Low Profile Air Gripper

Low Profile Air Gripper Series MHF2 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X Low profile air gripper with space-saving design MRHQ MA D- Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 445

Low Profile Air Gripper Series MHF2 Height is approximately 1/ the size of an equivalent Series MHZ2. MHZ2-D 42 Bore size 8 12 1 (mm) Height 19 41 72.8 MHF2-12D 52 5 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 ø12 ø1 ø Short 8 12 1 mm mm mm mm Medium 1 24 2 4 mm mm mm mm Long 2 48 4 8 mm mm mm mm 44 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Improved mounting repeatability With positioning pin holes Auto switches can be mounted on both sides. Linear guide provides: High precision and high rigidity with martensitic stainless steel Piping is available from 2 directions Piping port position can be specified using a part number. 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 q w w e w r Model Bore size Gripping force (N) MHF2-8D MHZ2-1D MHF2-12D MHZ2-D MHF2-1D MHZ2-D 8 1 12 1 19 48 42 9 5 MHW -X MRHQ MA D- MHF2-D MHZ2-2D 2 141 158 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 447

Model Selection Selection Procedure Series MHF2 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:.15 kg Gripping method: xternal gripping 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 =.15 kg x x 9.8 m/s 2 = Approx. 29.4 N or more MHF2-12D 7 5 8 4 Gripping force N 1 Pressure.7MPa.MPa.5MPa 4.4MPa.MPa.2MPa Gripping point L mm 8 Length of gripping point: mm Operating pressure:.4 MPa Selecting the MHF2-12D 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 MHF2-12D 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) μf mg μf the conditions under which the workpiece will not drop are 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. When μ =.2 When μ =.1 mg F = x 4 2 x.2 = 1 x mg mg F = x 4 2 x.1 = x mg 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. 448 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Step 1 ffective Gripping Force: Series MHF2 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. F F xternal Gripping L Internal Gripping L MHF2-8D MHF2-12D Pressure.7MPa 7 Pressure.7MPa.MPa Gripping force N 1.MPa.5MPa.4MPa.MPa.2MPa Gripping force N 5 4 1.5MPa.4MPa.MPa.2MPa MHZ MHF 1 4 Gripping point L mm 4 Gripping point L mm 8 MHL MHR MHF2-1D Gripping force N 14 1 1 8 4 Pressure.7MPa.MPa.5MPa.4MPa.MPa.2MPa MHF2-D Gripping force N 21 18 15 1 9 Pressure.7MPa.MPa.5MPa.4MPa.MPa.2MPa MHK MHS MHC MHT MHY MHW -X MRHQ MA 4 8 1 4 8 1 D- Gripping point L mm Gripping point L mm Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 449

Series MHF2 Model Selection Step 2 ffective Gripping Force: Series MHF2 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 MHF2-12D 8 Overhang Hmm 4 1.4MPa.MPa Pressure.2MPa.5MPa.MPa.7MPa Overhang Hmm 4.4MPa Pressure.2MPa.MPa.5MPa.MPa.7MPa 1 4 5 4 8 Gripping point L mm Gripping point L mm MHF2-1D 1 MHF2-D 1.5MPa Overhang Hmm 8 4.4MPa Pressure.2MPa.MPa.5MPa.MPa.7MPa Overhang Hmm 8 4.4MPa Pressure.2MPa.MPa.MPa.7MPa 4 8 1 4 8 1 Gripping point L mm Gripping point L mm 45 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Step Confirmation of xternal Force on Fingers: Series MHF2 Fv Mp My L L L Mr L: Distance to the point at which the load is applied (mm) Model Allowable vertical load Fv (N) Pitch moment Mp (N m) MHF2-8D MHF2-12D MHF2-1D MHF2-D 58 98 17 294.2.8 1.4 2 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) Maximum allowable moment Yaw moment My (N m).2.8 1.4 2 = M (Maximum allowable moment) (N m) L x 1 - Allowable load F = ( Unit converted invariable number) Calculation example Roll moment Mr (N m).5 1.4 2.8 4 When a load f = 1 N is operating, which applies pitch moment to point L = mm from the end of the MHF2-12D finger..8 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- Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 451

