Rotary Gripper. Series MRHQ. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- 20- Sizes 10 and 16 updated!

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1 Rotary Gripper Series MRHQ MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - Sizes and 16 updated! Industrie Forum Design Hannover Award Award Design Product Product Design Award Product Design Award

2 Rotary gripper suitable for holding and reversing workpieces on transfer lines Compact integration of gripping and rotating functions Eliminates the peripheral piping and wiring of the previous product (rotary table + adapter + air gripper) Length reduced by approx. % compared with the previous product 2 standard rotation angles of 9 and 18 Equipped with standard magnet for auto switch retrofitting Industrie Forum Design Hannover Design Hannover Product Design Award Award 1999 Product Design Award Product Design Award Easy adjustment of rotating range A scale indicator on the side of the gripper unit allows easy angle adjustments and is useful for verification of rotating positions. Angle adjustment bolts are standard Angle adjustment bolts allow the rotation range of the gripper unit to be adjusted by ± for both 9 and 18 rotation angles. (±5 at the end of rotation) Rotary Gripper MRHQ /16//25 Modular construction Gripper section is unitized for simple replacement. Compact bearings add to a light weight and compact design Simple alignment when mounting body Provided with reference diameters at the top and bottom of the body, and mounting guide pin holes on three sides of the body along its center axis (aligned with center of body). Easily mounted from 5 directions: 2 ends and 3 sides of the body Bottom mounting Top mounting MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - All piping and wiring centralized on one side for easy work operations Auto switch capable Switches can be installed to verify positions for opening and closing of the gripper and the end of rotation. Front mounting (Through-holes) Side mounting (Both sides)

3 Indicator light Indicator light Rotary Gripper Series MRHQ Size:, 16,, 25 How to Order Lead wire length Nil L Z.5 m 3 m 5 m MRH Q D 9 S M9NV L M9N L Q Rotary gripper Gripper Parallel type: 2 fingers D S C Gripper bore Action Double acting Single acting (Normally open) Single acting (Normally closed) Unit list mm 16 mm mm 25 mm Rotation angle Single vane Number of auto switches Nil S 2 pcs. 1 pc. Type of auto switch for detecting rotation Nil Without auto switch Applicable Auto Switch Load voltage Auto switch model Lead wire length Type Electrical Wiring (m) Electrical entry Applicable entry (output) DC load In-line (Nil) (L) (Z) 3-wire (NPN) 5 V M9N IC Relay Grommet 3-wire (PNP) 24 V 12 V M9P circuit PLC 2-wire 12 V M9B Solid state switch Yes Lead wire length symbols:.5 m... Nil (Example) M9N 3 m... L M9NL Refer to page for further information on auto switches. Auto switches marked with a "" are made upon receipt of order. Type of auto switch for gripper opening/closing N Without auto switch Applicable Auto Switch Load voltage Auto switch model Lead wire length Type Electrical Wiring (m) Electrical entry entry (output) DC Perpendicular (Nil) (L) (Z) 3-wire (NPN) 5 V M9NV IC Grommet 3-wire (PNP) 24 V 12 V M9PV circuit 2-wire 12 V M9BV Solid state switch Yes Lead wire length symbols:.5 m... Nil (Example) M9NV 3 m... L M9NVL Refer to page for further information on auto switches. Auto switches marked with a "" are made upon receipt of order. Applicable load Relay PLC Gripper unit Model MRHQD MRHQS MRHQC MRHQ16D MRHQ16S MRHQ16C MRHQD MRHQS MRHQC MRHQ25D MRHQ25S MRHQ25C Unit part no. P79-3D P79-3S P79-3C P76-3D P76-3S P76-3C P78-3D P78-3S P78-3C P88-3D P88-3S P88-3C Switch mounting unit Switch holder B Switch case Switch holder A Model MRHQ MRHQ16 MRHQ MRHQ25 Unit part no. P79-1 P76-1 Each unit includes two of each of the parts indicated left. Switches are not included with a unit

4 9 Rotary Gripper Series MRHQ Specifications Fluid Rotary unit Operating pressure Gripper Double acting unit Single acting Rotation angle Gripper action Finger opening/closing repeatability Gripper maximum operating frequency Ambient and fluid temperature Adjustable rotation time Note) Allowable kinetic energy Air 9 ±, 18 ± Double acting, Single acting ±.1mm 18 c.p.m 5 to 6 C.7 to.3 s/9 (at.5 MPa) Rotary unit Solid state switch (2-wire, 3-wire) Auto switch Gripper unit Solid state switch (2-wire, 3-wire) Note) Operate within the speed adjustment range, as speed control exceeding the limit value of the low speed may cause sticking or failure to operate. Model Action Double acting Single acting Model Model MRHQD MRHQ16D MRHQD MRHQ25D MRHQS MRHQC MRHQ16S MRHQ16C MRHQS MRHQC Cylinder bore (mm) MRHQ25S 25 MRHQ25C Note) Values do not include auto switch weight. MRHQ MRHQ16 MRHQ MRHQ25.25 to.7 MPa.25 to 1. MPa.25 to.7 MPa.1 to.7 MPa.35 to.7 MPa.25 to.7 MPa.46 J.14 J.34 J.74 J Opening/Closing stroke (mm) Rotating angle ( ) Note) Weight (g) MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - Gripper Rotation Range/View from Gripper Side The figure at the right indicates the position of the gripper when pressure is applied to port B. When pressure is applied to port A, the gripper rotates clockwise. 18 Rotary port A Rotary port B

