SMC Networks JMHZ2-16D-X7400B-DTB-N, Operation Manual

Page 1: ...Doc No MH OMY0011 PRODUCT NAME Air Gripper for Collaborative Robots MODEL Series Product Number JMHZ2 16D X7400B DTP HC10DT HC10 N P ...

Page 2: ... 16D X7400B HC10 N P 14 3 6 Connector and pin layout 15 3 7 Center of gravity 16 4 Product Specifications 17 4 1 Air gripper 17 4 2 3 port solenoid valve 18 4 3 Auto switch 19 5 Operating method or operation 20 5 1 Precautions for Design 20 5 2 Installation 20 5 3 YASKAWA Plug Play Kit 29 5 3 1 Installing YASKAWA Plug Play Kit 29 5 3 2 Tool Presets 34 5 3 3 Utility Window 35 5 3 4 Air Gripper Inte...

Page 3: ...nt failure when configuring the equipment 2 Only personnel with appropriate training should operate machinery and equipment The product specified here may become unsafe if handled incorrectly The assembly operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced 3 Do not service or attempt to remove produ...

Page 4: ...roduct or necessary parts will be provided This limited warranty applies only to our product independently and not to any other damage incurred due to the failure of the product 3 Prior to using SMC products please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products Compliance Requirements 1 The use of SMC products with production equip...

Page 5: ...p screw M6 23 4pcs For mounting the product Protection cover Valve side 1pc Protection cover Switch side 1pc Hexagon socket head cap screw M4 10 4pcs For mounting the cover Polyurethane tube for piping φ4 TU0425BU 100 2m Conversion cable 1pc One touch fittings KQ2L04 M5A1 2pcs One touch fittings KQ2L06 08A 1pc One touch fittings KQ2H04 06A 1pc ...

Page 6: ...ube for piping φ4 TU0425BU 100 2m Flange for MOTOMAN HC10 1pc For JMHZ2 16D X7400B HC10 Hexagon socket head cap screw M4 8 2pcs For fixing INSULOK tie mount INSULOK tie mount 2pcs Flange for MOTOMAN HC10DT 1pc For JMHZ2 16D X7400B HC10DT INSULOK tie 2pcs M8 Molex Conversion cable 1pc Hexagon socket head cap screw M6x12 4pcs For mounting the flange Cross recessed resin round head screw M4 6 2pcs Fo...

Page 7: ...n cable Hexagon socket head cap screw M4x25 Adapter plate Attachments Hexagon socket head cap screws M3X7 Positioning pins 6x10 Hexagon socket head cap screws M6x10 Positioning pins 6x10 Positioning pins 3x6 Metering Valve with Silencers ASN2 M5 X937 Polyurethane Tubings O D φ2 Miniature Fittings M 5ALHU 2 Auto switches D M9 N P 5 Hexagon socket head cap screws M6x23 Positioning pins 3x6 ...

Page 8: ...gs KQ2S04 M5N 3 Port solenoid valve V114 5LU Positioning pin 6x10 Hexagon socket head cap screw M4x25 Positioning pin M4x25 Exhaust throttle valve with silencer ASN2 M5 X937 Hexagon socket head cap screw M6x10 Hexagon socket head cap screw M6x12 Positioning pin 6x10 Polyurethane tubing Miniature fittings M 5ALHU 2 ISO9409 1 compliant flange M8 Molex Conversion cable Flange mounting for robot ...

Page 9: ... 8 3 Product Specifications 3 1 How to order ...

Page 10: ... X7400B HC10DT N P JMHZ2 16D X7400B HC10 N P Cylinder inside diameter mm 16 Fluid Air Operating pressure MPa 0 1 to 0 7 Ambient and operating fluid temperature oC 10 to 50 Repeatability mm 0 01 Maximum operating frequency c p m 120 Lubrication Non lube Operating method Double acting Gripping force Actual value per finger N External gripping force 32 7 Internal Gripping force 43 5 Opening closing s...

Page 11: ...g 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 ...

Page 12: ...t 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 External gripping state Internal gripping state ...

Page 13: ... 12 3 5 Dimensions 3 5 1 JMHZ2 16D X7400B DTP N P Refer to P17 P18 and P19 for the dimensions of the air gripper valves and auto switch ...

Page 14: ... 13 3 5 2 JMHZ2 16D X7400B HC10DT N P ...

