SMC JMHZ2-16D-X7400B-HC10 Gripper Operation Manual PDF

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Summary of Content for SMC JMHZ2-16D-X7400B-HC10 Gripper Operation Manual PDF

Doc.No.MH*-OMY0011

PRODUCT NAME

Air Gripper for Collaborative Robots

MODEL / Series / Product Number

JMHZ2-16D-X7400B-(DTP/HC10DT/HC10)-(N/P)

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Contents

Safety Instructions ..................................................................................................... - 2 -

1List of included items ............................................................................................ - 4 -

2. Parts description of the air gripper ....................................................................... - 6 -

3Product 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 -

4Product Specifications ........................................................................................ - 17 -

4-1. Air gripper ...................................................................................................... - 17 -

4-2. 3-port solenoid valve ..................................................................................... - 18 -

4-3. Auto switch .................................................................................................... - 19 -

5Operating method or operation .......................................................................... - 20 -

5-1Precautions 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 -

6Maintenance ......................................................................................................... - 41 -

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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. 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.

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1List 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 (M623) 4pcs. For mounting the product.

Protection cover (Valve side) 1pc. Protection cover (Switch side) 1pc.

Hexagon socket head cap screw (M410) 4pcs. For mounting the cover.

Polyurethane tube for piping 4 (TU0425BU-100) 2m.

Conversion cable 1pc.

One touch fittings (KQ2L04-M5A1) 2pcs.

One touch fittings (KQ2L06-08A) 1pc.

One touch fittings (KQ2H04-06A) 1pc.

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JMHZ2-16D-X7400B-HC10DTHC10-(N/P)

Air gripper 1pc.

Protection cover (Valve side) 1pc. Protection cover (Switch side) 1pc.

Hexagon socket head cap screw (M410) 4pcs. For mounting the cover.

Parallel pin (610mm) 1pc.

For positioning the flange.

Hexagon socket head cap screw (M623) 4pcs. For mounting the product.

Coil tube for piping 4 (TU0425BU-100) 2m.

Flange for MOTOMAN-HC10 1pc. * For JMHZ2-16D-X7400B-HC10-(*).

Hexagon socket head cap screw (M48) 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 (M46) 2pcs. For plugging when INSULOK cable tie fixtures are not used.

Parallel pin (610) 1pc. For positioning the product.

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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 screwM4x25

Adapter plate

Attachments

Hexagon socket

head cap screws

M3X7

Positioning pins6x10

Hexagon socket head

cap screwsM6x10

Positioning pins

6x10

Positioning pins3x6

Metering Valve with

Silencers:

ASN2-M5-X937

Polyurethane Tubings:

O.D.2

Miniature Fittings:

M-5ALHU-2

Auto switches

D-M9(N/P)-5

Hexagon socket head

cap screwsM6x23

Positioning pins3x6

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JMHZ2-16D-X7400B-HC10DTHC10-(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

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3Product Specifications 3-1. How to order

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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

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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.

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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

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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.

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

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

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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-HC10DTHC10-(N/P)

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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

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4Product 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

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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] ON5 or less OFF4 or less

Minimum operation frequency [Hz] 20

Lubrication No

Mounting orientation Free

Impact resistance/Vibration resistance (m/s2)

15030

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

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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 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 A or less at 24 VDC

Indicator LED Red LED illuminates when turned ON.

Standard CE markingRoHS

Dimensions

D-M9-5

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5Operating method or operation

5-1Precautions for Design

Warning 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, etc. 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 are 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 are 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. When installing the products, allow access for maintenance. 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

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How to Mount Air Gripper

(1)Mounting orientation: On robot arm(s) (2)Mounting to the cover

Take care not to get the switch cable caught when mounting the cover.

Robot arm end

Auto switch cable

Hexagon socket head cap screw(M4 x 10) Max. tightening torque: 1.0 Nm

Positioning pin

Hexagon socket head cap screw(M6 x 23) Max. tightening torque: 5.2 Nm

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(3) Connecting the M8 connector * Do not energize while securing the connector. * Check that the connector is not loose.

(4) For mounting attachment For mounting and removal of the attachment, refer to the drawing below. Refer to P20, 5-2 Installation for mounting of the finger to the attachment.

