Low Profile Air Gripper

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1 Low Profile Air Gripper MHF2 Series ø8, ø, ø, ø RoHS Low profile air gripper with space-saving design MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- 465

2 Low Profile Air Gripper MHF2 Series Height is approximately 1/ the size of an equivalent MHZ2 series. MHZ2-D 42 Bore size 8 (mm) Height MHF2-D The low profile design saves space and reduces bending moments. Improved accuracy with smooth operation Low profile design Reduced bending moment and vibration Stroke selection is available. standard stroke lengths are available for each bore size. Stroke can be selected to suit the workpiece. ø8 ø ø ø Short 8 mm mm mm mm Medium mm mm mm mm Long mm mm mm mm 466

3 Improved mounting repeatability With positioning pin holes Auto switches can be mounted on both sides. Piping is available from 2 directions Piping port position can be specified using a part number. Linear guide provides: High precision and high rigidity with martensitic stainless steel Centralized wiring and piping are possible. Axial piping Side piping asy positioning for mounting attachments With positioning pin holes High degree of mounting flexibility As no brackets are required, mounting height can be minimized. e q r Mounting is possible from 4 directions. Strong gripping force Double piston construction achieves compact design with strong gripping force. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X q w w Model Bore size Gripping force (N) MHF2-8D MHZ2-1D MRHQ MA D- w e r MHF2-D MHZ2-D MHF2-D MHZ2-25D MHF2-D MHZ2-2D

4 Model Selection Selection Procedure MHF2 Series Model Selection Step 1 Confirm gripping force Step 2 Confirm gripping point Step Confirm external force on fingers Step 1 Confirmation of Gripping Force Confirmation of conditions Calculation of required gripping force Model selection from gripping force graph xample Workpiece mass:. kg Gripping method: xternal gripping Length of gripping point: mm Operating pressure:.4 MPa Model selection criteria with respect to workpiece mass Although differences will exist depending on factors such as shape and the coefficient of friction between attachments and workpieces, select a model which will provide a gripping force 1 to times the weight of the workpiece. (Note1) Refer to the model selection illustration for more information. Furthermore, in cases with high acceleration or impact, etc., it is necessary to allow an even greater margin of safety. xample When it is desired to set the gripping force at times or more the workpiece weight. Required griping force =. kg x x 9.8 m/s 2 = Approx N or more MHF2-D Gripping force N 1 Pressure.7MPa.6MPa.5MPa 4.4MPa.MPa.2MPa 6 Gripping point L mm 8 Selecting the MHF2-D The gripping force is obtained from the intersection point of the gripping point distance L = mm and a pressure of.4 MPa. Gripping force N = 8 N A gripping force of 8 N satisfies the required gripping force of 29.4 N. Therefore, the selection of MHF2-D is appropriate. Model Selection Illustration F F When gripping a workpiece as in the figure to the left and with the following definitions, F: Gripping force (N) µ: Coefficient of friction between attachments and workpiece m: Workpiece mass (kg) g: Gravitational acceleration (= 9.8 m/s 2 ) mg: Workpiece weight (N) When µ =.2 When µ =.1 mg F = x 4 2 x.2 = 1 x mg µf µf mg Gripping force at least 1 to times the workpiece weight The "1 to times or more of the workpiece weight" recommended by SMC is calculated with the safety margin of a = 4, which allows for impacts that occur during normal transportation, etc. mg F = x 4 2 x.1 = x mg the conditions under which the workpiece will not drop are 2 x µf mg Number of fingers and therefore, mg F 2 x µ With "a" as the safety margin, F is determined as follows: mg F = x a 2 x µ 1 x workpiece weight x workpiece weight (Note) ven in cases where the coefficient of friction is greater than µ =.2, for safety reasons, SMC recommends selecting a gripping force which is at least 1 to times the workpiece weight. It is necessary to allow a greater safety margin for high accelerations and strong impacts, etc. 468

5 Low Profile Air Gripper MHF2 Series Step 1 ffective Gripping Force: MHF2 Series xpressing the effective gripping force The effective gripping force shown in the graphs below is expressed as F, which is the thrust of one finger when both fingers and attachments are in full contact with the workpiece as shown in the figure below. Both the external and internal gripping forces are the values shown in the figure below. F F xternal Gripping L Internal Gripping L MHF2-8D MHF2-D Pressure.7MPa 7 6 Pressure.7MPa.6MPa Gripping force N 1.6MPa.5MPa.4MPa.MPa.2MPa Gripping force N MPa.4MPa.MPa.2MPa MHZ MHF MHL MHR 1 4 Gripping point L mm 4 6 Gripping point L mm 8 MHK MHS MHF2-D Gripping force N Pressure.7MPa.6MPa.5MPa.4MPa.MPa.2MPa MHF2-D Gripping force N Pressure.7MPa.6MPa.5MPa.4MPa.MPa.2MPa MHC MHT MHY MHW -X MRHQ MA D Gripping point L mm Gripping point L mm 469

