SMC Networks MHM-25D-X7400A-CRX, Operation Manual

Page 1: ...Doc No MH OMY0023 A PRODUCT NAME Magnet Gripper Unit for Collaborative Robots MODEL Series Product Number MHM 25D X7400A CRX ...

Page 2: ... layout 11 3 6 Centor of gravity 12 4 Product Specifications 13 4 1 Magnet gripper 13 4 2 3 port solenoid valve 14 4 3 Auto switch 15 5 Operating method or operation 16 5 1 Precautions for Design 16 5 2 Installation 17 5 3 CRX Plug in software 20 5 4 Air supply 27 5 5 Piping 27 5 6 Operating environment 28 5 7 Lubrication 28 6 Maintenance or inspection 28 6 1 Maintenance or inspection 28 6 2 Repla...

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: ... 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 2 Vacuum pads are excluded from this 1 year warranty A vacuum pad is a consumable part so it is warranted for a year after it is delivered Also even within the warranty period the wear of a product due to the use of the vacuum pad or...

Page 5: ...ed items Magnet gripper unit 1pc Hexagon socket head cap screw M6 23 4pcs For mounting the product Polyurethane tube for piping φ4 TU0425BU 100 2m Conversion cable 1pc Positioning pin 6x10 1pcs For positioning the product ...

Page 6: ... Conversion cable Hexagon socket head cap screws M4x12 M4x12 Hexagon socket head cap screws M4x16 Adapter plate Hexagon socket head cap screws M6x23 Positioning pin 6x10 Auto switches D M9P Metering valves with Silencer ASN2 M5 X937 Hexagon socket head cap screws M4x35 Magnet gripper Positioning pins 3x6 ...

Page 7: ... 6 3 Product Specifications 3 1 How to order ...

Page 8: ...te is held by entire surface attraction surface In the default setting the auto switch is fixed at the workpiece release position For examples of setting auto switch and setting of mounting position of auto switches please refer to the MHM Series catalogue P 12 onwards on our website www smcworld com Auto switches are used for checking the operation of the magnet gripper They do not guarantee the ...

Page 9: ...ppers to maintain balance Horizontal movement of the magnet gripper may cause sideslip of the workpiece depending on the acceleration or friction coefficient between the pad and workpiece Therefore the acceleration rate of the lateral movement must be minimized Use the magnet gripper for horizontal handling Adequate safety factor needs to be considered for inclined handling or vertical handling Th...

Page 10: ... graph shows the theoretical value for low carbon steel plate Holding forces very depending on the material and shape of the workpiece Please perform a holding test referring to the value selected based on the graph Workpiece thickness t mm Holding force F N ...

Page 11: ... 10 3 4 Dimensions Refer to P13 P14 and P15 for the dimensions of the magnet gripper valves and auto switches ...

Page 12: ... PNP output Conversion cable PIN No Function Explanation 1 NC 2 NC 3 Auto switch For holding workpiece 4 Auto switch For releasing workpiece 5 24V Power supply for 24 VDC 6 Valve ON OFF For holding workpiece 7 Valve ON OFF For releasing workpiece 8 GND Power supply for 0 VDC M8 8 Pin connector Plug M8 8 Pin connector Socket M8 8 Pin connector Socket ...

Page 13: ... 12 3 6 Centor of gravity Center of gravity mm X Y Z 2 4 0 0 42 6 Y Z Y X X Z Flange mounting surface ...

Page 14: ...ble acting Proof pressure 0 9MPa Ambient and operating fluid temperature o C 10 to 60 Gripping force Workpiece thickness 2mm 160N Workpiece thickness 6mm 200N Residual holding force 0 3 N or less Lubrication Non lube 1 Theoretical holding force reference value when a low carbon steel plate is held by entire surface attraction surface Dimensions Caution This special magnet gripper cannot be replace...

Page 15: ...on frequency Hz 20 Lubrication Not required 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 Please refer to page 1367 of the Best Pneumatics catal...

Page 16: ...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 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 M9P ...

Page 17: ... malfunction to equipment controlled by air pressure electricity or hydraulics etc 6 Consider the action of the product in the event of an emergency stop Devise a safe system so that if a person engages the emergency stop or if a safety device is tripped during a system malfunction such as a power outage the operation of the magnet gripper will not cause a hazard to humans or damage the equipment ...