Hexagon socket head cap screw(M3 x 7)

Max. tightening torque: 0.59 Nm

Attached cable

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Finger open / close speed adjustment

* 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 are different too much, the operation may become unstable.

Finger opening speed adjustment Finger closing speed adjustment

Metering valve Metering valve

Adjustment groove

(*for flat blade screwdriver Blade width 0.7mm) )

Magnified view of the metering valve

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(1)Mounting orientation: On robot arm(s) Adjust the robot arm position before mounting so that the mounting is easy. - Let the connectors and cables coming out of the end of the robot arm out of the escapement groove of the flange. - Make sure that the cable is not caught by the hexagon socket head cap screw when it is tightened.

* The drawing shows the flange for MOTOMAN-HC10.

Positioning pin

Flange

Hexagon socket head cap screw (M6 x 12)

Escapement groove for the connector and cable

Robot arm end

Max. tightening torque 5.2Nm

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(2)Mounting to the flange (3)Mounting to the cover

Take care not to get the switch cable caught when mounting the cover.

Robot arm end

Auto switch Cable

Hexagon socket head cap screw (M4 x 10)

Max. tightening torque: 1.0 Nm

Parallel pin

Hexagon socket head cap screw(M6 x 23)

Max. tightening torque: 5.2 Nm

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(4) Connecting the M8 connector - Mount the conversion cable to the M8 connector. - After mounting the conversion cable, connect the robot arm end connector and conversion cable connector. * Do not energize while securing the connector. * Check that the connector is not loose.

(5) Secure the cable Cable is secured by the INSULOK tie and cable tie mount included in the accessories. * After securing the table, cut off the excessive part of the INSULOK tie.

For plugging when INSULOK cable tie fixtures are not used

M8-Molex Conversion cable

INSULOK tie

Hexagon socket head cap screw (M4 x 8)

Max. tightening torque1.0 Nm

* Either the robot side connector S1 or S2 can be connected.

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* Use a cross recessed resin round head screw (M4 x 6) as a plug when the INSULOK cable tie is not used.

(6) For mounting attachment For mounting and removal of the attachment, refer to the drawing below. Refer to P20, 5-2 Installation for mounting of the finger to the attachment.

Hexagon socket head cap (M3 x 7)

Max. tightening torque: 0.59Nm

Cross recessed resin round head screw (M4 6)

Max. tightening torque 1.0Nm

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Finger open / close speed adjustment

* 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 are different too much, the operation may become unstable.

Finger opening speed adjustment Finger closing speed adjustment

Metering valve Metering valve

Adjustment groove

(*for flat blade screwdriver Blade width 0.7mm) )

Magnified view of the metering valve

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5-3. YASKAWA Plug & Play Kit The YASKAWA Plug & Play Kit allows you to easily connect the air gripper to the robot and operate it. 5-3-1. Installing YASKAWA Plug & Play Kit The YASKAWA Plug & Play Kit is installed by means of the YASKAWA Installation Packages(.yip) file. * Set the security access level to the administration level. 1.Download YASKAWA Installation Packages SmcAirGripperExt.yip from the SMC website. 2.Copy the downloaded file to a USB memory stick, insert the stick to the USB port of the smart

pendant, select [MENU] on the upper left of the screen, and tap [System settings] -> [Packages].

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3. Open the Packages tab and tap [+INSTALL] at the upper part of the screen. A pop-up dialog box showing the installable packages will appear. From the package list, select SMC Air Gripper and install it. Normally, when the installation has completed, the packages, extension, and tool presets are added to the appropriate list.

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4.On the package administration screen, confirm that the installation has completed. (1)Tap the Packages tab, and confirm that SMC Air Gripper is added to the list.

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(2)Tap the Extensions tab, and confirm that the SMC Air Gripper is added to the list.

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(3)Tap the Presets tab, and confirm that SMC Air Gripper is added to the list.

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5-3-2. Tool Presets

When you select SMC Air Gripper from the drop-down list of installed tool presets, the settings of the tool properties of the SMC Air Gripper are immediately copied to the text fields of appropriate tool settings of the currently selected tool. As the properties cannot be immediately applied, they can be further manually edited before they are saved.

