Automatic exchange of robot hand tools, FMS (flexible manufacturing system) implemented for assembly lines.

Transcription

1 AHC System Series MA Automatic exchange of robot hand tools, FMS (flexible manufacturing system) implemented for assembly lines. The robot hand tools change automatically to accommodate workpieces of different shapes, thus making it possible to adopt the FMS (flexible manufacturing system) in the assembly line. Specifications Series MA2 MA3 MA3 MA32 MA32 Positioning Ball coupling Curved coupling Max. work load 3 kg 5 kg Single acting/ Single acting/air supply Handling Double acting Air supply at Double acting at separation separation Handling air pressure Proof pressure Ambient and fluid temperature Positioning repeatability.4 to.7 MPa.5 MPa to 6 C ±. mm Variations Adapter for assembling robot Series MA2 ø8,, ø, ø4, ø5, ø2 Series MA3, ø, ø4, ø5, ø2, ø24, ø25 System Construction Additional installation unit of electrical contact point Air grippers for AHC ( to ø2) (Able to add 8 contact points) Standard type Narrow type Added to the standard D MHZ2-6D 2D Tool adapter SMC tool User tool DN MHZ2-6DN 2DN Rotary actuated type MHR2-5 AHC System Robot adapter Unit body Air gripper for AHC Added to the standard tool adapter (Series MA3 only) D-sub connector 9 reverse unit By attaching 2 tools, a single robot can perform 2 types of tasks. An auto switch for detecting the location can be mounted. (Series MA3 only) Option Additional installation unit of electrical contact point (Able to add 8 contact points.) Additional installation unit of electrical contact point (Able to add 8 contact points.) 9 reverse unit Tool stand Tool stand The height for setting a tool can be adjusted. An auto switch for detecting a tool can be mounted. 783 MHZ MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D-

2 A uto H and C hanging System Series MA2 (Compact type) Max. work load: 3 kg Compact/Lightweight O.D.: 52 mm, Weight: 36 g Series MA3 (Double acting type) Ideal for carrying heavy loads. 2.5 times the moment resistance and torque resistance of the conventional series. No adjustment or teaching necessary when replacing tools All attachment and removal during tool replacement is carried out automatically, allowing for elimination of the onerous labor of the replacement process, and a major reduction of time needed for changing setups. Failsafe mechanism Prevents tools from dropping due to reductions in air pressure Quicker launch of assembly lines Use of the AHC system makes it possible to design the equipment layout more quickly, and reduces the time required for manufacturing. Electric interface Series MA2: 8 power systems (Contact points: gold plated) Series MA3: 2 power systems (Contact points: gold plated) Additional installation unit, 8 power systems (option) D-sub connector, with robot cable (option) 784 Air interface Series MA2: 4 power systems, self-seal mechanism, built-in check valve Series MA3: 6 power systems, self-seal mechanism, built-in check valve Max. work load: Series MA2: 3 kg Series MA3: 5 kg Repeatable high-precision ±. mm Series MA2 Series MA3 Ball coupling Series MA32 Curved coupling (For high torque resistance)

3 AHC System Series MA AHC System/Model/Specifications Series Positioning Handling Electric specifications Soldering D-sub connector D-sub connector (With socket side connector) D-sub connector (With socket side connector with 3 m cable) Series MA2 MA2 Ball coupling Single acting Series MA3 MA3 MA3 MA32 MA32 Ball coupling Curved coupling Single acting Double acting Single acting Double acting ø8 ø Robot adapter Applicable shaft ø4 diameter ø5 ø2 ø24 ø25 Air pressure port M3 M5 MHR2 ø2 Air gripper for AHC MHZ2 ø6 ø2 9 reverse unit Tool stand Additional installation unit For of electrical contact point For tool adapter ) This air gripper for AHC is prepared as an optional air gripper that provides the air passage in the attachment to eliminate the fittings piping when mounting. As the mounting attachment and air piping are prepared, there is no problem even when other air gripper or vacuum pad is mounted. However, make sure that the axial force, moment, and torque due to a load are /2 or less of their allowable values. (For details about allowable values, refer to the specifications.) MHZ MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D- 785

