SMC Networks JMHZ2-16D-X7400B User manual

Doc.No.MH-OMY0003
PRODUCT NAME
Parallel typeAir Gripper
MODEL / Series / Product Number
JMHZ2-16D-X7400B

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. Specifications...........................................................................................6
3-2. Gripping force..........................................................................................7
3-3. Gripping point ..........................................................................................8
3-4. Dimensions (when the cover and attachment are mounted) ....................9
3-5. Connector and pin layout.......................................................................10
4. Product Specifications............................................................................. 11
4-1. Air Gripper ............................................................................................. 11
4-2. 3 Port Solenoid Valve.............................................................................12
5. Operating method / operation .................................................................13
5-1. Design ...................................................................................................13
5-2. Installation .............................................................................................13
5-3. URCap...................................................................................................17
5-4. Air supply...............................................................................................22
5-5. Piping.....................................................................................................22
5-6. Operating environment ..........................................................................22
5-7. Lubrication.............................................................................................23
6. Maintenance .............................................................................................23

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
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.
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 exports of SMC products or technology from one country to another are governed by the
relevant security laws and regulation of the countries involved in the transaction. Prior to the
shipment of a SMC product to another country, assure 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.
当社の製品は､製造業向けとして提供しています｡
ここに掲載されている当社の製品は､主に製造業を目的とした平和利用向けに提供しています｡
製造業以外でのご使用を検討される場合には､当社にご相談いただき必要に応じて仕様書の取り交わ
し､
契約などを行ってください｡
当社の製品は､製造業向けとして提供しています｡
ここに掲載されている当社の製品は､主に製造業を目的とした平和利用向けに提供しています｡
製造業以外でのご使用を検討される場合には､当社にご相談いただき必要に応じて仕様書の取り交わ
し､
契約などを行ってください｡
! 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
Cross recessed round head screw
(M3×6) 3pcs. for mounting the resin cover
Parallel pin (6×10mm) 1pc.
Hexagon socket head cap screw
(M6×23) 4pcs.
For mounting the product
Resin cover 1pc
Air Gripper unit 1pcs.
Polyurethane Tubing (TU0425) 2m

5
2. Parts description of the air gripper
Auto switch：
D-M9P-5
Air Gripper：
JMHZ2-16D
Miniature Fittings:
M-5ALHU-2
Miniature Fittings:
M-5ALHU-2
Polyurethane Tubing:
Tubing O.D.φ2
One-touch Fittings:
KQ2S04-M5N
Metering Valve with
Silencer:
ASN2-M5-X937
3 Port Solenoid Valve:
V114-5LU
ISO9409-1 compliant
flange
M8 8 Pin connector
(female)
)
Parallel pin：
3x6
Parallel pin：
6x10
Hexagon socket head cap screw
：M4x25
Hexagon socket
head cap screw：
M6x10
Adapter plate
Hexagon socket head
cap screw (M3×7)

6
3. Product Specifications
3-1. 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).
Model
JMHZ2-16D-X7400B
Bore size (mm)
16
Fluid
Air
Operating pressure [MPa]
0.1 to 0.7
Ambient and fluid temperature (oC)
-10 to 60
Repeatability (mm)
±0.01
Maximum operating frequency (c.p.m.)
120
Lubrication
Non-lube
Action
Double acting
Holding force
Actual value per finger (N)
O.D.folding
Force (N)
32.7
I.D.holding
Force (N)
43.5
Opening/closing stroke (both) (mm)
10
Weight (g)
430
Auto switch model
D-M9P-5
Standard for mounting interface
ISO9409-1-50-4-M6
Connector configuration
M8 8Pin(female)
Detecting position of the
open end of the finger
Detecting position of the
closed end of the finger

7
3-2. Gripping force
External gripping state Indication of effective 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.
Internal gripping state Indication of effective 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.
Gripping Force F (N)
Gripping Point L
(mm)
Gripping Force F (N)
Gripping Point L
(mm)

8
3-3. Gripping point
External gripping state
Internal gripping state
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
Gripping
Point
Overhang
Internal gripping
Overhang
Gripping Point

9
3-4. Dimensions (when the cover and attachment are mounted)
Refer to P12 and P13 for the dimensions of the air gripper and valves.

