Angular Style Air Gripper Series /A/M 15
Angular style air gripper Series /A/M - Auto switch is attachable. 8 mm x 0 mm x mm g Body option (Only for A-) Side piping Port Port A- Short body. 1 mm x 0 mm x mm 19 g With ø One-touch fitting Port With ø hose nipple M-7S Smallest size and lightest mass in series. 3 mm x 15 mm x mm 9.5 g Port With M3 port Variations Page Page Page 31 1 Cylinder bore Action Opening/Closing angle (Both sides) Holding moment (at 0.5 MPa) Repeat ability Maximum operating frequency Mass Auto switch Body option Note) Not including auto switch mass. - ø g Note) Solid state auto switch (-wire, 3-wire) Double acting Single acting (Normally open) 30 to 0.038 N m (Double acting) 0.0 N m (Single acting) A- ø ±0.0 mm 180 c. p.m 19 g End boss type M-7S ø7 Single acting (Normally open) 0 to 7 0.017 N m 9.5 g
Series /A/M Specific Product Precautions Be sure to read before handling. Warning 1. 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 Axial Mounting (Body tapped) l Lateral mounting (Body tapped, body through-hole) Body tapped Mounting Warning. Do not scratch or dent the air gripper by dropping or bumping it when mounting. Slight deformation can cause inaccuracy or a malfunction. 3. 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. Use the hole at end of the body for positioning, etc. Bolt Max. tightening torque N m Max. screw-in depth l mm A- M-7S M x 0. M x 0. 0.15 0.15 Note) - is not compatible with axial mounting. - A- M-7S Bolt M x 0. Max. tightening torque N m 0.88 0.88 0.15 l Max. screw-in depth l mm 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. A- Hole dia. mm ø7h8 +0.0 0 Hole depth mm 1.5 Body through-hole Vertical mounting (Body tapped) l Attachment Bolt Max. tightening torque N m A- M x 0. 0.15 Note) - and M-7S are not compatible with vertical mounting. Max. screw-in depth l mm - A- Bolt M.5 x 0.5 M.5 x 0.5 Max. tightening torque N m 0.9 0.9 Note) M-7S is not compatible with body through-hole mounting. - M-7S Bolt M x 0. M x 0. Max. tightening torque N m 0.15 0.15 17
Selection Selection Procedure Series /A/M Selection Step 1 Confirm gripping force Step Confirmation of inertial moment of attachment Step 1 Confirmation of Gripping Force Confirmation of conditions Calculation of required gripping force selection from gripping force graph Example Workpiece mass: 0.01 kg Gripping method: External gripping Length of gripping point: 5mm Operating pressure: 0.MPa selection criteria with respect to workpiece mass Although differences will exist depending on factors such as shape and the coefficient of friction between the attachments and workpieces, select a model which will provide a gripping force to 0 times the (Note 1) weight of the workpiece. (Note 1) 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. Example: When it is desired to set the gripping force at times or more the workpiece weight. Required gripping force = 0.01 kg x x 9.8 m/s = Approx. 0.98 N or more -D/A-D Gripping force N 3 1.5 1 0.5 0. 0.3 Pressure 0. MPa 0 0 30 Gripping point L mm Selecting the -D. The gripping force of 1.5 N is obtained from the intersection point of gripping point distance L = 5 mm and pressure of 0. MPa. The gripping force is 1.7 times greater than the workpiece weight, and therefore satisfies a gripping force setting value of times or more. Selection Illustration F μf mg Gripping force at least to 0 times the workpiece weight The " to 0 times or more of the workpiece weight" recommended by SMC is calculated with the safety margin of a =, which allows for impacts that occur during normal transportation, etc. μf When μ = 0. When μ = 0.1 mg F = x x 0. = x mg F mg F = x x 0.1 = 0 x mg 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 ) mg: Workpiece weight (N) the conditions under which the workpiece will not drop are x μ F > mg Number of fingers and therefore, mg F > x μ With "a" as the safety margin, F is determined as follows: mg F = x a x μ 18 x workpiece weight 0 x workpiece weight (Note) Even in cases where the coefficient of friction is greater than μ = 0., for safety reasons, SMC recommends selecting a gripping force which is at least to 0 times the workpiece weight. It is necessary to allow a greater safety margin for high accelerations and strong impacts, etc.
