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SMC Networks MHM-25D-X7400A-DTP-N Operation Manual

Magnet gripper for collaborative robots
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Doc No.MH*-OMY0021
PRODUCT NAME
Magnet Gripper for Collaborative Robots
MODEL / Series / Product Number
MHM-25D-X7400A-(DTP/HC10DT/HC10)-(N/P)

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Summary of Contents for SMC Networks MHM-25D-X7400A-DTP-N

  • Page 1 Doc No.MH*-OMY0021 PRODUCT NAME Magnet Gripper for Collaborative Robots MODEL / Series / Product Number MHM-25D-X7400A-(DTP/HC10DT/HC10)-(N/P)

  • Page 2: Table Of Contents

    Contents Safety Instructions ..................... - 2 - 1. List of included items ..................... - 4 - 2. Parts description of the magnet gripper ............... - 6 - 3. Product Specifications ................... - 8 - 3-1. How to order ....................- 8 - 3-2.

  • 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.

  • Page 5: List Of Included Items

    1. List of included items MHM-25D-X7400A-DTP Hexagon socket head cap Positioning pin (6x10) 1pcs. screw (M6×23) 4pcs. Magnet gripper 1pc. For positioning the product. For mounting the product. Polyurethane Tube for piping φ4 Conversion cable 1pc. (TU0425BU-100) 2m One touch fittings One touch fittings One touch fittings (KQ2L06-08A) 1pc.
  • Page 6 MHM-25D-Z7400A-HC10DT , HC10 Hexagon socket head cap Positioning pin (6x10) 1pcs. screw (M6×23) 4pcs. Magnet gripper 1pc. For positioning the product. For mounting the product Flange for MOTOMAN-HC10 1pc. Flange for MOTOMAN-HC10DT 1pc. * For MHM-25D-X7400A-HC10-(*). * For MHM-25D-X7400A-HC10DT-(*). Hexagon socket head cap screw (M6x12) 4pcs. Parallel pin (6×10mm) 1pc.

  • Page 7: Parts Description Of The Magnet Gripper

    2. Parts description of the magnet gripper MHM-25D-X7400A-DTP-(N/P) Hexagon socket head cap screw M6x23 Auto switch D-M9(N/P) Magnet gripper Adapter plate Hexagon socket Exhaust throttle valve head cap screw with silencer M4x35 ASN2-M5-X937 Positioning pin 3 port solenoid valve V114-5LU Hexagon socket head cap screw M4x12...
  • Page 8 MHM-25D-X7400A-HC10DT,HC10-(N/P) Hexagon socket head cap screw：M6x23 Auto switch： D-M9(N/P) Magnet gripper： Adapter plate Exhaust throttle Hexagon socket head valve with silencer： ASN2-M5-X937 cap screw：M4x35 3-port solenoid valves： Positioning pins： V114-5LOU Hexagon socket head cap screws：M4x12 ISO9409-1compliant flange M8-MolexConversion cable Hexagon socket head cap screw：M4x12 Hexagon socket head cap screw：M6x12...

  • Page 9: Product Specifications

    3. Product Specifications 3-1. How to order - 8 -...

  • Page 10: Specifications

    3-2. Specifications Specifications MHM-25D-X7400A MHM-25D-X7400A MHM-25D-X7400A -DTP-(N/P) -HC10DT-(N/P) -HC10-(N/P) Fluid Operating method Double acting Operating pressure (MPa) 0.2 to 0.6MPa Proof pressure 0.9MPa Ambient and operating fluid -10 to 50(No freezing) temperature( Workpiece Gripping 160N thickness:2mm Force Workpiece 200N thickness:6mm Residual holding force 0.3 N or less Lubrication...

  • Page 11: Gripping Force

    3-3. Gripping force Holding conditions. ⚫ To lift workpieces vertically, be sure to take into consideration the acceleration rate, air pressure, impact etc., in addition to the mass of the workpieces. Lifting direction ⚫ Consider the center of gravity of the workpiece to avoid moments being applied the magnet gripper as much as possible.
  • Page 12 ⚫Thin workpieces may be deformed during transportation. It is recommended to use multiple magnet grippers for scenarios such as this. Calculate the required holding force. Workpiece thickness t [mm] The holding force graph shows the theoretical value for low carbon steel plate. Holding forces very depending on the material and shape of the workpiece.

  • Page 13: Dimensions

    3-4. Dimensions Refer to P17, P18 and P19 for the dimensions of the magnet gripper, valves and auto switches. 3-4-1.MHM-25D-X7400A-DTP-(N/P) - 12 -...
  • Page 14 3-4-2.MHM-25D-X7400A-HC10DT - 13 -...
  • Page 15 3-4-3.MHM-25D-X7400A-HC10 - 14 -...