Page 18: ...ice by modifying the pipe connectors If the fixed orifice is enlarged the speed of switching between holding and releasing increases which results in higher impact forces This may lead to damage to the product which can lead to human injury and damage to other equipment and machinery 7 When the magnet moves toward the magnetic attraction surface holding force is generated on the attraction surface...

Page 19: ... that the mounting is easy 1 Mounting to the robot arm Robot arm end Auto switch cable Positioning pin Hexagon socket head cap screw M6 x 23 Max tightening torque 6 3Nm 2 Connecting the M8 connector Do not energize while securing the connector Check that the connector is not loose ...

Page 20: ...holding position to the workpiece release position Use a flat blade screwdriver for adjusting the restriction of the metering valves Keep the restriction of the two metering valves approximately the same If they are different too much the operation may become unstable Magnet gripper workpiece holding release time Metering valve for adjusting the time to move to the workpiece holding position Meter...

Page 21: ... 05 version or earlier update to the latest version V9 40P 06 version or later before installing the plug in software CRX plug in software installation 1 Please download the CRX plug in software SMC_GrpSwMH IPL from the SMC website 2 Insert the USB memory that copied the downloaded file into the USB port of the robot control device and click the hamburger menu icon in the upper left corner of the ...

Page 22: ... 21 3 Select SMC_GrpSwMH IPL and tap Install 4 Tap OK and install the SMC Magnet Gripper Plugin software 5 After the installation is complete turn the power back on ...

Page 23: ... in the range of 0 to 1000 ms 2 Alarm is output when error is generated Choose whether to display an alarm message when the magnet gripper unit detects an error If you select the check box an error message will be displayed when Hold Release failure occurs 3 Output the status signal to the digital output port Select whether to output a status signal to the digital output port when Hold Release suc...

Page 24: ...efault output DO 101 Hold Release failure default output DO 102 Digital output port can be selected within DO 101 to DO 112 you select the same digital output port for different status signals a warning message will be displayed 2 Test run The manual operation of the magnet gripper unit can be checked Execute the holding or releasing by tapping the HOLD or RELEASE 3 Monitor sensor signal The prese...

Page 25: ...sfully two dedicated instructions HOLD and RELEASE 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 HOLD and RELEASE icons on the programming tab ...

Page 26: ...tor signal Put the gripper in HOLD state and wait for a Hold position signal before proceeding to the next action When the signal is turned on the software recognises it as Hold success and proceeds to the next operation 2 Test run The manual operation of the magnet gripper unit can be checked Execute the holding or releasing by tapping the HOLD or RELEASE 3 Sensor signal monitor The presence of a...

Page 27: ... monitor signal Put the gripper in RELEASE state and waits for a RELEASE position signal before proceeding to the next action When the signal is turned on the software recognises it as Release success and proceeds to the next operation 2 Test run The manual operation of the magnet gripper unit can be checked Execute the holding or releasing by tapping the HOLD or RELEASE 3 Sensor signal monitor Th...

Page 28: ...tall an air filter upstream near the valve Select an air filter with a filtration size of 5 μm or smaller 3 Take measures to ensure air quality such as by installing an aftercooler air dryer or water separator Compressed air that contains a large amount of drainage can cause the malfunction of pneumatic equipment such as air grippers Therefore take appropriate measures to ensure air quality such a...

Page 29: ...sed without any further lubrication However in the event that it is additionally lubricated be sure to use class 1 turbine oil with no additives ISO VG320 Do not use machine oil or spindle oil Stopping lubrication later on may lead to a malfunction because the new lubricant will displace the original lubricant Therefore lubrication must be continued once it has been started If turbine oil is used ...

Page 30: ... magnet gripper Do not disassemble the product as the magnet may attract parts and peripheral objects which may cause an accident When it is necessary to disassemble please contact the SMC Sales representative Remove the old pad Fit the new pad into the groove Make sure that the pad is correctly in place The pad is not lifted from the surface ...

Page 31: ...a 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 2019 SMC Corporation All Rights Reserved ...