4 AHC System/Auto Hand Changing System Series MA2 Moment resistance Combined axial force Torque resistance Specifications Series Positioning Max. work load Handling Handling air pressure Proof pressure Ambient and fluid temperature Positioning repeatability Combined axial force W Moment resistance M Torque resistance T Interface Air Electricity Max. operating pressure Operating vacuum pressure Cv value Number of circuits Contact point capacity Number of contact points MA2 Ball coupling 3 kg Single acting/air supply at disconnection.4 to.7 MPa.5 MPa to 6 C ±. mm 5 N 2 N m 2 N m.7 MPa kpa or more ( Torr or more) A/interface 8 Values given on the table for combined axial force, moment resistance, and torque resistance are the values for when the and tool adapter begin to separate. During use, make sure the axial force, moment and torque from load are /2 or less than those shown above, for safety reasons. Option Part No. Robot adapter Part no. MA2-CS MA2-CR MA2-CR2 MA2-CR3 MA2-CR4 MA2-CR5 Applicable shaft diameter ø8 ø ø4 ø5 ø2 Note M3 x 8 (4 pcs.) M3 x (4 pcs.) 786

5 AHC System Series MA2 How to Order Air gripper for AHC MA 2 A M3 MA 2 Y N M3 Auto hand changer Work load 2 Work load 3 kg Electric specifications N Soldering Air gripper for AHC </ø5> MHR2 A2 R3 Robot adapter S R R2 R3 R4 R5 Air connection size M3 M3 x.5 Without robot adapter ø8 ø ø4 ø5 ø2 Applicable shaft diameter Auto hand changer Air connection size M3 M3 x.5 Cylinder bore mm 5 5 mm For MA2 With adapter Work load 2 Work load 3 kg </ø6> MHZ2 6 D N A2 Y69A MHZ MHF Cylinder bore mm 6 6 mm Finger position N Standard Narrow type Y69A Y69B D-Y69A (3-wire) D-Y69B (2-wire) For MA2 With adapter Auto switch type Without auto switch Solid state auto switch Lead wire: Right angle entry Lead wire length:.5 m Auto switch additional symbol S 2 pcs. pc. MHL MHR MHK MHS MHC MHT -Z MHY MHW Tool stand MA2 S Y59A -X MRHQ MA Tool stand D- Y59A Y59B D-Y59A (3-wire) D-Y59B (2-wire) Auto switch type Without auto switch Solid state auto switch Lead wire: Axial direction entry Lead wire length L Grommet With.5 m lead wire With 3 m lead wire 787

6 Series MA2 AHC Unit and Tool Adapter AHC Unit/MA2-YNM3 (Without robot adapter) AHC Unit/MA2-YNM3- (With robot adapter) /MA2-AM3 Air pressure port (PCD45) 4 x M3 x.5 For mounting robot adapter (PCD44.5) 4 x M3 x.5 through Applicable shaft diameter ød 4 x M3 x.5 depth 4 (PCD44.5) ø3h Operating port M3 x.5 junction H depth 5.5 Air pressure port 4 x M3 x.5 Electrical contact points: 8 For tool mounting (PCD6) 3 x 3.4 depth Model MA2-YNM3 MA2-YNM3-S MA2-YNM3-R MA2-YNM3-R2 MA2-YNM3-R3 MA2-YNM3-R4 MA2-YNM3-R5 MA2-AM3 Applicable shaft diameter ød ød Weight (g) 26 3

7 AHC System Series MA2 Robot adapter MA2-C MA2-CS MA2-CR, 2, 3, 4 MA2-CR5 ø5 ø5 ø5 mounting hole 4 x 3.4 (PCD44.5) mounting hole 4 x 3.4 (PCD44.5) mounting hole 4 x 3.4 (PCD44.5) ø25 ø8h ø H8 øh ø4h ø5h ø35 ø2h ø3h8.33 ø3h8.33 ø3h8.33 MHZ MHF Part no. MA2-CS MA2-CR MA2-CR2 MA2-CR3 MA2-CR4 MA2-CR5 Applicable shaft diameter ø8 ø ø4 ø5 ø2 Weight (g) 4 MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D- 789