  • Page 16: Connector And Pin Layout

    3-5. Connector and pin layout Attached cable is fixed to the product. Connect the communication cable correctly. Refer to P. for assembling method. 3-5-1. MHM-25D-X7400A-DTP-(N/P) NPN output PNP output PIN No. Function Explanation Auto switch(For holding workpiece) Auto switch(For releasing workpiece) +24V Power supply for 24 VDC Valve ON/OFF(For holding workpiece)

  • Page 17: Mhm-25D-X7400A-(Hc10Dt,Hc10)-(N/P)

    3-5-2. MHM-25D-X7400A-(HC10DT,HC10)-(N/P) M8 8 Pin connector (plug) NPN output PNP output PIN No. Function Explanation +24V Power supply for 24 VDC Power supply for 0 VDC Valve ON/OFF(For releasing workpiece) Valve ON/OFF(For holding workpiece) Auto switch(For releasing workpiece) Auto switch(For holding workpiece) Conversion cable Connector produced M8 8 Pin connector...
  • Page 18 3-6. Center of gravity Flange mounting surface *MHM-25D-X7400A-DTP MHM-25D-X7400A-DTP MHM-25D-X7400A-HC10DT MHM-25D-X7400A-HC10 Center of gravity(mm) 42.6 -0.4 57.1 -0.4 57.9 Tool Center Point(TCP) - 17 -...

  • Page 19: 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. Magnet gripper Specifications Fluid Operating pressure [MPa] 0.2 to 0.6 Operating method Double acting Proof pressure 0.9MPa Ambient and operating fluid -10 to 60 temperature(...

  • Page 20: 3-Port Solenoid Valve

    4-2. 3-port solenoid valve Specifications Model No. V114-5LOU Fluid Ambient and operating fluid temperature( -10 to 50 (No freezing) Response time [ms] ON：5 or less OFF：4 or less Minimum operation frequency [Hz] Non-lube Lubrication Mounting orientation Free Impact resistance/Vibration resistance (m/s 150／30 Enclosure rating Dustproof...

  • Page 21: Auto Switch

    4-3. Auto switch Auto Switch Specifications D-M9□(With indicator light) Auto switch model D-M9N D-M9P Electrical entry direction In-line Wiring 3-wire Output NPN type PNP type Applicable load IC circuit,Relay,PLC Power supply voltage DC5・12・24V(4.5 to 28V) Current consumption 10 mA or less Load voltage DC28V or less Load current...

  • Page 22: Operating Method Or Operation

    5.Operating method or operation 5-1．Precautions for Design Warning 1. Confirm the specifications. Products represented in this catalog are designed only for use in compressed air systems (including vacuum).Do not operate at pressures, temperatures, etc., beyond the range of specifications, as this can cause damage or malfunction.(Refer to the specifications.)Please contact SMC when using a fluid other than compressed air (including vacuum).We do not guarantee against any damages if the product is used outside of the specification range.

  • Page 23: Installation

    5-2. Installation Warning 1. Keep the manual in a safe place for future reference. The product should be mounted and operated only after thoroughly reading the operation manual and understanding its contents. 2. Ensure sufficient space for maintenance activities. When installing the products, allow access for maintenance and inspection. 3.
  • Page 24 How to Mount Magnet Gripper (MHM-25D-X7400A-DTP) Mounting orientation: On robot arms adjust the robot arm position before mounting so that the mounting is easy. (1)Mounting to the robot arm. (2) Connecting the M8 connector - Mount the conversion cable to the M8 connector. * Do not energize while securing the connector.
  • Page 25 How to Mount Magnet Gripper (MHM-25D-X7400A-HC10DT,HC10) (1)Mounting orientation: On robot arms Let the connectors and cables coming out of the end of the robot arm out of the escapement groove of the flange. Make sure that the cable is not caught by the hexagon socket head cap screw when it is tightened. * The drawing shows the flange for MOTOMAN-HC10.
  • Page 26 (3) Connecting the M8 connector (2)Mounting to the robot arm. - Mount the conversion cable to the M8 connector. Hexagon socket head - After mounting the conversion cable, connect cap screw (M6 x 23) the robot arm end connector and conversion Max.
  • Page 27 * Use a cross recessed resin round head screw (M4 x 6) as a plug when the INSULOK® cable tie is not used. Cross recessed resin round head screw (M4×6) Max. tightening torque 1.0Nm - 26 -...
  • Page 28 Operation time adjustment method for holding / releasing the workpiece The piston operation time during workpiece holding / release can be adjusted by adjusting the opening of the metering speed controller valve. Metering valve for adjusting the time to move to the workpiece holding position.

