SMC Networks MHM-25D-X7400A-DTP-N User manual

Doc No.MH*-OMY0021
PRODUCT NAME
Magnet Gripper for Collaborative Robots
MODEL / Series / Product Number
MHM-25D-X7400A-(DTP/HC10DT/HC10)-(N/P)

- 1 -
Contents
Safety Instructions..................................................................................................... - 2 -
1. List of included items............................................................................................. - 4 -
2. Parts description of the magnet gripper............................................................... - 6 -
3. Product Specifications........................................................................................... - 8 -
3-1. How to order .................................................................................................... - 8 -
3-2. Specifications .................................................................................................. - 9 -
3-3. Gripping force................................................................................................ - 10 -
3-4. Dimensions.................................................................................................... - 12 -
3-4-1.MHM-25D-X7400A-DTP-(N/P)....................................................................... - 12 -
3-4-2.MHM-25D-X7400A-HC10DT ......................................................................... - 13 -
3-4-3.MHM-25D-X7400A-HC10.............................................................................. - 14 -
3-5. Connector and pin layout.............................................................................. - 15 -
3-5-1. MHM-25D-X7400A-DTP-(N/P)...................................................................... - 15 -
3-5-2. MHM-25D-X7400A-(HC10DT,HC10)-(N/P)................................................... - 16 -
4. Product Specifications......................................................................................... - 18 -
4-1. Magnet gripper............................................................................................... - 18 -
4-2. 3-port solenoid valve..................................................................................... - 19 -
4-3. Auto switch .................................................................................................... - 20 -
5.Operating method or operation............................................................................ - 21 -
5-1．Precautions for Design................................................................................. - 21 -
5-2. Installation...................................................................................................... - 22 -
5-3. YASKAWA Plug & Play Kit............................................................................. - 28 -
5-3-1. Installing YASKAWA Plug & Play Kit............................................................. - 28 -
5-3-2. Tool Presets.................................................................................................. - 33 -
5-3-3. Utility Window............................................................................................... - 34 -
5-3-4. Magnet Gripper Integration Window ............................................................. - 35 -
5-4. Air supply....................................................................................................... - 39 -
5-5. Piping ............................................................................................................. - 40 -
5-6. Operating environment ................................................................................. - 40 -
5-7. Lubrication..................................................................................................... - 40 -
6. Maintenance or inspection .................................................................................. - 40 -
6-1. Maintenance or inspection............................................................................ - 40 -
6-2. Replacement part........................................................................................... - 41 -
6-3. 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
MHM-25D-X7400A-DTP
Polyurethane Tube for piping φ4
(TU0425BU-100) 2m
Conversion cable 1pc.
Hexagon socket head cap
screw (M6×23) 4pcs.
For mounting the product.
Positioning pin (6x10) 1pcs.
For positioning the product.
Magnet gripper 1pc.
One touch fittings
(KQ2L04-M5A1) 2pcs.
One touch fittings
(KQ2L06-08A)1pc.
One touch fittings
(KQ2H04-06A)1pc.

- 5 -
MHM-25D-Z7400A-HC10DT , HC10
Magnet gripper 1pc.
Parallel pin (6×10mm) 1pc.
For positioning the flange.
Hexagon socket head cap
screw (M6×23) 4pcs.
For mounting the product
Poriurethane tube for piping φ4
(TU0425BU-100) 2m.
Flange for MOTOMAN-HC10 1pc.
* For MHM-25D-X7400A-HC10-(*).
Hexagon socket head cap screw
(M4×8) 2pcs.
For fixing INSULOK® tie mount.
INSULOK® tie mount 2pcs.
Flange for MOTOMAN-HC10DT 1pc.
* For MHM-25D-X7400A-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.
Positioning pin (6x10) 1pcs.
For positioning the product.