8 Series MA2 /ø5 Air Gripper: Rotary Actuated Type /ø5: MHR2-5 -A2 MHR2--A2 MHR2--A2 ø5 MHR2-5-A2 Finger opening port With gasket Finger opening port With gasket Finger opening port With gasket Finger opening port With gasket For mounting tool adapter (PCD6) 3 x M3 x.5 depth 4 For mounting tool adapter (PCD6) 3 x M3 x.5 depth 4 f f M3 x 2 (3 included) ø29 ø x 3 depth 6 (A, B, C common view) 6 x M2 x.4 thread depth 4 (A, B, C common view) ø3.2 ø3.2 Open: 6, Closed: ø3.5.3 ø3.5.3 Open: 22, Closed 4 ø5: MHR2-5-A2 2 x M3 x.5 thread depth 6 (Thread for mounting attachment) 2 x M3 x.5 thread depth 6 (Thread for mounting attachment) M3 x 2 (3 included) Weight: 3 g Weight: 2 g x 3 depth 6 (A, B, C common view) 6 x M3 x.5 thread depth 7 (A, B, C common view) Note) Refer to Series MHR2 (page 536) for the detailed specifications of air grippers. 79

9 AHC System Series MA2 /ø6 Air Gripper: Standard Type MHZ2-D-A2 PCD6 Finger opening port With gasket MA2-CR MA2-YNM (8.8) 7 M3 x 2 (3 included) Finger closing port With gasket 49 For mounting tool adapter 3 x M3 x.5 depth 4 (68.8) (48.8) MA2-AM3 f (2) 2 x M3 x.5 depth Hexagon width across flats 5 4 x M3 x.5 depth 5 Bottom hole dia. 2.6 through Not possible to use a through-hole when using an auto switch. MHZ2-DN-A Closed:.2 Open: For attachment mounting M2.5 x.45 through Closed: 5.7 Open: 9.7 MHZ MHZ2-6D-A Finger closing port With gasket 4 x M4 x.7 depth f8.35 Hexagon width across flats 7 4 x M4 x.7 depth 8 Bottom hole dia. 3.4 through (Not possible to use a through-hole when using an auto switch.) MHZ2-6DN-A2 3 PCD For mounting tool adapter 3 x M3 x.5 depth Closed: Open: Finger opening port With gasket (8.8) (68.8) (48.8) (2) For attachment mounting 4 x M3 x.5 through 23.6 MA2-CR 8.5 MA2-YNM3 M3 x 2 (3 included) MA2-AM3 MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D- Closed: 6.6 Open: 2.6 Note) Only D-Y69A and D-Y69B auto switches can be used. Refer to Series MHZ2 (page 444) for the detailed specifications of air grippers. 79

10 Series MA2 Tool Stand MA2-S- 4 2 x 4.5 mounting hole Height can be adjusted With auto switch ø3 4 x 4.5 mounting hole Weight: 52 g 792

11 AHC System Series MA2 Construction: Component Parts Single acting type When disconnected When connected Air supply (.4 to.7 MPa)!3 y u Exhaust w q e! r! o i t!2 Tool adapter!4!5!7!6 Component Parts No Description Unit body Head cap Ball base Ball cover Contact probe assembly Piston Clamp spring Check valve assembly Lever Material Aluminum alloy Aluminum alloy Aluminum alloy Carbon steel Stainless steel Steel wire Carbon steel Note Hard anodized Hard anodized Hard anodized Electroless nickel plating Zinc chromated Special black thin membrane anti-corrosive treated Pilot pin Carbon steel Special black thin membrane anti-corrosive treated Component Parts No. Description Material Note Parallel pin 2 Steel ball 3 Robot adapter 4 5 Hook 6 Contact block assembly 7 Passage seal Stainless steel Stainless steel Aluminum alloy Aluminum alloy Carbon steel Synthetic rubber Hard anodized Hard anodized Special black thin membrane anti-corrosive treated Contact point gold plated MHZ MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D- 793