6 MHF2 Series Model Selection Step 2 ffective Gripping Force: MHF2 Series xternal Gripping L Internal Gripping The air gripper should be operated so that the amount of overhang "H" will stay within the range given in the graphs below. If the workpiece gripping point goes beyond the range limits, this will have an adverse effect on the life of the air gripper. L H Holding point H Holding point MHF2-8D 5 MHF2-D 8 Overhang Hmm 4 1.4MPa.MPa Pressure.2MPa.5MPa.6MPa.7MPa Overhang Hmm 6 4.4MPa Pressure.2MPa.MPa.5MPa.6MPa.7MPa Gripping point L mm Gripping point L mm MHF2-D 1 MHF2-D 1.5MPa Overhang Hmm MPa Pressure.2MPa.MPa.5MPa.6MPa.7MPa Overhang Hmm MPa Pressure.2MPa.MPa.6MPa.7MPa Gripping point L mm Gripping point L mm 47

7 Low Profile Air Gripper MHF2 Series Step Confirmation of xternal Force on Fingers: MHF2 Series Fv Mp My L L L Mr L: Distance to the point at which the load is applied (mm) Maximum allowable moment Model Allowable vertical load Pitch moment Yaw moment Roll moment Fv (N) Mp (N m) My (N m) Mr (N m) MHF2-8D MHF2-D MHF2-D MHF2-D Note) The load and moment values in the table indicate static values. Allowable load F (N) Calculation of allowable external force (when moment load is applied) M (Maximum allowable moment) (N m) = L x 1 - Allowable load F = ( Unit converted invariable number) Calculation example When a load f = 1 N is operating, which applies pitch moment to point L = mm from the end of the MHF2-D finger..68 x 1 - = 22.7 (N) Load f = 1 (N) < 22.7 (N) Therefore, it can be used. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- 471

8 Low Profile Air Gripper MHF2 Series ø8, ø, ø, ø RoHS How to Order MHF 2 D M9BW Made to Order Refer to page 47 for details. Number of fingers 2 2 finger 8 Bore size (mm) 8 Action D Double acting Body option Nil: Axial piping type Number of auto switches Nil S n 2 pcs. 1 pc. n pcs. Auto switch Nil Without auto switch (Built-in magnet) R: Side piping type Nil 1 2 Stroke Short stroke Medium stroke Long stroke Port Port Applicable Auto Switches/Refer to pages 797 to 85 for further information on auto switches. Type Solid state auto switch Special function Diagnostic indication (2-color indicator) Water resistant (2-color indicator) Auto switch model lectrical Wiring Load voltage lectrical entry direction entry (Output) DC AC Perpendicular In-line -wire (NPN) M9NV M9N 5 V, V -wire (PNP) M9PV M9P 2-wire V M9BV M9B -wire (NPN) M9NWV M9NW 5 V, V Grommet Yes -wire (PNP) 24 V M9PWV M9PW 2-wire V M9BWV M9BW -wire (NPN) M9NAV M9NA 5 V, V -wire (PNP) M9PAV M9PA 2-wire V M9BAV M9BA Indicator light Lead wire length (m) (Nil) (M) (L) (Z) Pre-wired connector Applicable load IC circuit IC circuit Water resistant type auto switches can be mounted on the above models, but in such case SMC cannot guarantee water resistance. Lead wire length symbols:.5 m Nil (xample) M9NW Auto switches marked with are made to order specification. 1 m M (xample) M9NWM m L (xample) M9NWL 5 m Z (xample) M9NWZ Note) When using the 2-color indicator type, please make the setting so that the indicator is lit in red to ensure the detection at the proper position of the air gripper. IC circuit Relay, PLC 472