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5-3-3. Utility Window 1.Select [MENU] at the upper left of the screen, tap [Utility] -> [SMC Air Gripper], or tap [JOGGING] on the job contents review screen and then tap the Air gripper icon at the lower right of the screen to open the utility window.

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2. Utility Window Features (1) Manual operation It is possible to check the manual operation of the Air Gipper. By tapping the OPEN or CLOSE button, it is possible to perform an opening or closing action of the gripper. (2) Monitor sensor Signal It is possible to confirm whether the Open or Close position auto switches react.

5-3-4. Air Gripper Integration Window 1.On the Job Contents review screen, tapping [AIRGRIPPER] on the navigation bar opens the Air Gripper Integration Window.

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2. Insert Commands Tab (1) Selection Operation Select the behaviour of the Open or Close operations.

OPEN ONLY

Puts the gripper into the Open state, recognises it as Open success without checking the Open position signal, and proceeds to the next operation.

OPEN AND CHECK SIGNAL

Puts the gripper into the Open state and waits for the Open position signal input before proceeding to the next operation. When the signal is turned on, the software recognises it as Open success and proceeds to the next operation.

CLOSE

Puts the gripper into the Closed state, recognises it as Close success without checking the Close position signal, and proceeds to the next operation.

CLOSE AND CHECK SIGNAL

Puts the gripper into the Closed state and waits for the Close position signal input before proceeding to the next operation. When the signal is turned on, the software recognises it as Close success and proceeds to the next operation. (2) INSERT COMMAND It is possible to add commands for controlling the gripper opening/closing action to the job.

SMC_OPEN_AIRGRIPPER

This command is used to make a gripper opening action. If you select OPEN ONLY or OPEN AND CHECK SIGNAL this command will be added.

SMC_CLOSE_AIRGRIPPER

This command is used to make a gripper closing action. If you select CLOSE ONLY or CLOSE AND CHECK SIGNAL this command will be added.

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3. Installation Settings Tab * To change the setting, set the security access level to the administration level. (1) Select a valve option. Check the product number, and then select a valve option that suits the type of the air gripper you are using. Nil: no symbol

N.O.Normally open

N.C.Normally closed

(2) Gripper operation completion waiting time This is the set value for the waiting time after the valve is operated for the finger opening/closing action to turn on. Adjust the opening of the exhaust restrictor and enter an appropriate value according to the gripper finger opening/closing operation time. The default value is 500ms. It can be set in the range of 0 to 1000ms. (3) Status signal output to digital output port. Select whether to output a status signal to the digital output port when Open/Close success or Open/Close failure is detected. When Enabled is selected: Selection of the digital output port is enabled. If either of "Open/Close success and Open/Close failure is detected, the corresponding digital output port is turned on. When Disabled is selected: The selection of the digital output port is disabled. Even if either of "Open/Close success and Open/Close failure is detected, no status signal is output. (4) Select a digital output port Selected box operation is enabled when Output status signal to digital output port is enabled. Select the digital output port to which a status signal is output when Open/Close success or Open/Close failure is detected.

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4.I/O Settings Tab * To change the setting, set the security access level to the administration level. (1) I/O settings for gripper operation At the time of installation of the YASKAWA Plug & Play Kit, the I/O assignment is already set. If wiring is made as per the manual, it can be used with the default setting. However, if the wiring is changed to connect with another device, it is possible to change the signal setting for gripper operation from this tab. If you intend to return the I/O setting to the factory default condition, pressing the button at the lower part of the screen can initialize this setting. (2) Tool setting for the gripper The collaborative robot calculates the external force by canceling the tool mass. For this purpose, it is necessary to set the tool to be mounted on the manipulator and the masses and the centers of gravity of the tool and workpiece should be set in the tool file. In the initial setting, the tool number 0 is selected when the OPEN button is pressed. Tool number 1 is selected when the CLOSE button is pressed. The tool number can be changed.

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5. Manual Operation tab (1) Manual operation The manual operation of the air gripper can be checked. By tapping the OPEN or CLOSE button, it is possible to perform an opening or closing action of the gripper. (2) Monitor sensor signal It is possible to confirm whether the Open position or Close position auto switch reacts.