12 AHC System/Auto Hand Changing System Series MA3 Specifications Series MA3 MA3 MA32 MA32 Positioning Ball coupling Curved coupling Max. work load Handling Handling air pressure Single acting/ Air supply at disconnection 5 kg Single acting/ Double acting Air supply at disconnection.4 to.7 MPa Double acting Proof pressure.5 MPa Ambient and fluid temperature to 6 C Moment resistance Combined axial force Torque resistance Positioning repeatability Combined axial force W Moment resistance M 2 N 3 N m 5 N (.5 MPa) 7.5 N m (.5 MPa) ±. mm 2 N 3 N m 5 N (.5 MPa) 7.5 N m (.5 MPa) Torque resistance T 3 N m 7.5 N m (.5 MPa) 2 N m 3 N m (.5 MPa) Max. operating pressure.7 MPa Operating vacuum pressure kpa or more ( Torr or more) Cv value.72 Number of circuits 6 Contact point capacity 2 A/interface Number of contact points 2 Values given on the table for combined axial force, moment resistance, and torque resistance are the values for when the and tool adapter begin to separate. During use, make sure the axial force, moment and torque from load are /2 or less than those shown above, for safety reasons. Interface Air Electricity Option Part No. Robot adapter Part no. MA3-CR MA3-CR2 MA3-CR3 MA3-CR4 MA3-CR5 MA3-CS6 MA3-CR6 Applicable shaft diameter ø ø4 ø5 ø2 ø24 ø25 Note M4 x (4 pcs.) M4 x 4 (4 pcs.) Additional Installation Unit of Electrical Contact Point Part no. Additional installation unit Application Note MA3-EY 8 contact points MA3-EA M2.5 x (2 pcs.) 794

13 AHC System Series MA3 How to Order MA 3 A M5 MHR2 Auto hand changer 9 reverse unit MA3 Series 2 R 9 reverse unit Air connection size M3 M5 Ball coupling Curved coupling Auto switch type 9 9A S99 T99 Air gripper for AHC Work load Work load 5 kg 3 9A Without auto switch D-9 (2 pcs.) D-9A (2 pcs.) D-S99, D-S992 ( pc. each) D-T99, D-T992 ( pc. each) M3 x.5 M5 x.8 Reed auto switch Solid state auto switch Can also be used for Series MA32. 3-wire 2-wire 3 2 MA 3 Y A M5 Auto hand changer Work load Work load 5 kg Positioning Ball coupling Curved coupling Operation MHZ2 Single acting Double acting Air gripper for AHC </ø5> Lead wire length:.5 m Cylinder bore mm 5 5 mm <ø6/ø2> Cylinder bore 6 6 mm 2 2 mm MA3 Air connection size M5 M5 x.8 Symbol N A B Soldering R3 Robot adapter R R2 R3 R4 R5 S6 R6 Without robot adapter ø ø4 ø5 ø2 ø24 ø25 Applicable shaft diameter D-sub connector (With socket side connector) C (With socket side connector with 3 m cable) Refer to page 798 D-sub connectors for details. A3 For MA3 With adapter 6 D N Finger position N Standard Narrow type Y69A Y69B S Tool stand Electric specifications D-Y69A (3-wire) D-Y69B (2-wire) A3 For MA3 With adapter Auto switch type Without auto switch Y59A Y69A Solid state auto switch Lead wire: Right angle entry Lead wire length:.5 m Auto switch additional symbol 2 When using an air gripper for AHC, use tool adapter MA3 -AM3 Tool stand S Lead wire length L 2 pcs. pc. Grommet With.5 m lead wire With 3 m lead wire Auto switch type Without auto switch Y59A Y59B D-Y59A (3-wire) D-Y59B (2-wire) Solid state auto switch Lead wire: Axial direction entry Can also be used for Series MA MHZ MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D-

