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Summary of Contents for SMC Networks JMHZ2-16D-X7400B-CRX
- Page 1 Doc.No.MH*-OMY0014-A PRODUCT NAME Air Gripper Unit for Collaborative Robots MODEL / Series / Product Number JMHZ2-16D-X7400B-CRX...
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Page 2: Table Of Contents
Contents Safety Instructions ......................- 2 - 1. List of included items ....................- 4 - 2．Parts description of the air gripper .................- 5 - 3. Product Specifications .....................- 6 - 3-1. How to order .......................- 6 - 3-2. Specifications .....................- 7 - 3-3. -
Page 3: Safety Instructions
Safety Instructions These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.” They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC)*1) , and other safety regulations. - Page 4 Safety Instructions Caution The product is provided for use in manufacturing industries. The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary. If anything is unclear, contact your nearest sales branch.
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Page 5: List Of Included Items
1. List of included items Hexagon socket head cap screw (M6×23) 4pcs. Positioning pin (6×10) 1pc. For mounting the product. Air gripper unit 1pc. For positioning the product. Hexagon socket head cap screw Protection cover (Valve side) 1pc. (M4×10) 4pcs. Protection cover (Switch side) 1pc. -
Page 6: 2．Parts Description Of The Air Gripper
2．Parts description of the air gripper Hexagon socket head Attachments cap screws：M6x23 Hexagon socket Auto switches： head cap screws： D-M9P-5 M3X7 Air gripper JMHZ2-16D Miniature Fittings: Adapter plate M-5ALHU-2 Polyurethane One-touch Fitting： Tubings: O.D.φ2 KQ2S04-M5N 3-port solenoid valves: Metering valve with V114-5LU silencers: ASN2-M5-X937... -
Page 7: Product Specifications
3. Product Specifications 3-1. How to order - 6 -... -
Page 8: Specifications
3-2. Specifications Specifications Cylinder inside diameter (mm) Fluid Operating pressure (MPa) 0.1 to 0.7 Ambient and operating fluid -10 to 50 temperature( Repeatability (mm) ±0.01 Maximum operating frequency (c.p.m.) Lubrication Non-lube Operating method Double acting External gripping 32.7 force Gripping force Actual value per finger (N) Internal Gripping... -
Page 9: Gripping Force
3-3. Gripping force The gripping force shown in the graph to the right represents the gripping force of one finger when all fingers and attachments are in contact with the workpiece External gripping state. Internal gripping state. - 8 -... -
Page 10: Gripping Point
3-4. Gripping point The air gripper should be operated so that the workpiece gripping point “L” and the amount of overhang “H” stay within the range shown for each operating pressure given in the graphs to the right. If the workpiece gripping point goes beyond the range limits, this will have an adverse effect on the life of the air gripper. -
Page 11: Dimensions
3-5. Dimensions Refer to P13, P14 and P15 for the dimensions of the air gripper, valves and auto switch. - 10 -... -
Page 12: Connector And Pin Layout
3-6. Connector and pin layout Attached cable is fixed to the product. Connect the communication cable correctly. Refer to P.18 for assembling method. M8 8 Pin connector (Plug) PNP output PIN No Function Description Auto switch(Finger crosing direction) Auto switch(Finger opening direction) +24V Power supply for 24VDC Valve ON/OFF(Finger crosing direction) -
Page 13: Center Of Gravity
3-7. Center of gravity Flange mounting surface Center of gravity 42.6 - 12 -... -
Page 14: 4．Product Specifications
4．Product Specifications * For detailed specifications not included in this document, please refer to the our website (www.smcworld.com) or operation manual. 4-1. Air gripper Specifications Model No. JMHZ2-16D Cylinder inside diameter mm Fluid Operating pressure [MPa] 0.1 to 0.7 Ambient and operating fluid temperature( -10 to 60 Repeatability (mm) ±0.01... -
Page 15: 3-Port Solenoid Valve
4-2. 3-port solenoid valve Specifications Model No. V114-5LU Fluid Ambient and operating fluid -10 to 50 (No freezing) temperature( Response time [ms] ON：5 or less OFF：4 or less Minimum operation frequency [Hz] Lubrication Not Required Mounting orientation Free Impact resistance/Vibration resistance 150／30 (m/s Enclosure rating... -
Page 16: Auto Switch
4-3. Auto switch Auto Switch Specifications D-M9□-5(With indicator light) Auto switch model D-M9P-5 Wiring 3-wire Output PNP type Applicable load IC circuit,Relay,PLC Power supply voltage 5 , 12 , 24 VDC (4.5 to 28 V) Current consumption 10 mA or less Load voltage 28 VDC or less Load current... -
Page 17: Operating Method Or Operation
5. Operating method or operation 5-1．Precautions for Design ！ Warning 1.The product is designed for use only in compressed air systems. Do not operate at pressures or temperatures, etc., beyond the range of the specifications, as this can cause damage or malfunction of the cylinder and other equipment. - Page 18 How to Mount Air Gripper (1)Mounting to the robot arm (2)Mounting of the cover Take care not to get the switch cable caught when mounting the cover. Hexagon socket head cap screw (M6 x 23) Max. tightening torque ： 6.3Nm Hexagon socket head cap screw (M4 x 10) Max.