5 Series MRHQ Model Selection Procedure Calculation Example Operating conditions Enumerate the operating conditions according to the mounting position and workpiece configuration. Vertical mounting Rotation time Horizontal mounting Confirm that it is within the adjustable rotation time range. Overhang and gripping point distance Confirm that the overhang (H) and the gripping point distance (L) are within the operating pressure range limit. Model used Operating pressure Mounting position Rotation time t (s) Overhang H (mm) Gripping point distance L (mm) Distance between central axis and center of gravity h (mm) Load weight m1 (kg) Weight of 2 attachments m2 (kg).7 to.3 s/9 Graph (1) Gripping point range limit a O h Rotary gripper: MRHQ16D-9S Pressure:.4 MPa Mounting position: Horizontal Rotation time (t):.2 s/9 Overhang (H): mm Gripping point distance (L): mm Distance between central axis and center of gravity (h): mm Load weight (m1):.7 kg Weight of 2 attachments (m2):.5 kg G.2 s/9 OK Within the range limit Please refer to page for drawing dimensions. b OK Load weight Confirm that the load converted from the load weight is less than 1/ of the effective gripping force. (A greater margin must be allowed if large impacts will be applied when work pieces are transported.) External force on finger Make sure that the vertical load and each moment on finger are within allowable value. Rotational torque (horizontal mounting only) Convert the weight of the load and attachments (2 pcs.) into a load value and multiply by the overhang (H). Confirm that this value is less than 1/ of the effective torque. Graph (2) x 9.8 x m1 < Effective gripping force (N) Less than allowable value (Refer to page for the lateral load allowable value and each moment value Graph (3) x 9.8 x (m1 + m2) x H/ < Effective torque (N m) Find the moment of inertia, "IR" for the load + attachments (2 pcs.) IR = K x (a 2 + b h 2 ) x (m1 + m2)/(12 x 6 ) (K = 2: Safety factor) x 9.8 x.7 = N < Effective gripping force OK Downward vertical load by load and attachment: f = ( x.5) x 9.8 = 1.67 (N) < Vertical allowable value x 9.8 x (.7 +.5) x / = N m < Effective torque OK IR = 2 x ( x 2 ) x (.7 +.5)/(12 x 6 ) =.5 kg m 2 OK 8 Kinetic energy Confirm that the kinetic energy of the load + attachments (2 pcs.) is no more than the allowable value. Refer to Moment of Inertia Calculation and Allowable Kinetic Energy on page /2 x IR x ω 2 < Allowable energy (J) ω = 2θ/t (ω: Angular speed at the end) θ: Rotation angle (rad) t: Rotation time (s) 1/2 x.5 x (2 x (3.14/2)/.2) 2 = J < Allowable energy OK

6 Rotary Gripper Series MRHQ Gripping Point External gripping Gripping Point Range Limit Graph (1) External Gripping Internal Gripping H MRHQ Overhang H mm Pressure.2MPa MRHQ Overhang H mm 5 3 Pressure.2MPa,.7MPa MHZ MHF MHL MHR Gripping point Internal gripping L 3 5 MRHQ16 Overhang H mm Pressure.2MPa MRHQ16 Overhang H mm Pressure.2MPa,.7MPa MHK MHS MHC MHT MHY MHW MRHQ Misc. H Gripping point L L: Gripping point distance H: Overhang Operate so that the workpiece gripping point distance L and the amount of overhang H stay within the range shown for each operating pressure given in the graphs to the right. If operated with the workpiece gripping point outside of the range limit, an excessive eccentric load will be applied to the fingers and guide section, causing play in the fingers and adversely affecting the gripper's life. MRHQ Overhang H mm 8 6 MRHQ25 Pressure.2MPa.7MPa 6 8 MRHQ Overhang H mm MRHQ25 Pressure.2MPa.7MPa D- - 1 Overhang H mm 8 6 Pressure.2MPa.7MPa Overhang H mm 8 6 Pressure.2MPa.7MPa

7 Series MRHQ Effective Gripping Force Expressing the effective gripping force Effective Gripping Force Graph (2) The effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure below. External Gripping/Double Acting MRHQD 15 5 Pressure.7MPa.2MPa Internal Gripping/Double Acting MRHQD Pressure.7MPa.2MPa F F External gripping L MRHQ16D 5 3 Pressure.7MPa.2MPa MRHQ16D Pressure.7MPa.2MPa Internal gripping L MRHQD MPa MRHQD Pressure.7MPa Pressure.7MPa 8 6.2MPa L: Gripping point distance Model Selection Guidelines by Workpiece Weight Although conditions differ according to the workpiece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping force of to times the workpiece weight, or more. A greater margin of safety is required when high acceleration or impact occurs during workpiece transfer. 6 8 MRHQ25D 8 6 Pressure.7MPa.2MPa MRHQ25D Pressure.7MPa.2MPa

8 Rotary Gripper Series MRHQ External Gripping Force/Single Acting MRHQS MRHQ16S MRHQS MRHQ25S Pressure.7MPa Pressure.7MPa Pressure.7MPa.35MPa 6 8 Pressure.7MPa.25MPa MPa.25MPa Internal Gripping Force/Single Acting MRHQC MRHQ16C MRHQC MRHQ25C Pressure.7MPa.6 MPa.35MPa 3 5 Pressure.7MPa Pressure.7MPa Pressure.7MPa.25MPa MPa.25MPa MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D

