gripping solutions - smc6 for more product options and details please refer to the specific...

Gripping solutionsPneumatic & Electric grippers

Quick overview

3

Introduction

Model selection page 6

Air grippers page 13

Series variations page 14

Model selection page 16· Parallel type air gripper – MHZ Series page 20· Low profile air gripper – MHF Series page 30· Parallel type air gripper: wide type – MHL Series page 33· Wedge cam operation slide guide – MHK Series page 36· Parallel type air gripper – MHS Series page 38· Rotary actuated air gripper – MHR Series page 48· Angular type air gripper – MHC Series page 53· Toggle type air gripper – MHT Series page 56· 180° angular type air gripper – MHY Series page 58· 180° angular type air gripper. Rack & pinion type – MHW Series page 60· Rotary gripper – MRHQ Series page 62· Magnet gripper – MHM-X6400 Series page 64

Applicable auto switch variations page 66

Electric grippers page 69

Series variations page 70· 2 finger electric gripper – LEHZ Series page 72· 2 finger long-stroke electric gripper – LEHF Series page 78· 3 finger electric gripper – LEHS Series page 82· Step data input type controller – LECP6 Series page 86· Programless type controller – LECP1 Series page 88· Pulse input type step motor driver – LECPA Series page 90· Fieldbus & IO-Link compatible step motor controller – JXCm1 Series page 92· 3-axis step motor controller – JXC92 Series page 96· 3-axis step motor controller – JXCm3 Series page 98· Gateway unit – LEC-G Series page 102

Index

5

Pneumatic & Electric grippers

A perfect manipulation means: Efficiency, speed and reliability. These three gripping axioms have guided our engineers to develop the comprehensive portfolio we present you with in this catalogue. More than 30 years of experience in designing and supporting gripping applications and more than 64,000 units of standard grippers sold in Europe last year, entitle us to be a reliable supplier for your pick and place challenges.

Electric, pneumatic and magnetic. Miniature and long stroke. With two, three or four fingers, that can be opened in parallel and angular styles. A wide opening pneumatic gripper, designed to accommodate many differently sized parts; a heavy duty style, suitable for a wide range of applications; an angular model with built-in speed adjustment; a toggle to provide reliable gripping support; a low-contamination style, equipped with a protective boot; a parallel model with rotating function integrated in a compact package.

Virtually anything and everything your pick and place requires can be found among these pages. Discover our standard gripping solutions and contact our experts in the event you need guidance or have to accommodate a standard solution to the specificities of your application.

6 For more product options and details please refer to the specific catalogues in our website: www.smc.eu

Model selection

1Type of gripper and

fingers2Gripping

force 3Gripping point 4External

forces on fingers

5Other considerations

1Type of gripper and fingersA gripper is any element that allows to pick up and handle a workpiece for subsequent manipulation. To select a gripper, firstly you have to know the type of gripper that is most suitable for your specific application, as well as how many fingers should be attached and their design.

In this catalogue you will find two types of gripping technology:

Air operatedPneumatic grippers provide higher force, speed and operating frequency.

Electrically operatedElectric grippers provide greater control of the movement (position, force, speed) and more flexibility.

The selection has to be done according to each application requirements and features. The shape of the workpieces is also a decisive factor when selecting a gripper. According to this, there are three types of grippers:

Parallel: mainly for flat and parallel surfaces.

Angular (180° or smaller): for convex and concave surfaces.

Concentric: for cylindrical and spherical surfaces.

Gripping solutionsModel selection

7

The design of the fingers is a crucial part of the selection process. The way the workpiece is handled will vary the performance of the operation. For example, the longer the fingers are, the higher the moment supported by the gripper’s guided system.

There are three types of clamping, and all of them can act internally or externally.

Friction: Not stable. Higher force is needed.

Surrounding: Stable gripping. 4 times less force is required. To release the workpiece the fingers have to open fully.

Retention: Also stable.

You can select grippers with 2, 3 or 4 fingers, depending on the piece shape. Always seeking the best adaptability and interaction with the workpiece.

F

F

F

F

External gripping Internal gripping

Spherical pieces

Stability of gripping

Cylindrical pieces Ring pieces Square pieces Special pieces


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 the attachments and the workpiece

m: Workpiece mass (kg)

g: Gravitational acceleration (= 9.8 m/s2)

mg: Workpiece weight (N)

the conditions under which the workpiece will not drop are

2 x μF > mg

Number of fingers

and therefore,

With “a” representing the extra margin, “F” is determined by the following formula

2Gripping force

Confirmation of conditions

10 x Workpiece weight

20 x Workpiece weight

Workpiece mass: 0.1 kg

Gripping method: External gripping

Operating pressure: 0.4 MPa

Gripping point distance: L = 30 mm

• Selecting MHZl2-16D. A gripping force of 24 N is obtained from the intersection point of gripping point distance L = 30 mm and pressure of 0.4 MPa.

• The gripping force is 24.5 times greater than the workpiece mass, and therefore satisfies a gripping force setting value of 20 times or more.

“Gripping force at least 10 to 20 times the workpiece weight”

The “10 to 20 times or more of the workpiece weight” recommended by SMC is calculated with a safety margin of a = 4, which allows for impacts that occur during normal transportation, etc.

Note) • Even in cases where the coefficient of friction is greater than μ = 0.2, for reasons of safety, select a gripping force which is at least 10 to 20 times greater than the workpiece weight, as recommended by SMC.

• If high acceleration, deceleration or impact forces are encountered during motion, a further margin of safety should be considered.

Example

Model Selection Illustration

MHZm2-16

External gripping force

Grip

pin

g fo

rce

[N]

Gripping point L [mm]

Calculation of required gripping force

Guidelines for the selection of the gripper with respect to workpiece mass.

• 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 10 to 20 times the workpiece weight, or more. Note) For further details, refer to the model selection

illustration.

• If high acceleration, deceleration or impact forces are encountered during motion, a further margin of safety should be considered.

Example) When it is desired to set the gripping force at 20 times or more above the workpiece weight.

Required gripping force = 0.1 kg x 20 x 9.8 m/s2 ≌ 19.6 N or more

Selection of model from gripping force graph

10 20 30 40

10

0

20

30

40

50 60

24

50Pressure 0.7 MPa

0.6 MPa

0.5 MPa

0.4 MPa

0.3 MPa

0.2 MPa

When μ = 0.2 When μ = 0.1

mgF = ––––––– x 4

2 x 0.2= 10 x mg

mgF = ––––––– x 4

2 x 0.1= 20 x mg

μ if μ=0.2

0.1 Steel with rugosity Rz3.2 or less

0.2 Steel

> 0.2 Rubber, resin

mgF = ––––––––––

2 x μ

mgF = –––––––––– x a

2 x μ

mg

F F

Note) Refer to the corresponding catalogue.


9

3Gripping pointO

verh

ang

H [

mm

]

Gripping point L [mm]

Gripping point Gripping

point

The next step to be performed is to confirm that the workpiece gripping point “L” and the amount of overhang “H” stay within the range shown for each operating pressure in the graph of the corresponding catalogue.

Make sure this gripping point is within the range limits (see graph example below). Otherwise there will be an adverse effect on the life of the air gripper.

L

H

L

H50

40

30

20

10

01 02 03 04 05 06 0

60

Pressure 0.2 MPa

0.3 MPa0.4 MPa0.5 MPa

0.6 MPa, 0.7 MPa


4External forces on fingersAnd finally, confirm that the external forces applied on fingers are small enough.

Calculation of the allowable external force when moment load is applied:

If Workpiece load [N] < Allowable load F [N] for all moments Mp, My and Mr

and Workpiece load [N] < Fv [N]

Then, the selected gripper can be used.

Fv: Allowable vertical load [N]Mp: Pitch moment [N·m]My: Yaw moment [N·m]Mr: Roll moment [N·m]L: Distance to the point at which the load is applied [mm]

Fv

My

L

MpL

Mr

L M (maximum allowable moment)(N·m)Allowable load F (N) = –––––––––––––––––––––––––––––––––– L x 10 -3

Note) For allowable moments, refer to each corresponding catalogue.


11

5Other considerationsApart from those already explained, there may be other factors to take into account when selecting a gripper:

StrokeThe stroke of a gripper is the measurement difference between its fingers when these are opened and closed. Each finger moves on half of the gripper stroke.

You should ensure that the stroke is short enough in case the gripper needs to enter a narrow space to grip the piece.

Reduced weight and dimensionsGrippers are mounted hanging from manipulators, which have to support all static and dynamic loads. The grippers’ weight affects them directly, as well as their dimensions affect the moments generated.

Therefore, you need to look for a gripper which is as light and compact as possible, without compromising the gripping force.

Accuracy and repeatabilityIf you require accurate positioning and repeatability, check your selected gripper specifications and make sure the values correspond to your requirements.

Working environmentNot all grippers can work in a hazardous or special environment. Facts such as extreme temperature, too much dust or sparks may condition your selection.

13

Air grippers


Series variations

Series Features

Option

PageAction Boresize

Standard

General purpose compact grippers with integral linear guide that provides high rigidity and high accuracy.

Doubleacting

6 10, 1620, 2532, 40Single

acting

23

Long stroke

Finger stroke is about double that of MHZ to deal with various types of workpieces.

10, 1620, 25

Doubleacting

Singleacting

28

Low profile

Height 1/3 (Compared with MHZ)Short, middle and long strokes are available.

8, 1216, 20

Doubleacting 32

Wide opening

2 Finger

3 Finger

A wide opening with large open/close stroke. Optimally used for holding large-size workpieces that have dimensional variances. The double pistons provide a large gripping force.

A vertically compact configuration and a high level of precision have been achieved through the use of a rotary actuator as the source of its drive force. Supports class 10 clean room.

A vertically compact configuration and a high level of precision have been achieved through the use of a rotary actuator as the source of its drive force. Optimally used for holding round-shaped workpieces. Supports class 10 clean room.

10, 1620, 2532, 40

Nominalsize

10, 1520, 30

Nominalsize

10, 15

16, 2025, 3240, 5063, 80

100, 125

16, 2025, 3240, 5063, 80

100, 125

Doubleacting

Doubleacting

Doubleacting

2 Finger

2 Finger

A long stroke, dust-protected, dripproof, external force resistant, and weather-resistant type that can be used for a variety of applications. To suit the environment, a selection of dust cover materials and stainless steel 304 fingers is available.

Vertically compact due to its wedge-shape cam construction. Optimally used in operations that require the application of an external force, such as in press fitting operations.

12, 1620, 25

16, 2025, 3240, 5063

Vertically compact due to its wedge-shape cam construction. Optimally used in loading/unloading cylindrically shaped workpieces onto machine tools and in operations that require the application of an external force, such as in press fitting operations.

Dust-protected, dripproof construction with a choice of dust cover material for the specific application.

Doubleacting

Doubleacting

Doubleacting

Singleacting

Doubleacting 42

41

Combination with dust cover and center pusher is possible.

Finger stroke is about twice as long as that of MHS and has an interchangeability in mounting with each other.

Doubleacting

Doubleacting 45

4 FingerVertically compact due to its wedge-shape cam construction. Optimally holds rectangular workpieces for locating operations.

16, 2025, 3240, 5063

Doubleacting 47

43

40

37

51

49

34

16, 2025, 3240, 5063, 80

16, 2025, 3240, 5063, 80

Withdust cover

Air grippers with dust-proof and drip-proof construction. Interchangeable in mounting dimensions with the standard models. A selection of dust cover materials is available to suit your application.

6 10, 1620, 25

Doubleacting

Singleacting

26

Fing

erop

tion

Body

optio

n

Auto

switc

h

Par

alle

l Sty

le

Line

ar g

uid

eR

otar

y ac

tuat

edS

lide

gui

de

Rou

nd b

ody

Sq

uare

bod

y

3 Fi

nger

Stan

dard

With

dust

cov

erTh

roug

h-

hole

Long

stro

ke

MHZ2 Series

MHZL2 Series

MHZJ2 Series

MHF2 Series

MHL2 Series

MHR2/MDHR2 Series

MHR3/MDHR3 Series

MHK2 Series

MHS2 Series

MHS3 Series

MHSJ3 Series

MHSH3 Series

MHSL3 Series

MHS4 Series

Air grippersSeries variations

15

Series Features

Option

PageAction BoresizeFi

nger

optio

nBo

dyop

tion

Auto

switc

h

Toggle

180°Angular

180°Angular

Rotary gripper

Compact

Standard

An

gu

lar

Sty

le

Rac

k/P

inio

nC

am

Auto switches can be mounted.

A large holding moment in the vicinity of the support point is achieved through a toggle construction. The workpiece can be held in place even when there is no supply of compressed air.

Lightweight and compact size through the use of a cam mechanism.

The use of SMC’s unique seal construction resulted in its reduced overall length and dust-protecting performance. Can be used for unloading workpieces from machine tools or for holding workpieces.

The gripper function and the rotating function have been integrated in a compact package.

Body with a shorter overall length.

Smallest and most lightweight series.

A large holding moment is achieved through a double piston construction.(Ø 10 to Ø 25)

32, 4050, 63

10, 1620, 25

Doubleacting

Doubleacting

10, 1620, 25 63

61

59

57

Doubleacting

Doubleacting

Singleacting

Doubleacting

Singleacting

Doubleacting

Singleacting

Doubleacting

Singleacting

20, 2532, 4050

54

6 54

Singleacting 7 55

6

5410, 1620, 25

MHC2 Series

MHCA2 Series

MHCM2 Series

MHC2 Series

MHT2-Z Series

MHY2 Series

MHW2 Series

MRHQ Series

Magnetic gripper

Air operated magnet capable of adsorbing a great variety of ferromagnetic pieces, with different geometries and properties. 64

MHM-X6400 Series

Standard


Model selection

MHZ2

MHF2

MHZL2

MHR2

MHL2

MHS2

MHZJ2

11-MHR3

MHR3

MHS3

MHSL3

MHSH3

MHSJ3

MHK2

MHKL2

11-MHZ211-MHR2

MHS4

MHC2

MHY2

MHW2

MHT2-Z

Select a general type. Refer to “Series Variations” on pages 14 and 15.

Select a specific model. Refer to “Series Variations” on pages 14 and 15.

Select the size.

Workhandling

Operatingenvironment

Worktype

Checkpoints

Confirmationpoints

PurposeWork

Specific Model Selection Conditions

Siz

e, S

hap

e, M

ass

Ass

emb

ling

, Pic

king

, Tra

nsfe

rrin

g, C

lam

pin

g

Mo

del

sel

ecti

on

Parallel style

4 Finger

Angular style

Toggle

Mou

ntin

g, S

upp

lyin

g, L

ocat

ing

, Fitt

ing

, Arr

ang

ing

Cut

ting

oil/

Dus

t

Inse

rt pr

ess

Grip

pin

g fo

rce,

Grip

pin

g p

oint

, Ove

rhan

g, S

trok

e

Bod

y op

tion

Fing

er o

ptio

nA

uto

switc

hWor

k m

ass,

Acc

eler

atio

n, Im

pac

t, O

per

atin

g p

ress

ure,

Grip

pin

g fo

rce,

Wor

k si

ze

Wor

k si

zeW

ork

size

/form

,ov

erha

ngW

ork

size

Squa

rew

ork

Drop

prev

entio

n

3 Finger

Cutting oil/Dust

180° Angular style

Cyl

ind

rical

/Rou

ndw

ork

Cle

anro

om

Select the options. Refer to “Series Variations” on pages 14 and 15.

