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

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: ...3 5 2 MHM 25D X7400A HC10DT HC10 N P 16 4 Product Specifications 18 4 1 Magnet gripper 18 4 2 3 port solenoid valve 19 4 3 Auto switch 20 5 Operating method or operation 21 5 1 Precautions for Design 21 5 2 Installation 22 5 3 YASKAWA Plug Play Kit 28 5 3 1 Installing YASKAWA Plug Play Kit 28 5 3 2 Tool Presets 33 5 3 3 Utility Window 34 5 3 4 Magnet Gripper Integration Window 35 5 4 Air supply 39...

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: ... TU0425BU 100 2m Conversion cable 1pc Hexagon socket head cap screw M6 23 4pcs For mounting the product Positioning pin 6x10 1pcs For positioning the product Magnet gripper 1pc One touch fittings KQ2L04 M5A1 2pcs One touch fittings KQ2L06 08A 1pc One touch fittings KQ2H04 06A 1pc ...

Page 6: ...For MHM 25D X7400A HC10 Hexagon socket head cap screw M4 8 2pcs For fixing INSULOK tie mount INSULOK tie mount 2pcs Flange for MOTOMAN HC10DT 1pc For MHM 25D X7400A 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 For plugging when INSULOK cable tie fixtures are not used Positionin...

Page 7: ... 5LU ISO9409 1compliant Conversion cable Positioning pin 3x6 Hexagon socket head cap screw M4x16 Adapter plate Hexagon socket head cap screw M6x23 Positioning pin 6x10 Auto switch D M9 N P Exhaust throttle valve with silencer ASN2 M5 X937 Hexagon socket head cap screw M4x35 Hexagon socket head cap screw M4x12 ...

Page 8: ...id valves V114 5LOU ISO9409 1compliant flange M8 MolexConversion cable Positioning pins 4x8 Hexagon socket head cap screw M4x35 Hexagon socket head cap screws M4x12 Adapter plate Hexagon socket head cap screw M6x23 Hexagon socket head cap screw M4x12 Flange mounting for robot Positioning pins 6x10 Hexagon socket head cap screw M6x12 ...

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

Page 10: ... holding force reference value when a low carbon steel plate is held by entire surface attraction surface 2 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 th...

Page 11: ... a workpiece with a large surface area properly allocate the magnet grippers 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 fact...

Page 12: ...uch as this Calculate the required holding force 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 Please perform a holding test referring to the value selected based on the graph Workpiece thickness t mm Holding force F N ...

Page 13: ... 12 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 ...

Page 14: ... 13 3 4 2 MHM 25D X7400A HC10DT ...

Page 15: ... 14 3 4 3 MHM 25D X7400A HC10 ...

Page 16: ...MHM 25D X7400A DTP N P NPN output PNP output PIN No Function Explanation 1 2 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 Conversion cable M8 8 Pin connector Socket M8 8 Pin connector Socket ...

Page 17: ...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 8 Conversion cable M8 8 Pin connector plug M8 8 Pin connector Socket Connector produced By Molex Corporation 51227 0800 ...

Page 18: ... DTP MHM 25D X7400A DTP MHM 25D X7400A HC10DT MHM 25D X7400A HC10 Center of gravity mm X Y Z X Y Z X Y Z 2 4 0 0 42 6 1 0 0 4 57 1 1 0 0 4 57 9 Tool Center Point TCP X Y Z X Y Z X Y Z 0 0 114 0 0 138 0 0 140 Z Y X Flange mounting surface TCP ...

Page 19: ...ble acting Proof pressure 0 9MPa Ambient and operating fluid temperature oC 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 replaced...

Page 20: ...F 4 or less Minimum operation frequency Hz 20 Lubrication Non lube Mounting orientation Free Impact resistance Vibration resistance m s2 150 30 Enclosure rating Dustproof Model No V114 5LOU 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 21: ...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 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 N P ...

Page 22: ... 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 23: ...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 Make sure that h...

Page 24: ...g 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 Check that the connector is not loose Max tightening torque 5 2Nm Hexagon socket head cap screw M6 x 23 Positioning pin Robot arm end Conversion cable ...

Page 25: ...f 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 Hexagon socket head cap screw M6 x 12 Flange Escapement groove for the connector and cable Positioning pin Robot arm end Max tightening torque 6 3Nm ...

Page 26: ... excessive part of the INSULOK tie 3 Connecting the M8 connector Mount the conversion cable to the M8 connector After mounting the conversion cable connect the robot arm end connector and conversion cable connector Do not energize while securing the connector Check that the connector is not loose Hexagon socket head cap screw M6 x 23 Max tightening torque 5 2Nm Positioning pin M8 Molex Conversion ...

Page 27: ... 26 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 ...

Page 28: ... travel from the workpiece 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 workp...

Page 29: ...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 SmcMagnetGripperExt 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 30: ...t 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: ... 30 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 ...

Page 32: ... 31 2 Tap the Extensions tab and confirm that the SMC Magnet Gripper is added to the list ...

Page 33: ... 32 3 Tap the Presets tab and confirm that SMC Magnet Gripper is added to the list ...

Page 34: ...talled 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: ...w 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 ...

Page 36: ...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 5 3 4 Magnet Gripper Integration Window 1 On the Job Contents review screen tapping MAGNETGRIPPER on the navigation bar opens the Magnet Gripper Integration Window ...

Page 37: ...e success without checking the Release position signal and proceeds to the next operation RELEASE AND CHECK SIGNAL Puts the gripper into the Releasing state and waits for the Release 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 38: ...to output a status signal to the digital output port when Hold Release success or Hold Release failure is detected When Enabled is selected Selection of the digital output port is enabled If either of Hold Release success and Hold Release failure is detected the corresponding digital output port is turned on When Disabled is selected The selection of the digital output port is disabled Even if eit...

Page 39: ... 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 grav...

Page 40: ...pment If the drain bowl is difficult to check and remove the installation of a drain bowl with an auto drain option is recommended For compressed air quality refer to the SMC Best Pneumatics No 6 catalog 4 Use clean air Do not use compressed air that contains chemicals synthetic oils that include organic solvents salt corrosive gases etc as it can cause damage or malfunction Caution 1 When extreme...

Page 41: ... locations or where water oil etc splash on the equipment 6 A decrease in the base oil of grease may be accelerated by the properties of the compressed air used in pneumatic equipment the external environment operating conditions etc and the resulting drop in lubricating performance may have an effect on the equipment s service life Caution 1 Internal lubricant or the base oil of grease may seep o...

Page 42: ... machinery is restarted proceed with caution after confirming that appropriate measures are in place to prevent sudden movement 6 2 Replacement part 1 Replace the pad using the following procedure Pad MHM A2513 6 3 Maintenance Warning There is a strong magnet in the magnet gripper Do not disassemble the product as the magnet may attract parts and peripheral objects which may cause an accident When...

Page 43: ...Sotokanda 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 ...