Angular Style Air Gripper Series /A/M Step 1 Effective Gripping Force: Series External Gripping Force Expressing the effective gripping force The effective gripping force shown in the graphs to the right 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. F External Gripping /A/M L F -D/A-D -S/A-S M-7S Pressure 0.MPa 0.5 Pressure 0.MPa Pressure 0.MPa Gripping force N 3 1 0. 0.3 0. Gripping force N 3 1 0.5 0. 0.3 Gripping force N 1 0.5 0. 0 0 30 Gripping point L mm 0 0 30 Gripping point L mm 0 0 30 Gripping point L mm 19
Series /A/M Step Confirmation of Inertial Moment of Attachment Confirm the inertial moment of one of the two attachments. For example, in calculating the inertial moment of an attachment in the picture on the left, divide it into rectangular parallelepipeds, A part and B part. A part B part Procedure Formula Example z.calculate the operating conditions and attachment dimensions. A part B part f e b c a Operating equipment: -D a = 0 (mm) b = 3 (mm) c = (mm) d = (mm) e = 5 (mm) f = (mm) d x.calculate the inertial moment of the attachment. A part z1 f1 z Assuming the attachment material is aluminium alloy (relative density=.7), r1 = 1. (mm). Inertial moment around Z1 axis 1Z1 = {m1 (a + b ) / 1} x - Inertial moment around Z axis 1A = 1Z1 + m1r1 x - z B part z f Mass calculation m1 = a x b x c x Relative density m1 1Z1 1A r = 0 x 3 x x.7 x - =.8 x - (kg) = {.8 x - x (0 + 3 )/1} x - =.1 x -8 (kg. m ) =.1 x -8 +.8 x - x 1. x - = 0.0 x - (kg. m ) = 3.5(mm) c.confirm from the table that the inertial moment of one attachment is within the allowable range. Inertial moment around Z axis 1Z = {m (d x e ) / 1} x - Inertial moment around Z axis 1B = 1Z x mr x - Mass calculation m = d x e x f x Relative density Thus, the total inertial moment is 1 = 1A + B -D/A-D Finger opening and closing speed Without speed controller With speed controller 3/ to 1 and 1/ reverse rotation from fully close state ( : Unit conversion constant) Allowable inertial moment of attachment 0.5 x - Kg m 1.5 x - Kg m Attachment inertial moment > Allowable inertial moment m = x 5 + x.7 x - = 3. x - (kg) 1Z 1B 1 = {3. x - x ( + 5 ) / 1} x - = 1.11 x -9 (kg. m ) = 1.11 x -9 + 3. x - x 3.5 x - = 0.18 x - (kg. m ) = 0.0 x - + 0.18x - = 0.38 x - (kg. m ) Attachment inertial moment 0.38 x - (kg. m ) < Allowable inertial moment without speed controller 0.5 x - (kg. m ) Therefore, the attachment can be used without a speed controller. 0
Angular Style Air Gripper Series /A/M Symbol Symbol Definition Z Central axis of finger rotation Z1 Axis which contains center of gravity of attachment A part and is parallel to Z Z Axis which contains center of gravity of attachment B part and is parallel to Z 1 1Z1 1Z 1A 1B m1 m r1 r Total inertial moment of attachment Inertial moment around Z1 axis of attachment A part Inertial moment around Z axis of attachment B part Inertial moment around Z axis of attachment A part Inertial moment around Z axis of attachment B part Mass of attachment A part Mass of attachment B part Distance between axes Z and Z1 Distance between axes Z and Z Unit kg m kg m kg m kg m kg m kg kg mm mm Limiting Range of Attachment Inertial Moment -D/A-D Finger opening and closing speed Allowable inertial moment of attachment Note) Without speed controller 0.5 x - kg m With speed controller 1.5 x 3/ to 1 and 1/ reverse rotation from fully close state - kg m Mass (Guide) g or less 3.5 g or less -S/A-S Finger opening and closing speed Allowable inertial moment of attachment Note) Without speed controller 0.5 x - kg m With speed controller 1.5 x 3/ to reverse rotation from fully close state - kg m Mass (Guide) g or less 3.5 g or less M-7S Finger opening and closing speed Allowable inertial moment of attachment Mass (Guide) Without speed controller Note) 0.3 x - kg m g or less With speed controller 1/ to 1 3/ reverse rotation from fully close state 1.0 x - kg m 3.3 g or less Applicable speed controller Air gripper direct connection type AS111F-M3 Use a meter-in type. Note) In the case of M-7S, provide a run off space because the speed controller protrudes from the body top surface by 0. mm. Note) Sometimes the workpiece may not be gripped precisely because of excessive speed in finger opening and closing. Therefore, use a meter-in type speed controller to adjust the finger opening and closing speed. 1