Air grippersModel selection

17

Performance data for air gripper model selection

Series description

SeriesBore size

[mm]

Gripping force [N] 1)

Finger closing

stroke [mm]

Finger opening

stroke [mm]

Stroke [mm]

Weight [g] 4)

Size H [mm]

Volume [cm3]

Double actingSingle

acting N.O.Single acting

N.C. O port S portExternal Internal External Internal

Par

alle

l Sty

le

Line

ar g

uid

e

Sta

ndar

d

MHZA2 MHZAJ2

6 3.3 6.1 1.9 3.7 8 0-0.4 12 ±1 4 26 29.8 0.23 0.13

6 3.3 6.1 1.9 3.7 8 0-0.4 12 ±1 4 27 33 0.23 0.13

MHZ2

6 3.3 6.1 1.9 3.7 8 0-0.4 12 ±1 4 27 38.8 0.26 0.19

10 11 17 7.1 1311.2

0 5)-0.7 15.2

+2.2 5) 0

4 55 43.8 0.4 0.35.7

0 5)-0.4 9.7

+2.2 5) 0

16 34 45 27 3814.9

0 5)-0.7 20.9

+2.2 5)-0.2

6 115 50 1.3 1.06.6

0 5)-0.4 12.6

+2.2 5) 0

20 42 66 33 5716.3

0 5)-0.7 26.3

+2.2 5)-0.2

10 235 62.3 3.0 2.07.2

0 5)-0.4 17.2

+2.2 5) 0

25 65 104 45 8319.3

0 5)-0.8 33.3

+2.5 5)-0.2

14 430 74.6 6.1 4.18.8

0 5)-0.4 22.8

+2.5 5) 0

32 158 193 131 161 26 0-0.5 48

+2.5 0 22 715

79 6) 12.2 6) 9.2 6)

88 6) 16.5 6) 12.1 6)

40 254 318 217 267 30 0-0.5 60

+2.7 0 30 1275

98 6) 26.4 6) 19.1 6)

111 6) 35.7 6) 25.6 6)

Long

str

okes

MHZL2

10 11 17 7.1 13 11.2 0-0.4 19.2

+2.2 0 8 60

43.8 6) 0.5 6) 0.3 6)

53.8 6) 0.6 6) 0.4 6)

16 34 45 27 38 14.9 0-0.4 26.9

+2.2 0 12 135

52.7 6) 1.7 6) 1.2 6)

57.7 6) 2.0 6) 1.3 6)

20 42 66 33 57 16.3 0-0.4 34.3

+2.4 0 18 270

67.5 6) 3.6 6) 2.2 6)

73.5 6) 3.9 6) 2.3 6)

25 65 104 50 85 19.3 0-0.4 41.3

+2.6 0 22 470

67.5 6) 6.2 6) 3.8 6)

73.5 6) 6.6 6) 4.0 6)

With

dus

t cov

er

MHZJ2

6 3.3 6.1 1.9 3.7 8 0-0.4 12 ±1 4 28 42 0.26 0.24

10 9.8 17 6.3 12 11.2 0-0.7 215.2

+2.2 0 4 60 45 0.4 0.3

16 30 40 24 31 14.9 0-0.7 20.9

+2.2-0.2 6 130 52.3 1.3 1.0

20 42 66 28 56 16.3 0-0.7 26.3

+2.2-0.2 10 250 64.8 3.0 2.0

25 65 104 45 83 19.3 0-0.8 33.3

+2.5-0.2 14 460 77.7 6.1 4.1

Com

pac

t

MHF2

8 19 19 — — 0+0.1 0

8 ±1 8 65

14

0.7 0.6

16 ±1 16 85 1.1 1.0

32 ±1 32 120 2.0 1.9

12 48 48 — — 0+0.1 0

12 ±1 12 155

19

1.9 1.6

24 ±1 24 190 3.3 3.0

48 ±1 48 275 6.1 5.8

16 90 90 — — 0+0.1 0

16 ±1 16 350

24

4.9 4.1

32 ±1 32 445 8.2 7.4

64 ±1 64 650 14.9 14.0

20 141 141 — — 0+0.1 0

20 ±1 20 645

30

8.7 7.3

40 ±1 40 850 15.1 13.7

80 ±1 80 1225 28.0 26.6

Wid

e op

enin

g

MHL2

10 14 14 — —

56 76 20 280

31

1 1

78 118 40 355 2 2

96 156 60 430 3 3

16 45 45 — —

68 98 30 525

39

4.5 4.5

110 170 60 725 9.0 9.0

130 210 80 845 12.1 12.1

20 74 74 — —

82 122 40 940

46

9.4 9.4

142 222 80 1335 18.9 18.9

162 262 100 1520 23.6 23.6

25 131 131 — —

100 150 50 1565

52

18.9 18.9

182 282 100 2295 37.8 37.8

200 320 120 2525 45.3 45.3

32 228 228 — —

150 220 70 2905

68

42.2 42.2

198 318 120 3820 72.4 72.4

242 402 160 4655 96.5 96.5

40 396 396 — —

188 288 100 5270

79

94.3 94.3

246 406 160 6830 150.8 150.8

286 486 200 7905 188.5 188.5

H


4)H

SizeH [mm] Volume [cm3]

SeriesBoresize[mm]

Gripping force [N] 1)

Double acting Single acting N.O. Single acting N.C.External Internal

Stroke[mm]

O port S port

Fingeropening stroke

[mm]

Fingerclosing stroke

[mm]External Internal

Weight[g]

Series description

32353741445262323537414452627790114434652606377871033942475457707993

40.543465561

74.58511112916732353741445262

0.91.42.85.59.018.337.10.81.42.85.59.018.337.170.7133.7278.0

0.81.32.55.38.117.932.468.20.81.22.45.07.316.432.468.21.42.34.19.216.736.164.5129.5249.2506.2

0.81.42.85.59.018.337.1

0.71.12.45.08.016.633.00.71.12.45.08.016.633.065.7121.3247.3

0.40.91.93.85.912.727.752.10.40.91.93.85.912.727.752.11.21.93.78.015.231.658.8118.9225.5465.9

0.71.12.45.08.016.632.9

0.91.84.611.50.91.84.611.50.91.80.91.80.52.13.58.90.72.94.410.8

0.91.84.611.50.91.84.611.50.91.80.91.80.52.44.110.50.83.45.312.9

3039.553.56830

39.553.568

31.541.531.541.548

52.363.876.75763

73.588.5

5896134265345515952601001402373515419921850334064609515023044062010501800320090140220410570970165029208013518037055093015502850550011300

661101543003905901095

1001803907609517538074012022512523075113235440104164312562

44688

1216202432

44688

121620

44688

12162010101216202832404864

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

3)

446881216

446881216

3)

3)

3)

3)

681218681218

46101411141822

6868

78

1012141723

31.540469.510

12.515.5

192431419.510

12.515.5

19243141

13.5141622

26.53642

48.56580

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

17192628323851

14162024283446

1622283716222837

2)

2)

2)

2)

+1.2 0+1.2 0+1.2 0+1.2 0+1.2 0+1.2 0+1.2 0+1.2 0

1113.5

1113.5

1320.6

263320

28.63441

5678

101115

21.528307.5

89.5

11.5151823317.5

89.5

11.5151823318.5

91014

16.52226

28.54148

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

2)

10121416202230

13152020242635

1014161910141619

2)

2)

2)

2)

0–0.2 0–0.2 0–0.2 0–0.2 0–0.2 0–0.2 0–0.2 0–0.2

89.5

89.5

914.6

1619

914.6

1619

162025324050631620253240506380

100125162025324050638016202532405063801620253240506380

10012516202532405063

213763

11117728050214254274

118187335500750

12709

21366297

155280400

921366297

15528040014254274

118187335500750

12701019315588

140251

234271

12319530653716284782

130204359525780

132016284782

13020435952515264577

11818732949016284782

130204359525780

13201221356197

153268

1015203010152030101510151216202512162025

12243358122433587

137

131531468014274579

12253459122534596.5126.5121636568616305390

––––––––––––––––––––––––––––––––––––––––––––––––––

––––––––––––––––––––––––––––––––––––––––––––––––––

MHS2

MHS3

MHSJ3

MHSH3

MHSL3

MHS4

Par

alle

l Sty

le

MHR2

MDHR2

MHR3

MDHR3

MHK2

MHKL2

2 Fi

nger

Rot

ary

actu

ator

Sq

uare

bod

y

2 Fi

nger

3 Fi

nger

3 Fi

nger

––––––––––––

1225447311224063

––––––––––––9

2334589

173253

Sta

ndar

d

With

dus

t cov

erTh

roug

h-ho

leLo

ng s

trok

e4

Fing

er

Slid

e g

uid

e

Rou

nd b

ody

Air grippersModel selection

19

1) Values for gripping force and gripping moment are measured at 0.5 MPa.2) Opening/Closing strokes of M(D)HR3 and MHSm3 are the values for one finger.3) Strokes of M(D)HR3 and MHSm3 are described with diameter.4) Weight of double acting type.5) Values in the upper row are for standard finger position and in the lower rows for narrow finger position.6) Valves in the upper row are for double acting type and those in the lower row are for single acting type.7) In case of MHRm it becomes nominal size instead of bore size.

6671016202532405063101620252025324050

0.0380.038

–0.100.390.701.3612.436631060.160.541.102.280.300.731.613.708.27

0.0240.0240.0170.070.310.541.08

–––––––––––––

–10°–10°–7°

–3°–3°–2°–2°–3°–3°–3°–3°–5°–6°–5°–5°–4°

30°30°20°

28°27°23°23°

180°

40°40°27°

31°30°25°25°

183°

185°186°185°185°184°

22199.53991

180311800

10901930280070

150320560300510910

21405100

3629

16.538.644.655.260.489.696.5113

119.2586986

1076069

83.5104.5136

0.120.11

–0.41.33.15.2

12.420.841.765.51.23.36.9

13.83.16.6

14.832.371.6

0.070.060.060.41.42.12.89.217.535.058.90.62.14.18.54.07.615.736.782.3

MHC2

MHC2MHCA2

MHT2-Z

MHY2

MHW2

Standard

StandardMHCM2-7SCompact

Toggle

180°Angular

180°Angular

Ang

ular

Sty

le

–10° 30° 40°

Cam

Rack

/pin

ion

4)

H

SizeH [mm]

Volume [cm3]Series

Boresize[mm]

Fingeropening

angle

Fingeropening/closingangle

FingerclosingangleSingle acting

N.O.Double acting

Weight[g]

Series description

Holding moment [N·m] 1)

O port S port


Integral guide rail construction

A Air gripper

A Parallel type

A 2 fingers

A Double/single acting

Parallel type air gripperMHZ Series

· Long stroke and with dust cover selectable

· Bore sizes from 6 mm to 40 mm

· Improved rigidity of guide rail

· Repeatability: ±0.01 mm.

Main features

Body thickness tolerance: ±0.05 mm

No guide protrusion in direction of body thickness

Improved remounting accuracyPositioning dowel pin holes provided

Top mounting centring locationMounting is more secure with a depth 0.5 to 2 mm greater than current types.

Low profile

Martensitic stainless steel

Integral linear guide used for high rigidity and high precision

Using tapped holes

Axial mounting Lateral mounting Vertical mounting

Using end boss

Using tapped holes

Using through-holes

High degree of mounting flexibilityCan be mounted five ways from three directions.

Air grippersMHZ Series

21

A Series variations

Compact type (Without auto switch)MHZA Series (With dust cover)

Standard typeMHZ2 Series

With dust coverMHZJ2 Series

Ø 6

Ø 6

Ø 6

Ø 10 to Ø 25

Ø 10 to Ø 25

Ø 10 to Ø 25

Ø 32, Ø 40

Ø 10 to Ø 20

Ø 32, Ø 40

Long strokeMHZL2 Series

With dust cover

32, 40

Body option

Basic type End boss type

Series

Finger option

6With dust cover

MHZAJ2-6

10, 1620, 25Long stroke

MHZL2

6

10, 1620, 25

Standard

MHZ2

6

10, 1620, 25

With dust cover

MHZJ2

6Standard

MHZA2-6

Boresize(mm)

Action

Compact seriesDouble acting

Single acting (Normally open)

Single acting (Normally closed)

Double acting



Double acting



Double acting



Double acting



Double acting



Double acting



Double acting



Side tapped Flat typefinger

Basic type(tapped in

open/close direction)

Through-holesin open/close

direction

Side ported Side ported With One-touchfitting for

coaxial tubing

With One-touchfitting

WithM3 port

WithM5 port

Withhose nipple

32, 40 Double acting

32, 40 Double acting

A A wide variety of types and broad size variation


How to order

V Body option/End boss type

Symbol Piping port locationType of piping port Applicable model

MHZA2-6/MHZAJ2-6 Double acting Single acting

— Basic typeM3 x 0.5

V V

E Side ported V V

K

Axial ported

With Ø 4 One-touch fitting — V

H With Ø 4 hose nipple — V

M M3 x 0.5 — V

Fluid Air

Operating pressure

Double acting 0.15 to 0.7 MPa

Single actingNormally open

0.3 to 0.7 MPaNormally closed

Ambient and fluid temperature -10 to 60 °C

Repeatability ±0.01 mm

Max. operating frequency 180 c.p.m.

Lubrication Not required

Action Double acting/Single acting

Compact typeMHZA Series (without auto switch)

a With dust cover

b Number of fingers

2 2 fingers

c Bore size

6 6 mm

d Action

D Double acting

S Single acting (Normally open)

C Single acting (Normally closed)

g Dust cover type

— Chloroprene rubber (CR)

F Fluororubber (FKM)

S Silicone rubber

h Made to order

-X4 Heat resistance (100 °C)

-X5 Fluororubber seal

-X12 Opening direction spring assist

-X53 EPDM seal/Fluorine grease

-X56 Axial ported type

-X63 Fluorine grease

-X64 Finger: Side tapped mounting

-X65 Finger: Through-hole mounting

-X79 Grease for food processing machines, Fluorine grease

-X79A Grease for food processing machines

-X81A Anti-corrosive treatment of finger

-X81B Anti-corrosive treatment of finger and guide

e Finger option

[Standard]—: Basic type

1: Side tapped mounting

2: Through-holes in opening/closing direction

3: Flat type fingers

f Body option

—: Basic type E: End boss type Side ported (Double acting/single acting)

K: End boss type Axial ported with Ø 4 one-touch fitting (Single acting)

H: End boss type Axial ported with Ø 4 hose nipple (Single acting)

M: End boss type Axial ported with M3 port (Single acting)

22

66

DD

MHZAMHZA J

a b c d e f g h

Port Port

Port

Port

Option

Specifications


23

How to orderØ 6

Ø 10 to Ø 25

Standard typeMHZ2 Series

e Auto switchIf required, select an applicable auto switch model from the table on page 66.

f Auto switchIf required, select an applicable auto switch model from the table on page 66.

h Made to orderRefer to the table on page 24.

g Made to orderRefer to the tabla on page 24.

a Number of fingers

2 2 fingers

a Number of fingers

2 2 fingers

b Bore size

6 6 mm

b Bore size

10 10 mm

16 16 mm

20 20 mm

25 25 mm

c Action

D Double acting



c Action

D Double acting



f Number of auto switches

— 2 pcs.

S 1 pc.

g Number of auto switches

— 2 pcs.

S 1 pc.

n n pc.

e Body option


W: End boss type Axial ported Ø 4 One-touch fitting for coaxial tubing (Double acting)

K: End boss type Axial ported with Ø4 one-touch fitting (Single acting)


d Finger option

[Standard]—: Basic type 1: Side tapped

mounting2: Through-holes in

opening/closing direction


d Finger option

Standard—: Basic type

Narrow typeN: Basic type

1: Side tapped mounting N1: Side tapped mounting


N2: Through-holes in opening/closing direction

3: Flat type fingersThe flat type fingers do not have standard and narrow options.

6

16

D

D

MHZ2

MHZ 2

a

a

b

b

c

c

ed

d e

f g

g hf

Port

Port

Port Port

Port




MHZ2-6 MHZ2-10 MHZ2-16 MHZ2-20 MHZ2-25 MHZ2-32 MHZ2-40 Double acting Single acting

— Basic type M3 x 0.5 M5 x 0.8 V V

E Side ported M3 x 0.5 M5 x 0.8 — V V

W

Axial ported

— With Ø 4 One-touch fitting for coaxial tubing — V —

K — With Ø 4 One-touch fitting — — V

M — M5 x 0.8 — — V

1) For detailed body option specifications, refer to the MHZ Series catalogues.

Ø 32 to Ø 40


a Number of fingers

2 2 fingers

b Bore size

32 32 mm

40 40 mm

c Action

D Double acting



d Finger option

[Standard]—: Basic type 1: Side tapped

mounting2: Through-holes in

opening/closing direction


32 DMHZ 2a b c e gd f


— 2 pcs.

S 1 pc.

n n pc.

g Made to order



-X7 Closing direction spring assist


-X46 Built-in needle valve for finger speed control

-X50 Without magnet

-X51 MHQ2/MHQG2-compliant flat type fingers








Fluid Air

Operating pressure

Double actingØ 6: 0.15 to 0.7 MPaØ 10: 0.2 to 0.7 MPa

Ø 16 to Ø 40: 0.1 to 0.7 MPa

Single actingNormally open Ø 6: 0.3 to 0.7 MPa

Ø 10: 0.35 to 0.7 MPaØ 16 to Ø 40: 0.25 to 0.7 MPaNormally closed


Repeatability Ø 6 to Ø 25: ±0.01 mmØ 32, Ø 40: ±0.02 mm

Max. operating frequency Ø 6 to Ø 25: 180 c.p.m.Ø 32, Ø 40: 60 c.p.m.


Action Double acting/Single acting

1) Use the gripper with dust cover when used in a place where there may be dust.

Option

Specifications


25


d Action

D Double acting

M9NM9N

1616

MHZ2MHZ2

2211

DD

a

b c ed f g


— 2 pcs.

S 1 pc.

c Bore size

10 10 mm

16 16 mm

20 20 mm

25 25 mm

Fluid Air

Operating pressure Ø 10: 0.2 to 0.7 MPaØ 16 to Ø 25: 0.1 to 0.7 MPa


Repeatability ±0.01 mm



Action Double acting

Grease 11-: Fluorine grease22-: Lithium soap based grease

Cleanliness class (ISO class) Class 4

a Clean series

11 Vacuum suction type

b Copper, fluorine and silicone free + low particle generation


How to order

Specifications

e Finger option

Standard type Narrow type

—: Basic N: Basic

1: Side tapped mounting N1: Side tapped mounting


N2: Through-holes in opening/closing direction

3: Flat finger

-MHZ2 Clean Series1122



a Number of fingers

2 2 fingers

b Bore size

6 6 mm

10 10 mm

16 16 mm

20 20 mm

25 25 mm

c Action

D Double acting




— 2 pcs.