Page 15: ... 14 3 5 3 JMHZ2 16D X7400B HC10 N P ...

Page 16: ...N No Function Explanation 1 24V Power supply for 24 VDC 2 GND Power supply for 0 VDC 3 Valve ON OFF For releasing workpiece 4 Valve ON OFF For holding workpiece 5 Auto switch For releasing workpiece 6 Auto switch For holding workpiece 7 NC 8 NC M8 8 Pin connector Socket Connector produced by Molex Corporation 51227 0800 M8 8 Pin connector Socket JMHZ2 16D X7400B DTP N P JMHZ2 16D X7400B HC10DT HC1...

Page 17: ...7400B DTP N P JMHZ2 16D X7400B DTP JMHZ2 16D X7400B HC10DT JMHZ2 16D X7400B HC10 Center of gravity mm X Y Z X Y Z X Y Z 2 4 0 0 42 6 0 4 0 8 48 4 0 4 0 8 47 4 Tool center point TCP X Y Z X Y Z X Y Z 0 0 135 0 0 159 0 0 158 X Y Z Flange mounting surface TCP ...

Page 18: ... No JMHZ2 16D Cylinder inside diameter mm 16 Fluid Air Operating pressure MPa 0 1 to 0 7 Ambient and operating fluid temperature oC 10 to 60 Repeatability mm 0 01 Maximum operating frequency c p m s 120 Lubrication Non lube Operating method Double acting Gripping force Actual value per finger N External gripping force 32 7 Internal Gripping force 43 5 Opening closing stroke both sides mm 10 ...

Page 19: ... OFF 4 or less Minimum operation frequency Hz 20 Lubrication No Mounting orientation Free Impact resistance Vibration resistance m s2 150 30 Enclosure rating Dustproof Model No V114 5LU Electrical entry L shaped plug connector L Coil rated voltage V 24 Allowable voltage fluctuation 10 to 10 Power consumption W 0 4 Starting 0 4 Holding 0 1 Surge voltage suppressor varistor Indicator LED LED ...

Page 20: ...NP 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 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 μA or less at 24 VDC Indicator LED Red LED illuminates when turned ON Standard CE marking RoHS Dimensions D M9 5 ...

Page 21: ...1 Finite orbit type guide is used in the actuator finger part By using this when there are inertial force which cause by movements or rotation to the actuator steel ball will move to one side and this will cause a large resistance degrade the accuracy When there are inertial force which cause by movements or rotation to the actuator operate the finger to full stroke 5 2 Installation Warning 1 Inst...

Page 22: ...ounting to the cover Take care not to get the switch cable caught when mounting the cover Robot arm end Auto switch cable Hexagon socket head cap screw M4 x 10 Max tightening torque 1 0 Nm Positioning pin Hexagon socket head cap screw M6 x 23 Max tightening torque 5 2 Nm ...

Page 23: ... that the connector is not loose 4 For mounting attachment For mounting and removal of the attachment refer to the drawing below Refer to P20 5 2 Installation for mounting of the finger to the attachment Hexagon socket head cap screw M3 x 7 Max tightening torque 0 59 Nm Attached cable ...

Page 24: ...ep the restriction of the 2 metering valves approximately the same If they are different too much the operation may become unstable Finger opening speed adjustment Finger closing speed adjustment Metering valve Metering valve Adjustment groove for flat blade screwdriver Blade width 0 7mm Magnified view of the metering valve ...

Page 25: ...f 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 Positioning pin Flange Hexagon socket head cap screw M6 x 12 Escapement groove for the connector and cable Robot arm end Max tightening torque 5 2Nm ...

Page 26: ...ver Take care not to get the switch cable caught when mounting the cover Robot arm end Auto switch Cable Hexagon socket head cap screw M4 x 10 Max tightening torque 1 0 Nm Parallel pin Hexagon socket head cap screw M6 x 23 Max tightening torque 5 2 Nm ...

Page 27: ...Check that the connector is not loose 5 Secure the cable Cable is secured by the INSULOK tie and cable tie mount included in the accessories After securing the table cut off the excessive part of the INSULOK tie For plugging when INSULOK cable tie fixtures are not used M8 Molex Conversion cable INSULOK tie Hexagon socket head cap screw M4 x 8 Max tightening torque 1 0 Nm Either the robot side conn...