5-4. Air supply

Warning 1. Please contact SMC when using the product in applications other than with compressed air. 2. Compressed air containing a large amount of drainage can cause the malfunction of pneumatic

equipment. An air dryer or water separator should be installed upstream from filters. 3. If condensation in the drain bowl is not emptied on a regular basis, the bowl will overflow and allow

the condensation to enter the compressed air lines. This causes the malfunction of pneumatic equipment. If the drain bowl is difficult to check and remove, the installation of a drain bowl with an auto drain option is recommended.

4) Use clean air. Do not use compressed air that contains chemicals, synthetic oils including organic solvents, salt or corrosive gases, etc., as it can cause damage or malfunction of equipment. For detailed information regarding the quality of the compressed air described above, refer to SMC's "Air Cleaning Systems".

Caution 1. When dry air is used as the fluid, degradation of the lubrication properties inside the equipment

may occur, resulting in reduced reliability (or reduced service life) of the equipment. Please consult with SMC.

2. Install air filters. Install an air filter at the upstream side of valve. Select an air filter with a filtration degree of 5m or finer.

3. Install an aftercooler, air dryer or drain catch before the filter and take appropriate measures. Compressed air that contains excessive foreign material may cause malfunction of valves and other pneumatic equipment. Therefore, take appropriate measures to ensure air quality, such as by providing an aftercooler, air dryer or water separator.

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4. Use the product within the specified fluid and ambient temperature range. If the fluid temperature is 5oC or Cable at the bottom, the moisture in the circuit could freeze, causing damage to the seals and leading to equipment malfunction. Therefore, take appropriate measures to prevent freezing.

For detailed information regarding the quality of the compressed air described above, refer to SMC's "Air Cleaning Systems".

5-5. Piping

Caution

1. Refer to the Fittings and Tubing Precautions (Best Pneumatics) for handling one touch fittings. 2. Before piping Before piping, blow air (flush) or clean the piping to remove any cutting chips, cutting oil, dust, etc.

5-6. Operating environment

Warning 1) Do not use in an atmosphere where corrosive gases, chemicals, sea water, water or water steam is

present. 2. Do not expose the product to direct sunlight for an extended period of time. 3. Do not operate in a location subject to vibration or impact. 4. Do not mount the product in locations where it is exposed to radiant heat. 5. Do not use this product in an area that is dusty, or in an environment in which water or oil splashes

on to the cylinder.

Caution 1. Martensitic stainless steel is used for the finger guide rail, so make sure that anti-corrosiveness is

inferior to the austenitic stainless steel. Especially rust may be generated in environments that allow water drops from condensation to stay on the surface.

5-7. Lubrication

Caution

1. The non-lube type air gripper is lubricated at the factory, and can be used without any further lubrication. If a lubricant is used in the system, use turbine oil Class 1 (with no additive) ISO VG32. Furthermore, once lubrication is applied, it must be continued. If lubrication is later stopped, malfunction can occur due to loss of the original lubricant. Refer to the Material Safety Data Sheet (MSDS) of the hydraulic fluid when supplying the fluid.

6Maintenance

Warning

1. If handled improperly, compressed air can be dangerous. The assembly, handling, repair and element replacement of pneumatic systems should be performed by a knowledgeable and experienced person.

2. Remove drainage from air filters regularly. 3. When air grippers are removed, first confirm that measures are in place to prevent any workpieces

from dropping, run-away of equipment, etc. Then cut off the supply pressure and electric power and exhaust all compressed air from the system using the residual pressure release function. When the equipment is restarted, proceed with caution after confirming that appropriate measures are in place to prevent cylinders from sudden movement.

4. Do not allow people to enter or place objects in the carrying path of the air gripper. Otherwise, injury or an accident may occur.

5. Do not put hands, etc. in between the air gripper fingers or attachments. Otherwise, injury or an accident may occur.

6. When removing the air gripper, first confirm that no workpieces are being held and then release the

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compressed air before removing the air gripper. If a workpiece is still being held, there is a danger of it being dropped.

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Revision history

D. YASKAWA Plug & Play Kit add.

4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362 URL https://www.smcworld.com Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer. 2021 SMC Corp

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