9 Low Profile Air Gripper MHF2 Series Specifications Symbol Double acting: Internal grip Double acting: xternal grip Symbol -X8 Symbol -X4 -X5 -X5 -X5 -X6 -X79 -X79A -X81A -X81B -X8 Made to Order: Individual Specifications (For details, refer to pages 492 to 494.) Specifications/Description With an adjustable opening/closing finger positioning Made to Order Refer to pages 725 to 748 for details. Specifications/Description Heat resistance (1 C) Fluororubber seal Without magnet PDM seal/fluorine grease Fluorine grease Grease for food processing machines, Fluorine grease Grease for food processing machines Anti-corrosive treatment of finger Anti-corrosive treatment of finger, guide and joint With an adjustable opening/closing finger positioning Moisture Control Tube IDK Series When operating an actuator with a small diameter and a short stroke at a high frequency, the dew condensation (water droplet) may occur inside the piping depending on the conditions. Simply connecting the moisture control tube to the actuator will prevent dew condensation from occurring. For details, refer to the IDK series in the Best Pneumatics No. 6. Ambient and fluid temperature Repeatability Maximum operating frequency Model Action Double acting Fluid Operating pressure Model MHF2-8D MHF2-8D1 MHF2-8D2 MHF2-D MHF2-D1 MHF2-D2 MHF2-D MHF2-D1 MHF2-D2 MHF2-D MHF2-D1 MHF2-D2 Short stroke Medium stroke Long stroke Lubrication Action Auto switch (Option) Note 2) Cylinder bore (mm) 8 Note 1) Gripping force ffective gripping force per finger N Opening /closing stroke (Both sides) mm Note 1) At the pressure of.5 MPa, when gripping point L is mm. Note 2) xcluding the auto switch weight. Air ø8:. to.7 MPa ø to :.1 to.7 MPa 1 to 6 C (with no condensation) ±.5 mm Note 1) 1 c.p.m. 1 c.p.m. 6 c.p.m. Not required Double acting Solid state auto switch (-wire, 2-wire) Note 1) This is the value when no offset load is applied to the finger. When an offset load is applied to the finger, the maximum value is ±. mm due to the influence of backlash of the rack and pinion. Note 2) Refer to pages 797 to 85 for further information on auto switches. Note 2) Weight (g) ,225 Unobstructed capacity (cm ) Finger Finger open side close side MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D-

10 MHF2 Series Construction MHF2-8D,MHF2-8D1 q o!9 y t!5 r e!7 MHF2-8D2 i!6 Component Parts No Description Body Piston Joint Guide rail Finger Roller stopper Pinion Cap A Cap B Cap C Replacement Parts Description Seal kit Finger assembly MHF2-8D MHF8-PS MHF-A82 Material Aluminum alloy Stainless steel Stainless steel Stainless steel Stainless steel Stainless steel Carbon steel Aluminum alloy Aluminum alloy Aluminum alloy Kit no. MHF2-8D1 MHF8-PS MHF-A82-1 Replacement part/grease pack part no.: Guide unit: GR-S-1 (1 g) Cylinder unit: GR-L-5 (5 g) 474 Note Hard anodized Heat treatment Heat treatment Heat treatment Nitriding Clear anodized Clear anodized Clear anodized MHF2-8D2 MHF8-PS-2 MHF-A82-2 Component Parts No Contents,, 21, 4, 5, 6,, 17, 19 Mounting screw Description Head damper Clip Rack Magnet Steel balls Wear ring Roller Needle roller Parallel pin Piston seal Gasket Material Note Urethane rubber Stainless steel wire Stainless steel Nitriding Nickel plated High carbon chromium bearing steel Synthetic resin High carbon chromium bearing steel High carbon chromium bearing steel Stainless steel NBR NBR Bolts for Body Through-hole Mounting Part no. Number of pieces MHF-B8 MHF2-8D MHF2-8D1 MHF2-8D2 2 pieces/unit 2 pieces/unit 4 pieces/unit The bolts for body through-hole mounting are attached to the product. They are also provided at an order of 1 piece or more with the above part numbers.

11 Low Profile Air Gripper MHF2 Series Construction MHF2-D to D u o MHZ!9 Component Parts No. Description y Material!8 Note t!4 r No. Description e Material!6 Note MHF MHL 1 2 Body Piston Aluminum alloy Aluminum alloy Hard anodized Clear anodized 1 14 Magnet Steel balls High carbon chromium bearing steel Nickel plated MHR Joint Guide rail Finger Roller stopper Stainless steel Stainless steel Stainless steel Stainless steel Heat treatment Heat treatment Heat treatment 17 Wear ring Synthetic resin ø: Roller High carbon chromium bearing steel ø to : Parallel pin Stainless steel Needle roller High carbon chromium bearing steel MHK MHS Pinion Cap A Cap B Cap C Head damper Rack Carbon steel Aluminum alloy Aluminum alloy Aluminum alloy Urethane rubber Stainless steel Nitriding Clear anodized Clear anodized Clear anodized Nitriding ø: R shape retaining ring ø to : Type C retaining ring Parallel pin Piston seal Gasket Gasket Carbon steel Stainless steel NBR NBR NBR Phosphate coated MHC MHT MHY Replacement Parts Description MHF2-D Seal kit MHF-PS Finger assembly MHF-A Kit no. MHF2-D1 MHF-PS MHF-A-1 MHF2-D2 MHF-PS MHF-A-2 Contents, 21, 22, 4, 5, 6, 14,, 19 Mounting screw Bolts for Body Through-hole Mounting Part no. MHF-B Number of pieces MHF2-D 2 pieces/unit MHF2-D1 2 pieces/unit MHW -X MRHQ Description Seal kit Finger assembly Description Seal kit MHF2-D MHF-PS MHF-A2 MHF2-D MHF-PS Kit no. MHF2-D1 MHF-PS MHF-A2-1 Kit no. MHF2-D1 MHF-PS MHF2-D2 MHF-PS MHF-A2-2 MHF2-D2 MHF-PS Contents, 21, 22, 4, 5, 6, 14,, 19 Mounting screw Contents, 21, 22 MHF2-D2 4 pieces/unit The bolts for body through-hole mounting are attached to the product. They are also provided at an order of 1 piece or more with the above part numbers. When mounting MHF2-D or MHF2-D with the body through-holes, use hexagon socket head screws available on the market. MA D- Finger assembly MHF-A2 MHF-A2-1 MHF-A2-2, 4, 5, 6, 14,, 19 Mounting screw Replacement part/grease pack part no.: MHF2-D, D1 (ø,, ) MHF2-D2 (ø) MHF2-D2 (ø, ) GR-S-1 (1 g) (Guide unit) GR-L-5 (5 g) (Cylinder unit) GR-S-1 (1 g) (Guide unit) GR-L-1 (1 g) (Cylinder unit) 475