14 Series MA3 AHC Unit and Tool Adapter/Single Acting Type AHC Unit/MA3 2-YNM5 (Without robot adapter) AHC Unit/MA3 2-YNM5- (With robot adapter) /MA3 2-A When mounting MA3 2-AM3 Air pressure port (PCD6) 6 x M5 x.8 When mounting MA3 2-AM5 For mounting robot adapter 4 x M4 x.7 depth 7 Electrical contact points: 2 For mounting an additional installation unit for electrical contact points 2 x M2.5 x.45 thread depth 6 Robot shaft mounting bolt 4 x M4 x 4 Operating port M5 x.8 junction H depth 8 For tool mounting 3 x 3.4 depth For tool mounting 4 x M4 x.7 depth 6 H depth.5 For tool mounting 3 x 3.4 depth 2.5 For tool mounting 4 x M4 x.7 depth 8.5 Magnet for tool stand sensor Air pressure port 6 x M3 x.5 Model MA3 2-YNM5 MA3 2-YNM5-R MA3 2-YNM5-R2 MA3 2-YNM5-R3 MA3 2-YNM5-R4 MA3 2-YNM5-R5 MA3 2-YNM5-S6 MA3 2-YNM5-R6 MA3 2-AM3 MA3 2-AM5 796 Applicable shaft diameter ød ød 35 4 Weight (g) Electrical contact points: 2 Air pressure port 6 x M5 x.8

15 AHC System Series MA3 AHC Unit and Tool Adapter/Double Acting Type AHC Unit/MA3 2-YNM5 (Without robot adapter) AHC Unit/MA3 2-YNM5- (With robot adapter) /MA3 2-A When mounting MA3 2-AM3 When mounting MA3 2-AM5 Air pressure port (PCD6) 6 x M5 x.8 For mounting robot adapter 4 x M4 x.7 depth 7 For mounting an additional installation unit for electrical contact points 2 x M2.5 x.45 thread depth 6 Robot shaft mounting bolt 4 x M4 x 4 Electrical contact points: 2 Connection/Operating port M5 x.8 Disconnection/Operating port M5 x.8 MHZ MHF MHL MHR junction MHK H depth 8 For tool mounting 3 x 3.4 depth For tool mounting 4 x M4 x.7 depth 6 H depth.5 For tool mounting 3 x 3.4 depth 2.5 For tool mounting 4 x M4 x.7 depth 8.5 MHS MHC MHT -Z MHY Magnet for tool stand sensor MHW (Double Acting) Tool adapter Applicable Model shaft diameter ød ød MA3 2-YNM5 MA3 2-YNM5-R MA3 2-YNM5-R2 35 MA3 2-YNM5-R3 4 MA3 2-YNM5-R4 5 MA3 2-YNM5-R5 2 MA3 2-YNM5-S MA3 2-YNM5-R6 25 MA3 2-AM3 MA3 2-AM5 Weight (g) Electrical contact points: 2 Air pressure port 6 x M3 x.5 Air pressure port 6 x M5 x X MRHQ MA D-

16 Series MA3 With D-sub connector MA3-YM5- Robot adapter MA3-C D-sub connector (With socket side connector with 3 m cable) MA3-CR, 2, 3, 4 (With socket side connector) MA3-CR5, 6, CS6 mounting hole 4 x 4.5 View A mounting hole 4 x 4.5 View B with D-sub connector MA3 2-YAM5- MA3 2-YBM5- MA3 2-YCM5- MA3 2-YAM5- MA3 2-YBM5- MA3 2-YCM5- Weight (g) Model MA3-CR MA3-CR2 MA3-CR3 MA3-CR4 MA3-CR5 MA3-CS6 MA3-CR6 Applicable shaft diameter ø ø4 ø5 ø2 ø24 ø25 Weight (g) 8 D-sub connectors D-sub connector specifications D-sub connector Robot cable main body side Contact Pin classification Shell size No. of cores Connector type Effective area No. of cores A 5 Cable side Socket Crimping connection type.2 mm 2 2 MA3-YAM5- with a D-sub connector Since the main body is compatible with a pin contact, prepare a socket contact. MA3-YBM5- with a socket side connector A pin contact is comprised of 2 crimping connection type pins as standard. For a crimping tool, we recommend the CT5-2-D*C made by Japan Aviation Electronics Industry, Inc. Socket side shell Socket contact Connector cover MA3-YCM5- with a socket side connector with 3 m cable The combination of the electric contact point number and cables of the is shown in the table below. Electrical Contact Point No./Cable Wiring Electrical contact point no Insulation color Red White Black Pink Light Purple Gray Orange Green Yellow Brown Blue blue 798