S 1 pc.

n n pc.

d Body option


W: End boss type Axial ported with Ø 4 one-touch fitting for coaxial tubing (Double acting)

K: End boss type Axial ported with Ø 4 one-touch fitting (Single acting)


16 DMHZJ 2a b c d e g hf

How to order

With dust coverMHZJ2 Series

h Made to order





-X50 Without magnet






-X77A Dust cover adhesion

-X77B Dust cover adhesion (Finger part only)

-X78A Dust cover caulking

-X78B Dust cover caulking (Finger part only)




e Dust cover type



S Silicone rubber

Fluid Air

Operating pressure

Double actingØ 6: 0.15 to 0.7 MPaØ 10: 0.2 to 0.7 MPa

Ø 16 to Ø 25: 0.1 to 0.7 MPa

Single acting

Normally open Ø 6: 0.3 to 0.7 MPa

Ø 10: 0.35 to 0.7 MPaØ 16 to Ø 25: 0.25 to 0.7 MPa

Normally closed

Ambient and fluid temperature -10 to 60 °CRepeatability ±0.01 mmMax. operating frequency 180 c.p.m.Lubrication Not requiredAction Double acting/Single acting



MHZJ2-10 MHZJ2-16 MHZJ2-20 MHZJ2-25 Double acting Single acting

— Basic typeM3 x 0.5 M5 x 0.8

V V

E Side ported V V

W

Axial ported

With Ø 4 One-touch fitting for coaxial tubing V —

K With Ø 4 One-touch fitting — V

M M5 x 0.8 — V


PortPort

PortPort

Port

Options

Specifications

Ø 6 to Ø 25

* Ø6 only applicable with basic type.


27


a Number of fingers

2 2 fingers

b Bore size

32 32 mm

40 40 mm

c Action

D Double acting


— 2 pcs.

S 1 pc.

n n pc.

d Dust cover type



S Silicone rubber

g With dust cover

h Special specifications

SymbolDust cover type

—: Chloroprene rubber (CR)

F: Fluororubber (FKM)

S: Silicone rubber (Si)

— Basic type v v v

A Heat resistance — v v

B Fluororubber seal — v —

32MHZJ 2 X6100a b c d f hge

D

Model Basic type Heat resistance Fluororubber seal

Fluid Air

Operating pressure Double acting 0.1 to 0.7 MPa

Ambient and fluid temperature -10 to 60 °C -10 to 100 °C -10 to 60 °CRepeatability ±0.01 mm




Specifications

Ø 32 to Ø 40



a Number of fingers

2 2 fingers

b Bore size

10 10 mm

16 16 mm

20 20 mm

25 25 mm

c Action

D Double acting




— 2 pcs.

S 1 pc.

n n pc.

e Body option


W: End boss type Axial ported with Ø 4 one-touch fitting for coaxial tubing (Double acting)

K: End boss type Axial ported with Ø4 one-touch fitting (Single acting)


d Finger option

—: Basic type 1: Side tapped mounting



16 DMHZL 2a b c d e g hf

How to order

Long stroke typeMHZL2 Series

h Made to order





-X50 Without magnet








Port

Port Port

Port

Port

Fluid Air

Operating pressure

Double acting Ø 10: 0.2 to 0.7 MPaØ 16 to Ø 25: 0.1 to 0.7 MPa

Single actingNormally open Ø 10: 0.35 to 0.7 MPa

Ø 16 to Ø 25: 0.25 to 0.7 MPaNormally closed

Ambient and fluid temperature -10 to 60 °CRepeatability ±0.01 mmMax. operating frequency 120 c.p.m.Lubrication Not requiredAction Double acting/Single acting



MHZL2-10 MHZL2-16 MHZL2-20 MHZL2-25 Double acting Single acting

— Basic typeM3 x 0.5 M5 x 0.8

V V

E Side ported V V

W

Axial ported

With Ø 4 One-touch fitting for coaxial tubing V —

K With Ø 4 One-touch fitting — V

M M5 x 0.8 — V


Specifications

Option

Ø 10 to Ø 25


29


g With dust cover

a Number of fingers

2 2 fingers

c Action

D Double acting

b Bore size

10 10 mm

16 16 mm

20 20 mm


— 2 pcs.

S 1 pc.

n n pc.

16MHZL 2 X6110a b c d f hge

How to orderMHZL2 Series, long stroke with dust cover

D

d Dust cover type



S Silicone rubber

h Special specifications

SymbolDust cover type

—: Chloroprene rubber (CR)

F: Fluororubber (FKM)

S: Silicone rubber (Si)

— Basic type v v v

A Heat resistance — v v

B Fluororubber seal — v —

Model Basic type Heat resistance Fluororubber sealAmbient and fluid temperature -10 to 60 °C -10 to 100 °C -10 to 60 °CSpecifications other than the above Same as the standard type

Specifications

Ø 10 to Ø 20


Height is approximately 1/3 the size of an equivalent MHZ2 series

Low profile air gripperMHF Series

· Low profile means minimal mounting space needed

· Height is approximately 1/3 the size of an equivalent MHZ2 Series

· Bore sizes: 8, 12, 16 and 20 mm

· High rigidity due to adoption of linear guide


Main features

72.8

42

50

MHZ2-20D3

Improved mounting repeatabilityWith positioning pin holes.

Auto switches can be mounted on both sides.

Piping is available from 2 directionsPiping port position can be specified using a part number.

Linear guide provides:High precision and high rigidity with martensitic stainless steel.

Easy positioning for mounting attachmentsWith positioning pin holes.

A Air gripper

A Parallel type

A 2 fingers

A Double acting

Air grippersMHF Series

31

Height is approximately 1/3 the size of an equivalent MHZ2 series

A Stroke selection is available3 standard stroke lengths are available for each bore size.Stroke can be selected to suit the workpiece.

A High degree of mounting flexibilityAs no brackets are required, mounting height can be minimised.

A Strong gripping forceDouble piston construction achieves compact design with strong gripping force.

- The low profile design saves space and reduces bending moments.

- Improved accuracy with smooth operation.

Reduced bending moment and vibration

Low profile design

25

52MHF2-12D

[mm]Bore size Height

8 1912 2516 3320 41

Model Bore size Gripping force [N]MHF2-8Dm 8 19MHZ2-10Dm 10 11MHF2-12Dm 12 48MHZ2-20Dm 20 42MHF2-16Dm 16 90MHZ2-25Dm 25 65MHF2-20Dm 20 141MHZ2-32Dm 32 158

Ø 8 Ø 12 Ø 16 Ø 20

Short 8 mm 12 mm 16 mm 20 mm

Medium 16 mm 24 mm 32 mm 40 mm

Long 32 mm 48 mm 64 mm 80 mm

q q

w

w

w

e

e

r

r

Mounting is possiblefrom 4 directions.



a Number of fingers

2 2 fingers

b Bore size

8 8 mm

12 12 mm

16 16 mm

20 20 mm


— 2 pcs.

S 1 pc.

n n pc.

d Stroke

— Short stroke

1 Medium stroke

2 Long stroke

e Body option

—: Axial piping type R: Side piping type

12MHF 2 Da b c d e g hf

How to order

h Made to order



-X50 Without magnet






-X81B Anti-corrosive treatment of finger, guide and joint

-X83 With an adjustable opening/closing finger positioning

c Action

D Double acting

PortPort

Fluid Air

Operating pressureØ 8: 0.15 to 0.7 MPa

Ø 12 to 20: 0.1 to 0.7 MPaAmbient and fluid temperature -10 to 60 °C (with no condensation)Repeatability ±0.05 mm 1)

Maximum operating frequency

Short stroke120 c.p.m.

Medium stroke

Long stroke 60 c.p.m.Lubrication Not requiredAction Double acting

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 ±0.15 mm due to the influence of backlash of the rack and pinion.

Specifications

Air grippersMHL Series

33

A Air gripper

A Parallel type

A 2 fingers

A Double acting

Compact auto switches can be directly mountedAn auto switch can be mounted at 4 locations

Wide parallel style air gripperMHL Series

· Opening/closing stroke range: 20-200 mm


· 3 gripper strokes are possible for each size.

· Repeatability ±0.1 mm.

· A scraper with a dust lip is adopted for all rod rotating parts.

Main features

Lube-retainerHeavy duty scraper

Lube- retainer

A Dust resistant option now available. (Made to Order)

- In micro-powder (10 to 100 μm) environments g With double Lube-retainer (-X85).Prevents particles and foreign

matter from entering the gripper. The

Lube-retainer ensures a consistent

film of grease, improving gripper

endurance.

- In dusty environments g With heavy duty scraper + Lube-retainer (-X86m)Applicable for environments containing

particles or foreign matter. Grease film is

formed on the rod due to the Lube-retainers

so that the endurance is improved.

Scraper seal material can be NBR or

fluororubber.

Built-in dust-protection mechanismA scraper with a dust lip is adopted for all rod rotating parts.

Double-end type oil-impregnated resin bearings with a metal backing are used for all shafts

A large amount of gripping force is provided through the use of a double piston mechanism, while maintaining a compact design

Fingers synchronized by a rack and pinion mechanism



a Number of fingers

2 2 fingers

c Action

D Double acting

b Bore size

10 10 mm

16 16 mm

20 20 mm

25 25 mm


— 2 pcs.

S 1 pc.

n n pc.

M9BW16MHL 2a b c e gfd

How to order

D Z

d Opening/Closing stroke [mm]Symbol Ø 10 Ø 16 Ø 20 Ø 25

Short: MHL2- mD

— 20 30 40 50

Medium: MHL2- mD1

1 40 60 80 100

Long: MHL2- mD2

2 60 80 100 120

g Made to order

-X4 Heat resistant (-10 to 100 °C)


-X28 With bolt for adjusting the closing width

-X50 Without magnet

-X53 EPDM seal/fluorine grease


-X79 Grease for food processing machines:Fluorine grease

-X79A Grease for food processing machines:Aluminium complex soap base grease

-X85 Fine-particle proof specifi cation

-X86mWith heavy duty scraper + Stable lubrication function

(Lube-retainer)(Scraper seal material: NBR, Fluororubber)

f Auto switchSelect an applicable auto switch model from the table on page 66.

a Number of fingers

2 2 fingers

d Action

D Double acting

b Bore size

32 32 mm

40 40 mm


— 2 pcs.

S 1 pc.

n n pc.

M9BW32MHL 2a b c e hgfd

D

e Opening/Closing stroke [mm]Symbol Ø 32 Ø 40

— 70 100

1 120 160

2 160 200

c Thread typeSymbol Type

— Rc

TN NPT

TF G

h Made to order

-X4 Heat resistant (-10 to 100 °C)


-X28 With adjuster bolts for adjusting closing width

-X50 Without magnet



-X79 Grease for food processing machines:Fluorine grease

-X79A Grease for food processing machines:Aluminium complex soap base grease

Ø 10 to Ø 25

Ø 32 to Ø 40

Air grippersMHL Series

35

Bore size [mm] 10 16 20 25 32 40

Fluid AirAction Double actingOperating pressure [MPa] 0.15 to 0.6 0.1 to 0.6Ambient and fluid temperature -10 to 60 °C (No freezing)Repeatability ±0.1

Max. operating frequency (c.p.m.)

Short stroke 60 30Medium stroke

40 20Long stroke

Lubricant Non-lube Not requiredEffective gripping force [N] 1) at 0.5 MPa 14 45 74 131 228 396

1) Gripping point distance: 40 mm.

Specifications

-MHL2 Clean Series

11

M9NM9N

1616

MHL 2MHL 2

2211

DD

a

b c ged f h i

d Bore size

10 10 mm

16 16 mm

20 20 mm

25 25 mm

32 32 mm

40 40 mm

a Clean series




How to order

Specifications

c Number of fingers

2 2 fingers

e Port thread type

Symbol Type Cylinder bore

—M Ø 10 to 25

Rc

Ø 32 to 40TN NPT

TG G

h Auto switchIf required, select an applicable auto switch model from the table on page 66.

f Action

D Double acting

g Open/Close stroke [mm]

Symbol Ø 10 Ø 16 Ø 20 Ø 25 Ø 32 Ø 40

— 20 30 40 50 70 100

1 40 60 80 100 120 160

2 60 80 100 120 160 200

i Number of auto switches

— 2 pcs.

S 1 pc.

n n pc.

1122

Bore size [mm] 10 16 20 25 32 40

Fluid AirAction Double actingOperating pressure [MPa] 0.15 to 0.6 0.1 to 0.6Ambient and fluid temperature -10 to 60 °CRepeatability ±0.1Lubrication Not requiredEffective gripping force [N] 1) at 0.5 MPa 14 45 74 131 228 396


Cleanliness class (ISO class) 11-/22-:Class 41) Gripping point: Bore size 10, 16, 20, 25: 40 m, Core size 32, 40: 80 mm.


Wedge cam operation slide guideMHK Series

· Elastic guide cover in 3 different materials as protection against soiling by dust, chips, liquids, etc.


· Gripper fingers have robust slide bearing

· Long stroke model available

· Repeatability ±0.01 mm.

Main features

Incorporation of dust cover prevents dust, water, etc. from entering the body and avoids generating dust and releasing grease from air gripper

3 types of dust covers are available for use in different environmentsStandard: Chloroprene rubber (CR) BlackOptional: Fluororubber (FKM) Black

Silicone rubber White

Wedge cam structureThe wedge structure allows no lateral vibration along stroke direction once work is held.

High rigiditySlide guide bearing enables highly rigid finger motion

Built-in adjustment needle for finger speedPossible to adjust the speed for finger closing direction.

2 types of finger materials are available for different applicationsStandard: Carbon steelOption: Stainless steel

A Air gripper

A Parallel type

A 2 fingers

A Double acting

Air grippersMHK Series

37

A High rigiditySlide type guide bearing enables highly rigid finger motion.

A Universal mountingAxial mounting

Body tapped

Lateral mounting

Body tapped

Vertical mounting

Body tapped Body through-hole

How to order

e Dust cover material



S Silicone rubber

22

1 FF

2020

DD 1

MHKMHKL

a b c d e f g h

a Number of fingers

2 2 fingers

b Bore size

12 12 mm

16 16 mm

20 20 mm

25 25 mm

c Action

D Double acting



d Finger material

— Carbon steel

1 Stainless steel



— 2 pcs.

S 1 pc.

n n pc.

h Made to order





-X39 With grease nipple

-X41 Auto switch groove (Both-side type)

-X50 Without magnet











Fluid Air

Operating pressure

Double acting 0.1 to 0.6 MPa

Single actingNormally open

0.25 to 0.6 MPaNormally closed

Ambient and fluid temperature -10 to 60 °CRepeatability ±0.01 mm

Max. operating frequency MHKZ: 120 c.p.m. MHKLZ: 60 c.p.m.

Lubrication Not requiredAction Double acting/Single acting

Standard type

Long stroke type

Specifications


Parallel type air gripperMHS Series

· Compact size due to the wedge cam design

· Long stroke and with dust cover selectable (3-finger type)

· Through hole model (up to 80 mm. with 3-finger type)

· Bore sizes from 16 mm to 125 mm (up to 63 mm with 2 and 4 fingers)


Main features

Easy alignment when mountingPositioning pin holes are provided on the top of the gripper.

Auto switch capableA wide variety of solid state auto switches can be mounted using the body’s side mounting grooves. Selections include 2-colour indication and water resistant types.

Employs wedge cam constructionThe wedge cam mechanism allows strong gripping force to be obtained from a compact design.

Using tapped holes Using through holes

Can be mounted from two directions

A Air gripper

A Parallel type

A 2, 3 and 4 fingers

A Double acting

Air grippersMHS Series

39

MHS3 Series variationsA With dust cover/MHSJ3

A Through-hole/MHSH3

A With dust cover/Centre pusher

The dust cover and centre pusher assembly can be modularized for the through-hole MHSH3.

Spring type

Dust cover

Through-holeMHSH3

Center pusher assembly

Air blowing Pushing out a workpiece with external cylinder

SymbolSingle acting/Normally open: External grip

Single acting/Normally closed: Internal grip

Cylinder type

A Single acting/MHS3-X84Ø 16, Ø 20, Ø 25, Ø 32, Ø 40, Ø 50, Ø 63

A Series variations

ModelBore size [mm]

16 20 25 32 40 50 63 80 100 125

2-fingerMHS2 SeriesGripping of diverse workpieces

V V V V V V V — — —

3-finger

MHS3 SeriesAxial gripping of cylindrical workpieces

V V V V V V V V V V

Long strokeMHSL3 SeriesAccommodates a wide range of workpiece diameters

V V V V V V V V V V

4-fingerMHS4 SeriesPositioning of square workpieces

V V V V V V V — — —

ModelBore size [mm]

16 20 25 32 40 50 63 80

MHSJ3 With dust cover V V V V V V V V

MHSH3

Through-hole V V V V V V V V

With centre pusher (Cylinder type)

— — — V V V V V

With centre pusher (Spring type)

— — — V V V V V

MHSHJ

Through-hole with dust cover

— — — V V V V V

With dust cover/Centre pusher (Cylinder type)

— — — V V V V V

With dust cover/Centre pusher (Spring type)

— — — V V V V V

MHS3-X84 Single acting (Normally open, Normally closed)

V V V V V V V —


d Auto switchIf required, select an applicable auto switch model from the table on page 66.

d Auto switchSelect an applicable auto switch model from the table on page 66.

a Number of fingers

2 2 fingers

a Number of fingers

2 2 fingers

b Bore size

16 16 mm

20 20 mm

25 25 mm

b Bore size

32 32 mm

40 40 mm

50 50 mm

63 63 mm

e Number of auto switches

— 2 pcs.

S 1 pc.


— 2 pcs.

S 1 pc.