12 MHF2 Series Dimensions MHF2-8D ø2.5h depth H depth x M x.5 thread depth Detail of part A x M x.5 thread depth 4 A Auto Switch Mounting Groove Dimensions ø M x.5 Finger opening port 17.1 M x.5 Finger closing port 4 x M x.5 thread depth Close: Open: 8±1 - Use the attached hexagon socket head screws for mounting holes. 4 x M2.5 x.45 thread depth (Attachment mounting thread) ø4 M2.5 x.45 Accessory option: Hexagon socket head screw (special screws) Groove for auto switch mounting x ø2h depth 2 2 x M x.5 thread depth Finger reference plane 2 x ø2.6 through (Mounting hole) 2 x ø

13 Low Profile Air Gripper MHF2 Series Dimensions MHF2-8D1 ø2.5h depth H depth x M x.5 thread depth ø M x Finger closing port M x.5 Finger opening port Finger reference plane Auto Switch Mounting Groove Dimensions 4 x M x.5 thread depth 4 Groove for auto switch mounting Close: Open: ±1 2 x M x.5 thread depth ø x ø2.6 through (Mounting hole) 2 x ø4.5 Use the attached hexagon socket head screws for mounting holes. 4 x M2.5 x.45 thread depth (Attachment mounting thread) 11 2 x ø2h depth 2 2 x M x.5 thread depth 4 Detail of part A A M2.5 x.45 Accessory option: Hexagon socket head screw (special screws) MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D

14 MHF2 Series Dimensions MHF2-8D2 ø2.5h depth H depth x M x.5 thread depth Detail of part A x M x.5 thread depth 4 A M x.5 Finger opening port M x.5 Finger closing port Finger reference plane Open: 2±1 Close: x ø2.6 through (Mounting hole) 4 x ø4.5 Use the attached hexagon socket head screws for mounting holes. Auto Switch Mounting Groove Dimensions 4 x M x.5 thread depth 4 5 ø4 1. ø4 26 Accessory option: Hexagon socket head screw (special screws) x M2.5 x.45 thread depth (Attachment mounting thread) M2.5 x.45 2 x ø2h depth 2 Groove for auto switch mounting 2 x M x.5 thread depth

15 Low Profile Air Gripper MHF2 Series Dimensions MHF2-D 4.1 M5 x.8 Finger opening port Auto Switch Mounting Groove Dimensions. 1.7 ø4 øh depth 2 x M4 x.7 thread depth M5 x.8 Finger closing port Finger reference plane 4 x M4 x.7 thread depth 5 Groove for auto switch mounting Close: +.1 Open: ±1 H depth 2 x M4 x.7 thread depth 5-4 x M x.5 thread depth 4 (Attachment mounting thread) 2 x ø2.5h ø5 2 x ø x ø.4 through (Mounting hole) Use the attached hexagon socket head screws for mounting holes. M x.5 Accessory option: Hexagon socket head screw (special screws) depth x M4 x.7 thread depth Detail of part A A MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D

16 MHF2 Series Dimensions MHF2-D1 øh depth 42 H depth x M4 x.7 thread depth M5 x.8 Finger closing port x M4 x.7 thread depth M5 x.8 Finger opening port x ø5.5 4 x M4 x.7 thread depth x M x.5 thread depth 4 (Attachment mounting thread) ø5 M x ø x M4 x.7 thread depth 5. Detail of part A A Finger reference plane Open: 24±1 Close: x ø.4 through (Mounting hole) Use the attached hexagon socket head screws for mounting holes. Auto Switch Mounting Groove Dimensions Accessory option: Hexagon socket head screw (special screws) 2 x ø2.5h depth 2.5 Groove for auto switch mounting 54 48

