SMC Networks MHM-25D-X7400A-CRX User manual

Doc.No.MH*-OMY0023-A
PRODUCT NAME
Magnet Gripper Unit for Collaborative Robots
MODEL / Series / Product Number
MHM-25D-X7400A-CRX

- 1 -
Contents
Safety Instructions........................................................................................................- 2 -
1. List of included items ...............................................................................................- 4 -
2. Parts description of the magnet gripper.................................................................- 5 -
3. Product Specifications .............................................................................................- 6 -
3-1.How to order........................................................................................................- 6 -
3-2. Specifications.....................................................................................................- 7 -
3-3.Gripping force......................................................................................................- 8 -
3-4. Dimensions.......................................................................................................- 10 -
3-5. Connector and pin layout................................................................................- 11 -
3-6. Centor of gravity...............................................................................................- 12 -
4. Product Specifications ...........................................................................................- 13 -
4-1. Magnet 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 ........................................................................................................- 17 -
5-3. CRX Plug-in software.......................................................................................- 20 -
5-4. Air supply..........................................................................................................- 27 -
5-5. Piping ................................................................................................................- 27 -
5-6. Operating environment....................................................................................- 28 -
5-7. Lubrication........................................................................................................- 28 -
6. Maintenance or inspection.....................................................................................- 28 -
6-1. Maintenance or inspection..............................................................................- 28 -
6-2. Replacement part .............................................................................................- 29 -
6-3. Maintenance......................................................................................................- 29 -

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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.

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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.

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1. List of included items
Magnet gripper unit 1pc.
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 (6x10) 1pcs.
For positioning the product.

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2. Parts description of the magnet gripper
3-port solenoid valves:
V114-5LU
ISO9409-1
compliant flanges
Conversion cable
Hexagon socket
head cap screws
M4x12
M4x12
Hexagon socket
head cap screws
M4x16
Adapter plate
Hexagon socket head
cap screws : M6x23
Positioning pin：6x10
Auto switches:
D-M9P
Metering valves
with Silencer:
ASN2-M5-X937
Hexagon socket
head cap screws
M4x35
Magnet gripper
Positioning pins
3x6

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3. Product Specifications
3-1.How to order

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3-2. Specifications
Specifications
Fluid
Air
Operating method
Double acting
Operating pressure (MPa)
0.2 to 0.6MPa
Proof pressure
0.9MPa
Ambient and operating fluid temperature(oC)
-10 to 50
Gripping
Force*
Workpiece
thickness:2mm
160N
Workpiece
thickness:6mm
200N
Residual holding force
0.3 N or less
Lubrication
Non-lube
Weight (g)
590g
Standard for mounting onto the robot
ISO9409-1-50-4-M6
Connector configuration of the accessory
Both side M8 8 pin connector(Socket)
*1 Theoretical holding force (reference 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 magnet gripper. They do not guarantee the
actual holding and release of the workpiece. For checking the holding / release of the workpiece, a
proximity sensor should be mounted separately.
Detect the magnet position
For workpiece holding.
Detect the magnet position
for workpiece release.
Detection location at
workpiece is holding position
Detection location at
workpiece release position

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3-3.Gripping force
Holding conditions.
To lift workpieces vertically, be sure to take into consideration the acceleration rate, air pressure,
impact etc., in addition to the mass of the workpieces.
Consider the center of gravity of the workpiece to avoid moments being applied the magnet gripper
as much as possible.
If multiple magnet grippers are used for transferring a workpiece with a large surface area, properly
allocate the magnet grippers 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.
Thin workpieces may be deformed during transportation. It is recommended to use multiple
magnet grippers for scenarios such as this.
Horizontal handling
Basic orientation
Inclined handling
Vertical handling
Moving direction
Lifting direction

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Calculate the required holding force.
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.
Workpiece thickness t [mm]
Holding force F [N]

- 10 -
3-4. Dimensions
Refer to P13, P14 and P15 for the dimensions of the magnet gripper, valves and auto switches.

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3-5. 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
Explanation
1
-
NC
2
-
NC
3
Auto switch (For holding workpiece)
-
4
Auto switch (For releasing workpiece)
-
5
+24V
Power supply for 24 VDC
6
Valve ON/OFF (For holding workpiece)
-
7
Valve ON/OFF (For releasing workpiece)
-
8
GND
Power supply for 0 VDC
M8 8 Pin connector (Plug)
M8 8 Pin connector
(Socket)
M8 8 Pin connector
(Socket)

- 12 -
3-6. Centor of gravity
Center of gravity(mm)
X
Y
Z
2.4
0.0
42.6
Y
Z
Y
X
X
Z
Flange mounting surface

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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. Magnet gripper
Specifications
Fluid
Air
Operating pressure [MPa]
0.2 to 0.6
Operating method
Double acting
Proof pressure
0.9MPa
Ambient and operating fluid
temperature(oC)
-10 to 60
Gripping
force *
Workpiece
thickness:2mm
160N
Workpiece
thickness:6mm
200N
Residual holding force
0.3 N or less
Lubrication
Non-lube
*1 Theoretical holding force (reference value) when a low carbon steel plate is held by entire surface
attraction surface
Dimensions.
Caution
This special magnet gripper cannot be replaced with MHM-25D because the piping direction is
different.