20

50

D

D

MHS 2

MHS 2

a

a

b

b

c

c

d

d

e

e

f

f

MHS Series. 2 finger typeHow to order

f Made to order



-X50 Without magnet


-X56 Axial ported




f Made to order



-X50 Without magnet


-X56 Axial ported




c Action

D Double acting

c Action

D Double acting

Ø 16 to 25

Ø 32 to 63

Model MHS2-16D MHS2-20D MHS2-25D MHS2-32D MHS2-40D MHS2-50D MHS2-63D

Bore size [mm] 16 20 25 32 40 50 63Fluid AirOperating pressure [MPa] 0.2 to 0.6 0.1 to 0.6Ambient and fluid temperature [°C] -10 to 60Repeatability [mm] ±0.01Max. operating frequency (c.p.m.) 120 60Lubrication Not requiredAction Double acting

Effective gripping force [N] at 0.5 MPa 1)

External grip 21 37 63 111 177 280 502Internal grip 23 42 71 123 195 306 537

Opening/Closing stroke (Both sides) [mm] 4 4 6 8 8 12 16Weight [g] 58 96 134 265 345 515 952

1) Values for Ø 16 to Ø 25 are with gripping point L = 20 mm, and for Ø 32 to Ø 63 with gripping point L = 30 mm. Refer to “Effective Gripping Force” data at MHS Series catalogue for the gripping force at each gripping position.

Specifications


41



a Number of fingers

3 3 fingers

a Number of fingers

3 3 fingers

b Bore size

16 16 mm

20 20 mm

25 25 mm

b Bore size

32 32 mm

40 40 mm

50 50 mm

63 63 mm

80 80 mm

100 100 mm

125 125 mm


— 2 pcs.

S 1 pc.

20

50

D

D

MHS 3

MHS 3

a

a

b

b

c

c

d

d

e

e

f

f g

f Made to order



-X50 Without magnet


-X56 Axial ported




g Made to order



-X50 Without magnet


-X56 Axial ported




c Action

D Double acting

d Action

D Double acting

Ø 16 to 25

Ø 32 to 125

Model MHS3-16D MHS3-20D MHS3-25D MHS3-32D MHS3-40D MHS3-50D MHS3-63D MHS3-80D MHS3-100D MHS3-125D

Bore size [mm] 16 20 25 32 40 50 63 80 100 125Fluid AirOperating pressure [MPa] 0.2 to 0.6 0.1 to 0.6Ambient and fluid temperature [°C] -10 to 60

Repeatability [mm] ±0.01Max. operating frequency (c.p.m.) 120 60 30

Lubrication Not requiredAction Double actingEffective gripping force [N] at 0.5 MPa 1)

External grip 14 25 42 74 118 187 335 500 750 1,270

Internal grip 16 28 47 82 130 204 359 525 780 1,320

Opening/Closing stroke (Both sides) [mm] 4 4 6 8 8 12 16 20 24 32

Weight [g] 60 100 140 237 351 541 992 1,850 3,340 6,460

1) Values for Ø 16 to Ø 25 are with gripping point L = 20 mm, for Ø 32 to Ø 63 with gripping point L = 30 mm, and for Ø 80 to Ø 125 with gripping point L = 50 mm. Refer to “Effective Gripping Force” data at MHS Series catalogue for the gripping force at each gripping position.

c Port thread typeSymbol Type Cylinder bore

— M thread Ø 32 to 63Rc

Ø 80 to 125TN NPT

TF G



— 2 pcs.

S 1 pc.

n “n” pcs.

Specifications



a Number of fingers

3 3 fingers

b Bore size

16 16 mm

20 20 mm

25 25 mm

32 32 mm

40 40 mm

50 50 mm

63 63 mm

80 80 mm


— 2 pcs.

S 1 pc.

50 DMHSJ 3a b c d e f g

h Made to order



-X50 Without magnet


-X56 Axial ported








d Action

D Double acting

Model MHSJ3-16D MHSJ3-20D MHSJ3-25D MHSJ3-32D MHSJ3-40D MHSJ3-50D MHSJ3-63D MHSJ3-80D

Bore size [mm] 16 20 25 32 40 50 63 80Fluid AirOperating pressure [MPa] 0.2 to 0.6 0.1 to 0.6Ambient and fluid temperature [°C] -10 to 60Repeatability [mm] ±0.1Max. operating frequency (c.p.m.) 120 60Lubrication Not requiredAction Double actingEffective gripping force [N] at 0.5 MPa 1)

External grip 9 21 36 62 97 155 280 400

Internal grip 16 28 47 82 130 204 359 525

Opening/Closing stroke (Both sides) [mm] 4 4 6 8 8 12 16 20

Weight [g] 95 150 230 440 620 1,050 1,800 3,200




Ø 80TN NPT

TF G

MHSJ Series. 3 finger type with dust coverHow to order

Specifications

e Dust cover type



S Silicone rubber


43

i Auto switchIf required, select an applicable auto switch model from the table on page 66.

a Through-hole

c Number of fingers

3 3 fingers

b Dust cover

— None

J With dust cover

1) Ø 16, Ø 20 and Ø 25 are not available with dust cover.

32 D3MHSHa b c d e f g h i j k

k Made to order



-X50 Without magnet


-X56 Axial ported








f Action

D Double acting

MHSH Series. 3 finger type. Through-hole typeHow to order

d Bore size

16 16 mm

20 20 mm

25 25 mm

32 32 mm

40 40 mm

50 50 mm

63 63 mm

80 80 mm

e Port thread typeSymbol Type Cylinder bore


Ø 80TN NPT

TF G

g Center pusher

— Without centre pusher

A Cylinder type

B Spring type

1) Ø 16, 20 and 25 are not available with centre pusher

h Dust cover type (with dust cover only)



S Silicone rubber

j Number of auto switches

— 2 pcs.

S 1 pc.

n 1) “n” pcs.

1) Symbol entry examples when mounting auto switches on air gripper with cylinder type centre pusher.

1. Air gripper unit ············ 1 pc. Centre pusher unit ······ 1 pc. MHSH3-32DA-M9N2. Air gripper unit ············ 2 pcs. Centre pusher unit ······ 2 pcs. MHSH3-32DA-M9N4

}Total of 2 pcs. g —

}Total of 4 pcs. g Enter “4”

Model MHSH3-16D MHSH3-20D MHSH3-25D MHSH3-32D MHSH3-40D MHSH3-50D MHSH3-63D MHSH3-80D

Cylinder bore size [mm] 16 20 25 32 40 50 63 80Fluid AirOperating pressure [MPa] 0.2 to 0.6 0.1 to 0.6Ambient and fluid temperature [°C] -10 to 60Repeatability [mm] ±0.01Max. operating frequency (c.p.m.) 120 60 30Lubrication Not requiredAction Double acting


External grip 9 21 36 62 97 155 280 400

Internal grip 15 26 45 77 118 187 329 490

Through hole diameter [mm] Ø 3H10 Ø 3H10 Ø 4H10 Ø 6H10 Ø 10H10 Ø 12H10 Ø 16H10 Ø 20H10Opening/Closing stroke (Both sides) [mm] 4 4 6 8 8 12 16 20

Weight [g] 90 140 220 410 570 970 1,650 2,920

1) Values for Ø 16 to Ø 25 are with gripping point L = 20 mm, for Ø 32 to Ø 63 with gripping point L = 30 mm, and for Ø 80 with gripping point L = 50 mm. Refer to “Effective Gripping Force” data at MHS Series catalogue for the gripping force at each gripping position.

+0.040 0

+0.040 0

+0.048 0

+0.048 0

+0.058 0

+0.070 0

+0.070 0

+0.084 0

Specifications



b Centre pusher assembly

a Number of fingers

3 3 fingers

A503 AMHSHa b c d e f g

g Made to order



-X50 Without magnet


-X56 Axial ported








MHSH Series. 3 finger type. Through-hole type. Centre pusher assemblyHow to order

c Bore size

32 32 mm

40 40 mm

50 50 mm

63 63 mm

80 80 mm

d Centre pusher

A Cylinder type

B Spring type


— 2 pcs.

S 1 pc.

Model MHSH3-32DA MHSH3-40DA MHSH3-50DA MHSH3-63DA MHSH3-80DA

Pusher cylinder bore size [mm] 12 20 25 32 40Fluid AirOperating pressure [MPa] 0.2 to 0.6 0.1 to 0.6Ambient and fluid temperature [°C] -10 to 60Pusher maximum operating frequency (c.p.m.) 60 30Lubrication Not requiredAction Double actingPusher stroke [mm] 5 5 10 10 15Pusher thrust [N] at 0.5 MPa Extention 45 130 204 335 524Weight [g] 530 770 1,330 2,300 4,000

Model MHSH3-32DB MHSH3-40DB MHSH3-50DB MHSH3-63DB MHSH3-80DB

Pusher stroke [mm] 5 5 10 10 15Pusher spring force [N] 6 to 10 11 to 15 20 to 25 29 to 34 49 to 59Weight [g] 500 740 1,290 2,250 4,000

Centre pusher (cylinder type) specifications

Centre pusher (spring type) specifications


45



a Number of fingers

3 3 fingers

a Number of fingers

3 3 fingers

b Bore size

16 16 mm

20 20 mm

25 25 mm

b Bore size

32 32 mm

40 40 mm

50 50 mm

63 63 mm

80 80 mm

100 100 mm

125 125 mm


— 2 pcs.

S 1 pc.

20

50

D

D

MHSL 3

MHSL 3

a

a

b

b

c

c

d

d

e

e

f

f g

f Made to order



-X50 Without magnet


-X56 Axial ported




g Made to order



-X50 Without magnet


-X56 Axial ported




c Action

D Double acting

d Action

D Double acting

Ø 16 to 25

Ø 32 to 125

Model MHSL3-16D MHSL3-20D MHSL3-25D MHSL3-32D MHSL3-40D MHSL3-50D MHSL3-63D MHSL3-80D MHSL3-100D MHSL3-125D

Bore size [mm] 16 20 25 32 40 50 63 80 100 125Fluid AirOperating pressure [MPa] 0.2 to 0.6 0.1 to 0.6Ambient and fluid temperature [°C] -10 to 60

Repeatability [mm] ±0.01Max. operating frequency (c.p.m.) 120 60 30

Lubrication Not requiredAction Double actingEffective gripping force [N] at 0.5 MPa 1)

External grip 14 25 42 74 118 187 335 500 750 1,270

Internal grip 16 28 47 82 130 204 359 525 780 1,320

Opening/Closing stroke (Both sides) [mm] 10 10 12 16 20 28 32 40 48 64

Weight [g] 80 135 180 370 550 930 1,550 2,850 5,500 11,300




Ø 80 to 125TN NPT

TF G

MHSL Series. 3 finger type. Long strokeHow to order


— 2 pcs.

S 1 pc.

n “n” pcs.

Specifications


ModelMHS3-

16m-X84MHS3-

20m-X84MHS3-

25m-X84MHS3-

32m-X84MHS3-

40m-X84MHS3-

50m-X84MHS3-

63m-X84Bore size [mm] 16 20 25 32 40 50 63Fluid AirOperating pressure [MPa] 0.35 to 0.6 0.25 to 0.6Ambient and fluid temperature [°C] -10 to 60Repeatability [mm] ±0.01Max. operating frequency (c.p.m.) 120 60Lubrication Not requiredAction Single acting: Normally open, Normally closedOpening/Closing stroke (Both sides) [mm] 4 4 6 8 8 12 16

No

rmal

ly o

pen External grip [N] 1)

at 0.5 MPaNear fully closed 9.6 17.5 29.4 56 92 144 238Near fully opened 10.4 19 31.7 60 99 153 258

Internal grip [N] 1)

Spring force onlyNear fully closed 4.1 7.4 12.5 17.5 25.8 42.2 68.4Near fully opened 3.3 6 10.3 13.5 19 33.6 49

Weight [g] 85 145 210 350 485 740 1330

No

rmal

ly

clo

sed

Internal grip [N] 1)

at 0.5 MPaNear fully closed 12.3 21.2 36.5 68 108 169 279Near fully opened 11.3 19.9 34.2 64 103 160 259

External grip [N] 1)

Spring force onlyNear fully closed 3.6 6.2 10.3 13.5 21.2 33.6 49Near fully opened 4.6 7.4 12.5 17.5 26.6 42.2 68.4

Weight [g] 85 145 210 345 485 740 1280

1) Values for Ø 16 to Ø 25 are with gripping point L = 20 mm, for Ø 32 to Ø 63 with gripping point L = 30 mm,. Refer to “Effective Gripping Force” data at MHS Series catalogue for the gripping force at each gripping position.

Specifications


a Number of fingers

3 3 fingers

S203 X84MHSa b c d e f

f Single acting

MHSH Series. 3 finger type. Single acting How to order

b Bore size

16 16 mm

20 20 mm

25 25 mm

32 32 mm

40 40 mm

50 50 mm

63 63 mm

c Action




— 2 pcs.Ø 16 to Ø 63

S 1 pc.

n “n” pcs. Ø 32 to Ø 63


47


d Auto switchSelect an applicable auto switch model from the table on page 66.

a Number of fingers

4 4 fingers

a Number of fingers

4 4 fingers

b Bore size

16 16 mm

20 20 mm

25 25 mm

b Bore size

32 32 mm

40 40 mm

50 50 mm

63 63 mm


— 2 pcs.

S 1 pc.

20

50

D

D

MHS 4

MHS 4

a

a

b

b

c

c

d

d

e

e

f

f g

f Made to order



-X50 Without magnet


-X56 Axial ported




f Made to order



-X50 Without magnet


-X56 Axial ported




c Action

D Double acting

c Action

D Double acting

Ø 16 to 25

Ø 32 to 63

Model MHS4-16D MHS4-20D MHS4-25D MHS4-32D MHS4-40D MHS4-50D MHS4-63D

Bore size [mm] 16 20 25 32 40 50 63Fluid AirOperating pressure [MPa] 0.2 to 0.6 0.1 to 0.6Ambient and fluid temperature [°C] -10 to 60Repeatability [mm] ±0.01Max. operating frequency (c.p.m.) 120 60Lubrication Not requiredAction Double acting


External grip 10 19 31 55 88 140 251Internal grip 12 21 35 61 97 153 268

Opening/Closing stroke (Both sides) [mm] 4 4 6 8 8 12 16Weight [g] 66 110 154 300 390 590 1,095

1) Values for Ø 16 to Ø 25 are with gripping point L = 20 mm, for Ø 32 to Ø 63 with gripping point L = 30 mm,. Refer to “Effective Gripping Force” data at MHS Series catalogue for the gripping force at each gripping position.



— 2 pcs.

S 1 pc.

Specifications


Rotary actuated air gripperMHR Series

· Gripper finger movement guided with precision by cross roller bearing

· Driven by vane type rotary actuator

· Nominal size from 10 to 30 mm (up to 15 with 3 fingers)

· 4 sizes for handling smaller components

· Repeatability of ±0.01 mm

· Applicable clean series.

Main features

Possible to mount solid state switch with indicator light D-M9. Easy to locate switch to optimum set point

High rigidityFingers operate smoothly as the holder maintains the guide from the outside and prevents finger displacement.

Low profileUsing rotary actuators in the part of actuating portion enables a design compact.

Connection port on 2 sides

Axial side mounting

Vertical side mounting

Lateral side mounting

Universal mountingUsing rotary actuators in the part of actuating portion enables a design compact.

A Air gripper

A Parallel type

A 2 and 3 fingers

A Double acting

Ball bearingRotary actuator

Guide holderBall bearingCross roller guide

A Series variations

ModelNominal size [mm]

Auto switch10 15 20 30

Rotary actuated air gripper

2-finger typeMHR2 V V V V —

MDHR2 V V V V V

3-finger typeMHR3 V V — — —

MDHR3 V V — — V

Clean seriesRotary actuated air gripper

2-finger type

11-22- MHR2 V V V V —11-22- MDHR2 V V V V V

3-finger type

11-22- MHR3 V V — — —11-22- MDHR3 V V — — V

Air grippersMHR Series

49

a With magnet (For auto switch)

b Number of fingers

2 2 fingers

22

1010

RR

MHRM D HR

a b c d e f g

MHR Series. 2 finger typeHow to order

Without auto switch

With auto switch(Built-in magnet)

c Nominal size

10

15

20

30


g Made to order

-X32 Grease change for rotary actuated part



— 2 pcs.

S 1 pc.

d Connecting port

R: Body side E: Axial side

Nominal size 10 15 20 30



External grip 12 24 33 58Internal grip 12 25 34 59

Opening/Closing stroke (Both sides)

Finger closing width [mm] 10 14 16 19Finger opening width [mm] 16 22 28 37Stroke [mm] 6 8 12 18

Weight [g] 2) 100 (95) 180 (175) 390 (380) 760 (740)Connection port M3 x 0.5 M5 x 0.8Repeatability ±0.01 mmFluid AirOperating pressure 0.2 to 0.6 MPa 0.15 to 0.6 MPaAmbient and fluid temperature 0 to 60°CMax. operating frequency 180 c.p.m.Lubrication Not required 3)

1) Refer to “Effective Gripping Force” at MHR Series catalogue for details of Gripping force at each gripping point. Value of effective gripping force is measured at the middle of opening/closing stroke.

2) ( ) Value shows MDHR weight, but it does not include auto switch weight.3) This product should be used without lubrication. If it is lubricated, it could lead to sticking or slipping.

When the finger opening/closing speed is set as the total stroke of 0.2 seconds or more, it may cause the product to stick or completely stop its movement.

Port Port

Specifications


-MHR2 Clean Series

RDRD

M9NM9N

SS

1010

M HR 2M HR 2

2211a

b d fc e g h

e Nominal size

10

15

20

30

a Clean series




How to order

Specifications

d Number of fingers

2 2 fingers

g Auto switchSelect an applicable auto switch model from the table on page 66.

h Number of auto switches

— 2 pcs.