17 AHC System Series MA3 /ø5 Air Gripper: Rotary Actuated Type /ø5: MHR2-5-A3 MHR2--A3 With robot adapter MHR2--A3 ø5 MHR2-5-A3 6 PCD6 Finger closing port With O-ring Finger opening port With O-ring Use MA3 2-AM3 for the tool adapter. For mounting tool adapter 3 x M3 x.5 depth 4 M3 x 4 (3 included) x 3 depth 6 (A, B, C common view) ø5: MHR2-5-A3 6 x M2 x.4 thread depth 4 (A, B, C common view) View D View D Use MA3 2-AM3 for the tool adapter. M3 x 4 (3 included) 6 x M3 x.5 thread depth 7 (A, B, C common view) 2 x M3 x.5 thread depth 6 (Thread for mounting attachment) Weight: 3 g Open: 6, Closed: Open: 22, Closed 4 2 x M3 x.5 thread depth 6 (Thread for mounting attachment) Weight: 2 g MHZ MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D- Note) Refer to Series MHR2 (page 536) for the detailed specifications of air grippers. 799

18 3 Series MA3 ø6/ø2 Air Gripper: Standard Type MHZ2-6D-A3 PCD6 ø69 Finger opening port With O-ring With robot adapter MA3 2-YM5-.6 Finger closing port With O-ring f For mounting tool adapter 3 x M3 x.5 depth M3 x 4 (3 included) MA3 2-AM3 Use MA3 2-AM3 for the tool adapter. 2 x M4 x.7 depth Hexagon width across flats 7 4 x M4 x.7 depth 8 Bottom hole dia. 3.4 through (Not possible to use a through-hole when using an auto switch.) MHZ2-6DN-A Closed: 4.9 Open: For attachment mounting 4 x M3 x.5 through Closed: 6.6 Open: 2.6 MHZ2-2D-A3 PCD6 ø69 Finger opening port With O-ring With robot adapter MA3 2-YM5-.6 Finger closing port With O-ring f For mounting tool adapter 3 x M3 x.5 depth M3 x 4 (3 included) MA3 2-AM3 Use MA3 2-AM3 for the tool adapter. M5 x.8 depth Hexagon width across flats 7 4 x M5 x.8 depth Bottom hole dia. 3.4 through (Not possible to use a through-hole when using an auto switch.) MHZ2-2DN-A Closed: 6.3 Open: For attachment mounting 4 x M4 x.7 through Closed: 7.2 Open: 7.2 Note) Only D-Y69A and D-Y69B auto switches can be used. Refer to Series MHZ2 (page 444) for the detailed specifications of air grippers. 8

19 AHC System Series MA3 9 Reverse Unit MA3-R- With robot adapter M3 x 6 (3 included) 77 for MA3 2-AM5 For mounting tool adapter 6 x M3 thread depth 8 MHZ Stopper MHF Tool mounting hole 3 x 3 drill 9 reverse MHL MHR With auto switch MHK View A MHS MHC Output Table MHT -Z MHY Effective output (N m) Approx. 23 Operating port M3 x.5 Tool mounting hole 3 x 3 drill MHW -X MRHQ MA Operating pressure (MPa) (Rotary operating angle) Weight: 26 g D- View B Please consult SMC regarding operating conditions (load, speed, etc.) before using. 8

20 Series MA3 Additional Installation Unit of Electrical Contact Point MA3-EY: For Tool Stand MA3-S- 2 x 5 mounting hole Electrical contact point Mounting hole position M2.5 x Accessory Flat washer, Compact round washer, Nominal size 2.5 Weight 2 g MA3-EA: For tool adapter Height can be adjusted Electrical contact point Mounting hole position With auto switch Accessory Weight M2.5 x 25 g 4 x 5 mounting hole Weight: 95 g 82