Low Profile Air Gripper Series MHF2 How to Order MHF 2 12 D M9BW Made to Order Refer to page 45 for details. Number of fingers 2 2 finger 8 12 1 Bore size (mm) 8 12 1 D Action 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 71 to 89 for further information on auto switches. Type Solid state switch Special function Diagnostic indication (2-color display) lectrical entry Grommet Indicator light Yes Wiring (Output) -wire (NPN) -wire (PNP) 2-wire -wire (NPN) -wire (PNP) 2-wire 24 V Auto switch model Load voltage lectrical entry direction DC AC Perpendicular In-line 5 V, 12 V 12 V 5 V, 12 V 12 V M9NV M9PV M9BV M9NWV M9PWV M9BWV M9N M9P M9B M9NW M9PW M9BW Lead wire length (m) 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 1) Take note of hysteresis with 2-color indication type switches. When using, refer to page 471 for auto switch hysteresis..5 (Nil) 1 (M) (L) 5 (Z) Pre-wired connector Applicable load IC circuit IC circuit Relay, PLC 452 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Specifications Ambient and fluid temperature Repeatability Maximum operating frequency Fluid Operating pressure Short stroke Medium stroke Long stroke Lubrication Action Auto switch (Option) Note 2) Air ø8:.15 to.7 MPa ø12 to :.1 to.7 MPa 1 to C (with no condensation) ±.5 mm Note 1) 1 c.p.m. 1 c.p.m. 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 ±.15 mm due to the influence of backlash of the rack and pinion. Note 2) Refer to pages 71 to 89 for further information on auto switches. Model Action Model Cylinder bore (mm) Note 1) Gripping force ffective gripping force per finger N Opening /closing stroke (Both sides) mm Note 2) Mass (g) Unobstructed capacity (cm ) Finger open side Finger close side JIS Symbol Double acting Double acting MHF2-8D MHF2-8D1 MHF2-8D2 MHF2-12D MHF2-12D1 MHF2-12D2 MHF2-1D MHF2-1D1 MHF2-1D2 MHF2-D MHF2-D1 MHF2-D2 8 12 1 19 48 9 141 Note 1) At the pressure of.5 MPa, when gripping point L is mm. Note 2) xcluding the auto switch mass. 8 1 2 12 24 48 1 2 4 4 8 5 85 1 155 19 275 5 445 5 45 85 1,2.7 1.1 2. 1.9..1 4.9 8.2 14.9 8.7 15.1 28.. 1. 1.9 1.. 5.8 4.1 7.4 14. 7. 1.7 2. MHZ MHF MHL MHR MHK MHS Made to Order Refer to pages 8 to 71 for details. Symbol Specifications/Description -X4 Heat resistance (1 C) -X5 Fluororubber seal -X5 Without magnet -X5 PDM seal/fluorine grease -X Fluorine grease -X79 Grease for food MHC MHT MHY MHW -X MRHQ MA D- Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 45