S 1 pc.

n n pc.

c Built in magnet

— No

n With magnet (For auto switch)

1122

Nominal size [mm] 10 15 20 30

Operating pressure [MPa] 0.2 to 0.6 0.15 to 0.6Ambient and fluid temperature 0 to 60 °CRepeatability ±0.1 mmMax. operating frequency 180 c.p.m


Cleanliness class (ISO class) 11-/22-:Class 3

f Connecting port


Port Port


51

a With magnet (For auto switch)

b Number of fingers

3 3 fingers

33

1010

RR

MHRM D HR

a b c d f

e

g h

MHR Series. 3 finger typeHow to order

Without auto switch

With auto switch(Built-in magnet)

c Nominal size

10

15


h Made to order

-X32 Grease change for rotary actuated part



— 2 pcs.

S 1 pc.

d Connecting port


e Connecting port

R: Body side

Nominal size 10 15



External grip 7 13Internal grip 6.5 12

Opening/Closing stroke (Both sides)

Finger closing width [mm] 16 19Finger opening width [mm] 22 27Stroke [mm] 6 8

Weight [g] 2) 120 (125) 225 (230)Connection port M3 x 0.5Repeatability ±0.01 mmFluid AirOperating pressure 0.2 to 0.6 MPa 0.15 to 0.6 MPaAmbient and fluid temperature 0 to 60°CMax. operating frequency 180 c.p.mLubrication Not required 3)

1) Refer to “Effective Gripping Force” at MHR Series catalogue for details of Gripping force at each gripping point. Value of effective gripping force is measured at the middle of opening/closing stroke.

2) ( ) Value shows MDHR weight, but it does not include auto switch weight.3) This product should be used without lubrication. If it is lubricated, it could lead to sticking or slipping.

When the finger opening/closing speed is set as the total stroke of 0.2 seconds or more, it may cause the product to stick or completely stop its movement.

Port

Port

Port

Specifications


-MHR3 Clean Series

RDRD

M9NM9N

SS

1010

M HR 3M HR 3

2211a

b d fc e g h

e Nominal size

10

15

a Clean series




How to order

Specifications

d Number of fingers

3 3 fingers

g Auto switchIf required, select an applicable auto switch model from the table on page 66.

h Number of auto switches

— 2 pcs.

S 1 pc.

n n pc.

c Built in magnet

— No

n With magnet (For auto switch)

1122

Nominal size [mm] 10 15

Operating pressure [MPa] 0.2 to 0.6 0.15 to 0.6Ambient and fluid temperature 0 to 60 °CRepeatability ±0.1 mmMax. operating frequency 180 c.p.m


Cleanliness class (ISO class) 11-/22-:Class 3

f Connecting port


Port Port

Air grippersMHC Series

53

Angular type air gripperMHC Series

· Large gripping force provided by the use of a double piston mechanism

· Compact body design (MHCM2-7 is the smallest size and lightest weight)


· High repeatability: ±0.01 mm

· Auto switch capable.

Main features

A MHC2-6m- Auto switch is attachable- 48 mm x 20 mm x 10 mm 22 g.

A MHCA2-6m- Short body- 41 mm x 20 mm x 10 mm 19 g.

A MHCM2-7S- Smallest size and lightest weight in MHC series.- 23 mm x 15 mm x 10 mm 9.5 g

A Series variationsModel MHC2-6m MHCA2-6m MHCM2-7S

Cylinder bore Ø 6 Ø 6 Ø 7

Action Double actingSingle acting (Normally open)


Opening/Closing angle (Both sides) 30° to -10° 20° to -7°

Holding moment (at 0.5 MPa) 0.038 N·m (Double acting)0.024 N·m (Single acting)

0.017 N·m

Repeatability ±0.02 mmMaximum operating frequency 180 c.p.m.Weight [g] 22 g 1) 19 9.5Auto switch 19 g 9.5 g

Body option Solid state auto switch(2-wire, 3-wire)

— —


1) Not including auto switch weight.

Port

PortPort

Port

Side pipingWith Ø 4 Hose

nippleWith Ø 4 One-touch fitting With M3 port

A Air gripper

A Angular type

A 2 fingers



Ø 10 to Ø 25

a Short body (Auto switch not attachable)

b Number of fingers

2 2 fingers

22

6

20

6D

D

DMHC

MHC2

MHC Aa b c d e

f

a b c d e

g

h

MHC2/MHCA2 SeriesHow to order

c Bore size [mm]

6 6


h Made to order




-X56 Axial piping type


-X64 Finger: Side Tapped Mounting






— 2 pcs.

S 1 pc.

e Body option (End boss type)

—: Basic type E: Side ported (Double acting/Single acting)

K: Axial ported with One-touch fitting (Single acting)

H: Axial ported with ø4 hose nipple (Single acting)

M: Axial M3 port (Single acting)

Port

PortPort

Port

Port

d Action

D Double acting


b Action

D Double acting


Ø 6

c Auto switchIf required select an applicable auto switch model from the table on page 66.

e Made to order



-X50 Without magnet




-X64 Finger: Side Tapped Mounting





d Number of auto switches

— 2 pcs.

S 1 pc.a Bore size

10 10 mm

16 16 mm

20 20 mm

25 25 mm

Air grippersMHC Series

55

7 SMHC M 2a b c d e

MHCM2-7S SeriesHow to order

d Action


Bore size Ø 6 Ø 10. Ø 16, Ø 20, Ø 25 Fluid Air

Operating pressureDouble acting 0.15 to 0.6 MPa 0.1 to 0.6 MPaSingle acting: Normally open 0.3 to 0.6 MPa 0.25 to 0.6 MPa

Ambient and fluid temperature -10 to 60 °CRepeatability ±0.02 mm ±0.01 mmMaximum operating frequency 180 c.p.mLubrication Not requiredAction Double acting, Single acting (Normally open)

Fluid AirOperating pressure 0.4 to 0.6 MPaAmbient and fluid temperature -10 to 60 °CRepeatability ±0.02 mmMaximum operating frequency 180 c.p.m.Lubrication Not requiredAction Single acting (Normally open)

e Made to order








a Compact type

b Number of fingers

2 2 fingers

c Bore size

7 6 mm

Specifications

Specifications


Toggle type air gripperMHT Series

· The toggle mechanism holds workpiece even when pressure drops


· Gripping moment of up to 106 Nm

· Compact auto switch directly mountable on any of its 4 surfaces.

Main features

A high degree of freedom for mountingA variety of mounting screws are available, such as screws for air gripper mounting,brackets to prevent workpiece deflection and etc.

Holds workpiece even when the air is shut down. (Safety measures)Workpiece holding status is maintained even when the air is shut down by the toggle mechanism during close operation.

Auto switch mounting rail removedA round slot for mounting small auto switches is provided on 4 surfaces.

S

O

Vertical mounting Axial mounting

Open condition Closed condition

Lateral mounting

A Strong and stable gripping force can be obtained through the toggle mechanism.

Gripping moment (0.5 MPa)

Bore size [mm] 32 40 50 63Gripping moment(Effective value) N·m 12.4 36.0 63.0 106

A Air gripper

A Angular type

A 2 fingers

A Double acting

Air grippersMHT Series

57


a Toggle type air gripper

c Bore size

32 32 mm

40 40 mm

50 50 mm

63 63 mm

32 D ZMHT 2a b c d e f g h

h Made to order




e Action

D Double acting

Model MHT2-32DZ MHT2-40DZ MHT2-50DZ MHT2-63DZ

Bore size [mm] 32 40 50 63Action Double actingFluid AirOperating pressure 0.1 to 0.6 MPaAmbient and fluid temperature 5 to 60 °CLubrication Not requiredFinger opening angle (Total) -3° to 28° -3° to 27° -2° to 23° -2° to 23°Weight [g] 790 1,070 1,890 2,720Gripping moment 1)

(Effective value) [N·m] 12.4 36.0 63.0 106

1) At the pressure of 0.5 MPa.


— 2 pcs.

S 1 pc.

n n pcs

How to order

d Port thread typeSymbol Type

— Rc

TN NPT

TF G

b Number of fingers

2 2 fingers

Made to order: Individual specifications

-X5060 Double rod cylinder

-X5070 With boss in head side

Specifications


180° angular type air gripperCam styleMHY Series

· Synchronous rotary movement via crank drive with large holding moment


· Double acting

· Repeatability ±0.2 mm

· Compact auto switch directly mountable.

Main features

A Improved mounting repeatability A Applications examples

Assembly Clamping workpiece

Stainless steel fingers are standard

Auto switch mounting at 4 locations

Resistance to dusty environmentsReduced opening sizes helps prevent foreign objects from entering.

A Air gripper

A Angular type

A 2 fingers

A Double acting

Air grippersMHY Series

59


b Bore size

10 10 mm

16 16 mm

20 20 mm

25 25 mm

216 DMHY 2a b c d e f g

g Made to order



-X50 Without magnet

-X53 EPDM for seals, Fluorine grease





c Action

D Double acting

Fluid AirOperating pressure 0.1 to 0.6 MPaAmbient and fluid temperature -10 to 60 °CRepeatability ±0.2 mmMax. operating frequency 60 c.p.m.Lubrication Not requiredAction Double acting

How to order

a Number of fingers

2 2 fingers

d Finger option

—: Standard tapped mounting 2: Through-holes in opening/closing direction


— 2 pcs.

S 1 pc.

n n pc.

Specifications


180° angular type air gripper Rack & pinion typeMHW Series

· Insensitive to dirt as body is almost completely enclosed


· Repeatability ±0.2 mm

· Auto switch directly mountable.

Main features

Auto switch mounting at 4 locations

Key connection is ideal for impact resistanceKey connection between finger and shaft prevents finger angle slippage during impact.

Dustproof constructionSeal arrangement protects gripper from harsh dusty environments.

Bearings are standard

Two finger types available

Flat finger type Right angle finger type

A Applications examples

Clamping workpiece Transferring workpiece

A Air gripper

A Angular type

A 2 fingers

A Double acting

Air grippersMHW Series

61

f Auto switchIf required, select an applicable auto switch model from the table on page 66.b Bore size

20 20 mm

25 25 mm

32 32 mm

40 40 mm

50 50 mm

120 DMHW 2a b d ec f g h

h Made to order



-X50 Without magnet

-X53 EPDM for seals, Fluorine grease



-X79A Grease for food processing machinesd Action

D Double acting

Fluid AirOperating pressure 0.15 to 0.7 MPaAmbient and fluid temperature -10 to 60 °CRepeatability ±0.2 mm

Max. operating frequency Ø 20, 25,: 60 c.p.m.Ø 32 to 50: 30 c.p.m.

Lubrication Not requiredAction Double acting


— 2 pcs.

S 1 pc.

n n pc.

How to order

a Number of fingers

2 2 fingers

e Finger option

—: Flat type fingers (Standard)

1: Right angle type fingers tapped mounting


— M thread Ø 20, 25Rc Ø 32

Ø 40Ø 50

TN NPT

TF G

Specifications


Rotary gripperMRHQ Series

· Compact combination of gripping and rotating function


· Simple piping/wiring from one side

· Rotation angles of 90° and 180° are available

· Both positions adjustable by ±5°

· Compact auto switch directly mountable.

Main features

Easy adjustment of rotating rangeA scale indicator on the side of the gripper unit allows easy angle adjustments and is useful for verification of rotating positions.

Modular constructionGripper section is unitized for simple replacement.

Simple alignment when mounting bodyProvided with reference diameters at the top and bottom of the body, and mounting guide pin holes on three sides of the body along its centre axis (aligned with centre of body).

Compact bearings add to a light weight and compact design

Easily mounted from 5 directions: 2 ends and 3 sides ofthe body

Angle adjustment bolts are standardAngle adjustment bolts allow the rotation range of the gripper unit to be adjusted by ±10° for both 90° and 180° rotation angles.(±5° at the end of rotation)

Auto switch capableSwitches can be installed to verify positions for opening and closing of the gripper and the end of rotation. Front mounting

(Through-holes)

Bottom mounting

Side mounting(Both sides)

Top mounting

A All piping and wiring centralized on one side for easy work operations

A Rotary air gripper

A Parallel type

A 2 fingers


Air grippersMRHQ Series

63

g Auto switch for gripper opening/closingIf required select an applicable auto switch model from the table on page 66.

j Auto switch for detecting rotationIf required, select an applicable auto switch model from the table on page 66.

c Gripper bore

10 10 mm

16 16 mm

20 20 mm

25 25 mm

d Gripper bore

D Double acting



e Rotation angle

90 90°

180 180°

f Single vane

S Standard

SX Made to order

D10 90 SMRH Qa b d ec f g h i j h ki

k Made to order

-X50 Flat type fingers

-X51 Through-holes in opening/closing direction

-X11m

Air gripper with dust cover-X111: chloroprene rubber (CR)-X112: fluororubber (FKM)-X113: Silicone rubber

i Number of auto switches

— 2 pcs.

S 1 pc.

h Lead wire length

— 0.5 m

L 3 m

Z 5 m

How to order

a Rotary gripper

b Gripper

Q Parallel type: 2 fingers

Nominal size MRHQ10 MRHQ16 MRHQ20 MRHQ25

Fluid Air

Operating pressure

Rotary unit 0.25 to 0.7 MPa 0.25 to 1.0 MPa

Gripper unitDouble acting 0.25 to 0.7 MPa 0.1 to 0.7 MPaSingle acting 0.35 to 0.7 MPa 0.25 to 0.7 MPa

Rotation angle 90° ±10°, 180° ±10° (Both ends of vibration ±5° adjustable)Gripper action Double acting, Single actingFinger opening/closing repeatability ±0.01 mmGripper maximum operating frequency 180 c.p.mAmbient and fluid temperature 5 to 60°CAdjustable rotation time range 1) 0.07 to 0.3 s/90° (at 0.5 MPa)Allowable kinetic energy 0.0046 J 0.014 J 0.034 J 0.074 J

Auto switchRotary unit Solid state auto switch (2-wire, 3-wire)Gripper unit Solid state auto switch (2-wire, 3-wire)

1) Operate within the speed adjustment range, as speed control exceeding the limit value of the low speed may cause sticking or failure to operate.

Specifications


· Holding force up to 120 N, adjustable with the bumper

· Holds workpieces even when air is shut off

· Residual holding force 0.3 N or less

· Mountable on 3 surfaces

· Auto switch capable.

A MHM performs optimally in applications where vacuum pads or grippers are not performing efficiently, e.g. due to porous or uneven surfaces

A Magnetic gripper

Magnetic gripperMHM-X6400 Series

Main features

Mountable on 3 surfaces

Auto switches can be mounted on 4 surfaces- Magnetic field resistant auto

switch: D-P3DWA- Small auto switch: D-M9mV.

Holding force can be adjusted with a bumper with 3 types of thicknesses- 6 mm- 7 mm- 8 mm.

Air grippersMHM-X6400 Series

65

b Auto switchIf required, select an applicable auto switch model from the table on page 66.

a Holding force

Symbol Holding force

1 80 N

2 50 N

3 30 N

X64001MHM 32Da b c

Action Double actingFluid AirOperating pressure 0.25 to 0.6 MPaAmbient and fluid temperature -10 to 60 °C (No freezing)

Holding force (Workpiece thickness: 0.6 mm)

MHM-32D1-X6400 80 NMHM-32D2-X6400 50 NMHM-32D3-X6400 30 N

Residual holding force 0.3 N or lessLubrication Not requiredWeight 475 g

Symbol Holding force Model1 80 N MHM-A3201-1-X64002 50 N MHM-A3201-2-X64003 30 N MHM-A3201-3-X6400

How to order

c Number of auto switches

— 2 pcs.

S 1 pc.

Specifications

Bumper Order No.


TypeAuto switch mounting

type

Electrical entry

Auto switch model

Applicable series

MH

Z2

MH

Z (

L) 2

MH

ZJ2

MH

F2

MH

L2

MD

HR

MH

K (

L) 2

MH

SM

HS

L

Size

6 10

16 to

25

32 to

40

6 10 16

20, 2

5

8 to

20

10 to

40

10 to

30

12 to

25

16 to

25

32 to

63

80 to

125

Solid state auto

switch

Direct Grommet

D-M9N/M9P/M9BD-M9NV/M9PV/M9BV

V V V V V V V V V V V V V V V

D-F8N/F8P/F8B V V V V V V

2-colour indicatorD-M9NW/M9PW/M9BW

D-M9NWV/M9PWV/M9BWVV V V V V V V V V V V V V V V

Water resistant 2-colour indicator

D-M9NA/M9PA/M9BAD-M9NAV/M9PAV/M9BAV

V V V V V V V V V V V V V V V

Trimmer D-Y7K V V V V V

TypeAuto switch mounting

type

Electrical entry

Auto switch model

Applicable seriesM

HS

HM

HS

J

MH

C2

MH

T2

MH

W2

MH

Y2

MR

HQ

11-/

22-M

HZ

2

11-/

22-M

DH

R2

11-/

22-M

DH

R3

11-/

22-M

HL2

MH

M-X

6400

1)

Size

16

20 to

80

6

10 to

25

32 to

63

20 to

50

10 to

25

10 to

25

10 to

25

10 to

30

10, 1

5

10 to

40

Solid state auto

switch Direct Grommet

D-M9N/M9P/M9BD-M9NV/M9PV/M9BV

V V V V V V V V V V V V V

D-F8N/F8P/F8B V

D-M9N/M9P/M9B-746 V

D-Y59A/Y7P/Y59BD-Y69A/Y7PV/Y69B

V

2-colour indicator

D-M9NW/M9PW/M9BWD-M9NWV/M9PWV/M9BWV

V V V V V V V V

D-Y7NW/Y7PW/Y7BWD-Y7NWV/Y7PWV/Y7BWV

V


D-M9NA/M9PA/M9BAD-M9NAV/M9PAV/M9BAV

V V V V V V V V


D-Y7BAL V

Trimmer D-Y7K V V

D-F9NW/F9PN/F9BWD-F9NWV/F9PNV/F9BWV

V V V V

Magnetic field resistant 2-colour indicator

D-P3DWASC/P3DWASED-P3DWA/P3DWAL/P3DWAZ

V

Reed auto

switch

D-A90/A93/A96D-A90V/A93V/A96V

V

1) Only perpendicular models (D-M9mV) can be mounted.