Angular Style Air Gripper Series -/A- Short body (Auto switch not attachable) A Number of fingers finger Bore size (mm) How to Order D M9B Auto switch Nil Without auto switch (Built-in magnet) For the applicable auto switch model, refer to the table below. D Number of auto switches Nil S Made to Order Refer to page 3 for details. pcs. 1 pc. D S Action Double acting Single acting (Normally open) Body option (End boss type) Nil: Basic type E: Side ported (Double acting/ Single acting) K: Axial ported with One-touch fitting (Single acting) H: Axial ported with ø hose nipple (Single acting) M: Axial M3 port (Single acting) A Port Port Port Port Port Applicable Auto Switches/Refer to pages 71 to 809 for further information on auto switches. Type Solid state switch Special function Lead wire length symbols: Electrical entry Indicator light Wiring (Output) Load voltage Auto switch model Lead wire length (m) DC AC Perpendicular In-line 0.5 1 3 5 (Nil) (M) (L) (Z) 3-wire (NPN) 5 V, M9NV M9N Grommet Yes 3-wire (PNP) V 1 V M9PV M9P -wire 1 V M9BV M9B Auto switches marked with are made to order specification. 0.5 m Nil (Example) M9N 1 m M (Example) M9NM 3 m L (Example) M9NL 5 m Z (Example) M9NZ Pre-wired connector Applicable load IC circuit Relay, PLC
Angular Style Air Gripper Series -/A- Specifications - Operating pressure Fluid Double acting Single acting: Normally open Ambient and fluid temperature Repeatability Maximum operating frequency Lubrication Action Auto switch (Option) Note) Air 0.15 to 0. MPa 0.3 to 0. MPa to 0 C ±0.0 mm 180 c.p.m Non-lube Double acting, Single acting (Normally open) Solid state auto switch (3-wire, -wire) Note) Refer to pages 71 to 809 for further information on auto switches. A- JIS Symbol Double acting A- Axial ported (With hose nipple) Action Double acting Single acting (Normally open) -D A-D -S A-S Cylinder bore (mm) Note 1) At the pressure of 0.5 MPa Note ) Excluding the auto switch mass. Gripping moment (Effective value) N m 0.038 0.0 (1) Opening/Closing angle (Both sides) 30 to 30 to Mass (g) 19 19 () Option Single acting Made to Order Refer to pages 83 to 713 for details. Body Option/End Boss Type Symbol Nil E K H M Piping port location Basic type Side ported Axial ported Type of piping port A- With ø one-touch fitting With ø hose nipple Applicable model Double acting Single acting Symbol -X -X5 -X53 -X5 -X3 -X -X5 -X79 Specifications/Description Heat resistance (0 C) Fluororubber seal EPDM seal/fluorine grease Axial piping type Fluorine grease Finger: Side Tapped Mounting Finger: Through-hole mounting Grease for food 3
Series -/A- Construction - Double acting/with fingers open Double acting/with fingers closed Single acting r!0 o!8 i e q y!3 w!1!!7! t!9 u!5! Component Parts No. 1 3 5 7 8 9 Replacement Parts Description Seal kit Description Body Finger Piston Lever shaft Magnet holder Cap Clip Bumper Holder Holder lock w Kit no. Material Aluminium alloy Aluminium alloy Urethane rubber Brass Main parts Please contact SMC to replace seal kit Replacement part/grease pack part no.: GR-S-005 (5 g) Note Hard anodized Heat treatment Nitriding Hard anodized Electroless nickel plated Note o i! e q t!1 No. 11 1 13 1 15 1 17 18 19 Description Needle roller Magnet N.O. spring Exhaust plug Exhaust filter Rod seal Piston seal