Series MHF2 Construction MHF2-8D,MHF2-8D1 q w u!!1!!2!8!4 @ @1 o!9 y t!5 r e!7 MHF2-8D2 i! Component Parts Component Parts No. Description Material Note No. Description Material Note 1 Body Aluminium alloy Hard anodized Head damper Urethane rubber 2 Piston Stainless steel 12 Clip Stainless steel wire Joint Stainless steel Heat treatment 1 Rack Stainless steel Nitriding 4 Guide rail Stainless steel Heat treatment 14 Magnet Nickel plated 5 Finger Stainless steel Heat treatment 15 Steel balls High carbon chromium bearing steel Roller stopper Stainless steel 1 Wear ring Synthetic resin 7 Pinion Carbon steel Nitriding 17 Roller High carbon chromium bearing steel 8 Cap A Aluminium alloy Clear anodized 18 Needle roller High carbon chromium bearing steel 9 Cap B Aluminium alloy Clear anodized 19 Parallel pin Stainless steel 1 Cap C Aluminium alloy Clear anodized Piston seal NBR 21 Gasket NBR Replacement Parts Description Seal kit Finger assembly MHF2-8D MHF8-PS MHF-A82 Kit no. MHF2-8D1 MHF8-PS MHF-A82-1 Replacement part/grease pack part no.: Guide unit: GR-S-5 (5g) Cylinder unit: GR-L-5 (5g) 454 MHF2-8D2 MHF8-PS-2 MHF-A82-2 Contents 12,, 21, 4, 5,, 15, 17, 19 Mounting screw Bolts for Body Through-hole Mounting Part no. MHF-B8 Number of pieces MHF2-8D 2 pieces/unit MHF2-8D1 2 pieces/unit MHF2-8D2 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. Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Construction MHF2-12D to D i @2 w @1! u q!1!!2!7!5 @ o!9 y!8 t!4 r e! Component Parts No. Description Material Note No. Description Material Note MHZ 1 2 Body Piston Aluminium alloy Aluminium alloy Hard anodized Clear anodized 1 14 Magnet Steel balls High carbon chromium bearing steel Nickel plated MHF 4 5 Joint Guide rail Finger Roller stopper Stainless steel Stainless steel Stainless steel Stainless steel Heat treatment Heat treatment Heat treatment 15 1 17 Wear ring ø12: Roller ø1 to : Parallel pin Needle roller Synthetic resin High carbon chromium bearing steel Stainless steel High carbon chromium bearing steel MHL MHR 7 8 9 1 12 Pinion Cap A Cap B Cap C Head damper Rack Carbon steel Aluminium alloy Aluminium alloy Aluminium alloy Urethane rubber Stainless steel Nitriding Clear anodized Clear anodized Clear anodized Nitriding 18 19 21 22 ø12: R shape retaining ring ø1 to : Type C retaining ring Parallel pin Piston seal Gasket Gasket Carbon steel Stainless steel NBR NBR NBR Nickel plated MHK MHS MHC Replacement Parts Description Seal kit Finger assembly MHF2-12D MHF12-PS MHF-A12 Kit no. MHF2-12D1 MHF12-PS MHF-A12-1 MHF2-12D2 MHF12-PS MHF-A12-2 Contents, 21, 22, 4, 5,, 14, 1, 19 Mounting screw Bolts for Body Through-hole Mounting Part no. MHF-B12 Number of pieces MHF2-12D 2 pieces/unit MHF2-12D1 2 pieces/unit MHT MHY MHW Description Seal kit Finger assembly Description Seal kit Finger assembly MHF2-1D MHF1-PS MHF-A12 MHF2-D MHF-PS MHF-A2 Kit no. MHF2-1D1 MHF1-PS MHF-A12-1 Kit no. MHF2-D1 MHF-PS MHF-A2-1 MHF2-1D2 MHF1-PS MHF-A12-2 MHF2-D2 MHF-PS MHF-A2-2 Contents, 21, 22, 4, 5,, 14, 1, 19 Mounting screw Contents, 21, 22, 4, 5,, 14, 1, 19 Mounting screw MHF2-12D2 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 MHF2-1D or MHF2-D with the body through-holes, use hexagon socket head screws available on the market. -X MRHQ MA D- Replacement part/grease pack part no.: MHF2-D, D1 (ø12, 1, ) MHF2-D2 (ø12) MHF2-D2 (ø1, ) GR-S-5 (5 g) (Guide unit) GR-L-5 (5 g) (Cylinder unit) GR-S-5 (5 g) (Guide unit) GR-L-1 (1 g) (Cylinder unit) 455 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Series MHF2 Dimensions MHF2-8D ø2.5h9 +. depth 2.5 1 2.5H9 +. depth 2.5 2 x M x.5 thread depth 7 28..4 2 15.8 5.9 22 2 x M x.5 thread depth 4 Auto Switch Mounting Groove Dimensions 14-2 x.5 1. 19 14 M x.5 Finger opening port 17.1 M x.5 Finger closing port 4 x M x.5 thread depth 4 12 12.8.8 +.1 Close: Open: 8±1 12 2 4 x M2.5 x.45 thread depth (Attachment mounting thread) 2 x ø2. through (Mounting hole) Use the attached hexagon socket head screws for mounting holes. 15 Accessory option: Hexagon socket head screw (special screws) Groove for auto switch mounting 1 1 M2.5 x.45 2 x ø2h9 +. depth 2 2 x M x.5 thread depth 4 22 45 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Dimensions MHF2-8D1 ø2.5h9 +. depth 2.5 28 2.5H9 +. depth 2.5 2 x M x.5 thread depth 7 4..4 2 15.8 48 4 2 x M x.5 thread depth 4 5.9-2 1. 7 7 12 2 14 19 17.1 M x.5 Finger opening port M x.5 Finger closing port 14.8 14.8 +.1 Close: Open: 1±1 2 x ø2. through (Mounting hole) 2 x.5 Use the attached hexagon socket head screws for mounting holes. MHZ MHF MHL MHR MHK Auto Switch Mounting Groove Dimensions 4 x M x.5 thread depth 4 4 x M2.5 x.45 thread depth (Attachment mounting thread) M2.5 x.45 MHS MHC 2 x ø2h9 +. depth 2 15 Accessory option: Hexagon socket head screw (special screws) MHT MHY MHW -X Groove for auto switch mounting 2 x M x.5 thread depth 4 MRHQ MA D- 4 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 457