- Page 19 (3)Connecting the M8 connector * Do not energize while securing the connector. * Check that the connector is not loose. Attached cable (4)For mounting attachment For mounting and removal of the attachment, refer to the drawing below. Refer to P16, “5-2 Installation”...
- Page 20 Finger open / close speed adjustment Metering valve Metering valve Finger closing speed adjustment Finger opening speed adjustment Magnified view of the metering valve Adjustment groove (*for flat blade screwdriver Blade width 0.7mm) * Use a flat blade screwdriver for adjusting the restriction of the metering valves. * Keep the restriction of the two metering valves approximately the same.
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Page 21: Crx Plug-In Software
5-3. CRX Plug-in software CRX Plug-in software The CRX plug-in software enables easy connection and mounting of the air gripper unit to the robot. Software for compatible robot control devices If the software for the robot control device is V9.40P / 05 version or earlier, update to the latest version V9.40P / 06 version or later before installing the plug-in software. - Page 22 3. Select ”SMC_GrpSwMH.IPL” and tap “Install”. 4. Tap “OK” and install the “SMC Air Gripper” Plugin software. 5. After the installation is complete, turn the power back on. - 21 -...
- Page 23 Basic settings Click the hamburger menu icon in the upper left corner of the tablet TP screen. Select the plug-in and tap ”SMC Air Gripper”, and display the configuration screen for the SMC air gripper unit SMC. Then, perform the following basic settings. 1.
- Page 24 (4) Select the digital output port. (3) Select box operation is enabled when “Status signal output to digital output port” is enabled. Select the digital output port to output the status signal when “Open / Close success”, “Open / Close failure” or "workpiece drop detection”...
- Page 25 Dedicated instruction If the CRX plug-in software is installed successfully, two dedicated instructions OPEN and CLOSE will be added. Test methods: Click the hamburger menu icon in the upper left corner of the tablet TP screen. Select “Teaching”. By tapping the “Editor”, you can check the presence of the "OPEN" and "CLOSE" icons on the programming tab.
- Page 26 Dedicated instruction: OPEN 1. Select the operation. Select the behavior of the OPEN operation. (1) OPEN Open the gripper. The software recognises it as “Open success” without checking the Open position signal, and proceeds to the next operation. (2) Open and check signal Perform the “Open”...
- Page 27 Dedicated instruction: CLOSE 1. Select the operation. Select the behavior of the OPEN operation. (1) CLOSE Close the gripper, the software recognises it as “Close success” without checking the close position signal, and proceeds to the next operation. (2) CLOSE and monitor signal Perform the “Close instruction, then wait for the close position signal input before proceeding to the next action.
- Page 28 Workpiece drop detection Between the execution of dedicated instruction: OPEN and the next execution of dedicated instruction: CLOSE (* 1. Detection period), or between the execution of dedicated instruction: CLOSE and the next execution of dedicated instruction: OPEN (* 2. Detection period), the gripping state of the workpiece (open position or closed position auto switch signal) is monitored, and workpiece drop detection is performed.
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Page 29: Air Supply
2. From the execution of the dedicated instruction: CLOSE to the next execution of dedicated instruction: OPEN. (1) Conditions for starting workpiece drop detection -1. Basic setting- "Status signal output to digital output port" of SMC Air Gripper Unit Configuration Screen is valid. -
Page 30: Operating Environment
5-6. Operating environment ！ Warning 1. Do not use in an atmosphere where corrosive gases, chemicals, sea water, water or water steam is present. 2. Do not expose the product to direct sunlight for an extended period of time. 3. Do not operate in a location subject to vibration or impact. 4. - Page 31 Revision history 4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362 https://www.smcworld.com Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer. © 2019 SMC Corporation All Rights Reserved - 30 -...
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