Gasket Gasket Material Note High carbon chromium bearing steel Nickel plated Piano wire Zinc chromated Brass Electroless nickel plated Resin NBR NBR NBR NBR A- (Short body type) Double acting/with fingers open Double acting/with fingers closed Single acting!0 r! u!5!7 y!3! Component Parts No. Description Material Note No. Description Material Note 1 3 5 7 8 9 Body Finger Piston Lever shaft Cap Clip Bumper Holder Holder lock Aluminium alloy Aluminium alloy Urethane rubber Brass Hard anodized Heat treatment Nitriding Hard anodized Electroless nickel plated 11 1 13 1 15 1 17 Needle roller N.O. spring Exhaust plug Exhaust filter Rod seal Piston seal Gasket Gasket High carbon chromium bearing steel Piano wire Brass Resin NBR NBR NBR NBR Zinc chromated Electroless nickel plated Replacement Parts Description Kit no. Main parts Note Seal kit Please contact SMC to replace seal kit Replacement part/grease pack part no.: GR-S-005 (5 g)
Angular Style Air Gripper Series -/A- Dimensions - x M x 0. through Thread for attachment mounting Attachment mounting limiting range 1.5 5 11 x through Prepared hole dia.. through.8 When open 30 When closed 1 1 0 ø.5 ±0.05 Auto switch mounting groove dimensions 0.005 0.05 (8) 3 +0.0 ø7h8 0 depth 1.5 Finger opening port Finger closing port 18 7 1. In the case of -S, finger opening port is a breathing hole. 5
Series -/A- Dimensions A- (Short body type) x M x 0. through Thread for attachment mounting x M x 0. thread depth (Mounting thread) Attachment mounting limiting range 1.5 5 11 x through Prepared hole dia.. through When open 30 When closed 1 1 5 x M x 0. depth (Mounting thread) ±0.05 +0.0 ø7h8 0 depth 1.5 9 (1) (Finger opening port) 1.3 0.005 0.05 0.8 13. 0 Finger closing port 5.5 1.3 In the case of A-S, finger opening port is a breathing hole.
Series A Body Option: End Boss Type Applicable Symbol E H K M Piping port location Side ported Axial ported Type of piping port With ø hose nipple With ø One-touch fitting Applicable model Double acting Single acting Side Ported [E] A- E End boss assembly 0 ø7.8 5 ø8f8 0.013 0.035 33 1 Axial Ported (With hose nipple) [H] The specifications and dimensions not given above are identical with those of the standard type. A-SH End boss assembly Hose nipple Applicable tubing ø ø7.8 ø. ø.5 0.013 0.035 ø8f8 5 7 0 33 1 8.5 The specifications and dimensions not given above are identical with those of the standard type. Applicable Tubing Description/ Specifications Outside diameter mm Max. operating pressure MPa Min. bending radius mm Operating temperature C Material Nylon tubing T05 1.0 13 0 to 0 Nylon 1 Soft nylon tubing TS05 0.8 1 0 to 0 Nylon 1 Polyurethane tubing TU05 0.5 0 to 0 Polyurethane Polyurethane coil tubing TCU05B-1 0.5 0 to 0 Polyurethane Refer to Best Pneumatics No. regarding One-touch fittings and tubing. 7
Series -/A- Axial Ported (With One-touch fitting) [K] A-SK End boss assembly ø7.8 0.013 0.035 Applicable tubing ø 0 ø8f8 5 Max..7 33 1 The specifications and dimensions not given above are identical with those of the standard type. Applicable Tubing Description/ Specifications Outside diameter mm Max. operating pressure MPa Min. bending radius mm Operating temperature C Material Nylon tubing T05 1.0 13 0 to 0 Nylon1 Soft nylon tubing TS05 0.8 1 0 to 0 Nylon1 Refer to Best Pneumatics No. regarding One-touch fittings and tubing. Polyurethane tubing TU05 0.5 0 to 0 Polyurethane Polyurethane coil tubing TCU05B-1 0.5 0 to 0 Polyurethane Axial Ported (With M3 port) [M] A-SM End boss assembly ø7.8 Piping port ø8f8 0 5 0.013 0.035 Mass 33 1 The specifications and dimensions not given above are identical with those of the standard type. Unit: g E H End boss type (Symbol) K M A- 3 3 3 3 8