Series MHF2 Dimensions MHF2-8D2 ø2.5h9 +. depth 2.5 17 17 17 2.5H9 +. depth 2.5 4..4 4 x M x.5 thread depth 7 2 15.8 72 58 2 x M x.5 thread depth 4 5.9 14 19 17.1 M x.5 Finger opening port M x.5 Finger closing port 18.8.8 18 Open: 2±1 Close: +.1-4 x ø2. through (Mounting hole) 4 x.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 8 x M2.5 x.45 thread depth (Attachment mounting thread) 1. 12 2 15 Accessory option: Hexagon socket head screw (special screws) 8 5 5 8 M2.5 x.45 2 x ø2h9 +. depth 2 Groove for auto switch mounting 2 x M x.5 thread depth 4 58 458 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Dimensions MHF2-12D M5 x.8 4.1 Finger opening port Auto Switch Mounting Groove Dimensions. 1.7 7.7 øh9 +. depth 19 M5 x.8 Finger closing port 4 x M4 x.7 thread depth 5 Groove for auto switch mounting 4 18 1 9 14 2 42 4 52 8 28 9 18 14 1 Close: +.1 Open: 12±1 15 15 15 H9 +. depth 2 x M4 x.7 thread depth 1 2 x M4 x.7 thread depth 5-4 x M x.5 thread depth 4 (Attachment mounting thread) 2 x ø2.5h9 +. ø5 2 x ø5.5 14.8 2 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 2.5 2 x M4 x.7 thread depth 5 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- 8 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 459

Series MHF2 Dimensions MHF2-12D1 øh9 +. depth 42 H9 +. depth 2 x M4 x.7 thread depth 1 4 58 4 4 M5 x.8 Finger closing port 8 54 2 x M4 x.7 thread depth 5 7.7 19 15 14.8.1 M5 x.8 Finger opening port 21 1 1 21 Open: 24±1 Close: +.1-2 x ø.4 through (Mounting hole) 2 x ø5.5 Use the attached hexagon socket head screws for mounting holes. Auto Switch Mounting Groove Dimensions 4 x M4 x.7 thread depth 5 44 8 x M x.5 thread depth 4 (Attachment mounting thread) ø5 M x.5 1.7 15 Accessory option: Hexagon socket head screw (special screws). 12 4.5 4.5 12 2 x M4 x.7 thread depth 5 15 2 x ø2.5h9 +. depth 2.5 Groove for auto switch mounting 54 4 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Dimensions MHF2-12D2 øh9 +. depth 2 2 2 H9 +. depth 4 x M4 x.7 thread depth 1 4 94 4 4 M5 x.8 Finger closing port 14 2 x M4 x.7 thread depth 5 9 7.7 19 15 14.8.1 27 1 1 27 4 x ø.4 through (Mounting hole) MHZ M5 x.8 Finger opening port Open: 48±1 Close: +.1-4 x ø5.5 MHF MHL Use the attached hexagon socket head screws for mounting holes. MHR 4 x M4 x.7 thread depth 5 8 8 x M x.5 thread depth 4 (Attachment mounting thread) MHK MHS ø5 M x.5 MHC Auto Switch Mounting Groove Dimensions 15 18 4.5 4.5 18 Accessory option: Hexagon socket head screw (special screws) 2 x ø2.5h9 +. depth 2.5 MHT MHY MHW -X 1.7 MRHQ. 2 x M4 x.7 thread depth 5 MA D- Groove for auto switch mounting 15 9 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 41