21 AHC System Series MA3 Construction: Component Parts Single i o!3 Air supply (.4 to.7 MPa) y r!4!! q e w Exhaust!2 t e!9 Double acting type i o!3 Component Parts No Air supply/port A (.4 to.7 MPa) Description Body Insulation ring Coupling Piston Lever Check valve assembly Pilot pin Clamp spring Seal Parallel pin Multi-tube holder Contact probe D-sub connector assembly Material Aluminum alloy Synthetic resin Carbon steel Aluminum alloy Carbon steel Brass, steel wire, synthetic rubber Carbon steel Steel wire Synthetic rubber Stainless steel Synthetic resin!8!7 q e w!2 t u Note Hard anodized Black Special black thin membrane anti-corrosive treated Chromated Special black thin membrane anti-corrosive treated Special black thin membrane anti-corrosive treated Zinc chromated Black Component Parts No Air supply/port B (.4 to.7 MPa) Description Cable Robot adapter Connecting base Tool plate Hook Contact block assembly Passage seal 2 Single acting type 2 Bearing 22 Cap Double acting type 23 Head cap 24 Rod seal Material Aluminum alloy Aluminum alloy Aluminum alloy Carbon steel Beryllium copper, synthetic resin Synthetic rubber Stainless steel Aluminum alloy Aluminum alloy Synthetic rubber Note Hard anodized Hard anodized Hard anodized Special black thin membrane anti-corrosive treated Contact point gold plated Chromated Hard anodized 83 MHZ MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D-

22 Series MA Specific Product Precautions Be sure to read before handling. Series MA3 2 MA3 2 MA2 Connection and disconnection procedures Disconnection procedures Connection procedures. Supply compressed air:.4 to.7 MPa to the operating port.. Supply compressed air:.4 to.7 MPa to the disconnection port.. Supply compressed air:.4 to.7 MPa to the operating port. 2. Align the positions of the and tool adapter as shown below, move the to within.5 mm of the tool adapter, with the centers aligned, and insert the pilot pin into the pilot hole on the tool adapter side. Move the toward until the t dimension in the figure below attains to 2 mm larger than the value at the time of connection. 3. Release the compressed air from the operating port.. Supply compressed air:.4 to.7 MPa to the operating port. 2. Pull up the 2 mm or more. Disconnected state Air interface: Port number Operating port M5 x.8 Positioning mark Pilot hole Pilot pin On the basis of the t dimension at the time of connection, move the until the dimension becomes to 2 mm larger. Connected state 3. Release the compressed air from the disconnection port, and at the same time supply compressed air (.4 to.7 MPa) to the connection port.. Release the compressed air from the connection port, and at the same time supply compressed air (.4 to.7 MPa) to the disconnection port. 2. Pull up the 2 mm or more. Disconnected state Connection/Operating port Disconnection/Operating port M5 x.8 M5 x.8 Pilot hole Pilot pin On the basis of the t dimension at the time of connection, move the until the dimension becomes to 2 mm larger. Connected state Electric interface: Port number Positioning mark 3. Release the compressed air from the operating port.. Supply compressed air:.4 to.7 MPa to the operating port. 2. Pull up the 2 mm or more. Disconnected state Terminal unit Pilot pin Pilot hole Connected state Operating port (.4 to.7 MPa) On the basis of the t dimension at the time of connection, move the until the dimension becomes to 2 mm larger. Electric interface: Contact point number Electric interface: Contact point number Robot Adapter Mounting [Mounting the robot adapter to the ] Attach the robot adapter to the by evenly tightening the 4 hexagon socket head cap screws with the maximum tightening torque mentioned in the figures below. [Mounting the robot adapter to an assembling robot] Mount the to the shaft of the assembling robot by evenly tightening the 4 hexagon socket head cap screws with the maximum tightening torque mentioned in the figures below Robot adapter Shaft on the top of assembling robot M4 x Maximum tightening torque 2.5 N m M4 x 4 Maximum tightening torque 2.5 N m Shaft on the top of assembling robot Robot adapter M3 x 8 Maximum tightening torque.6 N m M3 x Maximum tightening torque.6 N m 84