9 Series MRHQ Rotational Torque and Gripping Point Rotational Torque Graph (3) Rotational torque N m MRHQ16 MRHQ Rotational torque N m MRHQ MRHQ Operating pressure MPa Operating pressure MPa How to Mount Attachment on Fingers When mounting attachments on fingers, support the fingers with a tool such as a spanner to prevent them from twisting. Refer to the table on the right for the tightening torques of finger mounting bolts. Model MRHQ MRHQ16 MRHQ MRHQ25 Bolt M2.5 x.45 M3 x.5 M4 x.7 M5 x.8 Max. tightening torque N m

10 Rotary Gripper Series MRHQ Allowable Value of External Force on Fingers MHZ MHF L L MHL MHR Fv Model MRHQ MRHQ16 MRHQ MRHQ25 Mp Allowable vertical load Fv (N) Pitch moment Mp (N m) Note) Values of load and moment in the above table are static values. My L Mr L: Distance to the point at which a load is applied (mm) Maximum allowable moment Yaw moment My (N m) Roll moment Mr (N m) MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - Calculation for allowable external force (with moment load) Allowable load F (N) = M (Maximum allowable moment) (N m) L x -3 Unit conversion factor Calculation example When static load f = N, which produces pitch moment to the point L = 3 mm from MRHQ16D guide, is applied. Operable condition requires that F be bigger than f. Example:.68 Allowable load F = 3 x -3 = 22.7 (N) > Since load F > f, it is operable

11 Series MRHQ Moment of Inertia and Allowable Kinetic Energy Moment of Inertia Calculation and Allowable Kinetic Energy Graph (Moment of inertia and rotation time) Calculate the moment of inertia as shown below, and confirm that the operating conditions are within the allowable kinetic energy shown in the graph Moment of inertia and rotation time on the right. a O h G When load dimensions > attachment dimentions b a O h G When load dimensions < attachment dimentions b Moment of Inertia IR kg m 2 x P2 P1 MRHQ MRHQ16 MRHQ MRHQ25 Description O Center of rotation Gripper fingers G Center of gravity of attachment and load Attachments Load Rotation time 9 /sec Moment of inertia I: kg m 2 (a 2 + b h 2 ) (m1 + m2) I = 12 x 6 Practical moment of inertia IR: kg m 2 IR = K x I Use IR for this product. m1: Mass of two attachments (kg) m2: Mass of load (kg) h: Distance between O and G (mm) a, b: Dimensions of load or attachment (mm) K = 2 (Coefficient) How to Use the Graph [Example 1] Moment of Inertia: 1 x -5 kg m 2 Rotation time:.2 s/9 To select model MRHQ It can be used because the point of intersection P1 on the graph is within the limiting range. [Example 2] Moment of Inertia: 5 x -5 kg m 2 Rotation time:.1 s/9 To select model MRHQ16 It cannot be used because the point of intersection P2 on the graph is outside the range limit. (Review is necessary.) To confirm by calculation, use formula (1) on the right and check that the kinetic energy of load E is within the allowable values below. Allowable Kinetic Energy Model MRHQ MRHQ16 MRHQ MRHQ25 Allowable value J Kinetic energy of load E: J E = 1/2 x IR x ω 2 (1) ω = 2θ/t (ω: Angular speed at the end) θ: Rotating angle (rad) t: Rotation time (s)

12 Rotary Gripper Series MRHQ Dimensions MRHQ A B MHZ MHF ø54.5 MHL 4-M4 x.7 depth ø37h MHR MHK 4-M2.5 x.45 (attachment mounting screw ) M5 x.8 Finger opening port ø M5 x.8 Finger closing port Max R M4 x.7 depth 6 (two on the other side) through 2-8 depth of counter bore Angle adjustment bolt 3-R H9 depth 4 (one each on three sides) H9 long groove depth 3 (one each on three sides) M5 x.8 Port A ø37h M5 x.8 Port B 4-M4 x.7 depth opened closed MHS MHC MHT MHY MHW MRHQ 33 Misc. D- - JAPAN IN MADE ROTARY AIR GRIPPER SMC Side A Side B

13 Series MRHQ Dimensions MRHQ16 A B 41 5 ø M5 x.8 depth 8 3 ø47h M3 x.5 (attachment mounting screw ) ø M5 x.8 Finger closing port opened closed H9 depth 6 (one each on three sides) 7 15 Max M5 x.8 depth 8 (two on opposite side) M5 x.8 Finger opening port 3-R Angle adjustment bolt through depth of counter bore 3 3-R2 M5 x.8 Port A M5 x.8 Port B H9 long groove depth 4 (one each on three sides) ø47h M5 x.8 depth 8 41 Side A 29 Side B

14 Rotary Gripper Series MRHQ MRHQ A B ø78 4-M6 x 1 depth 4-M4 x.7 (attachment mounting screw ) M5 x.8 Finger opening port through 2-11 depth of counter bore ø54h M5 x.8 Finger closing port opened closed -.7 Max R Angle adjustment bolt 3-R2.5 ø M6 x 1 depth 9 (two on opposite side) H9 depth 6 (one each on three sides) M5 x.8 Port A ø5h M5 x.8 Port B H9 long groove depth 4 (one each on three sides) 4-M6 x 1 depth JAPAN IN MADE ROTARY AIR GRIPPER SMC MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D Side A 36 Side B