Series -/A- Auto Switch Installation Examples and Mounting Positions Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. 1) Detection when Gripping Exterior of Workpiece Detection example 1. Confirmation of fingers in reset position. Confirmation of workpiece held 3. 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 held (Normal operation): Auto switch to turn OFF (Light not illuminating) When a workpiece is not held (Abnormal operation): Auto switch to turn ON (Light illuminating) Detection combinations One auto switch Two auto switches How to determine auto switch installation position Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Position fingers for gripping a workpiece. At no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. Step ) Insert the auto switch into the auto switch installation groove in the direction shown in the drawing. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step ) 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 0.3 to 0.5 mm beyond the position where the indicator light illuminates. Position where light turns ON Fitting position 0.3 to 0.5 mm Step 3) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position 0.3 to 0.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. Position where light turns ON Position to be secured 0.3 to 0.5 mm Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note ) 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. 9
Series -/A- Auto Switch Hysteresis Auto Switch Mounting Flat head watchmaker s screwdriver ø5 to ø Switch mounting screw M.5 x Hysteresis Auto switch Auto switch operating position (ON) Hysteresis - Auto switch return position (OFF) D-M9 (V) Note) Use a watchmaker s screwdriver with a grip diameter of 5 to mm to tighten the auto switch mounting screw. The tightening torque should be about 0.05 to 0.15 N m. Protrusion of Auto Switch from Edge 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. Lead wire type In-line entry Perpendicular entry Illustration L L Air gripper model Finger position Auto switch model D-M9 D-M9 V - Open Close.5 mm 9 mm.5 mm 7 mm 30
Angular Style Air Gripper Compact Type Series M-7S How to Order M Compact type 7 S Made to Order Refer to the table below for details Number of fingers finger Action S Single acting (Normally open) Bore size (mm) 7 7 mm JIS Symbol Made to Order Refer to pages 83 to 713 for details. Symbol Specifications/Description -X Heat resistance (0 C) -X5 Fluororubber seal -X5 Axial piping type -X3 Fluorine grease -X79 Grease for food Specifications Fluid Operating pressure Ambient and fluid temperature Repeatability Maximum operating frequency Lubrication Action Action Single acting (Normally open) Note) At the pressure of 0.5 MPa Cylinder bore (mm) Air 0. to 0. MPa to 0 C ±0.0 mm 180 c.p.m. Non-lube Single acting (Normally open) Note) Gripping moment (Effective value) N m Opening/Closing angle (Both sides) Mass (g) M-7S 7 0.017 0 to 7 9.5 31
Series M-7S Construction/M-7S (Compact type) Single acting/with fingers open With fingers closed y t q w r u e Component Parts No. 1 3 5 7 Description Body Finger Piston Pusher Spring Needle roller Piston seal Material Aluminium alloy Piano wire High carbon chromium bearing steel NBR Note Hard anodized Heat treatment Heat treatment Zinc chromated Replacement parts order no. MYN- Dimensions M-7S 8.3.5 1.5 5. x M x 0. thread (Mounting thread) x M x 0. depth (Mounting thread) When open 0 When closed 7 15 11 1.8 7.7 (3) 1.5 ±0.05 x M x 0. thread (Attachment mounting thread) (Finger closing port) 0.03 0 3.5 3