17 Low Profile Air Gripper MHF2 Series Dimensions MHF2-D2 øh depth H depth x M4 x.7 thread depth M5 x.8 Finger closing port 14 9 Detail of part A 2 x M4 x.7 thread depth 5 A Auto Switch Mounting Groove Dimensions M5 x.8 Finger opening port ø x ø Use the attached hexagon socket head screws for mounting holes. (Attachment mounting thread).. Finger reference plane 4 x M4 x.7 thread depth Open: 48±1 Close: x M x.5 thread depth 4 ø5 2 x M4 x.7 thread depth 5 4 x ø.4 through (Mounting hole) M x.5 Accessory option: Hexagon socket head screw (special screws) 2 x ø2.5h depth 2.5 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- Groove for auto switch mounting 9 481

18 MHF2 Series Dimensions MHF2-D ø4h9 +. depth 8 4H9 +. depth 2 x M5 x.8 thread depth M5 x.8 Finger closing port 72 Detail of part A x M5 x.8 thread depth 5.5 A x ø4. through (Mounting hole) Close: x ø7.5 4 x M5 x.8 thread depth x M4 x.7 thread depth 4 (Attachment mounting thread) ø x M5 x.8 thread depth Finger reference plane M5 x.8 Finger opening port Open: ±1 Auto Switch Mounting Groove Dimensions 2 x øh depth Groove for auto switch mounting

19 Low Profile Air Gripper MHF2 Series Dimensions MHF2-D1 ø4h9 +. depth 6 4H9 +. depth 2 x M5 x.8 thread depth Detail of part A M5 x.8 Finger closing port x M5 x.8 thread depth 5.5 A M5 x Finger opening port Auto Switch Mounting Groove Dimensions ø4 24 Finger reference plane x M5 x.8 thread depth 5.5 Open: 2±1 58 Close: x M4 x.7 thread depth 4 (Attachment mounting thread) 2 x øh depth 2 x M5 x.8 thread depth x ø7.5 2 x ø4. through (Mounting hole) MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- Groove for auto switch mounting 74 48

20 MHF2 Series Dimensions MHF2-D2 ø4h9 +. depth H9 +. depth 4 x M5 x.8 thread depth M5 x.8 Finger closing port x ø7.5 4 x M5 x.8 thread depth 5.5 (Attachment mounting thread) ø x M5 x.8 thread depth Detail of part A 2 x M5 x.8 thread depth 5.5 A M5 x.8 Finger opening port Finger reference plane Open: 64±1 +.1 Close: 4 x ø4. through (Mounting hole) 8 x M4 x.7 thread depth 4 Auto Switch Mounting Groove Dimensions 2 x øh depth Groove for auto switch mounting 2 484

21 Low Profile Air Gripper MHF2 Series Dimensions MHF2-D ø5h9 +. depth x M6 x 1 thread depth M5 x.8 Finger closing port 56 2 x M6 x 1 thread depth 6 M5 x.8 Finger opening port 6 2. ø4 2.1 Auto Switch Mounting Groove Dimensions x M6 x 1 thread depth Close: +.1 Open: ± x M4 x.7 thread depth 4 (Attachment mounting thread) 2 x M6 x 1 thread depth 6 2 x ø5.2 through (Mounting hole) 2 x ø H9 +. depth Detail of part A A Finger reference plane 25 2 x øh depth MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- Groove for auto switch mounting

22 MHF2 Series Dimensions MHF2-D1 ø5h9 +. depth H9 +. depth 4 2 x M6 x 1 thread depth M5 x.8 Finger closing port x M6 x 1 thread depth 6 Detail of part A A M5 x.8 Finger opening port.1 Finger reference plane x ø1 4 x M6 x 1 thread depth x M4 x.7 thread depth 4 (Attachment mounting thread) ø Auto Switch Mounting Groove Dimensions 2 x øh depth x M6 x 1 thread depth 6 Groove for auto switch mounting 25 Open: 4±1 Close: x ø5.2 through (Mounting hole)

23 Low Profile Air Gripper MHF2 Series Dimensions MHF2-D2 ø5h9 +. depth H9 +. depth x M6 x 1 thread depth x M6 x 1 thread depth 6 A Auto Switch Mounting Groove Dimensions 2. ø4 4 x M6 x 1 thread depth 6 Groove for auto switch mounting x ø x M4 x.7 thread depth 4 (Attachment mounting thread) 2 x M6 x 1 thread depth 6 25 Detail of part A M5 x.8 M5 x.8 Finger opening port Finger closing port Finger reference plane Close: +.1 Open: 8± x ø5.2 through (Mounting hole) 2 x øh depth MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D

24 MHF2 Series Body Option: Side Piping Type MHF2-8DR MHF2-8D1R B A C Port side of axial piping type D ( Finger closing port) D ( Finger opening port) Body Option Dimension Model A MHF2-8DR 5.5 MHF2-8D1R B 25 7 C 11 (mm) D M x.5 MHF2-8D2R MHF2-DR MHF2-DR MHF2-DR B A C Port side of axial piping type D ( Finger closing port) D ( Finger opening port) Body Option Dimension Model A MHF2-8D2R 5.5 MHF2-DR MHF2-D1R 7 MHF2-D2R MHF2-DR MHF2-D1R 9 MHF2-D2R MHF2-DR MHF2-D1R 1 MHF2-D2R B C (mm) D M x.5 M5 x.8 M5 x.8 M5 x.8 For dimensions not given above, please refer to the table of dimensions on pages 476 to

