is familiar. A pneumatic gripper replacement usually starts for one of four reasons: no shop air at a new station, inconsistent grip on delicate parts, need for programmable stroke or force, or fewer valves and hoses on a compact robot wrist.
An electric gripper does not “drop in” by bolt pattern alone. Treat the change as a short engineering checklist: match the opening, confirm holding force and payload, confirm how the robot will command open/close, then validate cycle time and IP rating in the real environment.
Retrofit checklist (in order)
1. Measure the pneumatic stroke you actually use
Note the jaw opening at pick and at place—not only the cylinder’s nominal stroke. Electric models publish total stroke (both jaws) or per-finger stroke. Example: EPGS-6-10 lists a 6 mm total stroke, with opening max/min 20.9 / 14.9 mm on the drawing page. If your pneumatic jaws travel farther than the electric total stroke, you need a different model or fingertip redesign before you buy.
2. Map bore-class expectations to published force—not to marketing labels
For light parallel tools, buyers often talk in “16 mm bore class.” EPGS-6-10 is documented as a 16D (16 mm bore–class substitute) unit with 10 N ±20% gripping force, 0.2 kg recommended max load, ±0.1 mm repeatability, 0.1 s open/close (one way), 160 g mass, IP40, and I/O only (no fieldbus option on this series). Use those numbers as the starting envelope; do not assume every “16D” label from another catalog matches this envelope.
If the part is heavier or needs adjustable force, step up to an industrial two-finger model such as EPG2-26-15: 0–26 mm stroke, 6–15 N force, 0.3 kg max load, ±0.02 mm repeatability, 0.3 s open/close, 400 g, communication options N / M / NM (I/O, Modbus, or both), IP40.
3. Power and command path
All series in the 2026-08 parameter set use DC 24 V ±10%. EPGS units are I/O only (high level 3–24 V open / low level 0–1 V close on the documented wiring). EPG2 and related industrial series add Modbus RTU (RS485) via the M / NM codes. Plan cable length, shield, and whether the robot needs a dry-contact open/close or a register write. Continuous current for EPGS-6-10 is 0.2 A—size the 24 V supply with headroom for inrush and other wrist devices.
4. Environment and sealing
Most parallel electric models in this set are IP40. If the cell has light splash or dust that defeated a bare pneumatic jaw, note that EPGC-50-150 is the unit documented at IP54, with 50 mm adjustable stroke, 40–150 N adjustable force, 3 kg max load, ±0.02 mm repeatability, 0.5 s open/close, 1 kg mass, N/M/NM communications, and a power-off brake whose configuration should be confirmed before quote. Do not claim IP54 for EPGS/EPG2.
5. Mounting, fingers, and collision volume
Compare the electric body size to the pneumatic tool you remove. EPGS-6-10 envelope is 23.6 × 38 × 84 mm. Confirm tool-flange bolts, finger blank thickness, and that the larger closed height still clears fixtures. Keep fingertip length short; long fingers multiply moment at the guide and shrink usable payload.
6. Cycle time and air-free benefits
Electric open/close times are published as one-way values (for example 0.1 s on EPGS-6-10, 0.3 s on EPG2-26-15). Compare to your pneumatic valve + exhaust time under real pressure, not catalog ideal. Removing the air hose often improves wrist routing even when raw open/close seconds look similar.
7. Validation run
Dry-cycle without parts, then run 50–100 picks with production fingertips. Log missed grips, peak current, and position repeat at place. Adjust force (where the model allows a range) before changing mechanical fingers.
Example path: 16 mm bore–class parallel → EPGS-6-10
| Check | Pneumatic side (your notes) | Electric reference (EPGS-6-10) |
|---|---|---|
| Stroke used | Measure at pick/place | 6 mm total; opening 20.9 / 14.9 mm |
| Hold requirement | Bore + pressure + finger friction | 10 N ±20%; 0.2 kg recommended max load |
| Command | Valve solenoid | I/O only, 24 V logic levels as documented |
| Mass on wrist | Cylinder + fittings | 160 g |
| Sealing | Often open frame | IP40 |
If stroke or load does not fit, stop and evaluate EPG2-26-15 or another published model before machining new fingers.
What to send when you ask for a quote
- Part mass, material, and grip surfaces
- Required opening at pick and place
- Robot model and available DIO or RS485
- Target cycle time and IP needs
- Photo or sketch of current pneumatic tool and fingertips
WhatsApp: +86 130 4977 0422 — or use the inquiry form on this site. Share the five items above so the reply can reference a specific model page instead of a generic catalog dump.
Related reading
- Electric vs pneumatic overview on this site
- Gripping-force notes (estimation method vs published ratings)
- EPGS-6-10 and EPG2-26-15 product pages
- Companion guide: how to read an electric gripper datasheet (stroke, force, repeatability, open/close time)