Angular Style Air Gripper/Standard Type Series How to Order Angular style air gripper 0 Bore size mm 1 1mm 0 0mm 5 5mm D S D Action Double acting Single acting M9BW Made to Order (Refer to page 3 for details.) Number of auto switches Nil pcs. S 1 pc. Auto switch Nil Without auto switch (Built-in magnet) For the applicable auto switch model, refer to the table below. Applicable Auto Switch/Refer to pages 71 to 809 for further information on auto switches. Type Solid state switch Special function Diagnosis (-color indication) Electrical entry Grommet Indicator light Yes Wiring (Output) 3-wire (NPN) 3-wire (PNP) -wire 3-wire (NPN) 3-wire (PNP) -wire Load voltage DC 5 V, 1 V 1 V V 5 V, 1 V 1 V Note 1) Take note of hysteresis with -color indication type switches. Refer to Auto Switch Hysteresis on page 0. Note ) Refer to pages 71 to 809 for further information on auto switches. AC Auto switch model Lead wire length (m) Electrical entry direction Pre-wired 0.5 1 3 5 connector Perpendicular In-line (Nil) (M) (L) (Z) M9NV M9N M9PV M9P M9BV M9B M9NWV M9NW M9PWV M9PW M9BWV M9BW Applicable load IC circuit IC circuit Relay, PLC Solid state auto switches marked with a symbol are produced upon receipt of order. 33
Series A large amount of gripping force is provided through the use of a double piston mechanism, while maintaining a compact design. Built-in variable throttle A solid state auto switch with an indicator light can be mounted. Specifications Fluid Air Double acting 0.1 to 0. MPa Operating pressure Single acting 0.5 to 0. MPa Ambient and fluid temperature to 0 C Repeatability ±0.01 mm Max. operating frequency 180 c.p.m Lubrication Not required Action Double acting, Single acting Auto switch (Option) Note) Solid state auto switch (3-wire, -wire) Note) Refer to pages 71 to 809 for further information on auto switches. -1S JIS Symbol Double acting -D Action Bore size (mm) Gripping moment (N m) (Effective value) (1) Opening/closing angle (Both sides) Mass () (g) -D 0. 39 Double acting -1D 1 0.39 91-0D 0 0.70 180-5D -S 5 1.3 0.070 311 39 Single acting -1S 1 0.31 9-0S 0 0.5 183-5S 5 1.08 31 Note 1) At the pressure of 0.5 MPa. Refer to Effective Gripping Force data on page 35 for gripping force of each gripping point. Note ) Except auto switch. Single acting Made to Order (Refer to page 83 to 713 for details.) Symbol -X -X5 -X50 -X53 -X5 -X3 -X -X5 -X79 Specifications/Description Heat resistance (0 C) Fluororubber seal Without magnet EPDM seal/fluorine grease Axial Ported Fluorine grease Finger: Side tapped mounting Finger: Through-hole mounting Grease for food 3
Angular Style Air Gripper/Standard Type Series Gripping Point Workpiece gripping point should be within the range indicated in the graph. Effective Gripping Force Double Acting Single Acting Gripping point distance (mm) Gripping force (N) Pressure 0. MPa Gripping force (N) Pressure 0. MPa Gripping point L (mm) Gripping point L (mm) Guidelines for the selection of the gripper with respect to component 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 0 times the workpiece weight, or more. If high acceleration, deceleration or impact forces are encountered during motion, a further margin of safety should be considered. Gripping force (N) Pressure 0. MPa Gripping force (N) Pressure 0. MPa Indication of 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. Gripping force (N) Gripping force (N) Gripping point L (mm) Pressure 0. MPa Gripping point L (mm) Pressure 0. MPa Gripping force (N) Gripping force (N) Gripping point L (mm) Pressure 0. MPa Gripping point L (mm) Pressure 0. MPa Gripping point L (mm) Gripping point L (mm) 35
