JMHZ-TF2Z397EN
Page 1 of 2
Instruction Manual
Air Gripper for Collaborative Robots
JMHZ2-20D-X7510
The intended use of this parallel type air gripper is to convert the potential
energy provided by compressed air into a force which causes mechanical
linear motion of the fingers.
1 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.
*1)
ISO 4414: Pneumatic fluid power - General rules relating to systems.
ISO 4413: Hydraulic fluid power - General rules relating to systems.
IEC 60204-1: Safety of machinery - Electrical equipment of machines.
(Part 1: General requirements)
ISO 10218-1: Robots and robotic devices - Safety requirements for
industrial robots - Part 1: Robots.
Refer to product catalogue, Operation Manual and Handling
Precautions for SMC Products for additional information.
Keep this manual in a safe place for future reference.
Caution
Caution indicates a hazard with a low level of risk which, if
not avoided, could result in minor or moderate injury.
Warning
Warning indicates a hazard with a medium level of risk
which, if not avoided, could result in death or serious injury.
Danger
Danger indicates a hazard with a high level of risk which, if
not avoided, will result in death or serious injury.
Warning
Always ensure compliance with relevant safety laws and
standards.
All work must be carried out in a safe manner by a qualified person in
compliance with applicable national regulations.
2 Specifications
2.1 Product Specifications
Model
JMHZ2-20D-X7510
Bore Size [mm]
20
Fluid
Air
Operating Pressure [MPa]
0.1 to 0.7
Ambient and Fluid Temperature [C]
-10 to +50
Repeatability [mm]
± 0.01
Maximum Operating Frequency [c.p.m.]
120
Lubrication
Non-Lube
Action
Double Acting
Gripping Force
(/per finger)
O.D. Force [N]
54.2
I.D. Force [N]
72.2
Opening/Closing Stroke [mm]
14
Weight [g]
670
Auto Switch Model
D-M9P
2.2 Individual Specifications
2.2.1 Air Gripper
Model
JMHZ2-20D
Bore Size [mm]
20
Fluid
Air
Operating Pressure [MPa]
0.1 to 0.7
2 Specifications - continued
Ambient and Fluid Temperature [C]
-10 to +60
Repeatability [mm]
± 0.01
Maximum Operating Frequency [c.p.m.]
120
Lubrication
Non-Lube
Action
Double Acting
Holding Force
(/per finger)
O.D. Force [N]
54.2
I.D. Force [N]
72.2
Opening/Closing Stroke [mm]
14
Weight [g]
244
2.2.2
3-Port Solenoid Valve
Model
V114-5MOU
Fluid
Air
Ambient and Fluid Temperature [C]
-10 to +50 (No Freezing)
Response time (DC) [ms]
ON: 5 or less
OFF: 4 or less
Maximum Operating Frequency [Hz]
20
Lubrication
Not Required
Mounting Position
Unrestricted
Impact / Vibration Resistance [m/s2]
150 / 30
Enclosure Rating
Dust proof
Electrical Entry
M-plug connector
Coil Rated Voltage [V]
24
Allowable Voltage Fluctuation
-10 to +10%
Power Consumption [W]
0.4[Starting 0.4, Hold. 0.1]
Indicator LED
LED
2.2.3 Auto switch
D-M9P(With indicator light)
Auto switch model
D-M9P
Electrical entry direction
In-line
Wiring
3-wire
Output
PNP type
Applicable load
IC circuit Relay PLC
Power supply voltage
5 , 12 , 24 VDC (4.5 to 28V)
Current consumption
10 mA or less
Load voltage
28 VDC or less
Load current
40 mA or less
Internal voltage drop
0.8 V or less at 10 mA (2 V or less at 40 mA)
Current leakage
100
μ
A or less at 24 VDC
Indicator LED
Red LED illuminates when turned ON.
Standard
CE marking, RoHS
3 Installation
3.1 Installation
Warning
Do not install the product unless the safety instructions have been read
and understood.
Install and operate the product only after reading and understanding
its contents.
Allow sufficient space for maintenance and inspection.
Do not scratch or dent the air gripper by dropping or bumping it when
mounting. Slight deformation can cause inaccuracies or a malfunction.
Tighten the screw within the specified torque when mounting the
attachment. Tightening with a torque above the limit can cause
malfunction, while insufficient torque can cause slippage and dropping.
3 Installation - continued
3.1.1 How to mount air gripper
Mount the master plate to the robot arm as shown in
Figure 1
. The
hexagon socket head cap screws to a maximum tightening torque of 6.3
N.m.
Mount the air gripper to the master plate as shown in
Figure 2
. The
hexagon socket head cap screws to a maximum tightening torque of
3.0 N.m.
Secure the connector as shown in
Figure 3
.
Do not energise the product while securing the connector.
Ensure that the connector is not loose.
3.1.2 Sensing Position
The sensing position of the auto switch is fixed to the open end and
closed end of the finger.
When detecting the gripping position of the workpiece, secure the auto
switch at the appropriate position according to the shape of the
workpiece.
For further details and example of setting the mounting position of the
auto switch, please refer to the catalogue.
3 Installation - continued
3.1.3 Connector and Pin Layout
PIN
#
Function
Description
1
Auto switch (Finger opening direction)
-
2
Auto switch (Finger closing direction)
-
3
-
NC
4
Valve ON/OFF (Finger opening direction)
-
5
Valve ON/OFF (Finger closing direction)
-
6
-
NC
7
-
NC
8
-
NC
9
-
NC
10
-
NC
11
+24V
Power supply for 24VDC
12
GND
Power supply for 0 VDC
3.2 Environment
Warning
Do not use in an environment where corrosive gases, chemicals, salt
water or steam are present.
Do not use in an explosive atmosphere.
Do not expose to direct sunlight. Use a suitable protective cover.
Do not install in a location subject to vibration or impact in excess of
the product’s specifications.
Do not mount in a location exposed to radiant heat that would result in
temperatures in excess of the product’s specifications.
3.3 Piping
Caution
Before connecting piping make sure to clean up chips, cutting oil, dust
etc.
When installing piping or fittings, ensure sealant material does not
enter inside the port. When using seal tape, leave 1 thread
exposed
on the end of the pipe/fitting.
Tighten fittings to the specified tightening torque.
3.4 Lubrication
Caution
SMC products have been lubricated for life at manufacture, and do not
require lubrication in service.
If a lubricant is used in the system, refer to catalogue for details.
ORIGINAL INSTRUCTIONS
Attached cable
Figure 2
Master plate
Figure 1
Detecting position
of the open end of
the finger
Detecting position
of the open end of
the finger
Figure 4
A
A:(2:1)
M12 12 pin connector(plug)
A:(5:1)
M8 8 pin connector(socket)
Figure 3
B