23 Series MA Specific Product Precautions 2 Be sure to read before handling. Series MA3 MA2 How to use dedicated air grippers 9 reverse unit Additional installation unit of electrical contact point Mounting procedures Mounting procedures Piping and wiring procedures Piping and wiring procedures. Based on the positioning of the tool adapter and the air gripper shown in the figures below, note that it is possible to rotate them every 2 and in three different directions. Mount them accordance with your operating conditions. 2. Evenly tighten 3 hexagon socket head cap screws with a maximum tightening torque of.6 N m. 3. Before mounting, confirm that the O-ring or gasket of the air gripper is mounted properly, and make sure there is no dust or debris on the sheet surface of the tool adapter. MHZ2 M3 x 4: Magnet Mounting female thread O-ring (finger closing port) MHZ2 MHR2 MHR2. Mount the tool adapter and the air gripper using the positioning shown in the figures below.. The bracket is fitted with a fluid passage, so there is no need for piping except for on the side. The bracket also has a mark for the position of the piping port, which can be referred to while work is taking place. Finger closing port: S mark Finger opening port: O mark 2. When using an auto switch, solder it to the terminal on the tool adapter.. Based on the positioning shown in the figure below, note that it is possible to rotate the tool adapter and the air gripper every 6 and in six different directions. 2. Mount the 9 reverse unit to the tool adapter, and evenly tighten the 3 hexagon socket head cap screws (M3 x 6) with a maximum tightening torque of.6 N m. M3 x 6: Hexagon socket head cap screw Magnet. Pipe the driving air for tools or the rotary actuator to the air port of the tool adapter. 2. When wiring for use with an auto switch, etc., solder it to the terminal on the tool adapter.. As shown in the figure below, determine the position in accordance with the leveled part of the and tool adapter, and evenly tighten the 2 hexagon socket head cap screws (M2.5 x ) with a maximum tightening torque of.3 N m. Magnet Mounting female O-ring thread (finger opening port) O-ring (finger opening port) M3 x 4: 9 reverse unit Mount based on this surface. Additional installation unit of electrical contact point M2.5 x : 2 pcs. O-ring (finger closing port) Gasket (finger closing port) M3 x 2: Hexagon socket head cap screw Gasket (finger opening port) Gasket (finger opening port) MHZ2 M3 x 2: Hexagon socket head cap screw Gasket (finger closing port) MHR2 85 MHZ MHF MHL MHR MHK MHS MHC MHT -Z MHY MHW -X MRHQ MA D-

24 Series MA Specific Product Precautions 3 Be sure to read before handling. Series MA3 MA2 How to use the tool stand. Align the positions of the tool adapter positioning groove and the tool stand detent spring. When using an auto switch, position the auto switch in relation to the magnet fitted on the tool adapter in accordance with the figure below. By changing the auto switch mounting position to the right side, it is possible to use it by turning it around 8. When doing so, be sure the auto switch cable is coming out of the post side. Tighten the auto switch mounting screws with a maximum tightening torque of. N m. 2. Connect or disconnect the and tool adapter only after attaching the in a horizontal direction.. Use the tool adapter and tool stand based on the positioning shown in the figure below. 2. Connect or disconnect the and tool adapter in a direction perpendicular to the. 3. When positioning the holder, loosen the hexagon socket head cap screws shown in the figure below right, and set it at the desired height, then tighten with a maximum tightening torque of 5 N m. Detent spring Post Disconnection Connection Positioning groove When using an auto switch, the notch should be facing in this direction. Holder Height setting Connection, disconnection completed During connection and disconnection Use with the terminal unit facing outwards. Holder Height setting Tool stand Magnet Auto switch Auto switch cord M5 x 6: Tool stand Piping and wiring precautions. Use SMC compact One-touch fittings, one-touch mini (M3, M5), or miniature fittings (M3, M5). Thoroughly flush out the connector piping and be sure that dirt and chips, etc., do not get inside the equipment. 2. When wiring, except for the D-sub connector entry, solder to the probe socket of the, or the terminal of the tool adapter. We recommend insulating the connection points with heat shrinking tube, etc. 3. During piping and wiring, be sure that there is no external forces such as pulling and twisting at work. Connect with solder/probe socket Connect with solder/terminal 86