Series Construction Double acting/with fingers open Single acting Double acting/with fingers closed With auto switch Auto switch Component Parts No. Description Material Note 1 3 5 7 8 9 11 Body Piston A Piston B assembly Finger Side roller Lever shaft Center roller Center pin Cap Bumper Rubber magnet Aluminum alloy Aluminum alloy Carbon steel Carbon steel Carbon steel Carbon steel Resin Urethane rubber Synthetic rubber Hard anodized Hard anodized Heat treated Nitriding Nitriding Nitriding Nitriding Component Parts No. Description Material Note 1 13 1 15 1 17 18 19 0 1 Type C retaining ring Needle roller Needle assembly Exhaust plug Plug Spring Piston seal Piston seal Piston seal Gasket Carbon steel High carbon chrome bearing steel Brass Brass Brass spring wire NBR NBR NBR NBR Nickel plated Electroless nickel plated Electroless nickel plated Electroless nickel plated Replacement Parts Description Seal kit Finger assembly Piston assembly set Piston A assembly Piston B assembly Needle assembly - -PS -A03 -A0 -A01 P331115B MH-A0 Order 1 piece finger assembly per one unit. Replacement part/grease pack part no.: GR-S-005 (5g) 3-1 1-PS -A103 -A10 -A101 P33115B -0 0-PS -A003 -A00 -A001 P331135B MH-A10-5 5-PS -A503 -A50 -A501 P33115C Main parts!8!9@0@1 rtyui!3 weui!0!1!8!9@0 w!0!1 e!
Angular Style Air Gripper/Standard Type Series Double Acting: Size, 1 - x thread depth (Mounting thread) x thread depth 5 (Mounting thread) Bottom hole dia.. through (Mounting hole) +0.03 0 x thread depth (Mounting thread) Auto switch mounting groove (Both sides) x M.5 x 0.5 through (Thread for mounting attachment) (Finger closing port) (Finger closing port) Adjusting needle for finger speed Note) When single acting type is used, one side port is breath port. When auto switches are used, through hole mounting is not available. -1 x M x 0.7 thread depth.5 (Mounting thread) x M x 0.7 thread depth 8 (Mounting thread) Bottom hole dia. 3. through (Mounting hole) +0.03 0 x M x 0.7 thread depth 8 (Mounting thread) Auto switch mounting groove (Both sides) x through (Thread for mounting attachment) M5 x 0.8 (Finger closing port) M5 x 0.8 (Finger closing port) Adjusting needle for finger speed Note) When single acting type is used, one side port is breath port. When auto switches are used, through hole mounting is not available. 37
Series Double Acting: Size 0, 5-0 x M5 x 0.8 thread depth 8 (Mounting thread) x M5 x 0.8 thread depth (Mounting thread) Bottom hole dia..3 through (Mounting hole) x M5 x 0.8 thread depth (Mounting thread) Auto switch mounting groove (Both sides) x M x 0.7 through (Thread for mounting attachment) M5 x 0.8 (Finger closing port) M5 x 0.8 (Finger closing port) Adjusting needle for finger speed Note) When single acting type is used, one side port is breath port. When auto switches are used, through hole mounting is not available. -5 x M x 1 thread depth (Mounting thread) x M x 1 thread depth 1 (Mounting thread) Bottom hole dia. 5.1 through (Mounting hole) x M x 1 thread depth 1 (Mounting thread) Auto switch mounting groove (Both sides) x M5 x 0.8 through (Thread for mounting attachment) M5 x 0.8 (Finger closing port) M5 x 0.8 (Finger closing port) Adjusting needle for finger speed Note) When single acting type is used, one side port is breath port. When auto switches are used, through hole mounting is not available. 38
Series Auto Switch Installation Examples and Mounting Positions Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. Detection when Gripping Exterior of Workpiece Detection example 1. Confirmation of fingers in reset position. 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 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 held (Normal operation): Auto switch to turn OFF (Light not illuminating) When a workpiece is not held (Abnormal operation): Auto switch to turn ON (Light illuminating) Detection combinations One auto switch Two auto switches How to determine auto switch installation position Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Position fingers for gripping a workpiece. At no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. Step ) Insert the auto switch into the auto switch installation groove in the direction shown in the following drawing. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step ) 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 0.3 to 0.5 mm beyond the position where the indicator light illuminates. Position where light turns ON Position to be secured 0.3 to 0.5 mm Step 3) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position 0.3 to 0.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. Position where light turns ON Position to be secured 0.3 to 0.5 mm Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note ) 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. 39
