SMC Networks MHM-25D-X7400A, Operation Manual

Page 1: ...Doc No MH OMY0015 PRODUCT NAME Magnet Gripper Unit for Collaborative Robots MODEL Series Product Number MHM 25D X7400A ...

Page 2: ... 7 3 3 Dimensions 9 3 4 Connector and pin layout 10 3 5 Center of gravity 11 4 Product Specifications 12 4 1 Magnet gripper 12 4 2 3 port solenoid valve 13 4 3 Auto switch 14 5 Operating method or operation 15 5 1 Precautions for Design 15 5 2 Installation 16 5 3 U R C a p 19 5 4 Air supply 25 5 5 Piping 25 5 6 Operating environment 25 5 7 Lubrication 26 6 Maintenance 26 ...

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: ...f included items Magnet gripper unit 1pc M8 8 Pin connector 1pc Positioning pin 6 10 1pc For positioning the product Hexagon socket head cap screw M6 23 4pcs For mounting the product Coil tube for piping TU0425 2m ...

Page 6: ...ch fitting KQ2S04 M5N Metering Valve with Silencers ASN2 M5 X937 3 port solenoid valves V114 5LU ISO9409 1 compliant flange M8 8 pin connector cable Positioning pins 3x6 Hexagon socket head cap screws M4x12 Hexagon socket head cap screws M4x16 Adapter Hexagon socket head cap screw M4x35 ...

Page 7: ...ce value when a low carbon steel plate 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 magne...

Page 8: ...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 9: ...orce 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 ...

Page 10: ... 9 3 3 Dimensions Refer to P12 P13 and P14 for the dimensions of the magnet gripper valves and auto switches ...

Page 11: ...ite 2 Brown 3 Green Auto switch For holding position 4 Yellow Auto switch For releasing position 5 Gray 24V Power supply for 24 VDC 6 Pink Valve ON OFF For holding position 7 Blue Valve ON OFF For releasing position 8 Red GND Power supply for 0 VDC M8 8 Pin connector Plug ...

Page 12: ... 11 3 5 Center of gravity Center of gravity X Y Z 0 1 0 5 55 8 Flange mounting surface X Z Y Z Y X ...

Page 13: ...ing pressure MPa 0 2 to 0 6 Operating method Double 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 Weight g 244 1 Theoretical holding force reference value when a low carbon steel plate is held by entire surface attraction surface Dim...

Page 14: ...tion frequency Hz 20 Lubrication Non lube 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 catalog...

Page 15: ...P 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 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 16: ...ing damage etc 3 There is a danger of workpieces dropping if there is a decrease in gripping force due to a drop in circuit pressure caused by a power failure etc It is necessary to take measures such as drop prevention so that injury and damage to machinery or equipment can be prevented 4 If the product is used for a purpose other than the transportation of a workpiece such as positioning or clam...

Page 17: ...p the manual where it can be referred to as necessary 2 Allow sufficient space for maintenance and inspection 3 When the magnet moves toward the magnetic attraction surface holding force is generatedonthe attraction surface Make sure that holding force is not generated when working around the magnet gripper so the your fingers do not get caught in the magnet gripper Warning 1 Do not scratch or den...

Page 18: ...unting so that the mounting is easy 1 Mounting to the robot arm 2 Connecting the M8 connector Do not energize while securing the connector Check that the connector is not loose Robot arm end Hexagon socket head cap screw M6 x 23 Max tightening torque 6 3Nm Positioning pin ...

Page 19: ... 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 2 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 posit...

Page 20: ...ap the URCap menu from the robot settings screen 2 Insert the USB memory with a cop of the downloaded file into the teaching pad and tap the button 3 Select SMC Air Gripper Unit xxx urcap from the file screen and tap the open button 4 Tap the Restart button to restart the robot ...

Page 21: ...inger has completed its operation at less than 500ms from the valve switching If the finger operation time is 500ms or more it is necessary to be careful because the robot moves to the next operation before the finger operation is completed Example 2 Set value 500ms RELEASE AND CHECK SIGNAL NODE or HOLD AND CHECK SIGNAL NODE In 500ms after the valve switching signal is output the monitoring of the...

Page 22: ...ld Release failure signal in Various status signal output to digital output port The check box is not checked in the default setting The auto switches are used for checking the operation of the magnet gripper They do not guarantee holding release of the actual workpiece Various status signal output to digital output port Sets the status of the output port If Enable is selected the signal for open ...

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Page 24: ...ecking the auto switch signal and confirming the reaction the transition of the operation occurs 3 OPEN ONLY NODE closes the finger This does not monitor the auto switch signal 4 Fingers are closed when CLOSE AND CHECK SIGNAL NODE is executed In this case after checking the auto switch signal and confirming the reaction the transition of the operation occurs Settings Enter the mass of the transfer...

Page 25: ... From the UR icon in the upper right corner of the screen the manual operation of the gripper can be checked The gripper operation open or close and the auto switch reaction can be checked by tapping the Open Close button ...

Page 26: ...s Compressed air that contains excessive foreign material may cause malfunction of valves and other pneumatic equipment Therefore take appropriate measures to ensure air quality such as by providing an aftercooler air dryer or water separator 4 Use the product within the specified fluid and ambient temperature range If the fluid temperature is 5oC or less the moisture in the circuit could freeze c...

Page 27: ...ge moisture from air filters regularly 3 When air grippers are removed first confirm that measures are in place to prevent any workpieces from dropping run away of 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 When the equipment is restarted proceed with caution after confirming that app...

Page 28: ...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 ...