15 Series MRHQ Dimensions MRHQ25 A B 58 7 ø93 4-M6 x 1 depth 4-M5 x.8 (attachment mounting screw ) ø66h M5 x.8 Finger closing port 33.3 opened closed -.8 ø M5 x.8 Finger opening port through 2-14 depth of counter bore H9 depth 8 (one each on three sides) M5 x.8 Port A ø5h M5 x.8 Port B H9 long groove depth 4 (one each on three sides) 4-M6 x 1 depth Max R3 Angle adjustment bolt 3-R M8 x 1.25 depth 12 (two on opposite side) JAPAN IN MADE ROTARY AIR GRIPPER SMC 48 Side A 42 Side B

16 Rotary Gripper Series MRHQ Construction MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - ROTARY AIR GRIPPER SMC JAPAN IN MADE Component Parts No. q w e r t y u i o!!1!2!3!4!5!6!7!8 Description Material Note Gripper unit Rotary unit Two types for 9 and 18 Body C Aluminum alloy Gray-White Stopper lever Carbon steel Two types for 9 and 18 Stopper guide Stainless steel Retainer Carbon steel Switch guide Resin Switch holder A Resin Switch case Resin Switch holder B Resin Bearing High carbon bearing steel O-ring NBR Adjustment bolt Carbon steel Nut Carbon steel Hexagon socket head cap screw Carbon steel Parallel pin Stainless steel Hexagon socket head cap screw Stainless steel Hexagon socket head cap screw Stainless steel

17 Series MRHQ Auto Switch Specifications Applicable Series Series Application Auto switch model Electrical entry MRHQ MRHQ16 Gripper opening/ closing verification Solid state D-M9BV D-M9NV, M9PV Grommet/2-wire Grommet/3-wire MRHQ MRHQ25 Rotation verification Solid state D-M9B D-M9N, M9P Grommet/2-wire Grommet/3-wire Auto Switch Hysteresis Auto switches have hysteresis similar to micro switches. Use the table below as a guide when adjusting auto switch positions, etc. Hysteresis Switch operating position (ON) Switch return position (OFF) Model MRHQ MRHQ16 MRHQ MRHQ25 Hysteresis (mm)

18 Rotary Gripper Series MRHQ Mounting of Auto Switch Mounting Switches to Verify Rotation Mounting Switches to Verify Opening/Closing of Gripper 1. First, remove the slotted set screw installed in a standard switch. 1. Position switch holder A in the groove of the switch guide in the direction indicated in Figure (2). Slotted set screw Solid state switch D-M9 2. Insert an auto switch into the switch guide and align the set screw with the hole of switch holder A. Auto switch MHZ MHF MHL 2. Insert the switch into the switch case, and install switch holder B into the first groove (MRHQ/25) or the second groove (MRHQ/16) and secure the switch. First groove MRHQ/25 Second groove MRHQ/16 Switch holder B Switch case Solid state switch D-M9 3. Install the switch case, with a switch attached securely in the hole, in the direction indicated in Figure (1). Figure (2) Switch guide Set screw Hole Switch holder A 3. Secure the switch at an appropriate position with a flat head watchmakers screwdriver as indicated in Figure (3). Tightening torque:.5 to.1 N m MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - Figure (3) Figure (1)

19 Series MRHQ Auto Switch Installation Example and Mounting Position Various auto switch applications will be available with combinations of using different numbers of auto switches and varieties of detecting positions. 1) Detection when Gripping Exterior of Workpiece Detection example 1. Confirmation of fingers in reset position 2. Confirmation of workpiece held 3. Confirmation of workpiece released Position to be detected Position of fingers fully opened Position when gripping a workpiece Position of fingers fully closed MHZ MHF Detection combinations Operation of auto switch One auto switch Two auto switches How to determine auto switch installation position Switch turned ON when fingers return. (Light ON) Switch turned ON when gripping a workpiece. (Light ON) Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully close the fingers. When a workpiece is held (Normal operation): Switch to turn OFF (Light not illuminating) When a workpiece is not held (Abnormal operation): Switch to turn ON (Light illuminating) MHL MHR MHK MHS MHC MHT MHY At no pressure or low pressure, connect the switch to a power supply, and follow the directions. Step 2) Refer to Mounting Switches to Verify Opening/Closing of Gripper on page and position an auto switch in switch mounting groove. MHW MRHQ Misc. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step 3) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position.3 to.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. D- - Step 4) Slide the auto switch further in the direction of the arrow until the indicator light goes out. Position where light turns ON Position to be secured Step 5) Move the auto switch in the opposite direction and fasten it at a position.3 to.5 mm beyond the position where the indicator light illuminates. 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

20 Series MRHQ Auto Switch Installation Example and Mounting Position Various auto switch applications will be available with combinations of using different numbers of auto switches and varieties of detecting positions. 2) Detection when Gripping Interior of Workpiece Detection example 1. Confirmation of fingers in reset position 2. Confirmation of workpiece held 3. Confirmation of workpiece released Position of fingers fully closed Position when gripping workpiece Position of fingers fully opened Position to be detected Operation of auto switch Switch turned ON when fingers return. (Light ON) Switch turned ON when gripping a workpiece. (Light ON) When a workpiece is held (Normal operation): Switch to turn OFF (Light not illuminating) When a workpiece is not held (Abnormal operation): Switch to turn ON (Light illuminating) Detection combinations One auto switch Two auto switches 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 switch to a power supply, and follow the directions. Step 2) Refer to Mounting Switches to Verify Opening/Closing of Gripper on page and position auto switch in switch mounting groove. Step 3) Move the auto switch in the direction of the arrow and fasten it at a position.3 to.5 mm beyond the position where the indicator light illuminates. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Position where light turns ON Step 4) Slide the auto switch in the direction of the arrow until the indicator light goes out. Position to be secured Step 5) Move the auto switch in the opposite direction, and fasten it at a position.3 to.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. 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

