SMC Networks JMHZ2-16D-X7400B-CRX User manual

Doc.No.MH*-OMY0014-A
PRODUCT NAME
Air Gripper Unit for Collaborative Robots
MODEL / Series / Product Number
JMHZ2-16D-X7400B-CRX

- 1 -
Contents
Safety Instructions........................................................................................................- 2 -
1. List of included items ...............................................................................................- 4 -
2．Parts description of the air gripper.........................................................................- 5 -
3. Product Specifications .............................................................................................- 6 -
3-1. How to order .......................................................................................................- 6 -
3-2. Specifications.....................................................................................................- 7 -
3-3. Gripping force.....................................................................................................- 8 -
3-4. Gripping point.....................................................................................................- 9 -
3-5. Dimensions.......................................................................................................- 10 -
3-6. Connector and pin layout................................................................................- 11 -
3-7. Center of gravity...............................................................................................- 12 -
4．Product Specifications...........................................................................................- 13 -
4-1. Air 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 ........................................................................................................- 16 -
5-3. CRX Plug-in software.......................................................................................- 20 -
5-4. Air supply..........................................................................................................- 28 -
5-5. Piping ................................................................................................................- 28 -
5-6. Operating environment....................................................................................- 29 -
5-7. Lubrication........................................................................................................- 29 -
6. Maintenance ............................................................................................................- 29 -

- 2 -
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: Manipulating industrial robots -Safety.
etc.
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
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment 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 product and machinery/equipment until safety is confirmed.
1.The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
2.When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
3. Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to
be used in any of the following conditions.
1. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or
other applications unsuitable for the standard specifications described in the product catalog.
3. An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4.Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.

- 3 -
Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange
specifications or a contract if necessary.
If anything is unclear, contact your nearest sales branch.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
1.The warranty period of the product is 1 year in service or 1.5 years after the product is
delivered,whichever is first. 2)
Also, the product may have specified durability, running distance or replacement parts. Please
consult your nearest sales branch.
2. For any failure or damage reported within the warranty period which is clearly our responsibility,
a replacement product 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.
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 failure due to the deterioration of rubber material are not covered by the limited
warranty.
Compliance Requirements
1. The use of SMC products with production equipment for the manufacture of weapons of mass
destruction(WMD) or any other weapon is strictly prohibited.
2. The export of SMC products or technology from one country to another is governed by the
relevant security laws and regulations of the countries involved in the transaction. Prior to the
shipment of an SMC product to another country, ensure that all local rules governing that export
are known and followed.
Caution
SMC products are not intended for use as instruments for legal metrology.
Measurement instruments that SMC manufactures or sells have not been qualified by type approval
tests relevant to the metrology (measurement) laws of each country.
Therefore, SMC products cannot be used for business or certification ordained by the metrology
(measurement) laws of each country.
! Caution
SMC products are not intended for use as instruments for legal metrology.
Measurement instruments that SMC manufactures or sells have not been qualified by type approval
tests relevant to the metrology (measurement) laws of each country.
Therefore, SMC products cannot be used for business or certification ordained by the metrology
(measurement) laws of each country.

- 4 -
1. List of included items
Air gripper unit 1pc.
Protection cover (Valve side) 1pc.
Protection cover (Switch side) 1pc.
Hexagon socket head cap screw
(M4×10) 4pcs.
For mounting the cover.
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 (6×10) 1pc.
For positioning the product.

- 5 -
2．Parts description of the air gripper
Air gripper
JMHZ2-16D
DD
D
Miniature Fittings:
M-5ALHU-2
Polyurethane
Tubings: O.D.φ2
Metering valve with
silencers:
ASN2-M5-X937
3-port solenoid valves:
V114-5LU
Conversion cable
Positioning pins ：
3x6
Positioning pins：
6x10
Hexagon socket head
cap screws：M4x25
Hexagon socket head
cap screws：M6x10
Adapter plate
Attachments
Hexagon socket
head cap screws：
M3X7
Hexagon socket head
cap screws：M6x23
Positioning pins：6x10
Auto switches：
D-M9P-5
One-touch Fitting：
KQ2S04-M5N
ISO9409-1
compliant flanges

- 6 -
3. Product Specifications
3-1. How to order

- 7 -
3-2. Specifications
Specifications
*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 workpiece, secure the auto switch at the appropriate position
according to the shape of the workpiece.
* For examples of setting auto switch and setting of mounting position of auto switches, please refer to
the JMHZ2 Series catalogue P.15 onwards on our website (www.smcworld.com).
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 stroke (both sides) (mm)
10
Weight (g)
440
Detecting position of the
open end of the finger
Detecting position of the
closed end of the finger

- 8 -
3-3. Gripping 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.