  • Page 29: Yaskawa Plug & Play Kit

    5-3. YASKAWA Plug & Play Kit The YASKAWA Plug & Play Kit allows you to easily connect the magnet gripper to the robot and operate it. 5-3-1. Installing YASKAWA Plug & Play Kit The YASKAWA Plug & Play Kit is installed by means of the YASKAWA Installation Packages(.yip) file. * Set the security access level to the administration level.
  • Page 30 3. Open the “Packages” tab and tap [+INSTALL] at the upper part of the screen. A pop-up dialog box showing the installable packages will appear. From the package list, select “SMC Magnet Gripper” and install it. Normally, when the installation has completed, the packages, extension, and tool presets are added to the appropriate list.
  • Page 31 4.On the package administration screen, confirm that the installation has completed. (1)Tap the “Packages” tab, and confirm that SMC Magnet Gripper is added to the list. - 30 -...
  • Page 32 (2)Tap the “Extensions” tab, and confirm that the SMC Magnet Gripper is added to the list. - 31 -...
  • Page 33 (3)Tap the “Presets” tab, and confirm that SMC Magnet Gripper is added to the list. - 32 -...
  • Page 34 5-3-2. Tool Presets When you select ‘SMC Magnet Gripper’ from the drop-down list of installed tool presets, the settings of the tool properties of the SMC Magnet Gripper are immediately copied to the text fields of appropriate tool settings of the currently selected tool. As the properties cannot be immediately applied, they can be further manually edited before they are saved.
  • Page 35 5-3-3. Utility Window 1.Select [MENU] at the upper left of the screen, tap [Utility] -> [SMC Magnet Gripper], or tap [JOGGING] on the job contents review screen and then tap the “Magnet gripper” icon at the lower right of the screen to open the utility window. - 34 -...

  • Page 36: Utility Window

    2. Utility Window Features (1) Manual operation It is possible to check the manual operation of the Magnet gripper. By tapping the HOLD or RELEASE button, it is possible to perform a holding or releasing action of the gripper. (2) Monitor sensor Signal It is possible to confirm whether the Hold or Release position auto switches react.
  • Page 37 2. Insert Commands Tab (1) Selection Operation Select the behaviour of the Hold or Release operations. ・HOLD ONLY Puts the gripper into the “Hold state”, recognises it as” Hold success” without checking the Hold position signal, and proceeds to the next operation. ・HOLD AND CHECK SIGNAL Puts the gripper into the “Hold state”...
  • Page 38 3. Installation Settings Tab * To change the setting, set the security access level to the administration level. (1) Gripper operation completion waiting time This is the set value for the waiting time after the valve is operated for the gripper holding/releasing action to turn on.
  • Page 39 4. I/O Settings Tab * To change the setting, set the security access level to the administration level. (1) I/O settings for gripper operation At the time of installation of the YASKAWA Plug & Play Kit, the I/O assignment is already set. If wiring is made as per the manual, it can be used with the default setting.

  • Page 40: Air Supply

    5. Manual Operation tab (1) Manual operation The manual operation of the magnet gripper can be checked. By tapping the HOLD or RELEASE button, it is possible to perform a holding or releasing action of the gripper. (2) Monitor sensor signal It is possible to confirm whether the Hold position or Release position auto switch reacts.

  • Page 41: Piping

    4. Ensure that the fluid and ambient temperatures are within the specified range. If the fluid temperature is 5°C or less, the moisture in the circuit could freeze, causing damage to the seals or equipment malfunction. Therefore, take appropriate measures to prevent freezing. For compressed air quality, refer to the SMC Best Pneumatics No.

  • Page 42: Replacement Part

    person. 3. Drain flushing Remove drainage from air filters regularly. 4. Removal of equipment, and supply/exhaust of compressed air Before components are removed, first confirm that measures are in place to prevent workpieces from dropping, run-away equipment, etc. Then, cut off the supply pressure and electric power, and exhaust all compressed air from the system using the residual pressure release function.
  • Page 43 Revision history C. YASKAWA Plug & Play Kit edition. 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. ©...

This manual is also suitable for:

Mhm-25d-x7400a-hc10dt-nMhm-25d-x7400a-hc10-nMhm-25d-x7400a-dtp-pMhm-25d-x7400a-hc10dt-pMhm-25d-x7400a-hc10-p

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