SMC Networks JMHZ2-16D-X7400B-DTB-N User manual

Doc.No.MH*-OMY0011
PRODUCT NAME
Air Gripper for Collaborative Robots
MODEL / Series / Product Number
JMHZ2-16D-X7400B-(DTP/HC10DT/HC10)-(N/P)

- 1 -
Contents
Safety Instructions..................................................................................................... - 2 -
1．List of included items............................................................................................ - 4 -
2. Parts description of the air gripper....................................................................... - 6 -
3．Product Specifications.......................................................................................... - 7 -
3-1. How to order .................................................................................................... - 8 -
3-2. Specifications.................................................................................................. - 9 -
3-3. Gripping force................................................................................................ - 10 -
3-4. Gripping point.................................................................................................- 11 -
3-5. Dimensions.................................................................................................... - 12 -
3-5-1. JMHZ2-16D-X7400B-DTP-(N/P)............................................................... - 12 -
3-5-2. JMHZ2-16D-X7400B-HC10DT-(N/P)......................................................... - 13 -
3-5-3. JMHZ2-16D-X7400B-HC10-(N/P)............................................................. - 14 -
3-6. Connector and pin layout.............................................................................. - 15 -
3-7. Center of gravity............................................................................................ - 16 -
4．Product Specifications........................................................................................ - 17 -
4-1. Air gripper ...................................................................................................... - 17 -
4-2. 3-port solenoid valve..................................................................................... - 18 -
4-3. Auto switch .................................................................................................... - 19 -
5．Operating method or operation .......................................................................... - 20 -
5-1．Precautions for Design................................................................................. - 20 -
5-2. Installation...................................................................................................... - 20 -
5-3. YASKAWA Plug & Play Kit............................................................................. - 29 -
5-3-1. Installing YASKAWA Plug & Play Kit.......................................................... - 29 -
5-3-2. Tool Presets.............................................................................................. - 34 -
5-3-3. Utility Window ........................................................................................... - 35 -
5-3-4. Air Gripper Integration Window ................................................................. - 36 -
5-4. Air supply....................................................................................................... - 40 -
5-5. Piping ............................................................................................................. - 41 -
5-6. Operating environment ................................................................................. - 41 -
5-7. Lubrication..................................................................................................... - 41 -
6．Maintenance......................................................................................................... - 41 -

- 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.
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.
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
JMHZ2-16D-X7400B-DTP-(N/P)
Air gripper 1pc.
Positioning pin (6x10)1pc.
For positioning the product
Hexagon socket head cap
screw (M6×23) 4pcs.
For mounting the product.
Protection cover (Valve side) 1pc.
Protection cover (Switch side) 1pc.
Hexagon socket head cap screw
(M4×10) 4pcs.
For mounting the cover.
Polyurethane tube for piping φ4
(TU0425BU-100) 2m.
Conversion cable 1pc.
One touch fittings
(KQ2L04-M5A1) 2pcs.
One touch fittings
(KQ2L06-08A) 1pc.
One touch fittings
(KQ2H04-06A) 1pc.

- 5 -
JMHZ2-16D-X7400B-HC10DT、HC10-(N/P)
Air gripper 1pc.
Protection cover (Valve side) 1pc.
Protection cover (Switch side) 1pc.
Hexagon socket head cap screw
(M4×10) 4pcs. For mounting the cover.
Parallel pin (6×10mm) 1pc.
For positioning the flange.
Hexagon socket head cap
screw (M6×23) 4pcs.
For mounting the product.
Coil tube for piping φ4
(TU0425BU-100) 2m.
Flange for MOTOMAN-HC10 1pc.
* For JMHZ2-16D-X7400B-HC10-(*).
Hexagon socket head cap screw (M4×8) 2pcs.
For fixing INSULOK® tie mount.
INSULOK® tie mount 2pcs.
Flange for MOTOMAN-HC10DT 1pc.
* For JMHZ2-16D-X7400B-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.
Parallel pin (6×10) 1pc.
For positioning the product.