Applicable auto switch variations

Air grippersAuto switch

67

Type Special functionElectrical

entryIndicator

lightWiring

(Output)

Load voltage Auto switch model Lead wire length [m] 2)

Pre-wired connector

Applicable loadDC AC

Electrical entry direction 0.5(—)

1(M)

3(L)

5(Z)Perpendicular In-line

So

lid s

tate

au

to s

wit

ch

—

GrommetYes

3-wire (NPN)

24 V

5 V, 12 V

—

M9NV M9N V V V v v

IC circuit

Relay, PLC

F8N — V — V v —

3-wire (PNP)M9PV M9P V V V v v

F8P — V V V v —

2-wire 12 V

M9BV M9B V V V v v

—M9NVM9PVM9BPF8B — V — V v —

Diagnostic indication

(2-colour indication)

3-wire (NPN) 5 V, 12 V

M9NWV M9NW V V V v v IC circuit3-wire (PNP) M9PWV M9PW V V V v v

2-wire 12 V M9BWV M9BW V V V v v —

Water resistant(2-colour indication)

3-wire (NPN) 5 V, 12 V

M9NAV 1) M9NA 1) v v V v v IC circuit

3-wire (PNP) M9PAV 1) M9PA 1) v v V v v

2-wire 12 V M9BAV 1) M9BA 1) v v V v v —

Ree

d a

uto

sw

itch

—

3-wire (NPN) (equivalent)

— 5 V — A96V A96 V — V — —IC

circuit—

2-wire 24 V12 V 100 V A93V 3) A93 V V V V — —

Relay, PLC

No5 V, 12 V

100 V or less

A90V A90 V — V — —IC

circuit

1) Water resistant type auto switches can be mounted on the above models, but in such case SMC cannot guarantee water resistance.2) Lead wire length symbols: 0.5 m······ — (Example) M9NW 1 m········· M (Example) M9NWM 3 m········· L (Example) M9NWL 5 m········· Z (Example) M9NWZ Solid state auto switches marked with v are produced upon receipt of order.3) 1 m type lead wire is only applicable to D-A93.

* When using a D-F8m switch, mount it at a distance of 10 mm or more from magnetic substances such as iron, etc.* When using the 2-color indicator type, please make the setting so that the indicator is lit in red to ensure the detection at the proper position of the air

gripper.

Magnetic Field Resistant Auto Switches

Type Auto switch modelApplicable

magnetic fieldElectrical entry

Indicator light

Wiring(Pin no. in use)

Load voltage

Lead wire

length

Applicable load

Solid state auto switch

P3DWASCAC magnetic field

(Single-phaseAC welding

magnetic field)

Pre-wired connector

2-colour

2-wire (3−4)

24 VDC

0.3 m

Relay, PLC

P3DWASE 2-wire (1−4)

P3DWA

Grommet 2-wire

0.5 m

P3DWAL 3 m

P3DWAZ 5 m

69

Electric grippers


Series variations

2 finger electric gripper with dust cover – LEHZJ SeriesPositioning repeatability: ±0.02 mm (±0.05 mm for one side).

2 finger long-stroke electric gripper – LEHF SeriesPositioning repeatability: ±0.05 mm (±0.1 mm for one side).

3 finger electric gripper – LEHS SeriesPositioning repeatability: ±0.02 mm (±0.05 mm for one side).

2 finger electric gripper – LEHZ SeriesPositioning repeatability: ±0.02 mm (±0.05 mm for one side).

Type Model Size Motor sizeStroke [mm]

Gripping force [N] Open and close speed [mm/s]Page

25 50 75 100 125 150 175 200 20 40 60 80 100 120

Step motor(Servo/24 VDC)

LEHZ10 10Basic

4

72

Compact

LEHZ16 16Basic

6Compact

LEHZ20 20Basic

10Compact

LEHZ25 25Basic

14Compact

LEHZ32 32 Basic 22

LEHZ40 40 Basic 30



25 50 75 100 125 150 175 200 20 40 60 80 100 120


LEHS10 10Basic

4

82

Compact

LEHS20 20Basic

6Compact

LEHS32 32 Basic 8

LEHS40 40 Basic 12



25 50 75 100 125 150 175 200 20 40 60 80 100 120


LEHZJ10 10Basic

4

76

Compact

LEHZJ16 16Basic

6Compact

LEHZJ20 20Basic

10Compact

LEHZJ25 25Basic

14Compact



25 50 75 100 125 150 175 200 20 40 60 80 100 120


LEHF10 10 — 16, 32

78LEHF20 20 — 24, 48

LEHF32 32 — 32, 64

LEHF40 40 — 40, 80

Electric grippers

Electric grippersSeries variations

71

Compatible motor

Control method

Compatible encoder Compatible option

PageTeaching box

Network gateway

unit

Blank controller 1)Type Resolution

Controller(24 VDC)LECP6

Step 24 VDC

Positioning (64 points)

Incremental 800

✓ ✓ ✓ 86

Programless controller(24 VDC)LECP1


✗ ✗ ✗ 88

Pulse input typeStep motor driver(24 VDC)LECPA

Pulse input ✓ ✗ ✓ 90

Direct input typeStep motor drive(24 VDC)JXCm1


✓ ✗ ✓ 92

3 axis controller(24 VDC)JXC92

Positioning (2048 points) 2) ✗ ✗ ✗ 96

4 axis controller(24 VDC)JXCm3

Positioning (64 points) & Network

direct input 3)

✗ ✗ ✗ 98

Controllers

Other solutions for electric actuation control

· Direct connection to fieldbus networks 1)

· Simplified control systems and wiring

· Flexibility in the operation and control.

1) Communication protocols: EtherNet/IP™, PROFIBUS DP, DeviceNet™, CC-Link.

Network Gateway Unit, LEC-G Series – Page 102Get remote control through a single device

1) A blank controller is a controller to which the customer can write the data of the actuator it is to be combined and used with. Refer to catalogue of each controller/driver series for more information.

2) Communication protocol: EtherNet/IP™.3) Communication protocols: EtherCAT®, EtherNet/IP™, PROFINET, DeviceNet™.


A Electric gripper

A Parallel type

A 2 fingers

· Drop prevention function (self-lock mechanism) is provided

· Gripping check function is provided

· Manual override adjustment screw

· Body sizes from 10 to 40 mm

· Compact motor size available for body sizes 10, 16, 20 & 25.

2 finger electric gripperLEHZ Series

Main features

Finger options

Side tapped mounting

Through-hole in opening/closing direction

Flat fingers

Manual override screwFor opening and closing the fingers (when power supply is turned off)

Mounting variationsWhen using the thread on the side of the body

When using the thread on the mounting plate

When using the thread on the back of the body

Dust cover- Encoder dust cover

Silicone rubber

- Cover designed with no protrusionsInward-folding design creates no protrusions when the cover is opened and closed, preventing interference with other devices’ operations.

LEHZJ

Positioning pin Positioning pin Positioning pin

Mounting direction

Mounting direction

Mounting direction

Motor cable mounting direction can be selected

Entry on the left side

Motor cableConnector cover

Entry on the front side

RoHS

Electric grippersLEHZ Series

73

A Linear guide misalignment preventionMisalignment of the linear guide is prevented with 2 positioning pins.

A Application examples

LEHZ LEHZJ

Deep holes

O-ring

Gripping of components that are easily deformed or damaged

Alignment and selection of randomly lined parts Gripping in a narrow space


a Size

10

16

20

25

32

40

e Stroke [mm]

Stroke/both sides Size

4 10

6 16

10 20

14 25

22 32

30 40

g Motor cable entry

—

Basic (Entry on the left side)

F


b Motor size

— Basic

L 1) Compact

1) Size: 10, 16, 20, 25 only.

f Finger options

— Basic (Tapped in open/close direction)

A Side tapped mounting

B Through-hole in open/close direction

C Flat fingers

h Actuator cable type/length

— Without cable

S1 Standard cable 1.5 m 2)

S3 Standard cable 3 m 2)


R1 Robotic cable 1.5 m

R3 Robotic cable 3 m


R8 Robotic cable 8 m 1)

RA Robotic cable 10 m 1)

RB Robotic cable 15 m 1)

RC Robotic cable 20 m 1)

1) Produced upon receipt of order (Robotic cable only).2) The standard cable should only be used on fixed

parts. For use on moving parts, select the robotic cable.

j I/O cable length 1), Communication plug

— Without cable (Without communication plug connector) 3)

1 1.5 m

3 3 m 2)

5 5 m 2)

1) When “Without controller/driver” is selected for controller/driver types, I/O cable cannot be selected.

2) When “Pulse input type” is selected for controller/driver types, pulse input usable only with differential. Only 1.5 m cables usable with open collector.

i Controller/Driver type 1)

— Without controller/driver

6N LECP6(Step data input type)

NPN

6P PNP

1N LECP1(Programless type)

NPN

1P PNP

AN LECPA 2)

(Pulse input type)NPN

AP PNP

1) For details about controller/driver and compatible motor, refer to the compatible controller/driver.

2) When pulse signals are open collector, order the current limiting resistor (LEC-PAR-m) separately.

S1 6N 1K 210 4LEHZa b d ec f g h i j k

k Controller/Driver mounting

— Screw mounting

D DIN rail mounting 1)

1) DIN rail is not included. Order it separately.

How to order

c Lead

K Basic

d 2-finger type

Finger options

—: Basic (Tapped in open/close direction)

A: Side tapped mounting

B: Through-hole in open/close direction

C: Flat fingers

Mounting reference plane






Compatible g Page 92

Multi-axis step motor controller Compatible g Page 96


75

Compatible Controller/Driver

Type

Step data input type Programless type Pulse input type

Series LECP6 LECP1 LECPA

Features Value (Step data) inputStandard controller

Capable of setting up operation (step data) without using a PC or teaching box

Operation by pulse signals

Compatible motor Step motor (Servo/24 VDC)Maximum number of step data 64 points 14 points —

Power supply voltage 24 VDC

Model LEHZ10 LEHZ16 LEHZ20 LEHZ25 LEHZ32 LEHZ40

Act

uat

or

spec

ifica

tio

ns

Open and close stroke/both sides [mm] 4 6 10 14 22 30

Lead [mm] 251/73(3.438)

249/77(3.234)

246/53(4.642)

243/48(5.063)

242/39(6.205)

254/43(5.907)

Gripping force [N] 1) 3)Basic 6 to 14 16 to 40 52 to 130 84 to 210Compact 2 to 6 3 to 8 11 to 28 — —

Open and close speed/Pushing speed [mm/s] 2) 3) 5 to 80/5 to 50 5 to 100/5 to 50 5 to 120/5 to 50Drive method Slide screw + Slide camFinger guide type Linear guide (No circulation)Repeated length measurement accuracy [mm] 4) ±0.05Finger backlash/one side [mm] 5) 0.25 or less 0.5 or lessRepeatability [mm] 6) ±0.02Positioning repeatability/one side [mm] ±0.05Lost motion/one side [mm] 7) 0.25 or less 0.3 or lessImpact/Vibration resistance [m/s2] 8) 150/30Max. operating frequency [C.P.M] 60Operating temperature range [°C] 5 to 40Operating humidity range [ %RH] 90 or less (No condensation)

Weight [g]Basic 165 220 430 585 1120 1760Compact 135 190 365 520 — —

Ele

ctri

c sp

ecifi

cati

on

s Motor size m20 m28 m42Motor type Step motor (Servo/24 VDC)Encoder Incremental A/B phase (800 pulse/rotation)Rated voltage [V] 24 VDC ±10 %Power consumption/Standby power consumption when operating [W] 9)

Basic 11/7 28/15 34/13 36/13

Compact 8/7 22/12 — —

Max. instantaneous power consumption [W] 10)

Basic 19 51 57 61Compact 14 42 — —

1) Gripping force should be from 10 to 20 times the workpiece weight. Moving force should be 150 % when releasing the workpiece. Gripping force accuracy should be ±30 % (F.S.) for LEHZ10/16, ±25 % (F.S.) for LEHZ20/25 and ±20 % (F.S.) for LEHZ32/40. Gripping with heavy attachment and fast pushing speed, may not reach the product specification. In this case, decrease the weight and lower the pushing speed.

2) Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction. The open/close speed and pushing speed are for both fingers. The speed for one finger is half this value.

3) The speed and force may change depending on the cable length, load and mounting conditions. Furthermore, if the cable length exceeds 5 m, then it will decrease by up to 10 % for each 5 m. (At 15 m: Reduced by up to 20 %)

4) Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is repeatedly held in the same position.5) There will be no influence of backlash during pushing (gripping) operation. Make the stroke longer for the amount of backlash when opening.6) Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is repeatedly performed by the same sequence

for the same workpiece.7) A reference value for correcting an error in reciprocal operation which occurs during the positioning operation.8) Impact resistance: No malfunction occurred when the gripper was tested with a drop tester in both an axial direction and a perpendicular direction to the

lead screw. (Test was performed with the gripper in the initial state.) Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the gripper in the initial state.)

9) The power consumption (including the controller) is for when the gripper is operating. The standby power consumption when operating is for when the gripper is stopped in the set position during operation, including the energy saving mode when gripping.

10) The maximum instantaneous power consumption (including the controller) is for when the gripper is operating. This value can be used for the selection of the power supply.

Specifications


LEHZJ Series with dust coverHow to order

b Size

10

16

20

25

f Stroke [mm]


4 10

6 16

10 20

14 25

h Motor cable entry

—


F


c Motor size

— Basic

L Compact

g Dust cover type


K Fluororubber (FKM)

S Silicone rubber (Si)

i Actuator cable type/length

— Without cable













k I/O cable length 1), Communication plug

— Without cable (Without communication plug connector)

1 1.5 m

3 3 m 2)

5 5 m 2)



j Controller/Driver type 1)



NPN

6P PNP


NPN

1P PNP

AN LECPA 2)


AP PNP

1) For details about controller/driver and compatible motor, refer to the compatible controller/driver below.

2) When pulse signals are open collector, order the current limiting resistor (LEC-PAR-m) separately.

S1 6N 1K 210 4LEHZ Ja b d ec f g h i j k l

d Lead

K Basic

a Dust cover

J With dust cover

e 2-finger type







l Controller/Driver mounting

— Screw mounting






77


Type








Model LEHZJ10 LEHZJ16 LEHZJ20 LEHZJ25

Act

uat

or

spec

ifica

tio

ns

Open and close stroke/both sides [mm] 4 6 10 14

Lead [mm] 251/73(3.438)

249/77(3.234)

246/53(4.642)

243/48(5.063)

Gripping force [N] 1) 3)Basic 6 to 14 16 to 40Compact 2 to 6 3 to 8 11 to 28

Open and close speed/Pushing speed [mm/s] 2) 3) 5 to 80/5 to 50 5 to 100/5 to 50Drive method Slide screw + Slide camFinger guide type Linear guide (No circulation)Repeated length measurement accuracy [mm] 4) ±0.05Finger backlash/one side [mm] 5) 0.25 or lessRepeatability [mm] 6) ±0.02Positioning repeatability/one side [mm] ±0.05Lost motion/one side [mm] 7) 0.25 or lessImpact/Vibration resistance [m/s2] 8) 150/30Max. operating frequency [C.P.M] 60Operating temperature range [°C] 5 to 40Operating humidity range [ %RH] 90 or less (No condensation)

Weight [g]Basic 170 230 440 610Compact 140 200 375 545

Ele

ctri

c sp

ecifi

cati

on

s Motor size m20 m28Motor type Step motor (Servo/24 VDC)Encoder Incremental A/B phase (800 pulse/rotation)Rated voltage [V] 24 VDC ±10 %Power consumption/Standby power consumption when operating [W] 9)

Basic 11/7 28/15

Compact 8/7 22/12


Basic 19 51Compact 14 42

1) Gripping force should be from 10 to 20 times the workpiece weight. Moving force should be 150 % when releasing the workpiece. Gripping force accuracy should be ±30 % (F.S.) for LLEHZJ10/16, ±25 % (F.S.) for LEHZJ20/25 and ±20 % (F.S.). Gripping with heavy attachment and fast pushing speed, may not reach the product specification. In this case, decrease the weight and lower the pushing speed.








Specifications


A Electric gripper

A Parallel type

A 2 fingers

Mounting variationsWhen using the thread on the side of the body

When using the thread on the mounting plate


· Possible to hold various types of workpieces due to long stroke

· Manual override adjustment screw

· Body sizes from 10 to 40 mm.

2 finger long-stroke electric gripperLEHF Series

Main features

Manual override screw/Both sidesFor opening and closing the fingers (when power supply is turned off)

Positioning pin

Positioning pin Positioning pin

Mounting direction

Mounting direction

Mounting direction


Entry on the left side Entry on the right side

Motor cable

RoHS

Electric grippersLEHF Series

79

A Linear guide misalignment preventionMisalignment of the linear guide is prevented with 2 positioning pins.