Series MHF2 Dimensions MHF2-1D H9 +. depth 8 4H9 +. depth 2 x M5 x.8 thread depth 12 57.5 5 5 M5 x.8 Finger closing port 72 2 1. 52 2 x M5 x.8 thread depth 5.5 2 x. through (Mounting hole) 1.2 1.2-2 x ø7.5 4 x M5 x.8 thread depth 5.5 (Attachment mounting thread) 4 2.2 15 5 5 15 4. 24 27.1 M5 x.8 Finger opening port Close: +.1 Open: 1±1 8 x M4 x.7 thread depth 4 Auto Switch Mounting Groove Dimensions 2 x øh9 +. depth Groove for auto switch mounting 2 x M5 x.8 thread depth 5.5 52 42 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Dimensions MHF2-1D1 H9 +. depth 4H9 +. depth 79.5 5 2 x M5 x.8 thread depth 12 5 2 1. M5 x.8 Finger closing port 94 74 2 x M5 x.8 thread depth 5.5 24 M5 x.8 27 Finger opening port.1 29 1.2 1.2 29 Open: 2±1 Close: +.1-2 x. through (Mounting hole) 2 x ø7.5 MHZ MHF MHL MHR 4 x M5 x.8 thread depth 5.5 58 8 x M4 x.7 thread depth 4 (Attachment mounting thread) MHK MHS MHC Auto Switch Mounting Groove Dimensions 2.2 18 5.5 5.5 18 4 2 x øh9 +. depth MHT MHY MHW -X 4. Groove for auto switch mounting 2 x M5 x.8 thread depth 5.5 MRHQ MA D- 74 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 4

Series MHF2 Dimensions MHF2-1D2 H9 +. depth 4H9 +. depth 127.5 5 4 x M5 x.8 thread depth 12 5 2 1. M5 x.8 Finger closing port 142 122 2 x M5 x.8 thread depth 5.5-4 x ø7.5 1 (Attachment mounting thread) 4 2.2 2 5.5 5.5 2 2 x M5 x.8 thread depth 5.5 4. 24 27.1 M5 x.8 Finger opening port 7 1.2 1.2 7 +.1 Close: Open: 4±1 4 x. through (Mounting hole) 4 x M5 x.8 thread depth 5.5 8 x M4 x.7 thread depth 4 Auto Switch Mounting Groove Dimensions 2 x øh9 +. depth Groove for auto switch mounting 44 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 122

Low Profile Air Gripper Series MHF2 Dimensions MHF2-D ø5h9 +. depth 4 8 5H9 +. depth 4 2 x M x 1 thread depth 15 71 2 8 M5 x.8 5 2 x M x 1 thread depth Finger closing port 41 1 2 M5 x.8 Finger opening port.1 1.2-2 x ø5.2 through (Mounting hole) 2 x ø1 Open: ±1 4 x M x 1 thread depth 4 8 x M4 x.7 thread depth 4 (Attachment mounting thread) 2. 24 52 1 1 7.5 7.5 2 x M x 1 thread depth 1 1 1.2 Close: +.1 MHZ MHF MHL MHR MHK MHS MHC Auto Switch Mounting Groove Dimensions MHT MHY 2 x øh9 +. depth MHW -X MRHQ MA Groove for auto switch mounting D- 5 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 45