10
3-5. Connector and pin layout
PIN
number
Coating
color
Function
Description
1
White
-
Unused
2
Brown
-
Unused
3
Green
Auto switch
(finger closing direction)
-
4
Yellow
Auto switch
(finger opening direction)
-
5
Grey
+24V
Power supply 24
VDC
6
Pink
Valve On/Off
(finger closing direction)
-
7
Blue
Valve On/Off
(finger open direction)
-
8
Red
GND
Power supply for 0
VDC
M8 8 Pin connector (Female)

11
4. Product Specifications
* For detailed specifications not included in this document, please refer to our website
(www.smcworld.com) or operation manual.
4-1. Air Gripper
Specifications
Dimensions
Model
JMHZ2-16D
Bore size (mm)
16
Fluid
Air
Operating pressure [MPa]
0.1 to 0.7
Ambient and fluid temperature (oC)
-10 to 60
Repeatability (mm)
±0.01
Maximum operating frequency
(c.p.m.)
120
Lubrication
Non-lube
Action
Double acting
Holding force
Actual value per finger
O.D.
holding
force (N)
32.7
I.D.
holding
force (N)
43.5
Opening/ closing stroke (both) (mm)
10
Weight [g]
128

12
4-2. 3 Port Solenoid Valve
Specifications.
Solenoid Specifications
Model
V114-5LU
Fluid
Air
Ambient and fluid temperature (°C)
–10 to 50 (No freezing)
Response time (DC) (ms)
ON: 5 or less OFF: 4 or less
Max. operating frequency (Hz)
20
Lubrication
Not required
Mounting position
Unrestricted
Impact/Vibration resistance (m/s2)
150／30
Enclosure rating
Dust proof
Model
V114-5LU
Electrical entry
L 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

13
5. Operating method / operation
5-1. Design
！Warning
1. 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 or trouble with the air source. 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 is 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 is 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. Allow sufficient space for maintenance and inspection.
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.
Attachment
Model
Bolt
Max.tightening Torgue
(Nm)
JMHZ2-16D
M3 x 0.5
0.59

14
How to Mount Air Gripper
Adjust the robot arm position before mounting so that the mounting is easy.
(2) Mounting of the cover
Take care not to get the switch cable
Caught when mounting the cover.
Switch cable
Parallel pin
Robot arm end
(1) Mounting to the robot arm
Hexagon socket head cap screw
Maximum tightening
Torque : 6.3 (Nm)

15
(3)Secure the cover (4) Secure the connector
*Do not energize while securing the connector.
*Check that the connector is not loose
(5) Mount the finger attachments.
Refer to P14, “5-2 Mounting” for mounting of
the finger attachment.
maximum tightening torque :0.3Nm
cross recessed round head screw (M3X6)
hexagon socket head cap screw
maximum tightening torque :0.59Nm

16
Finger open / close speed adjustment
Magnified view of the metering valve
* 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 differ too much, the
operation may become unstable.
Adjustment groove
(for flat blade screwdriver)
Metering valve
Finger closing speed adjustment
Metering valve
Finger opening speed adjustment

17
5-3. URCap
Installation and basic setting
1. Installation of URCap
(1) Tap 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.
*Before you make a change to the basic settings after the software installation, set the Tool Output
Voltage to "24V" in the "Tool IO" setting from the "General" menu on the "Installation" tab. Set
"Digital Output 0" and "Digital Output 1" to "Sinking(NPN)".
①
②

18
2. Select "SMCAir Gripper Unit" on the "URCaps" menu for basic settings.
①:“Time to wait for the operation of the gripper to complete”:
If the MODE is "OPEN ONLY MODE" or "CLOSE ONLY MODE" (see P.21 for MODE), the delay
time between outputting the valve switching signal and the transition of the robot to the next
operation can be set.
If the MODE is "OPEN AND CHECK SIGNAL MODE" or "CLOSE AND CHECK SIGNAL MODE",
the delay time between outputting the valve switching signal and starting of the monitoring of the
auto switch input signal can be set.
Enter the appropriate value according to the opening/closing speed of the finger by adjusting the
metering valve.
Example 1. Set value 500ms, “OPEN ONLY MODE” or “CLOSE ONLY MODE”.
When the valve switching signal is output, the robot operation moves to next operation in 500ms. If
the finger operation time is less than 500ms, the robot will only move to the next operation when
500ms has passed, even if the finger 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, “OPEN AND CHECK SIGNAL MODE”or “CLOSE AND CHECK
SIGNAL MODE”.
In 500ms after the valve switching signal is output, the monitoring of the auto switch input signal
begins. If the finger operation time is less than 500ms, the monitoring of the auto switch signal
begins when 500ms has passed, even if the finger has completed its operation at less than 500ms
from the valve switching. If the finger operation time is more than 500ms, the auto switch signal
monitoring begins when 500ms has passed even when the finger is in operation.
①
②
③

19
②:“Tool weight without work piece”:
The mass of the air gripper is entered. If there are tools to attach to the robot arm other than the
transferred object, add the mass. The robot performs the optimum operation according to the
entered mass.
③:“Various status signal output to digital output port”:
Sets the status of the output port. If "Enable" is selected, the signal for open/close success, failure,
and workpiece drop detection can be assigned to the output port No.5 / 6 / 7, respectively. Select
“Disable” when the output port is not used.
Different signals cannot be assigned to the same port.