Soft touch/High frequency Gripping of components that are easily deformed or damaged

Egg

Test tube


How to order

a Size

10

20

32

40

d Stroke [mm]

Stroke/both sidesSize

Basic Long stroke

16 32 10

24 48 16

32 64 20

40 80 25

e Motor cable entry

—


F


f Actuator cable type/length

— Without cable













h I/O cable length 1), Communication plug


1 1.5 m

3 3 m 2)

5 5 m 2)



g Controller/Driver type 1)



NPN

6P PNP


NPN

1P PNP

AN LECPA 2)


AP PNP


2) ) When pulse signals are open collector, order the current limiting resistor (LEC-PAR-m) separately.

S1 6N 1K 210 16LEHFa b d ec f g h i

b Lead

K Basic

c 2-finger type

Motor cable

Motor cable

i Controller/Driver mounting

— Screw mounting





Electric grippersLEHF Series

81


Type








Model LEHF10 LEHF20 LEHF32 LEHF40

Act

uat

or

spec

ifica

tio

ns

Open and close stroke/both sides [mm]

Basic 16 24 32 40Compact 32 48 64 80

Lead [mm] 40/15(2.667)

50/15(3.333)

70/16(4.375)

70/16(4.375)

Gripping force [N] 1) 3) 3 to 7 11 to 28 48 to 120 72 to 180Open and close speed/Pushing speed [mm/s] 2) 3) 5 to 80/5 to 20 5 to 100/5 to 30Drive method Slide screw + Slide camFinger guide type Linear guide (No circulation)Repeated length measurement accuracy [mm] 4) ±0.05Finger backlash/one side [mm] 5) 0.5 or lessRepeatability [mm] 6) ±0.05Positioning repeatability/one side [mm] ±0.1Lost motion/one side [mm] 7) 0.3 or lessImpact/Vibration resistance [m/s2] 8) 150/30Max. operating frequency [C.P.M] 60Operating temperature range [°C] 5 to 40Operating humidity range [%RH] 90 or less (No condensation)

Weight [g]Basic 340 610 1625 1980Compact 370 750 1970 2500

Ele

ctri

c sp

ecifi

cati

on

s

Motor size m20 m28 m42Motor type Step motor (Servo/24 VDC)Encoder Incremental A/B phase (800 pulse/rotation)Rated voltage [V] 24 VDC ±10%Power consumption/Standby power consumption when operating [W] 9) 11/7 28/15 34/13 36/13

Max. instantaneous power consumption [W] 10) 19 51 57 61

1) Gripping force should be from 10 to 20 times the workpiece weight. Moving force should be 150 % when releasing the workpiece. Gripping force accuracy should be ±30 % (F.S.) for LEHF10, ±25 % (F.S.) for LEHF20 and ±20 % (F.S.) for LEHF32/40. Gripping with heavy attachment and fast pushing speed, may not reach the product specification. In this case, decrease the weight and lower the pushing speed.








Specifications


A Electric gripper

A Parallel type

A 3 fingers

· Suitable for holding round workpieces

· Body sizes from 10 to 40 mm

· Compact motor size available for body sizes 10 &12.

3 finger electric gripperLEHS Series

Main features

Mounting variationsWhen using the thread on the mounting plate


Manual override screwFor opening and closing the fingers (when power supply is turned off)

Positioning pinPositioning pinMounting

directionMounting direction


Entry on the left side



RoHS

Electric grippersLEHS Series

83

A With wedge cam structureCompact and large gripping force can be obtained through the wedge cam structure.


Gripping of cylindrical and spherical parts


How to order

a Size

10

20

32

40

f Motor cable entry

—


F


R

Entry on the right side

g Actuator cable type/length

— Without cable













i I/O cable length 1), Communication plug


1 1.5 m

3 3 m 2)

5 5 m 2)



h Controller/Driver type 1)



NPN

6P PNP


NPN

1P PNP

AN LECPA 2)


AP PNP


2) ) When pulse signals are open collector, order the current limiting resistor (LEC-PAR-m) separately.

c Lead

K Basic

d 3-finger type







j Controller/Driver mounting

— Screw mounting



b Motor size

— Basic

L 1) Compact

1) Size: 10, 20 only.

e Stroke [mm]


4 10

6 20

8 32

12 40



S1 6N 1K 310 4LEHSa c e fd g h i jb

Electric grippersLEHS Series

85


Type








Model LEHS10 LEHS16 LEHS32 LEHS40

Act

uat

or

spec

ifica

tio

ns

Open and close stroke/both sides [mm] 4 6 8 12

Lead [mm] 255/76(3.355)

235/56(4.196)

235/40(5.875)

235/40(5.875)

Gripping force [N] 1) 3)Basic 2.2 to 5.5 9 to 22 36 to 90 52 to 130Compact 1.4 to 3.5 7 to 17 — —

Open and close speed/Pushing speed [mm/s] 2) 3) 5 to 70/5 to 50 5 to 80/5 to 50 5 to 100/5 to 50 5 to 120/5 to 50Drive method Slide screw + Wedge camRepeated length measurement accuracy [mm] 4) ±0.05Finger backlash/one side [mm] 5) 0.25 or lessRepeatability [mm] 6) ±0.02Positioning repeatability/one side [mm] ±0.05Lost motion/one side [mm] 7) 0.25 or lessImpact/Vibration resistance [m/s2] 8) 150/30Max. operating frequency [C.P.M] 60Operating temperature range [°C] 5 to 40Operating humidity range [ %RH] 90 or less (No condensation)

Weight [g]Basic 185 410 975 1265Compact 150 345 — —

Ele

ctri

c sp

ecifi

cati

on

s Motor size m20 m28 m42Motor type Step motor (Servo/24 VDC)Encoder Incremental A/B phase (800 pulse/rotation)Rated voltage [V] 24 VDC ±10 %Power consumption/Standby power consumption when operating [W] 9)

Basic 11/7 28/15 34/13 36/13

Compact 8/7 22/12 — —


Basic 19 51 51 61Compact 14 42 — —

1) Gripping force should be from 7 to 13 times the workpiece weight. Moving force should be 150 % when releasing the workpiece. Gripping force accuracy should be ±30 % (F.S.) for LEHS10, ±25 % (F.S.) for LEHS20 and ±20 % (F.S.) for LEHS32/40. Gripping with heavy attachment and fast pushing speed, may not reach the product specification. In this case, decrease the weight and lower the pushing speed.








Specifications


· Normal or easy modes selectable

· Screw or DIN rail mounting.

Step data input type controllerLECP6 Series

Main features

�Touch Operator Interface (Provided by customer)

GP4501T/GP3500TManufactured by Digital Electronics Corp.

Cockpit parts can be downloaded free via the Pro-face website. Using cockpit parts makes adjustment from the Touch Ope rator Interface possi ble.

GOT2000 SeriesMitsubishi Electric Corporation

Sample screens for monitoring and changing the current value and the set value of the electric actuator can be downloaded free via the Mitsubishi Electric website.

Electric gripper (LEH Series)

PLC

Controller*

To CN4To CN3

To CN2

The * mark: Can be included in the “How to Order” for the actuator.

Actuator cable*

Teaching box(With 3 m cable)LEC-T1-3EGm

Power supply for I/O signal24 VDC 1)

Or

Options

To CN5

I/O cable LEC-CN5-m

�USB cable

PC

Communication cable(3 m)

(A-mini B type)(0.3 m)

Controller setting kitController setting kit(Communication cable, conversion unit and USB cable are included.)LEC-W2

Provided by customer

Power supply for controller24 VDC 1) Step data input type

LECP61) When conformity to UL is required,

the electric actuator and controller should be used with a UL1310 Class 2 power supply.

Provided by customer To CN1

Power supply plug (Accessory)<Applicable cable size>AWG20 (0.5 mm2)

Standard cable Robotic cable

LE-CP-m-S LE-CP-m

A Step motor controller

A 24 VDC

RoHS

Electric grippersLECP6 Series

87

q w

Confirm that the combination of the controller and the actuator is correct.

Blank controller is a controller to which the customer can write the data of the actuator to be combined and used. Use the dedicated software (LEC-BCW) for data writing.• Please download the dedicated software

(LEC-BCW) via our website.• Order the controller setting kit (LEC-W2)

separately to use this software.SMC website: http://www.smc.eu

The controller is sold as single unit after the compatible actuator is set.

Precautions on blank controller (LECm6mm-BC)

<Check the following before use.>a Check the actuator label for

model number. This matches the controller.

b Check Parallel I/O configuration matches (NPN or PNP).

* Refer to the operation manual for using the products. Please download it via our website, http://www.smc.eu

Item LECP6

Compatible motor Step motor (Servo/24 VDC)

Power supply 1) Power voltage: 24 VDC ±10 % 2)

[Including motor drive power, control power, stop, lock release]Parallel input 11 inputs (Photo-coupler isolation)

Parallel output 13 outputs (Photo-coupler isolation)

Compatible encoder Incremental A/B phase (800 pulse/rotation)

Serial communication RS485 (Modbus protocol compliant)

Memory EEPROM

LED indicator LED (Green/Red) one of each

Lock control Forced-lock release terminal 3)

Cable length [m] I/O cable: 5 or less, Actuator cable: 20 or less

Cooling system Natural air cooling

Operating temperature range [°C] 0 to 40 (No freezing)

Operating humidity range [%RH] 90 or less (No condensation)

Storage temperature range [°C] -10 to 60 (No freezing)

Storage humidity range [%RH] 90 or less (No condensation)

Insulation resistance [MΩ] Between the housing and SG terminal: 50 (500 VDC)

Weight [g] 150 (Screw mounting), 170 (DIN rail mounting)1) Do not use the power supply of “inrush current prevention type” for the controller power supply. When conformity to UL is required, the electric actuator

and controller should be used with a UL1310 Class 2 power supply.2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details.3) Applicable to non-magnetising lock.

* When controller equipped type is selected when ordering the LE series, you do not need to order this controller.

c Number of step data (Points)

6 64

b Compatible motor

P Step motor(Servo/24 VDC)

d Parallel I/O type

N NPN

P PNP

f Option

— Screw mounting

D 1) DIN rail mounting


g Actuator part number

Part number except cable specifications and actuator optionsExample: Enter “LESH8RJ-50”

for the LESH8RJ-50B-R16N1.BC Blank controller 1)

1) The dedicated software (LEC-BCW) is required.

a Controller

e I/O cable length [m]

— Without cable

1 1.5

3 3

5 5

How to order

Specifications

a b d ec f g

6PLEC


A Programless controller

A 24 VDC

· Applicable to 14 points of positioning

· No software to put into operation

· Speed/acceleration 16-level adjustment

· Setting 3-level pushing force.

Programless type controllerLECP1 Series

Main features

Electric gripper

PLC

Controller*

To CN3

To CN2


Actuator cable*


To CN5

I/O cable LEC-CK4-m


Power supply for controller24 VDC 1)

1) When conformity to UL is required, the electric actuator and controller should be used with a UL1310 Class 2 power supply.


Programless typeLECP1

To CN1

Power supply plug (Accessory)<Applicable cable size>AWG20 (0.5 mm2)

Standard cable

Robotic cable

LE-CP-m-S LE-CP-m

No Programming

A Setting position number

Setting a registered number for the stop positionMaximum 14 points

Moving the actuator to a stop position using FORWARD and REVERSE buttons

Registering the stop position using SET button

B Setting a stop position C Registration

Position selecting switch

FORWARD and REVERSE buttons

Position number display

SET button

Capable of setting up an electric actuator operation without using a PC or teaching box

Speed/Acceleration 16-level adjustment

Speed adjustment switches

Acceleration adjustment switches

RoHS

Electric grippersLECP1 Series

89

c Number of step data (Points)

1 14 (Programless)

b Compatible motor

P Step motor(Servo/24 VDC)

d Parallel I/O type

N NPN

P PNP

f Option

— Screw mounting



g Actuator part number

(Except cable specification and actuator options)Example: Enter “LESH8RJ-50” for the

LESH8RJ-50B-R16N1.

a Controller

LESH8RJ-50P 1LE C P 1a b d ec f g

e I/O cable length [m]

— Without cable

1 1.5

3 3

5 5

How to order

* When controller equipped type (-m1N/-m1Pm) is selected when ordering the LE series, you do not need to order this controller.

Item LECP1


Power supply 1) Power supply voltage: 24 VDC ±10 %, Max. current consumption: 3A (Peak 5A) 2)

[Including the motor drive power, control power supply, stop, lock release]Parallel input 6 inputs (Photo-coupler isolation)


Stop points 14 points (Position number 1 to 14(E))


Memory EEPROM


7-segment LED display 3) 1 digit, 7-segment display (Red) Figures are expressed in hexadecimal (“10” to “15” in decimal number are expressed as “A” to “F”)


Cable length [m] I/O cable: 5 or less, Actuator cable: 20 or less








and controller should be used with a UL1310 Class 2 power supply.2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details.3) “10” to “15” in decimal number are displayed as follows in the 7-segment LED.

Specifications

4) Applicable to non-magnetizing lock.

Decimal displayHexadecimal display

10A

11b

12c

13d

14E

15F



A 24 VDC

A Pulse Input Type

· Type activated controller by pulse signals

· Easy and quick to program

· Optimum performance and reliability

· Optimum automation level.

Pulse input type step motor driverLECPA Series

Main features


PLC

Driver*

To CN4To CN3

To CN2


Actuator cable*



Or

Options

To CN5

I/O cable

�USB cable

PC

Communication cable

(A-mini B type)

Controller setting softwareCommunication cable (With conversion unit)and USB cable are included.LEC-W2


Power supply for controller24 VDC 1) Pulse input type

LECPA1) When conformity to UL is required,

the electric actuator and controller should be used with a UL1310 Class 2 power supply.

Provided by customer To CN1

Power supply plug (Accessory)

<Applicable cable size>AWG20 (0.5 mm2)

Controller type Part no.LECPA LEC-CL5-m

Controller type Standard cable Robotic cableLECPA (Pulse input type) LE-CP-m-S LE-CP-m

�Current limit resistor LEC-PA-R-m

* The current limit resistor is used when the pulse signal output of the positioning unit is open collector output.

RoHS

Electric grippersLECPA Series

91

q w

Confirm that the combination of the controller and the actuator is correct.

Blank controller is a controller to which the customer can write the data of the actuator to be combined and used. Use the dedicated software (LEC-BCW) for data writing.• Please download the dedicated software

(LEC-BCW) via our website.• Order the controller setting kit (LEC-W2)


The controller is sold as single unit after the compatible actuator is set.

Precautions on blank controller (LECPAmm-BC)

<Check the following before use.>a Check the actuator label for

model number. This matches the controller.

b Check Parallel I/O configuration matches (NPN or PNP).

* Refer to the operation manual for using the products. Please download it via our website, http://www.smc.eu

Item LECPA


Power supply 1) Power voltage: 24 VDC ±10 % 2)

[Including motor drive power, control power, stop, lock release]Parallel input 5 inputs (Except photo-coupler isolation, pulse input terminal, COM terminal)


Pulse signal input Maximum frequency: 60 kpps (Open collector), 200 kpps (Differential)Input method: 1 pulse mode (Pulse input in direction), 2 pulse mode (Pulse input in differing directions)

Compatible encoder Incremental A/B phase (Encoder resolution: 800 pulse/rotation)

Serial communication RS485 (Modbus protocol compliant)

Memory EEPROM



Cable length [m] I/O cable: 1.5 or less (Open collector), 5 or less (Differential), Actuator cable: 20 or less








and controller should be used with a UL1310 Class 2 power supply.2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details.3) Applicable to non-magnetising lock.

* When controller equipped type is selected when ordering the LE series, you do not need to order this driver.

* When pulse signals are open collector, order the current limiting resistor (LEC-PA-R-m) separately.

a Driver type

AN Pulse input type (NPN)

AP Pulse input type (PNP)

c Driver mounting

— Screw mounting



d Actuator part number

Part number except cable specifications and actuator optionsExample: Enter “LESH8RJ-50” for the

LESH8RJ-50B-R16N1.BC Blank controller 1)

1) The dedicated software (LEC-BCW) is required.

b I/O cable length [m]

— Without cable

1 1.5

3 3 1)

5 5 1)

1) Pulse input usable only with differential. Only 1.5 m cables usable with open collector.

How to orderLESH8RJ-50AP 1LECP

a b dc

Specifications



A 24 VDC

A Fieldubus compatible

· DeviceNet™, EtherNet/IP™, EtherCAT, PROFINET and IO-Link compatible

· Dual communications port IN/OUT (not for JXCL1)

· Communication: 10/100 Mbps, full/half duplex.

Direct input typeStep motor driveJXCm1 Series

Main features

Electric Actuators Air Cylinders IO-Link Communication

IO-LinkMaster

Both air and electric systems can be established under the same protocol.

Can be additionally installed in an existing network

PLC

EX260

RoHS

Electric grippersJXCm1 Series

93


Or

Options

�USB cable

PC

Communication cable(3 m)

(A-mini B type)(0.8 m)

Controller setting kit Conversion cable 1)

�Conversion cable

Controller setting kit(A communication cable, USB cable, and controller setting software (CD-ROM) are included.)JXC-W2

P5062-5(0.3 m)1) The conversion cable can

be used for connecting this controller to the optional teaching box [LEC-T1] offered with the LEC series.