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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

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4-3. Auto switch
Auto Switch Specifications
D-M9P (With indicator light)
Auto switch model
D-M9P
Electrical entry direction
In-line
Wiring
3-wire
Output
PNP 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
DC28V 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-M9P

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5.Operating method or operation
5-1．Precautions for Design
Warning
1. Confirm the specifications.
Products represented in this catalog are designed only for use in compressed air systems (including
vacuum).Do not operate at pressures, temperatures, etc., beyond the range of specifications, as this can
cause damage or malfunction.(Refer to the specifications.)Please contact SMC when using a fluid other
than compressed air (including vacuum).We do not guarantee against any damages if the product 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 between the magnet gripper and the workpiece or with moving workpieces causing personal
injury.
3. Select a model whose holding force is compatible with the workpiece mass.
Expected holding force may not be obtained depending on the material or shape of the workpiece, please
evaluate the safety against the fall of workpiece with actual machine.
4. Do not use in applications where excessive external force or impact force may be applied to the
gripper.
5. Consider the possibility of a power source related malfunction.
Measures should be taken to prevent injury and equipment damage in the event that there is a power
malfunction to equipment controlled by air pressure, electricity or hydraulics,etc.
6. Consider the action of the product in the event of an emergency stop.
Devise a safe system so that if a person engages the emergency stop or if a safety device is tripped during
a system malfunction,such as a power outage, the operation of the magnet gripper will not cause a hazard
to humans or damage the equipment.
7. Consider the action when operation is restarted after an emergency or abnormal stop.
Design machinery so that bodily injury or equipment damage will not occur upon the restart of operation.
8. Do not disassemble the product or make any modifications, including additional machining.
Doing so may cause human injury and/or an accident.
9. Refer to the Auto Switches Precautions (Web Catalog) if using with an auto switch.
10. Risk to people with pacemakers
The product has a magnet inside. It may interfere with the use of an electronic equipment such as a
pacemaker. People with pacemakers should stay away from the magnet gripper or take safety measures to
block the magnetic force.
Caution
1. If pressure is applied to the external magnet gripper parts, there is a possibility that air will get
inside the cylinder from the rod seal section. ( Example : inside a chamber, etc.)
2. Keep away from objects which are influenced by magnets.
As the body magnets are built-in, do not allow close contact with magnetic disks, magnetic cards, or
magnetic tapes. Data may be erased.

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5-2. Installation
Warning
1. Keep the manual in a safe place for future reference. The product should be mounted and
operated only after thoroughly reading the operation manual and understanding its contents.
2. Ensure sufficient space for maintenance activities.
When installing the products, allow access for maintenance and inspection.
3. Observe the tightening torque for screws.
Tighten the screws to the recommended torque for mounting the product.
4. Do not place a magnetic object near the product.
The auto switch is a magnetic sensing type product. If a magnetic object is placed close to it, the product
could operate suddenly, which could pose a hazard to humans or damage the machinery and equipment.
When the magnet grippers are used in parallel, keep the specified cap between them to avoid malfunction.
5. Do not perform additional machining to the product.
Additional machining to the product can result in insufficient strength and cause damage to the product.
This can lead to possible human injury or damage to the surrounding equipment.
6. Do not enlarge the fixed orifice by modifying the pipe connectors.
If the fixed orifice is enlarged, the speed of switching between holding and releasing increases which results
in higher impact forces. This may lead to damage to the product, which can lead to human injury and
damage to other equipment and machinery.
7. When the magnet moves toward the magnetic attraction surface, holding force is generated on
the attraction surface, Make sure that holding force is not generated when working around the
magnet gripper so that your fingers do not get caught in the magnet gripper.
Caution
1. Do not scratch or dent the magnet gripper by dropping or bumping it when mounting.
Even a slight deformation can cause malfunction.
2. Be careful with the magnetic attraction of parts of objects around the magnet gripper when
mounting the magnet gripper while it is in its holding position (the piston is on the attraction side).
They may cause injury.
3. When mounting the product, tighten it with screws of appropriate length at an appropriate torque.
Tightening with a torque greater than the specified torque can cause malfunction, while insufficient
tightening can cause slippage and dropping.
4. Do not apply impact load to the center of the magnetic attraction surface.
Otherwise, it may result in a breakage or malfunction.

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How to Mount Magnet Gripper
Adjust the robot arm position before mounting so that the mounting is easy.
(1)Mounting to the robot arm
Robot arm end
Auto switch cable
Positioning
pin
Hexagon socket head
cap screw (M6 x 23)
Max. tightening torque
：6.3Nm
(2) Connecting the M8 connector
* Do not energize while securing the connector.
* Check that the connector is not loose.

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Operation time adjustment method for holding / releasing the workpiece
The piston operation time during workpiece holding / release can be adjusted by adjusting the
opening of the metering speed controller valve.
* (1) Workpiece holding time: Time required when the piston and magnet travel from the workpiece
release position to the workpiece holding position
* (2) Workpiece release time: Time required when the piston and magnet travel from the 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 two 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 position.
Metering valve for adjusting the
time to move to the workpiece
releasing position.
(2)
Magnet
Piston
(1)
Workpiece
holding position
Workpiece
release position
Magnified view of the metering valve
Adjustment groove
(*for flat blade screwdriver
Blade width 0.7mm)