SMC Networks JMHZ2-16D-X7500AC-KA Series User manual

Doc.No.MH*-OMY0028
PRODUCT NAME
Air Gripper for Collaborative Robots
MODEL / Series / Product Number
JMHZ2-16D-*-X7500AC-KA

- 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 .................................................................................................. - 6 -
3-3. Auto switch ...................................................................................................... - 7 -
3-4. Gripping force.................................................................................................. - 8 -
3-5. Gripping point.................................................................................................. - 9 -
3-6. Dimensions.................................................................................................... - 10 -
3-7. Air Gripper Single Unit ...................................................................................- 11 -
3-8. Center of gravity............................................................................................ - 12 -
4. Product Specifications......................................................................................... - 13 -
4-1. Attachment..................................................................................................... - 13 -
4-2. Protection cover ............................................................................................ - 14 -
4-3. Mounting to duAro flange ............................................................................. - 15 -
4-4. Angle Adjustment of the Moving Direction of the Finger............................ - 16 -
4-5. Piping ............................................................................................................. - 17 -
4-6. Speed controller ............................................................................................ - 17 -
4-7. Finger open / close speed adjustment......................................................... - 18 -
4-8. Connection of the auto switch and sensor harness.................................... - 19 -
5. Operating method or operation........................................................................... - 19 -
5-1. Precautions for Design.................................................................................. - 19 -
5-2. Air supply....................................................................................................... - 19 -
5-3. Operating environment ................................................................................. - 20 -
5-4. Lubrication..................................................................................................... - 20 -
6. Maintenance ......................................................................................................... - 20 -

- 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
*The appearance of the air gripper differs depending on the part number.
For the product number, see section 3-1. How to order (P.6).
Used for mounting this product and duAro flange. Refer to 4-3．Mounting to duAro flange (P.15).
●Air gripper 1pc.
Hexagon socket head cap
screw (M5×10) 2 pcs.
Positioning pin (5×10) 1pc.
●Accessories
With protective cover
and attachments
With protective cover.
Without attachments
Without protective cover
and attachments
Attachment
Protection
cover

- 5 -
2. Parts description of the air gripper
* This drawing shows “with protective cover and attachments”.
ISO9409-1-31.5-4-M5
Compliant Adapter plate.
Auto switch：
D-M9□
Hexagon socket
Head cap screws：
M4x10
Positioning pin：3x6
Hexagon socket
Head cap screws：
M3x7
【For opening
the finger (O)】
Speed controller：
JAS-LEB04-M5
Protection cover
Attachments
【For closing the finger(S)】
Speed controller：
JAS-LEA04-M5
Hexagon socket head
cap screw：M4x20
Air gripper：
JMHZ2-16D*
O ring：5x3x1

- 6 -
3. Product Specifications
3-1. How to order
JMHZ2
-16 D - M9B S - X7500 A C - KA
Number of auto switches
Nil 2
S 1
N n
Nil.
C
Without protection cover
With protection cover
Protection cover
Nil Without attachment
A With attachment
Test attachment
Symbol
Nil.
Without auto
switch
(Built-in magnet)
-
M9B D-M9B
M9N D-M9N
M9P D-M9P
M9BW D-M9BW
M9NW D-M9NW
M9PW D-M9PW
Auto switch No.
Solid state switch
Solid state switch
(2-color indication)
Auto switch
For Kawasaki Heavy
Industries, Ltd.
16 16
Bore size[mm]
D Double acting
Action
*Note 1) lead wire length symbols
0.5m・・・・Nil.
(Case) M9NW
1m・・・・M
(Case) M9NWM
3m・・・・L
(Case) M9NWL
5m・・・・Z
(Case) M9NWZ
*Note 2) When 2 auto-switches are specified they are assembled for shipping.
Otherwise, the switch(es) is/are included in the package separately.
duAro1・duAro2・RS003N・RS005N・RS005L・RS007N・RS007L
3-2. Specifications
Specifications
*Note 2) This value excludes the weight of the attachments 2pcs : Approx. 30g
and protective cover 2pcs : approx. 20g.
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.)
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)
230 *Note2
※Note2)
*Note1