To SI

To ENC

To MOT

To PWR

To SI

Power supply for controller24 VDC





Provided by customer Provided by

customer

Power supply plug (Accessory)

(Accessory)

PLC PLC PLC PLCIO-Link master

Actuator cable

�Communication plug connector for DeviceNet™

�Communication plug connector for IO-Link

Standard cable Robotic cable

LE-CP-m-S LE-CP-m


Straight type JXC-CD-S

T-branch type JXC-CD-TStraight type JXC-CL-S


CD17TLEFS16B-100

LEFS16B-100

R1a b c

How to orderActuator + Controller

Controller

A Communication protocol

E EtherCAT®

9 EtherNet/IP™

P PROFINET

D DeviceNet™

L IO-Link

a Communication protocol

E EtherCAT®

9 EtherNet/IP™

P PROFINET

D DeviceNet™

L IO-Link

a Electric gripper Refer to the “How to order” in each electric gripper

B For single axis

b For single axis

D Option

— Without plug connector

S

With straight type DeviceNet™

communication plug for JXCD1

T

With T-branch type DeviceNet™

communication plug for JXCD1

1) Select “—” for anything other than JXCD1.

d Option

— Without plug connector

S With straight type DeviceNet™ communication plug for JXCD1

T With T-branch type DeviceNet™ communication plug for JXCD1

1) Select “—” for anything other than JXCD1.

C Mounting

7 Screw mounting

8 1) DIN rail

1) DIN rail is not included. It must be ordered separately.

c Mounting

7 Screw mounting

8 1) DIN rail

1) DIN rail is not included. It must be ordered separately.

c Controller

— Without controller

Cm1mm With controller

TC D 1 7A C DB

b Actuator cable type/length

— Without cable













T71DJXCa b d ec

e Actuator part number

Without cable specifications and actuator optionsExample: Enter “LEFS16B-100” for the

LEFS16B-100B-S1mmBC Blank controller 1)

1) Requires dedicated software (JXC-BCW).

Blank controller is a controller to which the customer can write the data of the actuator to be combined and used. Use the dedicated software (JXC-BCW) for data writing.• Please download the dedicated software

(JXC-BCW) via our website.• Order the controller setting kit (JXC-W2)


Precautions on blank controller (JXCm1mm-BC)

Electric grippersJXCm1 Series

95

Model JXCE1 JXC91 JXCP1 JXCD1 JXCL1

Network EtherCAT® EtherNet/IP™ PROFINET DeviceNet™ IO-Link


Power supply Power voltage: 24 VDC ±10%

Current consumption (Controller) 200 mA or less 130 mA or less 200 mA or less 100 mA or less 100 mA or less


Co

mm

un

icat

ion

sp

ecifi

cati

on

s

Applicable system

Protocol EtherCAT® 2) EtherNet/IP™ 2) PROFINET 2) DeviceNet™ IO-Link

Version 1) Conformance TestRecord V.1.2.6

Volume 1 (Edition 3.14)


Specification Version 2.32



Version 1.1Port Class A

Communication speed 100 Mbps 2)10/100 Mbps 2)

(Automatic negotiation)

100 Mbps 2) 125/250/500 kbps230.4 kbps

(COM3)

Configuration file 3) ESI file EDS file GSDML file EDS file IODD file

I/O occupation area Input 20 bytesOutput 36 bytes

Input 36 bytesOutput 36 bytes


Input 4, 10, 20 bytesOutput 4, 12, 20, 36

bytes


Terminating resistor Not included

Memory EEPROM

LED indicator PWR, RUN, ALM, ERR

PWR, ALM, MS, NS PWR, ALM, SF, BF PWR, ALM, MS, NS PWR, ALM, COM

Cable length [m] Actuator cable: 20 or less




Insulation resistance [MW] Between all external terminals and the case 50 (500 VDC)

Weight [g]220 (Screw mounting)

240 (DIN rail mounting)

210 (Screw mounting)230 (DIN rail mounting)




1) Please note that versions are subject to change.3) Use a shielded communication cable with CAT5 or higher for the PROFINET, EtherNet/IP™, and EtherCAT®.3) The files can be downloaded from the SMC website: http://www.smc.euM�TrademarkEtherNet/IP™ is a trademark of ODVA.DeviceNet™ is a trademark of ODVA.EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Specifications



A 3 and 4 axis

A 24 VDC


· EtherNet/IP™ compatible

· Single or multiple axes control of up to 4 electric actuators

· Step data input: maximum 2048 points

· Absolute/relative position coordinates instructions

· Positioning/pushing operation

· Approximation to linear/circular interpolation.

Main features

�USB cable

PC

(OptionJXC-MA1-2Cable length: 3 m

Controller setting kit

Provided by customerEthernet cable

Motor power supply connector

Control power supply connector

Controller setting software

(Controller setting software and USB cable are included.)(Option)JXC-MA1

(With shield, Category 5 or higher)

(Accessory)<Applicable cable size>AWG16 (1.25 mm2)


(Option)JXC-MA1-1

To CI

To M PWR

To P1 or P2

To USB

To ENC

To MOT

Control power supply/Motor power supply24 VDC




PLC

Electric gripper 1)

(LEH Series)

Controller/JXC92

Actuator cableRobotic cable Standard cable

LE-CP-m-m LEC-CP-m-m-S

1) The connected actuators should be ordered separately.

Multi-axis controllerJXC73/83/92/93 Series

JXC92 Series – 3-axis step motor controller EtherNet/IP™ Type

RoHS

Electric grippersJXC73/83/92/93 Series

97

How to order

a EtherNet/IP™ type

b 3-axis type

c Mounting

7 Screw mounting

8 DIN rail

729JXCa b c

Item Specifications

Number of axes Max. 3 axes



Power supply 1)

Control power supply Power voltage: 24 VDC ±10 %Max. current consumption: 500 mA

Motor power supply Power voltage: 24 VDC ±10 %Max. current consumption: Based on the connected actuator 2)

Co

mm

un

icat

ion

Protocol EtherNet/IPTM 3)

Communication speed 10 Mbps/100 Mbps (automatic negotiation)

Communication method Full duplex/Half duplex (automatic negotiation)

Configuration file EDS file

Occupied area Input 16 bytes/Output 16 bytes

IP address setting range Manual setting by switches: From 192.168.1.1 to 254, Via DHCP server: Arbitrary address

Vendor ID 7 h (SMC Corporation)

Product type 2 Bh (Generic Device)

Product code DEh

Serial communication USB2.0 (Full Speed 12 Mbps)

Memory Flash-ROM

LED indicator PWR, RUN, USB, ALM, NS, MS, L/A, 100


Cable length Actuator cable: 20 m or less


Operating temperature range 0 °C to 40 °C (No freezing)

Operating humidity range 90 % RH or less (No condensation)

Storage temperature range -10 °C to 60 °C (No freezing)

Storage humidity range 90 % RH or less (No condensation)

Insulation resistance Between all external terminals and the case: 50 MW (500 VDC)

Weight 600 g (Screw mounting), 650 g (DIN rail mounting)1) Do not use a power supply with inrush current protection for the motor drive power supply.2) Power consumption depends on the actuator connected. Refer to the actuator specifications for further details.3) EtherNet/IPTM is a trademark of ODVA.4) Applicable to non-magnetising locks.

For the setting of functions and operation methods, refer to the operation manual on the SMC website. (Documents/Download --> Instruction Manuals)Specifications


�USB cable

PC

(OptionJXC-W1-2Cable length: 3 m



Motor control power supply connector


(Controller setting software and USB cable are included.)(Option)JXC-W1



(Option)JXC-W1-1

To CI

To M PWR

To USB

To I/O

To C PWR

To ENC

To MOT

Motor control power supply/Motor power supply24 VDC




PLC

Electric gripper 1)

(LEH Series)

Controller/JXC73/83

Actuator cableRobotic cable

Standard cable


Part no.JXC-C1

Part no.

JXC-C2-m


Main control power supply24 VDC

Power supply for I/O signal24 VDC


�Cable with main control power supply connector

�I/O cable

Cable length: 1.5 m (Accessory)

(Option)

JXC73/83 Series – 4-axis step motor controller Parallel I/O


99

How to order

b 4-axis type

238JXCa b c

a I/O type

Symbol I/O type

7 NPN

8 PNP

c I/O cable, mounting

Symbol I/O type Mounting

11.5 m

Screw mounting

2 DIN rail

33 m

Screw mounting

4 DIN rail

55 m

Screw mounting

6 DIN rail

7None

Screw mounting

8 DIN rail

SpecificationsParallel I/O

Item Specifications




Power supply 1)

Main control power supply Power voltage: 24 VDC ±10 %Max. current consumption: 300 mA

Motor power supply, Motor control power supply (Common)Power voltage: 24 VDC ±10 %Max. current consumption: Based on the connected actuator 2)

Parallel input 16 inputs (Photo-coupler isolation)



Memory Flash-ROM/EEPROM

LED indicator PWR, RUN, USB, ALM


Cable length I/O cable: 5 m or less, Actuator cable: 20 m or less


Operating temperature range 0 °C to 40 °C (No freezing)





Weight 1050 g (Screw mounting), 1100 g (DIN rail mounting)

1) Do not use a power supply with inrush current protection for the motor drive power and motor control power supply.2) Power consumption depends on the actuator connected. Refer to the actuator specifications for further details.3) Applicable to non-magnetising locks.


�USB cable

PC

(OptionJXC-W1-2Cable length: 3 m



Motor control power supply connector


(Controller setting software and USB cable are included.)(Option)JXC-W1



(Option)JXC-W1-1

To CI

To M PWR

To USB

To C PWR

To ENC

To MOT

Motor control power supply/Motor power supply24 VDC



Electric gripper 1) (LEH Series)

Controller/JXC93

Actuator cableRobotic cable Standard cable


Part no.JXC-C1


Main control power supply24 VDC


�Cable with main control power supply connectorCable length: 1.5 m (Accessory)

�Provided by customer. Ethernet cable(With shield, Category 5 or higher)

To P1 or P2


PLC

JXC93 Series – 4-axis step motor controller EtherNet/IP™


101

EtherNet/IP™

b 4-axis type

839JXCa b c

c Mounting

Symbol Mounting

7 Screw mounting

8 DIN rail

a EtherNet/IP™ type

EtherNet/IP™Item Specifications




Power supply 1)

Main control power supply Power voltage: 24 VDC ±10 %Max. current consumption: 300 mA

Motor power supply, Motor control power supply (Common)Power voltage: 24 VDC ±10 %Max. current consumption: Based on the connected actuator 2)

Co

mm

un

icat

ion

Protocol EtherNet/IPTM 4)

Communication speed 10 Mbps/100 Mbps (automatic negotiation)

Communication method Full duplex/Half duplex (automatic negotiation)

Configuration file EDS file

Occupied area Input 16 bytes/Output 16 bytes

IP address setting range Manual setting by switches: From 192.168.1.1 to 254, Via DHCP server: Arbitrary address

Vendor ID 7 h (SMC Corporation)

Product type 2 Bh (Generic Device)

Product code DCh


Memory Flash-ROM/EEPROM

LED indicator PWR, RUN, USB, ALM, NS, MS, L/A, 100


Cable length Actuator cable: 20 m or less


Operating temperature range 0° C to 40 °C (No freezing)





Weight 1050 g (Screw mounting), 1100 g (DIN rail mounting)1) Do not use a power supply with inrush current protection for the motor drive power and motor control power supply.2) Power consumption depends on the actuator connected. Refer to the actuator specifications for further details.3) Applicable to non-magnetising locks.4) EtherNet/IPTM is a trademark of ODVA.

How to order

Specifications


A Gateway unit


· Applicable Fieldbus protocols: CC-Link, DeviceNet, PROFIBUS, EtherNet/IP

· Conversion unit for fieldbus network and LEC serial communication

· Reduced wiring and controller wiring work

· Two operation modes

· Values such as position and speed can be checked on the PLC.

Gateway unitLEC-G Series

Main features

PC(Provided by

customer)

USB cable�(A-mini B type)

�Communication cable

To CN4

PTeaching box(With 3 m cable)LEC-T1-3EGm

�Controller setting software(Communication cable, conversion unit and USB cable are included.)LEC-W2

PLC(Provided by customer)

Fieldbus networkPower

supply


Communication connector (Accessory)* * CC-Link Ver. 2.0

DeviceNet™

Power supply connector (Accessory)

Gateway (GW) unit

To CN2

To CN3

To CN4

Power supply connector (Accessory) To CN1

To CN1

Or

Controller input power supply 1)

Controller input power supply 1)

Communication cable LEC-CG1-m

Branch connector LEC-CGD

Controller

Controller

Applicable Fieldbus protocolsCC-Link Ver. 2.0 DeviceNet™PROFIBUS DP EtherNet/IP™

Cable between branches LEC-CG2-m

Power supply connector (Accessory)

To CN1

Communication cable LEC-CG1-m

Compatible Controller

Terminating resistor connector 120 W LEC-CGR

Step motor controller(Servo/24 VDC) LECP6 Series

1) Connect the 0 V terminals for both the controller input power supply and gateway unit power supply. When conformity to UL is required, the electric actuator and controller should be used with a UL1310 Class 2 power supply.

Applicable Fieldbus protocols

Max. number of connectable controllers

CC-Link Ver. 2.0 12

DeviceNet™ 8

PROFIBUS DP 5

EtherNet/IP™ 12


Options

RoHS

Electric grippersLEC-G Series

103

Item LEC-GMJ2m LEC-GDN1m LEC-GPR1m LEC-GEN1m

Communication specifications

Applicable system

Fieldbus CC-Link DeviceNet™ PROFIBUS DP EtherNet/IP™

Version 1) Ver. 2.0 Release 2.0 V1 Release 1.0

Communication speed [bps] 156 k/625 k/2.5 M/5 M/10 M

125 k/250 k/500 k9.6 k/19.2 k/45.45 k/

93.75 k/187.5 k/500 k/1.5 M/3 M/6 M/12 M

10 M/100 M

Configuration file 2) — EDS file GSD file EDS file

I/O occupation area

4 stations occupied(8 times setting)

Input 896 points

108 wordsOutput

896 points108 words


Input 57 wordsOutput 57 words


Power supply for communication

Power supply voltage [V] 6) — 11 to 25 VDC — —

Internal current consumption [mA]

— 100 — —

Communication connector specifications Connector (Accessory) Connector (Accessory) D-sub RJ45

Terminating resistor Not included Not included Not included Not included

Power supply voltage [V] 6) 24 VDC ±10 %

Current consumption [mA]

Not connected to teaching box 200

Connected to teaching box 300

EMG output terminal 30 VDC 1 A

Controller specifications

Applicable controllers Series LECP6, Series LECA6

Communication speed [bps] 3) 115.2 k/230.4 kMax. number of connectable controllers 4) 12 8 5) 5 12

Accessories Power supply connector, communication connector

Power supply connector





Weight [g] 200 (Screw mounting), 220 (DIN rail mounting)1) Please note that the version is subject to change.2) Each file can be downloaded from the SMC website, http://www.smc.eu3) When using a teaching box (LEC-T1-), set the communication speed to 115.2 kbps.4) A communication response time for 1 controller is approximately 30 ms.

Refer to “Communication Response Time Guideline” for response times when several controllers are connected.5) For step data input, up to 12 controllers connectable.6) When conformity to UL is required, the electric actuator and controller should be used with a UL1310 Class 2 power supply.

a Cable type

1 Communication cable

2 Cable between branches

b Mounting

— Screw mounting



L

G

CG

CGD

CGR

MJ2LEC

LEC

LEC

LEC

a

a

b

b

a Applicable Fieldbus protocols

MJ2 CC-Link Ver. 2.0

DN1 DeviceNet™

PR1 PROFIBUS DP

EN1 EtherNet/IP™

b Cable length

K 0.3 m

L 0.5 m

1 1 m

How to orderGateway unit

Cable

Branch connector

Terminating resistor

Communication cable Cable between branches

Specifications

SMC CorporationAkihabara UDX 15F, 4-14-1Sotokanda, Chiyoda-ku, Tokyo 101-0021, JAPANPhone: 03-5207-8249Fax: 03-5298-5362

Austria +43 (0)2262622800 www.smc.at [email protected] +32 (0)33551464 www.smc.be [email protected] +359 (0)2807670 www.smc.bg [email protected] Croatia +385 (0)13707288 www.smc.hr [email protected] Republic +420 541424611 www.smc.cz [email protected] Denmark +45 70252900 www.smcdk.com [email protected] Estonia +372 6510370 www.smcpneumatics.ee [email protected] +358 207513513 www.smc.fi [email protected] +33 (0)164761000 www.smc-france.fr [email protected] +49 (0)61034020 www.smc.de [email protected] +30 210 2717265 www.smchellas.gr [email protected] +36 23513000 www.smc.hu [email protected] +353 (0)14039000 www.smcpneumatics.ie [email protected] +39 0292711 www.smcitalia.it [email protected] +371 67817700 www.smc.lv [email protected]

Lituania +370 5 2308118 www.smclt.lt [email protected] +31 (0)205318888 www.smc.nl [email protected] +47 67129020 www.smc-norge.no [email protected] +48 222119600 www.smc.pl [email protected] +351 226166570 www.smc.eu [email protected] +40 213205111 www.smcromania.ro [email protected] +7 8127185445 www.smc-pneumatik.ru [email protected] +421 (0)413213212 www.smc.sk [email protected] +386 (0)73885412 www.smc.si [email protected] +34 945184100 www.smc.eu [email protected] +46 (0)86031200 www.smc.nu [email protected] +41 (0)523963131 www.smc.ch [email protected] +90 212 489 0 440 www.smcpnomatik.com.tr [email protected] UK +44 (0)845 121 5122 www.smc.uk [email protected]

Specifications are subject to change without prior notice and any obligation on the part of the manufacturer

Printing XO 05 Printed in Spain

LEAF-GRIPPERS-A-UK