25 MHF2 Series Auto Switch Installation xamples and Mounting Positions Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. 1) Detection when Gripping xterior of Workpiece Detection example 1. Confirmation of fingers in reset position 2. Confirmation of workpiece held. Confirmation of workpiece released Position to be detected Position of fingers fully opened Position when gripping workpiece Position of fingers fully closed Operation of auto switch Auto switch turned on when fingers return. (Light ON) Auto switch turned on when gripping a workpiece. (Light ON) When a workpiece is not held (Abnormal operation): Auto switch to turn ON (Light ON) Detection combinations One auto switch One position, any of q, w and e can be detected. Two auto switches Two positions of q, w and e can be detected. How to determine auto switch installation position Pattern A B C At no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. Step 1) Fully open the fingers. Step ) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step 4) Slide the auto switch further in the direction of the arrow until the indicator light goes out. Step 5) Move the auto switch in the opposite direction and fasten it at a position. to.5 mm beyond the position where the indicator light illuminates. Position where light turns ON Fitting position. to.5 mm Step 1) Position fingers for gripping a workpiece. Step 2) Insert the auto switch into the auto switch installation groove in the direction shown in the drawing. Position where light turns ON Position to be secured Step 1) Fully close the fingers. Step ) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position. to.5 mm in the direction of the arrow beyond the position where the indicator light illuminates.. to.5 mm MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note 2) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above table may be limited, depending on the hysteresis of an auto switch, etc. 489

26 MHF2 Series Auto Switch Installation xamples and Mounting Positions Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. 2) Detection when Gripping Interior of Workpiece Detection example 1. Confirmation of fingers in reset position 2. Confirmation of workpiece held. Confirmation of workpiece released Position to be detected Position of fingers fully closed Position when gripping workpiece Position of fingers fully opened Operation of auto switc Auto switch turned on when fingers return. (Light ON) Auto switch turned on when gripping a workpiece. (Light ON) When a workpiece is not held (Abnormal operation): Auto switch to turn ON (Light ON) Detection combinations One auto switch One position, any of q, w and e can be detected. Two auto switches Two positions of q, w and e can be detected. Pattern A B C How to determine auto switch installation position Step 1) Fully close the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully open the fingers. At no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. Step 2) Insert the auto switch into the auto switch installation groove in the direction shown in the drawing. Step ) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position. to.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. Indicator lighting position Step ) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step 4) Slide the auto switch further in the direction of the arrow until the indicator light goes out.. to.5 mm Fitting position Step 5) Move the auto switch in the opposite direction and fasten it at a position. to.5 mm beyond the position where the indicator light illuminates. Indicator lighting position Fitting position. to.5 mm Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note 2) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above table may be limited, depending on the hysteresis of an auto switch, etc. 49

27 Low Profile Air Gripper MHF2 Series Auto Switch Hysteresis Auto switches have hysteresis similar to micro switches. Use the table below as a guide when adjusting auto switch positions. Protrusion of Auto Switch from dge of Body The amount of auto switch protrusion from the body end surface is shown in the table below. Use this as a standard when mounting, etc. Protrusion of Auto switch Lead wire type In-line entry Perpendicular entry Illustration Hysteresis Auto switch operating position (ON) Auto switch Finger position L L Auto switch operating position (OFF) Hysteresis MHF2-8D MHF2-D MHF2-D MHF2-D D-M9(V) D-M9W(V) D-M9A(V) Auto Switch Mounting Insert the auto switch into the auto switch mounting groove in the air chuck in the direction shown below, and after setting the mounting position, tighten the attached switch mounting screw with a flat head watchmaker s screwdriver. ø5 to ø6 Flat head watchmaker s screwdriver Auto switch mounting screw M2.5 x 4L Auto switch Note) Use a watchmaker s screwdriver with a grip diameter of 5 to 6 mm to tighten the auto switch mounting screw. The tightening torque should be about.5 to. N m. Caution When using an auto switch on the mounting plate side, the switch will protrude from the end face as shown in the right figure. Please provide a run off space of 2 mm or more on the mounting plate. 2mm or more "Run off" Model D-M9 D-M9V D-M9A D-M9AV D-M9W D-M9WV Open MHF2-8D Close Open MHF2-8D1 Close Open MHF2-8D2 Close Open 5 1 MHF2-D Close 5 1 Open 1 MHF2-D1 Close 1 Open MHF2-D2 Close Open MHF2-D Close Open MHF2-D1 Close Open MHF2-D2 Close Open MHF2-D Close Open MHF2-D1 Close Open MHF2-D2 Close Note) There is no protrusion for sections of the table with no values entered. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- 491