- 6 -
2. Parts description of the air gripper
JMHZ2-16D-X7400B-DTP-(N/P)
Air gripper
JMHZ2-16D
One-touch fitting：
KQ2S04-M5N
3-port solenoid valves:
V114-5LU
ISO9409-1
compliant flange
M8
Conversion cable
Hexagon socket head
cap screw：M4x25
Adapter plate
Attachments
Hexagon socket
head cap screws：
M3X7
Positioning pins：6x10
Hexagon socket head
cap screws：M6x10
Positioning pins：
6x10
Positioning pins：3x6
Metering Valve with
Silencers:
ASN2-M5-X937
Polyurethane Tubings:
O.D.φ2
Miniature Fittings:
M-5ALHU-2
Auto switches：
D-M9(N/P)-5
Hexagon socket head
cap screws：M6x23
Positioning pins：3x6

- 7 -
JMHZ2-16D-X7400B-HC10DT、HC10-(N/P)
Attachment
Hexagon socket
head cap screw：
M3X7
Hexagon socket
head cap screw：
M6x23
Auto switch:
D-M9(N/P)-5
Air gripper：
JMHZ2-16D
Adapter plate
One touch fittings:
KQ2S04-M5N
3 Port solenoid
valve:V114-5LU
Positioning pin：
6x10
Hexagon socket
head cap
screw:M4x25
Positioning pin:M4x25
Exhaust throttle valve
with silencer
ASN2-M5-X937
Hexagon socket head
cap screw:M6x10
Hexagon socket head
cap screw:M6x12
Positioning pin：
6x10
Polyurethane
tubing
Miniature fittings:
M-5ALHU-2
ISO9409-1
compliant flange
M8-Molex
Conversion cable
Flange mounting for robot

- 8 -
3．Product Specifications
3-1. How to order

- 9 -
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 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).
JMHZ2-16D-X7400B
-DTB-(N/P)
JMHZ2-16D-X7400B-
HC10DT-(N/P)
JMHZ2-16D-X7400B
HC10-(N/P)
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
720
Connector configuration
of the accessory
M8 8 pin
connector
(Socket)
One side M8 8 pin connector(Socket)
One side Connector made by
MOLEX(51227-0800)
Detecting position of the
open end of the finger
Detecting position of the
closed end of the finger

- 10 -
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.

- 11 -
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

- 12 -
3-5. Dimensions
3-5-1. JMHZ2-16D-X7400B-DTP-(N/P)
Refer to P17, P18 and P19 for the dimensions of the air gripper, valves and auto switch.

- 13 -
3-5-2. JMHZ2-16D-X7400B-HC10DT-(N/P)

- 14 -
3-5-3. JMHZ2-16D-X7400B-HC10-(N/P)

- 15 -
3-6. Connector and pin layout
M8 8 pin connector is fixed to the product.
Connect the communication cable correctly. Refer to P.22 and P26 for assembling method.
NPN output PNP output
Conversion cable
PIN No.
Function
Explanation
1
+24V
Power supply 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
-
NC
8
-
NC
M8 8 Pin connector (Socket)
Connector produced by
Molex Corporation
(51227-0800)
M8 8 Pin connector (Socket)
JMHZ2-16D-X7400B-DTP-(N/P)
JMHZ2-16D-X7400B-HC10DT、HC10-(N/P)

- 16 -
3-7. Center of gravity
*Figure shows case JMHZ2-16D-X7400B-DTP-(N/P).
JMHZ2-16D-X7400B-DTP
JMHZ2-16D-X7400B
-HC10DT
JMHZ2-16D-X7400B
-HC10
Center of
gravity(mm)
X
Y
Z
X
Y
Z
X
Y
Z
2.4
0.0
42.6
-0.4
-0.8
48.4
-0.4
-0.8
47.4
Tool center
point(TCP)
X
Y
Z
X
Y
Z
X
Y
Z
0
0
135
0
0
159
0
0
158
X
Y
Z
Flange mounting surface
TCP

- 17 -
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

- 18 -
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
No
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
varistor
Indicator LED
LED

- 19 -
4-3. Auto switch
Auto Switch Specifications
D-M9□-5(With indicator light)
Auto switch model
D-M9N-5
D-M9P-5
Electrical entry direction
In-line
Wiring
3-wire
Output
NPN type
PNP type
Applicable load
IC circuit,Relay,PLC
Power supply voltage
5 , 12 , 24 VDC (4.5 to 28 V)
Current consumption
10 mAor 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