21 Series MRHQ Specific Product Precautions 1 Be sure to read before handling. Warning Selection 1. Keep the load energy within the product's allowable energy value. Operation with a load kinetic energy exceeding the allowable value can cause human injury and/or damage to equipment or machinery. (Refer to Model Section procedures in this catalog.) Caution 1. When there are load fluctuations, allow a sufficient margin in the actuator torque. In the case of horizontal mounting (operation with product facing sideways), malfunction may occur due to load fluctuations. Caution Mounting 1. Adjust the rotation angle within the prescribed ranges: 9 ± ; 18 ± (±5 at end of rotation). Adjustment outside the prescribed ranges may cause malfunction of the product or failure of switches to operate. 2. Adjust the opening/closing speed of the fingers with a speed controller so that they do not operate any faster than necessary. When fingers open and close faster than necessary, impact on the fingers and other parts increases, causing poor repeatability when gripping workpieces and danger of an adverse effect on the product's life. Adjustment of Finger Opening/Closing Speed Double acting Single acting Install two speed controllers and adjust with meter-out throttling. Install one speed controller and adjust with meter-in throttling. For external gripping connect to closing port For internal gripping connect to opening port 3. Adjust the rotation time within the prescribed values using a speed controller. (.7 to.3 s/9 ) The product is provided with a fixed orifice and is designed not to operate faster than.7 s/9 (at.5 MPa). However, in cases such as a large load inertia, it can exceed the allowable energy causing damage to equipment. (Refer to Model Selection procedures in this catalog.) Furthermore, adjustment to a speed slower than.3 s/9 can cause sticking and slipping or stopping of operation. Caution Maintenance 1. When replacing a gripper unit, follow the gripper unit replacement procedures on the next page. Confirm the correct unit part number. Gripper unit 2. In case a rotary unit is required for maintenance, order with the unit part numbers shown below. Rotary unit Model MRHQD MRHQS MRHQC MRHQ16D MRHQ16S MRHQ16C MRHQD MRHQS MRHQC MRHQ25D MRHQ25S MRHQ25C Model MRHQ-9S MRHQ-18S MRHQ16-9S MRHQ16-18S MRHQ-9S MRHQ-18S MRHQ25-9S MRHQ25-18S Unit part no. P79-3D P79-3S P79-3C P76-3D P76-3S P76-3C P78-3D P78-3S P78-3C P88-3D P88-3S P88-3C Unit part no. P69-2A P69-2B P66-2A P66-2B P78-2A P78-2B P88-2A P88-2B Note that the rotation angle cannot be changed even though the rotary unit has been changed. For maintenance, order units with a part number suitable for the model being used

22 Series MRHQ Specific Product Precautions 2 Be sure to read before handling. Caution Gripper Unit Replacement Procedure Rotary unit Maintenance 1. Loosen the four bolts and remove the rotary unit. 2. Loosen the three bolts, remove the stopper lever and pull out the gripper unit. 3. Replace the three O-rings inside body C. 4. Reinstall the two bearings securely in their original positions. 5. Insert a new gripper unit into body C. Then reinstall the stopper lever and parallel pin in their original positions and secure in place by tightening with the three bolts. 6. Reinstall the rotary unit in its original position and secure in place by tightening with the four bolts. MHZ MHF MHL MHR MHK MHS MHC MHT MHY Model Tightening torque N m MHW Stopper lever MRHQ MRHQ16 MRHQ MRHQ25.9 to to to to to to to 7.. to.5 MRHQ Misc. D- Bearing - Parallel pin Bearing Body C O-ring Gripper unit

23 Safety Instructions These safety instructions are intended to prevent a hazardous situation and/or equipment damage. These instructions indicate the level of potential hazard by labels of "Caution", "Warning" or "Danger". To ensure safety, be sure to observe ISO 4414 Note 1), JIS B 837 Note 2) and other safety practices. Caution : Operator error could result in injury or equipment damage. Warning : Operator error could result in serious injury or loss of life. Danger : In extreme conditions, there is a possible result of serious injury or loss of life. Note 1) ISO 4414: Pneumatic fluid power--general rules relating to systems. Note 2) JIS B 837: General Rules for Pneumatic Equipment Warning 1. The compatibility of pneumatic equipment is the responsibility of the person who designs the pneumatic system or decides its specifications. Since the products specified here are used in various operating conditions, their compatibility for the specific pneumatic system must be based on specifications or after analysis and/or tests to meet your specific requirements. The expected performance and safety assurance will be the responsibility of the person who has determined the compatibility of the system. This person should continuously review the suitability of all items specified, referring to the latest catalog information with a view to giving due consideration to any possibility of equipment failure when configuring a system. 2. Only trained personnel should operate pneumatically operated machinery and equipment. Compressed air can be dangerous if an operator is unfamiliar with it. Assembly, handling or repair of pneumatic systems should be performed by trained and experienced operators. 3. Do not service machinery/equipment or attempt to remove components until safety is confirmed. 1. Inspection and maintenance of machinery/equipment should only be performed once measures to prevent falling or runaway of the driver objects have been confirmed. 2. When equipment is to be removed, confirm the safety process as mentioned above. Cut the supply pressure for this equipment and exhaust all residual compressed air in the system. 3. Before machinery/equipment is restarted, take measures to prevent shooting-out of cylinder piston rod, etc. 4. Contact SMC if the product is to be used in any of the following conditions: 1. Conditions and environments beyond the given specifications, or if product is used outdoors. 2. Installation on equipment in conjunction with atomic energy, railway, air navigation, vehicles, medical equipment, food and beverages, recreation equipment, emergency stop circuits, clutch and brake circuits in press applications, or safety equipment. 3. An application which has the possibility of having negative effects on people, property, or animals, requiring special safety analysis