28 MHF2 Series Made to Order: Individual Specifications 1 With An Adjustable Opening/Closing Finger Positioning Stroke can be adjusted to suit the workpiece types of opening/closing finger stroke adjustments (Adjustable finger opening/closing position type, Adjustable finger opening position type, Adjustable finger closed position type) Various strokes Standardized stroke types and 2 stroke adjustment types for fine tuning. Bore size (mm) ø8 8 mm Short Adjuster 4 mm Long Adjuster 8 mm mm Short Adjuster 6 mm Long Adjuster 1 mm 2 mm Symbol -X8 Short stroke Medium stroke Long stroke Full stroke Stroke adjustable width Full stroke Stroke adjustable width Full stroke Stroke adjustable width Short Adjuster mm Long Adjuster 22 mm ø mm Short Adjuster 8 mm Long Adjuster mm 24 mm Short Adjuster 8 mm Long Adjuster 14 mm 48 mm Short Adjuster 18 mm Long Adjuster 28 mm ø mm Short Adjuster 1 mm Long Adjuster 14 mm 2 mm Short Adjuster 8 mm Long Adjuster 18 mm 64 mm Short Adjuster mm Long Adjuster 6 mm ø mm Short Adjuster 8 mm Long Adjuster 18 mm 4 mm Short Adjuster 1 mm Long Adjuster mm 8 mm Short Adjuster mm Long Adjuster 4 mm How to Order MHF2 Standard part number X8 A 2 Stroke adjustable width 1 Short Adjuster 2 Long Adjuster Stroke adjustable side A Both sides B Opening side C Closed side With an adjustable opening/closing finger positioning 492

29 Made to Order: Individual Specifications MHF2 Series Specifications Finger stroke adjustable width for opening/closing position MHF2-8D MHF2-8D1 MHF2-8D2 MHF2-D MHF2-D1 MHF2-D2 MHF2-D MHF2-D1 MHF2-D2 MHF2-D MHF2-D1 MHF2-D2 Model Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster (-X81) Long Adjuster (-X82) Short Adjuster(-X81) Long Adjuster (-X82) Full stroke Adjustable stroke width Note) Specifications and details other than above are the same as standard type. After adjusting the opening/closing width adjustment thread, tighten the nut to fix. Nut tightening torque Part no. Thread size Tightening torque N m MHF2-8D-X8 MHF2-8DR-X8 MHF2-D-X8 MHF2-DR-X8 MHF2-D-X8 MHF2-DR-X8 MHF2-D-X8 MHF2-DR-X8 M4 x.7 M5 x.8 M6 x 1. M8 x A: Adjustable finger opening/closing position type Adjustable stroke width Closed position Opening position to 4 to 8 to 6 to 1 to to 22 to 8 to to 8 to 14 to 18 to 28 to 1 to 14 to 8 to 18 to to 6 to 8 to 18 to 1 to to to 4 4 to 8 to 8 1 to 6 to to 2 1 to 2 4 to to to 24 1 to 24 to 48 to 48 6 to 2 to 24 to 2 14 to 2 48 to to 64 to 2 to to 4 to 4 6 to 8 4 to 8 How to Adjust Finger Stroke B: Adjustable finger opening position type C: Adjustable finger closing position type Adjustable stroke width Adjustable stroke width for opening position for closed position 4 to 8 to 8 1 to 6 to to 2 1 to 2 4 to to to 24 1 to 24 to 48 to 48 6 to 2 to 24 to 2 14 to 2 48 to to 64 to 2 to to 4 to 4 6 to 8 4 to 8 to 4 to 8 to 6 to 1 to to 22 to 8 to to 8 to 14 to 18 to 28 to 1 to 14 to 8 to 18 to to 6 to 8 to 18 to 1 to to to 4 (mm) Warning 1. Adjust the stroke adjustment screw within the adjustable width. If you adjust the adjustment screw beyond the maximum value, the adjustment screw may fall out and may cause damage to human bodies or equipment/devices. 2. Do not adjust stroke when air pressure is applied to the adjustment screw side. If air pressure is applied to the adjustment screw, the adjustment screw may fall out in some adjustment statuses. When applying pressure, make sure the adjustment screw is tightened enough. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- 49

