SMC Networks JMHZ2-20D-X7510 Manuals

JMHZ-TF2Z397EN Page 1 of 2 Instruction Manual Air Gripper for Collaborative Robots JMHZ2-20D-X7510 The intended use of this parallel type air gripper is to convert the potential energy provided by compressed air into a force which causes mechanical linear motion of the fingers. 1 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 10218-1: Robots and robotic devices - Safety requirements for industrial robots - Part 1: Robots.  Refer to product catalogue, Operation Manual and Handling Precautions for SMC Products for additional information.  Keep this manual in a safe place for future reference. 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  Always ensure compliance with relevant safety laws and standards.  All work must be carried out in a safe manner by a qualified person in compliance with applicable national regulations. 2 Specifications 2.1 Product Specifications Model JMHZ2-20D-X7510 Bore Size [mm] 20 Fluid Air Operating Pressure [MPa] 0.1 to 0.7 Ambient and Fluid Temperature [C] -10 to +50 Repeatability [mm] ± 0.01 Maximum Operating Frequency [c.p.m.] 120 Lubrication Non-Lube Action Double Acting Gripping Force (/per finger) O.D. Force [N] 54.2 I.D. Force [N] 72.2 Opening/Closing Stroke [mm] 14 Weight [g] 670 Auto Switch Model D-M9P 2.2 Individual Specifications 2.2.1 Air Gripper Model JMHZ2-20D Bore Size [mm] 20 Fluid Air Operating Pressure [MPa] 0.1 to 0.7 2 Specifications - continued Ambient and Fluid Temperature [C] -10 to +60 Repeatability [mm] ± 0.01 Maximum Operating Frequency [c.p.m.] 120 Lubrication Non-Lube Action Double Acting Holding Force (/per finger) O.D. Force [N] 54.2 I.D. Force [N] 72.2 Opening/Closing Stroke [mm] 14 Weight [g] 244 2.2.2 3-Port Solenoid Valve Model V114-5MOU Fluid Air Ambient and Fluid Temperature [C] -10 to +50 (No Freezing) Response time (DC) [ms] ON: 5 or less OFF: 4 or less Maximum Operating Frequency [Hz] 20 Lubrication Not Required Mounting Position Unrestricted Impact / Vibration Resistance [m/s2] 150 / 30 Enclosure Rating Dust proof Electrical Entry M-plug connector Coil Rated Voltage [V] 24 Allowable Voltage Fluctuation -10 to +10% Power Consumption [W] 0.4[Starting 0.4, Hold. 0.1] Indicator LED LED 2.2.3 Auto switch 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 5 , 12 , 24 VDC (4.5 to 28V) Current consumption 10 mA or 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 3 Installation 3.1 Installation Warning  Do not install the product unless the safety instructions have been read and understood.  Install and operate the product only after reading and understanding its contents.  Allow sufficient space for maintenance and inspection.  Do not scratch or dent the air gripper by dropping or bumping it when mounting. Slight deformation can cause inaccuracies or a malfunction.  Tighten the screw within the specified torque when mounting the attachment. Tightening with a torque above the limit can cause malfunction, while insufficient torque can cause slippage and dropping. 3 Installation - continued 3.1.1 How to mount air gripper Mount the master plate to the robot arm as shown in Figure 1. The hexagon socket head cap screws to a maximum tightening torque of 6.3 N.m.  Mount the air gripper to the master plate as shown in Figure 2. The hexagon socket head cap screws to a maximum tightening torque of 3.0 N.m.  Secure the connector as shown in Figure 3.  Do not energise the product while securing the connector.  Ensure that the connector is not loose. 3.1.2 Sensing Position  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 further details and example of setting the mounting position of the auto switch, please refer to the catalogue. 3 Installation - continued 3.1.3 Connector and Pin Layout PIN # Function Description 1 Auto switch (Finger opening direction) - 2 Auto switch (Finger closing direction) - 3 - NC 4 Valve ON/OFF (Finger opening direction) - 5 Valve ON/OFF (Finger closing direction) - 6 - NC 7 - NC 8 - NC 9 - NC 10 - NC 11 +24V Power supply for 24VDC 12 GND Power supply for 0 VDC 3.2 Environment Warning  Do not use in an environment where corrosive gases, chemicals, salt water or steam are present.  Do not use in an explosive atmosphere.  Do not expose to direct sunlight. Use a suitable protective cover.  Do not install in a location subject to vibration or impact in excess of the product’s specifications.  Do not mount in a location exposed to radiant heat that would result in temperatures in excess of the product’s specifications. 3.3 Piping Caution  Before connecting piping make sure to clean up chips, cutting oil, dust etc.  When installing piping or fittings, ensure sealant material does not enter inside the port. When using seal tape, leave 1 thread exposed on the end of the pipe/fitting.  Tighten fittings to the specified tightening torque. 3.4 Lubrication Caution  SMC products have been lubricated for life at manufacture, and do not require lubrication in service.  If a lubricant is used in the system, refer to catalogue for details. ORIGINAL INSTRUCTIONS Attached cable Figure 2 Master plate Figure 1 Detecting position of the open end of the finger Detecting position of the open end of the finger Figure 4 A A:(2:1) M12 12 pin connector(plug) A:(5:1) M8 8 pin connector(socket) Figure 3 B