Page 28: ...d 6 For mounting attachment For mounting and removal of the attachment refer to the drawing below Refer to P20 5 2 Installation for mounting of the finger to the attachment Hexagon socket head cap M3 x 7 Max tightening torque 0 59Nm Cross recessed resin round head screw M4 6 Max tightening torque 1 0Nm ...

Page 29: ...ep the restriction of the 2 metering valves approximately the same If they are different too much the operation may become unstable Finger opening speed adjustment Finger closing speed adjustment Metering valve Metering valve Adjustment groove for flat blade screwdriver Blade width 0 7mm Magnified view of the metering valve ...

Page 30: ...Kit is installed by means of the YASKAWA Installation Packages yip file Set the security access level to the administration level 1 Download YASKAWA Installation Packages SmcAirGripperExt yip from the SMC website 2 Copy the downloaded file to a USB memory stick insert the stick to the USB port of the smart pendant select MENU on the upper left of the screen and tap System settings Packages ...

Page 31: ...rt of the screen A pop up dialog box showing the installable packages will appear From the package list select SMC Air Gripper and install it Normally when the installation has completed the packages extension and tool presets are added to the appropriate list ...

Page 32: ... 31 4 On the package administration screen confirm that the installation has completed 1 Tap the Packages tab and confirm that SMC Air Gripper is added to the list ...

Page 33: ... 32 2 Tap the Extensions tab and confirm that the SMC Air Gripper is added to the list ...

Page 34: ... 33 3 Tap the Presets tab and confirm that SMC Air Gripper is added to the list ...

Page 35: ...talled tool presets the settings of the tool properties of the SMC Air 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 36: ...ndow 1 Select MENU at the upper left of the screen tap Utility SMC Air Gripper or tap JOGGING on the job contents review screen and then tap the Air gripper icon at the lower right of the screen to open the utility window ...

Page 37: ...SE button it is possible to perform an opening or closing action of the gripper 2 Monitor sensor Signal It is possible to confirm whether the Open or Close position auto switches react 5 3 4 Air Gripper Integration Window 1 On the Job Contents review screen tapping AIRGRIPPER on the navigation bar opens the Air Gripper Integration Window ...

Page 38: ...t as Close success without checking the Close position signal and proceeds to the next operation CLOSE AND CHECK SIGNAL Puts the gripper into the Closed state and waits for the Close position signal input before proceeding to the next operation When the signal is turned on the software recognises it as Close success and proceeds to the next operation 2 INSERT COMMAND It is possible to add commands...

Page 39: ...t can be set in the range of 0 to 1000ms 3 Status signal output to digital output port Select whether to output a status signal to the digital output port when Open Close success or Open Close failure is detected When Enabled is selected Selection of the digital output port is enabled If either of Open Close success and Open Close failure is detected the corresponding digital output port is turned...

Page 40: ...n from this tab If you intend to return the I O setting to the factory default condition pressing the button at the lower part of the screen can initialize this setting 2 Tool setting for the gripper The collaborative robot calculates the external force by canceling the tool mass For this purpose it is necessary to set the tool to be mounted on the manipulator and the masses and the centers of gra...

Page 41: ...he installation of a drain bowl with an auto drain option is recommended 4 Use clean air Do not use compressed air that contains chemicals synthetic oils including organic solvents salt or corrosive gases etc as it can cause damage or malfunction of equipment For detailed information regarding the quality of the compressed air described above refer to SMC s Air Cleaning Systems Caution 1 When dry ...

Page 42: ...ps from condensation to stay on the surface 5 7 Lubrication Caution 1 The non lube type air gripper is lubricated at the factory and can be used without any further lubrication If a lubricant is used in the system use turbine oil Class 1 with no additive ISO VG32 Furthermore once lubrication is applied it must be continued If lubrication is later stopped malfunction can occur due to loss of the or...

Page 43: ... 42 compressed air before removing the air gripper If a workpiece is still being held there is a danger of it being dropped ...

Page 44: ...tokanda Chiyoda ku Tokyo 101 0021 JAPAN Tel 81 3 5207 8249 Fax 81 3 5298 5362 URL https www smcworld com Note Specifications are subject to change without prior notice and any obligation on the part of the manufacturer 2021 SMC Corporation All Rights Reserved ...