30 MHF2 Series Dimensions (The dimensions below are the same as the standard type.) Adjustable finger opening/closing position type/mhf2-- X8A1 X8A2 () D(Max.) F Adjustable width M1(Adjustable stroke width for closing position) M2(Adjustable stroke width for opening position) G (For adjusting closing position) H 2 x hexagon width across flats J 2 x hexagon width across flats K M(Full stroke) G (For adjusting opening position) I Adjustable finger opening position type/mhf2-- X8B1 X8B2 () F D(Max.) Adjustable width Adjustable finger closing position type/mhf2-- X8C1 X8C2 () F D(Max.) Adjustable width M2(Adjustable stroke width for opening position) L Hexagon width across flats K M1(Adjustable stroke width for closing position) G (For adjusting closing position) Hexagon width across flats K M(Full stroke) G (For adjusting opening position) M(Full stroke) L Dimensions ( in the table below indicates the symbol for stroke adjustable side (A: Adjustable finger opening/closing position type, B: Adjustable finger opening position type, or C: Adjustable finger closing position type).) (mm) A: Adjustable finger opening/closing position type B: Adjustable finger opening position type C: Adjustable finger closing position type Model D () F G H I J K L M M1 M2 M1 M2 M1 M2 -X81 to 4 4 to 8 4 to 8 to 4 9 MHF2-8D 6 8 -X82 to 8 to 8 to 8 to 8 -X81 to 6 1 to 1 to to 6 1 MHF2-8D M4 x X82 to 1 6 to 6 to to 1 -X81 to to 2 to 2 to 1 MHF2-8D X82 to 22 1 to 2 1 to 2 to X81 to 8 4 to 4 to to 8 MHF2-D 52 -X82 to to to to 14 -X81 to 8 to 24 to 24 to 8 MHF2-D M5 x X82 to 14 1 to 24 1 to 24 to 14 -X81 to 18 to 48 to 48 to MHF2-D X82 to 28 to 48 to 48 to X81 to 1 6 to 6 to to 1 MHF2-D 72 -X82 to 14 2 to 2 to to X81 to 8 24 to 2 24 to 2 to 8 14 MHF2-D M6 x X82 to to 2 14 to 2 to X81 to 48 to to 64 to 18 MHF2-D X82 to 6 28 to to 64 to X81 to 8 to to to 8 18 MHF2-D 86 -X82 to 18 2 to 2 to to X81 to 1 to 4 to 4 to 1 18 MHF2-D M8 x X82 to to 4 to 4 to 2 -X81 to 6 to 8 6 to 8 to 2 MHF2-D X82 to 4 4 to 8 4 to 8 to 4 494

31 MHF2 Series Specific Product Precautions 1 Be sure to read this before handling the products. Warning 1. Do not scratch or dent the air gripper by dropping or bumping it when mounting. Slight deformation can cause inaccuracy or a malfunction. 2. 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 Mounting Lateral mounting (Body tapped) Model MHF2-8D MHF2-D MHF2-D MHF2-D Bottom mounting (Body tapped, body through-hole) Body tapped Bolt L M x.5 M4 x.7 M5 x.8 M6 x 1 Max. tightening torque N m Max. screw-in depth L mm L Model MHF2-8D MHF2-D MHF2-D MHF2-D Bolt M2.5 x.45 M x.5 M4 x.7 M4 x.7 Max. tightening torque N m Tighten the screw within the specified torque range when mounting the air gripper. Tightening with a torque above the limit can cause malfunction, while insufficient tightening can cause slippage and dropping. How to Mount Air Grippers Top mounting (Body tapped) Model MHF2-8D MHF2-D MHF2-D MHF2-D L Bolt M x.5 M4 x.7 M5 x.8 M6 x 1 Max. tightening torque N m Max. screw-in depth L mm 7 1 Model MHF2-8D MHF2-D MHF2-D MHF2-D Body through-hole Model L Bolt M x.5 M4 x.7 M5 x.8 M6 x 1 Bolt Max. tightening torque N m Max. tightening torque N m Max. screw-in depth L mm Screw-in depth L mm MHF2-8D MHF2-D MHF2-D MHF2-D M2.5 x.45 M x.5 M4 x.7 M5 x When MHF2-8D and MHF2-D are mounted body through-hole, use the attached special bolts. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- Operating nvironment Caution Use caution for the anti-corrosiveness of the linear guide section. Martensitic stainless steel is used for the finger guide rail, so make sure that anti-corrosiveness is inferior to the austenitic stainless steel. In particular, watch for rust in environments where waterdrops are likely to adhere due to condensation. 495

32 MHF2 Series Specific Product Precautions 2 Be sure to read this before handling the products. Caution How to Locate Finger and Attachment Positioning in the finger s open/close direction Position the finger and the attachment by inserting the finger s pin into the attachment s pin insertion hole. Provide the following pin insertion hole dimensions: shaft-basis fitting dimension C for the open/close direction; slotted hole with relief B for the cross direction. Positioning in the finger s cross direction Perform the positioning from the reference plane of the finger and the side A of the attachment. Operating Precautions Finger reference plane Opening/closing direction Cross direction Attachment 2 or more Side A Pin insertion hole 2 or more B C 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 and degrade the accuracy. When there are inertial force which cause by movements or rotation to the actuator, operate the finger to full stroke. specially in long stroke type, the accuracy of finger may degrade. 496

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