- 7 -
3-3. Auto switch
Specifications
D-M9□(With indicator light)
Auto switch model
D-M9B
D-M9N
D-M9P
D-M9BW
D-M9NW
D-M9PW
Electrical entry
direction
In-line
Wiring
2-wire
3-wire
2-wire
3-wire
Output
-
NPN type
PNP type
-
NPN type
PNP type
Applicable load
DC24V
Relay PLC
IC circuit,Relay,PLC
DC24V Relay
PLC
IC circuit,Relay,PLC
Power supply
voltage
-
DC5・12・24V(4.5 to 28V)
-
DC5・12・24V(4.5 to 28V)
Current
consumption
-
10mA or less
-
10mA or less
Load voltage
DC24
(DC10 to
28V)
DC28V or
less
-
DC24
(DC10 to 28V)
DC28V or
less
-
load current
2.5 to 40mA
40mA or less
2.5 to 40mA
40mA or less
Internal voltage
drop
4V or less
0.8 V or less at 10 mA(2 V
or less at 40 mA)
4V or less
0.8 V or less at 10 mA (2
V or less at 40 mA)
Current leakage
0.8mAor less
100μA or less at 24 VDC
0.8mA or less
100μA or less at 24 VDC
Indicator LED
Red LED illuminates when turned ON.
Operating range ----- Red LED ON
Correct operating range ---- Green LED ON
Standard
CE marking、RoHS
Dimensions
D-M9□
*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 the 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).
Detecting position of the
open end of the finger
Detecting position of the
closed end of the finger

- 8 -
3-4. 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 -
3-5. 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 -
3-6. Dimensions
Refer to P11 for the dimensions of the air gripper.

- 11 -
3-7. Air Gripper
The drawings below show the external dimensions of the air gripper built into the product. Refer to the
drawings below if attachments are prepared by the user. The specifications of the single unit of the air
gripper are the same as the specifications in P.6, 3-2. Specifications.
！Caution
* For detailed specifications not included in this document, please refer to the our website
(www.smcworld.com) or operation manual.
The air gripper in this product has a special specification with a different piping direction from the
standard product. Therefore, it is not interchangeable with the SMC standard JMHZ2-16D.
Contact SMC sales representative in case of malfunction or maintenance.

- 12 -
3-8. Center of gravity
The centre of gravity of the product is shown below. Adjust the position of the center of gravity
with the robot controller.
Center of gravity
X
Y
Z
0.1
0.8
44.7
Z
Y
X
duAro Flange mounting
surface

- 13 -
4.Product Specifications
！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.
4-1. Attachment
Attachment for testing is included in the product. For mounting and removal of the attachment, refer to
the drawing below. When tightening, fix the finger attachment with a tool such as a spanner so that the
load is not directly applied to the guide while tightening.
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.
Hexagon socket head cap screw(M3x7)
Max.tightening torque:0.59 Nm
Model
Bolt
Max.tightening
Torque (Nm)
JMHZ2-16D
M3x0.5
0.59
Attachment
Guide section

- 14 -
4-2. Protection cover
For mounting and removal of the protective cover, refer to the drawing below. Take care not to get the
switch cable caught when mounting the cover.
Hexagon socket head cap screw (M4x10)
Auto switch cable
Max. tightening torque: 1.0 Nm

- 15 -
4-3. Mounting to duAro flange
Mount the duAro flange using the bolts in the accessory as shown below.
！Caution
The adapter plate of this product has two positioning pin holes.
The moving direction of the finger can be changed by 90 degree depending on the mounting position.
After determining the mounting position, correct the angle of the moving direction of the finger on the
duAro if necessary. (4- 4. Angle Adjustment of the Moving Direction of the Finger)
duAro Flange
Positioning pin：5X10
Hexagon socket head cap screw(M5X10)
Max. tightening torque: 3 Nm
Moving direction of
the finger
Adapter plate
Attachment
Finger part