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2. Parts description of the magnet gripper
MHM-25D-X7400A-DTP-(N/P)
Magnet gripper
3 port solenoid valve
V114-5LU
ISO9409-1compliant
Conversion cable
Positioning pin
3x6
Hexagon socket
head cap screw
M4x16
Adapter plate
Hexagon socket
head cap screw
M6x23
Positioning pin
6x10
Auto switch
D-M9(N/P)
Exhaust throttle valve
with silencer
ASN2-M5-X937
Hexagon socket
head cap screw
M4x35
Hexagon socket
head cap screw
M4x12

- 7 -
MHM-25D-X7400A-HC10DT,HC10-(N/P)
Auto switch：
D-M9(N/P)
Magnet gripper：
Exhaust throttle
valve with silencer：
ASN2-M5-X937
3-port solenoid valves：
V114-5LOU
ISO9409-1compliant
flange
M8-MolexConversion
cable
Positioning pins：
4x8
Hexagon socket head
cap screw：M4x35
Hexagon socket head
cap screws：M4x12
Adapter plate
Hexagon socket head
cap screw：M6x23
Hexagon socket head
cap screw：M4x12
Flange mounting for robot
Positioning pins：6x10
Hexagon socket head
cap screw：M6x12

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

- 9 -
3-2. Specifications
Specifications
MHM-25D-X7400A
-DTP-(N/P)
MHM-25D-X7400A
-HC10DT-(N/P)
MHM-25D-X7400A
-HC10-(N/P)
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(No freezing)
Gripping
Force
*1
Workpiece
thickness:2mm
160N
Workpiece
thickness:6mm
200N
Residual holding force
0.3 N or less
Lubrication
Non-lube
Weight (g)
590g
820g
Connector configuration
of the accessory
Both side M8
8 pin connector
(Socket)
One side M8 8 pin connector(Socket)
One side Connector made by
MOLEX(51227-0800)
*1 Theoretical holding force (reference value) when a low carbon steel plate is held by entire surface
attraction surface
*2 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 holding position.
Detection location at
workpiece release position.

- 10 -
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
Lifting direction
Moving direction
Horizontal handling
Basic orientation
Inclined handling
Vertical handling

- 11 -
⚫Thin workpieces may be deformed during transportation. It is recommended to use multiple magnet
grippers for scenarios such as this.
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]

- 12 -
3-4. Dimensions
Refer to P17, P18 and P19 for the dimensions of the magnet gripper, valves and auto switches.
3-4-1.MHM-25D-X7400A-DTP-(N/P)

- 13 -
3-4-2.MHM-25D-X7400A-HC10DT

- 14 -
3-4-3.MHM-25D-X7400A-HC10

- 15 -
3-5. Connector and pin layout
Attached cable is fixed to the product.
Connect the communication cable correctly. Refer to P. for assembling method.
3-5-1. MHM-25D-X7400A-DTP-(N/P)
NPN output PNP output
PIN No.
Function
Explanation
1
-
2
-
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
Conversion cable
M8 8 Pin connector (Socket)
M8 8 Pin connector (Socket)

- 16 -
3-5-2. MHM-25D-X7400A-(HC10DT,HC10)-(N/P)
NPN output PNP output
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
-
8
-
Conversion cable
M8 8 Pin connector (plug)
M8 8 Pin connector
(Socket)
Connector produced
By Molex Corporation
(51227-0800)

- 17 -
3-6. Center of gravity
*MHM-25D-X7400A-DTP
MHM-25D-X7400A-DTP
MHM-25D-X7400A-HC10DT
MHM-25D-X7400A-HC10
Center of
gravity(mm)
X
Y
Z
X
Y
Z
X
Y
Z
2.4
0.0
42.6
1.0
-0.4
57.1
1.0
-0.4
57.9
Tool Center
Point(TCP)
X
Y
Z
X
Y
Z
X
Y
Z
0
0
114
0
0
138
0
0
140
Z
Y
X
Flange mounting surface
TCP

- 18 -
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.

- 19 -
4-2. 3-port solenoid valve
Specifications
Solenoid specifications
Model No.
V114-5LOU
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
Non-lube
Mounting orientation
Free
Impact resistance/Vibration resistance (m/s2)
150／30
Enclosure rating
Dustproof
Model No.
V114-5LOU
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