- 9 -
3-4. Gripping point
The air gripper should be operated so that the workpiece gripping point “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

- 10 -
3-5. Dimensions
Refer to P13, P14 and P15 for the dimensions of the air gripper, valves and auto switch.

- 11 -
3-6. Connector and pin layout
Attached cable is fixed to the product.
Connect the communication cable correctly. Refer to P.18 for assembling method.
PNP output
Conversion cable
PIN No
Function
Description
1
-
NC
2
-
NC
3
Auto switch(Finger crosing direction)
4
Auto switch(Finger opening direction)
5
+24V
Power supply for 24VDC
6
Valve ON/OFF(Finger crosing direction)
7
Valve ON/OFF(Finger opening direction)
8
GND
Power supply for 0VDC
M8 8 Pin connector (Socket)
M8 8 Pin connector (Plug)
M8 8 Pin connector (Socket)

- 12 -
3-7. Center of gravity
Center of gravity
X
Y
Z
2.4
0.0
42.6
Y
Z
Y
X
X
Z
Flange
mounting surface

- 13 -
4．Product Specifications
* For detailed specifications not included in this document, please refer to the our website
(www.smcworld.com) or operation manual.
4-1. Air gripper
Specifications
Model 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
Weight (g)
128

- 14 -
4-2. 3-port solenoid valve
Specifications
Solenoid specifications
Model No.
V114-5LU
Fluid
Air
Ambient and operating fluid
temperature(oC)
-10 to 50 (No freezing)
Response time [ms]
ON：5 or less OFF：4 or less
Minimum operation 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
catalogue.
Indicator LED
LED

- 15 -
4-3. Auto switch
Auto Switch Specifications
D-M9□-5(With indicator light)
Auto switch model
D-M9P-5
Wiring
3-wire
Output
PNP 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

- 16 -
5. Operating method or operation
5-1．Precautions for Design
！Warning
1.The product is designed for use only in compressed air systems. Do not operate at pressures or
temperatures, etc., beyond the range of the specifications, as this can cause damage or malfunction
of the cylinder and other equipment. (Refer to the specifications.)
Please contact SMC if using fluids other than compressed air. The product cannot be guaranteed if
is used outside of the specification range.
2.Take safety measures (e.g. mounting protective covers) when there is a danger of fingers being
caught in a gripper or workpieces causing 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 clamping, please consult SMC.
！Caution
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. Install and operate the product only after reading the Operation Manual carefully and
understanding its contents. Also, keep the manual where it can be referred to as necessary.
2. When installing the products, allow access for maintenance.
3. Do not scratch or dent the air gripper by dropping or bumping it when mounting.
Slight deformation can cause inaccuracies or a malfunction.
4. Tighten the screw within the specified torque range when mounting the attachment.
Tightening with a torque above the limit can cause malfunction, while insufficient tightening can
cause slippage and dropping.
How to mount attachment to the finger
Make sure to mount the attachments on fingers with the tightening torque in the table below by
using bolts, etc., for the female threads on fingers.
Model
Bolt
Max.tightening Torgue
(Nm)
JMHZ2-16D
M3 x 0.5
0.59
Attachment

- 17 -
How to Mount Air Gripper
(1)Mounting to the robot arm (2)Mounting of 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:
1.0Nm
Positioning
pin
Hexagon socket head
cap screw (M6 x 23)
Max. tightening torque ：
6.3Nm

- 18 -
(3)Connecting the M8 connector
* Do not energize while securing the connector.
* Check that the connector is not loose.
(4)For mounting attachment
For mounting and removal of the attachment, refer to the drawing below. Refer to P16, “5-2
Installation” for mounting of the finger to the attachment.
Hexagon socket head cap screw (M3 x 7)
Max. tightening torque: 0.59Nm
Attached cable

- 19 -
Finger open / close speed adjustment
* 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.
Finger opening speed adjustment
Metering valve
Metering valve
Finger closing speed adjustment
(*for flat blade screwdriver
Blade width 0.7mm)
)
Adjustment groove
Magnified view of the metering valve