- 16 -
4-4. Angle Adjustment of the Moving Direction of the Finger
Due to the specifications of this product, the gripper does not face the front at the origin position of the
robot. Refer to the example in the table below and adjust the angle of the gripper if necessary.
Example) When the “metering valve handle" and "duAro Front side" of this product are placed on the
same surface.
Flange
Bottom
Top view of
the adapter
plate.
[Before
correction]
Angle
adjustment
Left rotation 40 °
Right rotation 50 °
Top view of
the adapter
plate.
[After
correction]
duAro Front side
Zeroing groove
Pin hole
Positioning
pin
Handle
Positioning
pin
Metering
Valve with
Silencer
Moving direction
of the finger
duAro Front side

- 17 -
4-5. Piping
Based on the dimensions of this product, connect the tube with an appropriate diameter to each air
supply port.
For the connection between this product and the air tubing coming out of the duAro arm, refer to the
Operation manual of the duAro.
4-6. Speed controller:
A push-lock type one-touch speed controller is fitted in each port to control speed in each direction of
travel.. Refer to P. 18 for the product number of the speed controller.
！Causion
1. Speed controller is provided with a retaining mechanism.
2. Make sure that the push-lock handle (hereinafter referred to as handle) is locked. When the orange
mark is visible, the speed controller is unlocked.
3. When the speed controller is unlocked, the set speed may change.
4. If the handle is pulled with force while the speed controller is unlocked, it may result in breakage.
When it is unlocked, do not pull the handle out with force.
5. To adjust the speed, start with the handle in the closed position, and then adjust by opening
gradually.
6. Too much rotation of the handle will cause damage.
The number of rotations of the handle is 4 from the fully closed position
！Caution
1. Refer to the Fittings and Tubing Precautions (Best Pneumatics) for the speed controller with
one-touch fitting push lock type.
2. Before piping
Before piping is connected, it should be thoroughly flushed with air or washed to remove chips,
cutting oil and other debris from inside the pipe.
Handle
Unlocked state
Locked state
Orange mark

- 18 -
4-7. Finger open / close speed adjustment
After setting the piping and supply pressure, adjust the finger opening / closing speed.
Adjust the finger opening / closing speed by turning the handle of each speed controller shown in the
figure below.
The needle closes with a clockwise rotation and opens with a counterclockwise rotation meaning that
the finger speed becomes slower with clockwise rotation and faster with counterclockwise rotation.
Confirm that the handle is locked by pushing the handle after adjusting the opening / closing speed of
the finger.
Port symbol
Air supply port
JAS-LEA04-M5
Handle
JAS-LEB04-M5
Speed controller to close
the finger(S)
Speed controller to open
the finger(O)

- 19 -
4-8. Connection of the auto switch and sensor harness
For the wiring connection between the sensor harness on the duAro arm and each auto switch of this
product, refer to the operation manual of the duAro main unit.
See also JMHZ2 Series Catalogue P.18Auto Switch connections and Examples.
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. Air supply
！Warning
1. Please contact SMC when using the product in applications other than with compressed air.
2. Compressed air containing a large amount of drainage can cause the malfunction of pneumatic
equipment. An air dryer or water separator should be installed upstream from filters.
3. If condensation in the drain bowl is not emptied on a regular basis, the bowl will overflow and allow
the condensation to enter the compressed air lines. This causes the malfunction of pneumatic
equipment. If the drain bowl is difficult to check and remove, the 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 air is used as the fluid, degradation of the lubrication properties inside the equipment
may occur, resulting in reduced reliability (or reduced service life) of the equipment. Please
consult with SMC.
2. Install air filters.
Install an air filter at the upstream side of valve. Select an air filter with a filtration degree of 5μm
or finer.