Series MHF2 Dimensions MHF2-D1 ø5h9 +. depth 4 5H9 +. depth 4 99 2 x M x 1 thread depth 15 2 M5 x.8 Finger closing port 4 84 2 x M x 1 thread depth 41 1 2 M5 x.8 Finger opening port.1 1.2-2 x ø1 4 x M x 1 thread depth 8 8 x M4 x.7 thread depth 4 (Attachment mounting thread) 24 52 2. Open: 4±1 1.2 Close: +.1 2 x ø5.2 through (Mounting hole) Auto Switch Mounting Groove Dimensions 2 x øh9 +. depth 8 8 2 x M x 1 thread depth Groove for auto switch mounting 84 4 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 Dimensions MHF2-D2 ø5h9 +. depth 4 42 42 42 5H9 +. depth 4 4 x M x 1 thread depth 15 159 2 174 144 2 x M x 1 thread depth 4 x M x 1 thread depth 128-4 x ø1 (Attachment mounting thread) Auto Switch Mounting Groove Dimensions 2. 24 52 8 8 Groove for auto switch mounting 2 x M x 1 thread depth 41 1 2.1 M5 x.8 M5 x.8 Finger opening port Finger closing port 4 1.2 1.2 4 Close: +.1 Open: 8±1 4 x ø5.2 through (Mounting hole) 8 x M4 x.7 thread depth 4 MHZ MHF MHL MHR MHK MHS MHC MHT MHY 2 x øh9 +. depth MHW -X MRHQ MA D- 144 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 47

Series MHF2 Body Option: Side Piping Type MHF2-DR B A Body Option Dimension Model A B C D (mm) MHF2-8DR Axial piping port side C MHF2-8D1R MHF2-8D2R MHF2-12DR 5.5 7 1 8 M x.5 MHF2-12D1R 7 54 14.8 M5 x.8 MHF2-12D2R 9 D D ( Finger closing port) ( Finger opening port) MHF2-1DR MHF2-1D1R MHF2-1D2R 9 54 7 124 19 M5 x.8 For dimensions not given above, please refer to the table of dimensions on pages 45 to 47. MHF2-DR MHF2-D1R 1 94 2 M5 x.8 MHF2-D2R 154 48 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Series MHF2 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 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) Fully close 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 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 ) 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. Position where light turns ON Position to be secured. 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. Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 49

Series MHF2 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 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 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. Fitting position. to.5 mm 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. 47 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com

Low Profile Air Gripper Series MHF2 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 MHF2-12D MHF2-1D MHF2-D D-M9(V).2..2.5 Auto Switch Mounting D-M9W(V) Red ON Green ON.2.4...2.4.5 1. 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. Flat head watchmaker s screwdriver ø5 to ø Auto switch mounting screw M2.5 x 4l Auto switch 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.5 to.15 N m. Caution When using an auto switch on the mounting plate side, the switch will protrude from the end face as shown below. Please provide a run off space of 2 mm or more on the mounting plate. 2mm or more "Run off" Model MHF2-8D MHF2-8D1 MHF2-8D2 MHF2-12D MHF2-12D1 MHF2-12D2 MHF2-1D MHF2-1D1 MHF2-1D2 MHF2-D MHF2-D1 MHF2-D2 Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close D-M9 D-M9W.5.5.5.5.5.5 1 1 D-M9V D-M9WV 4.5 4.5 4.5 4.5 1 1 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- Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com 471

Series MHF2 Specific Product Precautions Be sure to read before handling. 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 MHF2-12D MHF2-1D MHF2-D Bolt M x.5 M4 x.7 M5 x.8 M x 1 Bottom mounting (Body tapped, body through-hole) Body tapped l Max. tightening torque N m. 1.5 5.2 Max. screw-in depth l mm 4 5 5.5 Model MHF2-8D MHF2-12D MHF2-1D MHF2-D Bolt M2.5 x.45 M x.5 M4 x.7 M4 x.7 Max. tightening torque N m.. 1.5 1.5. 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) MHF2-8D MHF2-12D MHF2-1D MHF2-D Body through-hole M x.5 M4 x.7 M5 x.8 M x 1 Max. tightening torque N m. 1.5 5.2 Max. screw-in depth l mm 4 5 5.5 MHF2-8D MHF2-12D MHF2-1D MHF2-D M2.5 x.45 M x.5 M4 x.7 M5 x.8.. 1.5 4 5.2 When MHF2-8D and MHF2-12D are mounted body through-hole, use the attached special bolts. l l Model Model l Bolt Bolt Max. tightening torque N m Screw-in depth l mm Model MHF2-8D MHF2-12D MHF2-1D MHF2-D Bolt M x.5 M4 x.7 M5 x.8 M x 1 Max. tightening torque N m.95 2.2 4.5 7.8 Max. screw-in depth l mm 7 1 12 15 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. 472 Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco, CA 948-7-Main Office: (5) 588-9-Outside Local Area: (8) 8-9-www.stevenengineering.com