24 Common Precautions Be sure to read before handling. For detailed precautions on every series, refer to main text. Warning Selection 1. Confirm the specifications. Products represented in this catalog are designed for use in compressed air appllications only (including vacuum), unless otherwise indicated. Do not use the product outside their design parameters. Please contact SMC when using the products in applications other than compressed air (including vacuum). Warning Mounting 1. Instruction manual Install the products and operate them only after reading the instruction manual carefully and understanding its contents. Also keep the manual where it can be referred to as necessary. 2. Securing the space for maintenance When installing the products, please allow access for maintenance. 3. Tightening torque When installing the products, please follow the listed torque specifications. Caution Piping 1. Before piping Make sure that all debris, cutting oil, dust, etc, are removed from the piping. 2. Wrapping of pipe tape When screwing piping or fittings into ports, ensure that chips from the pipe threads or sealing material do not get inside the piping. Also, when the pipe tape is used, leave 1.5 to 2 thread ridges exposed at the end of the threads. Warning Air Supply 1. Operating fluid Please consult with SMC when using the product in applications other than compressed air (including vacuum). Regarding products for general fluid, please ask SMC about applicable fluids. 2. Install an air dryer, aftercooler, etc. Excessive condensate in a compressed air system may cause valves and other pneumatic equipment to malfunction. Installation of an air dryer, after cooler etc. is recommended. 3. Drain flushing If condensate in the drain bowl is not emptied on a regular basis, the bowl will over flow and allow the condensate to enter the compressed air lines. If the drain bowl is difficult to check and remove, it is recommended that a drain bowl with the auto-drain option be installed. For compressed air quality, refer to Air Preparation Equipment catalog. 4. Use clean air If the compressed air supply is contaminated with chemicals, cynthetic materials, corrosive gas, etc., it may lead to break down or malfunction. Warning Operating Environment 1. Do not use in environments where the product is directly exposed to corrosive gases, chemicals, salt water, water or steam. 2. Do not expose the product to direct sunlight for an extended period of time. 3. Do not use in a place subject to heavy vibrations and/or shocks. 4. Do not mount the product in locations where it is exposed to radiant heat. Warning Maintenance 1. Maintenance procedures are outlined in the operation manual. Not following proper procedures could cause the product to malfunction and could lead to damage to the equipment or machine. 2. Maintenance work If handled improperly, compressed air can be dangerous. Assembly, handling and repair of pneumatic systems should be performed by qualified personnel only. 3. Drain flushing Remove drainage from air filters regularly. (Refer to the specifications.) 4. Shut-down before maintenance Before attempting any kind of maintenance make sure the supply pressure is shut of and all residual air pressure is released from the system to be worked on. 5. Start-up after maintenance and inspection Apply operating pressure and power to the equipment and check for proper operation and possible air leaks. If operation is abnormal, please verify product set-up parameters. 6. Do not make any modifications to be product. Do not take the product apart

25 Quality Assurance Information (ISO 91, ISO 11) Reliable quality of products in the global market To enable our customers throughout the world to use our products with even greater confidence, SMC has obtained certification for international standards ISO 91 and ISO 11, and created a complete structure for quality assurance and environmental controls. SMC products pursue to meet its customers expectations while also considering company s contribution in society. Quality management system ISO 91 This is an international standard for quality control and quality assurance. SMC has obtained a large number of certifications in Japan and overseas, providing assurance to our customers throughout the world. SMC s quality control system Quality system education Training of suppliers Make customers our first priority, offering them reliable and friendly service. Produce the highest quality with the participation of all employees. Quality policies Market research Product planning After service Sales coordination Research Education Design Training Development Production Process control Inspection, testing, etc. Initial production control Create new products using the latest technology, and offer the finest products in a timely manner. Quality control activities New product evaluation Reliability design Reliability testing New technical development Environmental management system ISO 11 This is an international standard related to environmental management systems and environmental inspections. While promoting environmentally friendly automation technology, SMC is also making diligent efforts to preserve the environment