Series Auto Switch Mounting (1) To set the auto switch, insert the auto switch into the installation groove of the cylinder as shown below and set it roughly. () Insert the auto switch into the auto switch bracket installation groove. (3) After confirming the detecting position, tighten the set screws (M.5) attached t the auto switch and set it. () Be sure to change the detecting position in the state of (). Auto switch mounting bracket Auto Switch Mounting Bracket: Part No. Auto switch part no. D-M9 (V)/M9 W(V) Auto switch mounting bracket part no. BMG-01 Note) Use a screwdriver with a grip diameter of 5 to mm to tighten the set screws (M.5). The tightening torque should be 0.05 to 1 N m. As a guide, it should be turned about 90 beyond the point at which tightening can be felt. Handling of Mounting Brackets: Precautions When auto switch is set on the mounting side as shown below, allow at least mm run off space on mounting late since the auto switch is protruded from the gripper edge. Run off space mm or more Protrusion of Auto Switch from Edge of Body The maximum protrusion of an auto switch (when fingers are fully closed) from the edge of the body is shown in the table below. Angular Style When auto switch D-M9 /M9 W/Y59 /Y7P/Y7 W is used When auto switch D-M9 V/M9 WV/Y9 /Y7PV/Y7 WV is used Max. Protrusion of Auto Switch from Edge of Body (L) Auto switch model Air gripper model - -1-0 -5 Auto switch Air model gripper model - -1-0 -5 D-Y59 D-Y7P D-Y7 W 8 7 D-M9 D-M9 W 7.5.5 5.5 3.5 (mm) D-Y9 D-Y7PV D-Y7 WV 5 3 (mm) D-M9 (V) D-M9 W(V) 5.5 5.5.5.5 Note) The actual setting position should be adjusted after confirming the auto switch operating condition. Auto Switch Hysteresis Auto switches have hysteresis similar to micro switches. Use the table below as a guide when adjusting auto switch positions, etc. Angular Style Hysteresis Switch operating position (ON) Switch reset position (OFF) Air gripper model - -1-0 -5 Hysteresis degree (Max. value) 3 0
Series Specific Product Precautions Be sure to read before handling. Possible to mount from 3 directions. Mounting Air Grippers/Series Axial Mounting (Body tapped) Lateral mounting (Body tapped and through-hole) Vertical Mounting (Body tapped) Body tapped Use the hole at the end of the body for positioning, etc. - -1-0 -5 Applicable bolts M x 0.7 M5 x 0.8 M x 1 Body through-hole 0.9.1.3 7.3 Max. screw-in depthl mm 5 8 1 - -1-0 -5 Applicable bolts M x 0.7 M5 x 0.8 M x 1 0.88 1. 3.3 5.9 Max. screw-in depthl mm.5 8 How to Mount the Attachment to the Finger - -1-0 -5 Applicable bolts M x 0.7 M5 x 0.8 M x 1 0.88.1.3 7.3 Max. screw-in depthl mm 8 1 Hole size (mm) Hole depth (mm) - -1-0 -5 ø11h9 ø17h9 ø1h9 øh9 1.5 1.5 1.5 1.5 - -1-0 -5 - -1-0 -5 Applicable bolts M.5 x 0.5 M x 0.7 M5 x 0.8 Max. screw-in depthl mm 5 8 1 0.9 0.88.1.3 Note) If an auto switch is to be mounted, only the tapped holes can be used. Make sure that the bolt's screw-in depth is less than those shown in the table on the left to prevent the tip of the bolt from pressing the switch body. To mount the attachment to the finger, make sure to use a wrench to support the attachment so as not to apply undue strain on the finger. Refer to the table below for the proper tightening torque on the bolt used for securing the attachment to the finger. Finger - -1-0 -5 Applicable bolts M.5 x 0.5 M x 0.7 M5 x 0.8 Attachment 0.31 0.59 1..8 1