26 SMC Product Conforming to Inter SMC products complying with EN/ISO, CSA/UL standards are supporting CE Mark The CE mark indicates that machines and components meet essential requirements of all the EC Directives applied. It has been obligatory to apply CE marks indicating conformity with EC Directives when machines and components are exported to the member Nations of the EU. Once A manufacturer himself declares a product to be safe by means of CE marking (declaration of conformity by manufacturer), free distribution inside the member Nations of the EU is permissible. CE Mark SMC provides CE marking to products to which EMC and Low Voltage Directives have been applied, in accordance with CETOP (European hydraulics and pneumatics committee) guide lines. As of February 1998, the following 18 countries will be obliged to conform to CE mark legislation Iceland, Ireland, United Kingdom, Italy, Austria, Netherlands, Greece, Liechtenstein, Sweden, Spain, Denmark, Germany, Norway, Finland, France, Belgium, Portugal, Luxembourg EC Directives and Pneumatic Components Machinery Directive The Machinery Directive contains essential health and safety requirements for machinery, as applied to industrial machines e.g. machine tools, injection molding machines and automatic machines. Pneumatic equipment is not specified in Machinery Directive. However, the use of SMC products that are certified as conforming to EN Standards, allows customers to simplify preparation work of the Technical Construction File required for a Declaration of Conformity. Electromagnetic Compatibility (EMC) Directive The EMC Directive specifies electromagnetic compatibility. Equipment which may generate electromagnetic interference or whose function may be compromised by electromagnetic interference is required to be immune to electromagnetic affects (EMS/immunity) without emitting excessive electromagnetic affects (EMI/emission). Low Voltage Directive This directive is applied to products, which operate above 5 VAC to VAC and 75 VDC to 15 VDC operating voltage, and require electrical safety measures to be introduced. Simple Pressure Vessels Directive This directive is applied to welded vessels whose maximum operating pressure (PS) and volume of vessel (V) exceed 5 bar/l. Such vessels require EC type examination and then CE marking

27 national Standards SMC Product Conforming to International Standards you to comply with EC directives and CSA/UL standards. Mark of compliance for CSA/UL Mark of compliance for CSA CSA Standards & UL Standards UL and CSA standards have been applied in North America (U.S.A. and Canada) symbolizing safety of electric products, and are defined to mainly prevent danger from electric shock or fire, resulting from trouble with electric products. Both UL and CSA standards are acknowledged in North America as the first class certifying body. They have a long experience and ability for issuing product safety certificate. Products approved by CSA or UL standards are accepted in most states and governments beyond question. Since CSA is a test certifying body as the National Recognized Testing Laboratory (NRTL) within the jurisdiction of Occupational Safety and Health Administration (OSHA), SMC was tested for compliance with CSA Standards and UL Standards at the same time and was approved for compliance with the two Standards. The above CSA NRTL/C logo is described on a product label in order to indicate that the product is approved by CSA and UL Standards. TSSA (MCCR) Registration Products TSSA is the regulation in Ontario State, Canada. The products that the operating pressure is more than 5 psi (.3 MPa) and the piping size is bigger than 1 inch. fall into the scope of TSSA regulation. Products conforming to CE Standard With CE symbol for simple visual recognition In this catalog each accredited product series is indicated with a CE mark symbol. However, in some cases, every available models may not meet CE compliance. Please visit our web site for the latest selection of available models with CE mark

28 SMC s Global Service Network America U.S.A. SMC Corporation of America 311 North Franklin Road Indianapolis, IN 46226, U.S.A. TEL: FAX: CANADA SMC Pneumatics (Canada) Ltd Financial Drive Mississauga, Ontario, L5N 7J6 Canada TEL: FAX: MEXICO SMC Corporation (Mexico), S.A. DE C.V. Carr. Silao-Trejo K.M. 2.5 S/N, Predio San Jose del Duranzo C.P. 36, Silao, Gto., Mexico TEL: FAX: / CHILE SMC Pneumatics (Chile) S.A. Av. La Montaña 1,115 km. 16,5 P. Norte Parque Industrial Valle Grande, Lampa Santiago, Chile TEL: FAX: ARGENTINA SMC Argentina S.A. Teodoro Garcia 386 (1427) Buenos Aires, Argentina TEL: FAX: BOLIVIA SMC Pneumatics Bolivia S.R.L. Avenida Beni Numero 4665 Santa Cruz de la Sierra-Casilla de Correo 2281, Bolivia TEL: FAX: VENEZUELA SMC Neumatica Venezuela S.A. Apartado 152, Avenida Nueva Granada, Edificio Wanlac, Local 5, Caracas -A, Venezuela TEL: FAX: PERU (Distributor) IMPECO Automatizacion Industrial S.A. AV. Canevaro 752, Lince, Lima, Peru TEL: FAX: URUGUAY (Distributor) BAKO S.A. Galicia 165 esq. Gaboto C.P. 1, Montevideo, Uruguay TEL: FAX: BRAZIL SMC Pneumaticos Do Brasil Ltda. Rua. Dra. Maria Fidelis, nr. 13, Jardim Piraporinha-Diadema-S.P. CEP: , Brasil TEL: FAX: COLOMBIA (Distributor) Airmatic Ltda. Calle Apart. Aereo 845 Santa Fe de Bogotá, Colombia TEL: FAX: Europe U.K. SMC Pneumatics (U.K.) Ltd. Vincent Avenue, Crownhill, Milton Keynes, MK8 AN, Backinghamshire, U.K. TEL: FAX: GERMANY SMC Pneumatik GmbH Boschring D Egelsbach, Germany TEL: 63- FAX: ITALY SMC Italia S.p.A. Via Garibaldi 62 I-61 Carugate Milano, Italy TEL: FAX: FRANCE SMC Pneumatique S.A. 1 Boulevard de Strasbourg, Parc Gustave Eiffel, Bussy Saint Georges, F-776 Marne La Vallee Cedex 3 France TEL: FAX: SWEDEN SMC Pneumatics Sweden AB Ekhagsvägen 29-31, S Huddinge, Sweden TEL: FAX: SWITZERLAND SMC Pneumatik AG Dorfstrasse 7, Postfach 117, CH-8484 Weisslingen, Switzerland TEL: FAX: AUSTRIA SMC Pneumatik GmbH (Austria) Girakstrasse 8, A-2 Korneuburg, Austria TEL: FAX: SPAIN SMC España, S.A. Zuazobidea 14 Pol. Ind. Júndiz 15 Vitoria, Spain TEL: FAX: IRELAND SMC Pneumatics (Ireland) Ltd. 2 Citywest Business Campus, Naas Road, Saggart, Co. Dublin, Ireland TEL: FAX: NETHERLANDS (Associated company) SMC Pneumatics BV De Ruyterkade 1, NL-11 AB Amsterdam, Netherlands TEL: FAX: GREECE (Distributor) S.Parianopoulos S.A. 7, Konstantinoupoleos Street Athens, Greece TEL: FAX: DENMARK SMC Pneumatik A/S Knudsminde 4 B DK-83 Odder, Denmark TEL: FAX:

29 SMC s Global Service Network Europe FINLAND SMC Pneumatics Finland OY PL72, Tiistinniityntie 4, SF-2231 ESP, Finland TEL: FAX: NORWAY SMC Pneumatics Norway A/S Vollsveien 13C, Granfoss Næringspark N-1366 LYSAKER, Norway TEL: FAX: BELGIUM (Distributor) SMC Pneumatics N.V./S.A. Nijverheidsstraat B-216 Wommelgem Belguim TEL: FAX: POLAND SMC Industrial Automation Polska Sp.z.o.o. ul. Konstruktorska 11A, PL Warszawa, Poland TEL: FAX: TURKEY (Distributor) Entek Pnömatik San.ve Tic. Ltd. Sti Perpa Tic. Merkezi Kat:11 No Okmeydani Istanbul, Türkiye TEL: FAX: RUSSIA SMC Pneumatik LLC. 36/ Sredny prospect V.O. St. Petersburg 1994, Russia TEL: FAX: CZECH SMC Industrial Automation CZ s.r.o. Hudcova 78a, CZ-6 Brno, Czech Republic TEL: FAX: HUNGARY SMC Hungary Ipari Automatizálási kft. Budafoki ut Budapest TEL: FAX: ROMANIA SMC Romania S.r.l. Str. Frunzei, Nr. 29, Sector 2, Bucharest, Romania TEL: FAX: SLOVAKIA SMC Priemyselná automatizáciá, s.r.o Nova 3, SK-833 Bratislava TEL: FAX: SLOVENIA SMC Industrijska Avtomatilca d.o.o. Grajski trg 15, SLO- 836 Zuzemberk, Slovenia TEL: FAX: SOUTH AFRICA (Distributor) Hyflo Southern Africa (Pty.) Ltd. P.O.Box 2 Paardeneiland 74 South Africa TEL: FAX: EGYPT (Distributor) Saadani Trading & Ind. Services 15 Sebaai Street, Miami Alexandria, Egypt TEL: FAX: Oceania/Asia AUSTRALIA SMC Pneumatics (Australia) Pty.Ltd Hudson Avenue Castle Hill NSW 2154, Australia TEL: FAX: NEW ZEALAND SMC Pneumatics (New Zealand) Ltd. 8C Sylvia Park Road Mt.Wellington Auckland, New Zealand TEL: FAX: TAIWAN SMC Pneumatics (Taiwan) Co.,Ltd. 17, Lane 5, Nansan Rd., Sec.2, Luzhu-Hsiang, Taoyuan-Hsien, TAIWAN TEL: FAX: HONG KONG SMC Pneumatics (Hong Kong) Ltd. 29/F, Clifford Centre, Cheung, Sha Wan Road, Lai Chi Kok, Kowloon, Hong Kong TEL: FAX: SINGAPORE SMC Pneumatics (S.E.A.) Pte. Ltd. 89 Tuas Avenue 1, Jurong Singapore 6395 TEL: FAX: PHILIPPINES SHOKETSU SMC Corporation Unit 1 Common Goal Tower, Madrigal Business Park, Ayala Alabang Muntinlupa, Philippines TEL: FAX: MALAYSIA SMC Pneumatics (S.E.A.) Sdn. Bhd. Lot 36 Jalan Delima1/1, Subang Hi-Tech Industrial Park, Batu 3 Shah Alam Selangor, Malaysia TEL: FAX: SOUTH KOREA SMC Pneumatics Korea Co., Ltd. Woolim e-biz Center (Room 8), 17-5, Guro-Dong, Guro-Gu, Seoul, 152-5, South Korea TEL: FAX: CHINA SMC (China) Co., Ltd. 7 Wan Yuan St. Beijing Economic & Technological Development Zone 176, China TEL: FAX: THAILAND SMC Thailand Ltd. 134/6 Moo 5, Tiwanon Road, Bangkadi, Amphur Muang, Patumthani, Thailand TEL: FAX: INDIA SMC Pneumatics (India) Pvt. Ltd. D-7 to 112, Phase-2, Extension, Noida, Dist. Gautaim Budh Nagar, U.P. 1 35, India TEL: (1) FAX: INDONESIA (Distributor) P.T. Riyadi Putera Makmur Jalan Hayam Wuruk Komplek Glodok Jaya No Jakarta 1118 Indonesia TEL: FAX: PAKISTAN (Distributor) Jubilee Corporation First Floor Mercantile Centre, Newton Road Near Boulton Market P.O. Box 6165 Karachi 7 Pakistan TEL: /8449 FAX: ISRAEL (Distributor) Baccara Automation Control Kvutzat Geva Israel TEL: FAX: SAUDI ARABIA (Distributor) Assaggaff Trading Est. P.O. Box 3385 Al-Amir Majed Street, Jeddah-21471, Saudi Arabia TEL: FAX: