2 finger, 3 finger, 4 finger air gripper parallel type ... · employs wedge cam construction ......

CAT.ES20-104 F

Employs wedge cam constructionfor a compact design

with strong holding force

2 Finger, 3 Finger, 4 Finger Air GripperParallel Type

Series MHSø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80, ø100, ø125

Long stroke (MHSL3) introduced to upgraded series.

Lightweight, compact designwith reduced height

Lightweight, compact designwith reduced height

Cylinder bore size (mm) Series Variations

Using tapped holes Using through holes

Can be mounted from two directions

Easy alignment when mounting

Auto switch capable

High repeatability: ±0.01mm

Series MHS2

Series MHS3

Series MHS4

Axial gripping ofcylindrical work pieces

Positioning ofsquare work pieces

Accommodates awide range of workpiece diameters

Series Variations

16 20 25 32 40 50 63 80 100 125

Can be mounted from two directions

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

Auto switch capable

High repeatability: ±0.01mm

Long stroke (MHSL3) introduced to upgraded series.

Long strokeSeries MHSL3

2 fin

ger

s4

fing

ers

3 fin

ger

s

New

Employs wedge cam constructionEmploys wedge cam constructionThe wedge cam mechanism allows strong gripping

force to be obtained from a compact design.

A wide variety of solid state auto switches can be mounted using the body's side mounting grooves.Selections include 2 color indication and water resistant types.

Gripping of diverse work pieces

Features 1

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

34 fin

ger M

HS

4A

uto

switch

es

Air blowing

Ideal for gripping work pieces of different diameters.

MHS3 Variations

Long Stroke MHSL3

With dust cover/center pusherThrough hole/MHSH3

With dust cover/MHSJ3

Dust cover

Spring type

Cylinder type

Through holeMHSH3

Center pusher assembly

With dust cover

Through hole

With center pusher (cylinder type)

With center pusher (spring type)

Through hole with dust cover

With dust cover/center pusher (cylinder type)

With dust cover/center pusher (spring type)

16 20 25 32 40 50 63 80Cylinder bore size (mm)

MHSJ3

MHSH3

MHSHJ3

Opening/closing stroke more than twice the standard (MHS3)

10 (4)10 (4)12 (6)16 (8)20 (8)28 (12)32 (16)40 (20)48 (24)64 (32)

Stroke mmDia.: Open – Closed

Heightmm

Weightg

80135180370550930

1,5502,8505,500

11,300

43.546495864

77.589

116 135 175

Cylinderbore size

mm1620253240506380

100125

Standard inside ( ) /MHS3 stroke

Gripping of differentdiameter work pieces

Close

d

Open

NewNew

Pushing out work piece with

external cylinder

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

The mounting pitch is compatible with the standard type.

Features 2

Series MHS2ø16, ø20, ø25, ø32, ø40, ø50, ø63

2 FingerAir Gripper

Parallel Type

1

Y59A

NilS

2 pcs.1 pc.

Number of fingers2 2 fingers

Cylinder bore size162025

16mm20mm25mm

NilS

2 pcs.1 pc.

Number of auto switches

ActionD Double acting

Auto switch type



32mm 40mm 50mm 63mm



Symbol

MHS 2 D20ø16 to ø25 F9N

MHS 2 D50ø32 to ø63

How to Order

Nil Without auto switch (built-in magnet)

Auto switch type

—

Nil

Type

Auto switch specifications

Without auto switch (built-in magnet)

Specialfunction

Electricalentry

Indicatorlight

Wiring(output)

Load voltage Auto switch models Lead wire length (m)∗ ApplicableloadsIn-line 0.5 (Nil) 3 (L)DC AC

So

lid s

tate

Grommet Yes

3 wire (NPN) 3 wire (PNP)

3 wire (PNP)

2 wire

24V

5V,12VY69AY7PVY69B

Y59AY7PY59B

Relay,PLC—5V,12V

3 wire (NPN) 12V

2 wire 12V

Y7NWV

Y7BWV

Y7NWY7PWV Y7PW

Y7BW

— Y7BA

—

5 (Z)

ICcircuit

—

—

Diagnosticindication(2 color

indicator)Water

resistant(2 color

indicator)

—

Type


Specialfunction

Electricalentry

Indicatorlight

Wiring(output)

Perpendicular

Load voltageAuto switch modelsElectrical entry direction

Lead wire length (m)∗

In-line3

(L)DC AC

So

lid s

tate

Grommet Yes

3 wire(NPN)

3 wire(PNP) 24V

F9NV F9N

Relay,PLC

—

2 wire

5V,12V F9PV F9P

5(Z)

—

—

F9BV F9B

— F9BA

—

—

Water

resistant(2 color

indicator)

Cylinder Bore Size

Cylinder Bore Size

0.5(Nil)

∗ Lead wire length symbols: 0.5m .......Nil (Example) Y59B3m .......... L (Example) Y59BL5m ......... Z (Example) Y59BZ

D-Y7BA is available only as "L".∗ Auto switches marked with a "" symbol are produced upon receipt of order.Note 1) Take note of hysteresis with 2 color indication type switches.Note 2) Refer to pages 53 through 65 for detailed auto switch specifications.

Perpendicular

ICcircuit

∗ Lead wire length symbols: 0.5m .......Nil (Example) F9B3m ......... L (Example) F9BL5m ......... Z (Example) F9BZ

D-F9BA is available only as "L".∗ Auto switches marked with a "" symbol are produced upon receipt of order.Note 1) Take note of hysteresis with 2 color indication type switches.Note 2) Refer to pages 53 through 65 for detailed auto switch specifications.

Applicableloads

12V

Models and Specifications

Model

Cylinder bore size mm

Fluid

Operating pressure MPa

Ambient and fluid temperature °C

Repeatability mm

Max. operating frequency c.p.m.

Lubrication

Action

Effective gripping force N at pressure of0.5MPa Opening/closing stroke (both sides) mm

Weight g

MHS2-32D

32

111

123

8

265

MHS2-40D

40

177

195

8

345

MHS2-50D

50

280

306

12

515

MHS2-63D

63

502

537

16

952

Air

0.1 to 0.6

–10 to 60

±0.01

60

Non-lube

Double acting

Construction

No.

1234567

Description

Body

Piston

Cam

Finger

Cap

End plate

Piston bolt

Material

Aluminum alloy

Aluminum alloy

Carbon steel

Carbon steel

Aluminum alloy

Stainless steel

Stainless steel

Note

Hard anodized

Hard anodized

Heat treated, Specially treated


Hard anodized

No.

8910111213

Description

Rubber magnet

C type snap ring

Piston seal

Rod seal

Gasket

Gasket

Material

Synthetic rubber

Carbon steel

NBR

NBR

NBR

NBR

Note

Nickel plated

Parts list

Replacement parts/Seal kitsKit number

Contents

A set of the aboveNos. 10, 11, 12 and 13

MHS2-32D MHS2-40D MHS2-50D MHS2-63D

Closed condition Open condition

MHS2-16D

16

21

23

4

58

MHS2-20D

20

120

37

42

4

96

MHS2-25D

25

63

71

6

134

0.2 to 0.6

MHS2-16D MHS2-20D MHS2-25D

Externalgripping forceInternalgripping force

MHS16-PS MHS20-PS MHS25-PS MHS32-PS MHS40-PS MHS50-PS MHS63-PS

∗ Seal kits are sets consisting of items 10, 11, 12 and 13, which can be ordered using the kit number for each cylinder bore size.

Note 1)

Note) Values for ø16 to ø25 are with gripping point L = 20mm, and for ø32 to ø63 with gripping point L = 30mm.Refer to the "Effective Gripping Force" data on pages 3 and 4 for the gripping force at each gripping position.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

2

2 Finger Air Gripper Series MHS2

Gripping Point

Effective Gripping Force

1N: Approx. 0.102kgf1MPa: Approx. 10.2kgf/cm²

External gripping Internal gripping

L: Gripping point distance

MHS2-16D MHS2-16DPressure 0.6MPa Pressure 0.6MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

5 510 1020 25 2530 30

Gripping point L mm Gripping point L mm

15 2015

2020

1010

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

30

30

MHS2-20D MHS2-20D

10 1020 2030 3040 40


40 40

20 20

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

6060

MHS2-25D MHS2-25D

10 1020 2030 3040 40


6060

40 40

20 20

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

100100

8080

0.4MPa 0.4MPa

0.5MPa 0.5MPa

F

F

F

F

Pressure 0.6MPaPressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa


0.5MPa 0.5MPa

0.4MPa0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

External gripping force Internal gripping force

External gripping

Internal gripping

Gripping point Gripping point

L L

• The work piece gripping point distance should be within the gripping force ranges given for each pressure in the effective gripping force graphs below.

• If operated with the work piece gripping point beyond the indicated ranges, an excessive offset load will be applied to the sliding section of the fingers, which can have an adverse effect on the service life of the product.

• Expressing the effective gripping force The effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger when both of the fingers and attachments are in full contact with the work piece as shown in the figure below.

Series MHS2

3

MHS2-32D MHS2-32D

MHS2-40D MHS2-40D

MHS2-50D MHS2-50D

MHS2-63D MHS2-63D

10 1020 2030 3040 4050 50


200200

150150

100 100

50 50

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

250250

20 2040 4060 60


400 400

200 200

0

Grip

ping

forc

e N

Grip

ping

forc

e N

600 600

10 1020 2030 3040 4050 50


120120

9090

60 60

30 30

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

150150

20 2040 4060 60


300 300

200 200

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

400 400

100 100

Pressure 0.6MPa Pressure 0.6MPa

0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

0.1MPa 0.1MPa


0.5MPa0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

0.1MPa 0.1MPa


0.5MPa0.5MPa

0.4MPa 0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

0.1MPa 0.1MPa


0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

0.1MPa 0.1MPa



0

1N: Approx. 0.102kgf1MPa: Approx. 10.2kgf/cm2

F

F

F

F

External gripping

Internal gripping

• Expressing the effective gripping forceThe effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger when both of the fingers and attachments are in full contact with the work piece as shown in the figure below.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

4


MHS2-16D to 25D

Dimensions

ModelMHS2-16DMHS2-20DMHS2-25D

AA353840


AB323537

B303642

DO344048

DC303642

EO141620

EC101214

CB111315

FX12.514.517

FY11 13 14.5

FZ335

G252728

I455

J101214

K456

NA81012

NB5h96h96h9

0-0.030 0-0.030 0-0.030

O2 2.53

RA182426

RB161822

SC8 9.5

10

TB566

VA2H92H93H9

+0.025 0+0.025 0+0.025 0

VB223

WA17H921H926H9

+0.043 0+0.052 0+0.052 0

XA2H92H93H9

+0.025 0+0.025 0+0.025 0

XB223

(mm)

Auto switch mounting groove positions (2 locations)

PM3 x 0.5M5 x 0.8M5 x 0.8

Q678


AB

AA

3

øB

P(finger opening port)

CB 7

P(finger closing port)

2

GI

Ope

n E

OC

lose

d EC

J

K2H

9+0

.025

0

Q

(Open DO) (Closed DC)

O

NB

NA

2-ø3.4, counter bore dia. 6.5Counter bore depth SC (mounting hole)

4-M3 x 0.5, thread depth TBAttachment mounting threads

RB

RA

20°20°

øWA, depth 1.5

øVA, depth VB

FXFYFZ

XA

, dep

th X

B

2-M4 x 0.7, thread depth 8(mounting threads)

RB

RA

ø4

3

4.5

33°

24°

ø4

3

5

56

33°

24°

ø4

3

5

56.

5

33°

24°

Series MHS2

5

AB

AA

3

øB

M5 x 0.8(finger opening port)

CB

M5 x 0.8(finger closing port)

2

GI

Ope

n E

OC

lose

d E

C

J

9L

CA

Q

(Open DO)

(Closed DC)

4.5

NA

2-øSA, counter bore dia. SB

Counter bore depth 9 (mounting hole)

4-M4 x 0.7, thread depth 8Attachment mounting threads

RB

RA

20°20°

øVA, depth VB

FXFYFZX

A, d

epth

XB

2-UA, thread depth UB(mounting threads)

RB

RA

øWA, depth 2

56.4

35° 35°

MHS2-32D, 40D

ModelMHS2-32DMHS2-40D


AA4447

AB4144

B5662

DO6470

DC5662

EO2428

EC1620

CA89

CB1617

FX23

26.5

FY20.523.5

FZ56

G 30.5

32

I67

J2021

L2H93H9

+0.025 0+0.025 0

3H94H9

+0.025 0+0.030 0

NA1416

RA3844

SA4.55.5

SB8 9.5

UAM5 x 0.8 M6 x 1

UB1012

VA VB34

34H942H9

+0.062 0+0.062 0

WA3H94H9

+0.025 0+0.030 0

XA XB34

(mm)

RB2528

8h9

0 -0.0

36

8

Q1112

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

6



AA5566


AB5262

AC34

B7086

DO 82102

DC7086

EO3446

EC2230

CA 912

FY28 34.5

CB2022

FX3138

FZ67

G37.544

I 911

J2428

K1011

M23

L4H96H9

+0.030 0+0.030 0

O5 5.5

4H95H9

+0.030 0+0.030 0

VAQ1417

RB3438

SC1214

NA1824

NB10h912h9

0-0.036 0-0.043

VB45

52H965H9

+0.074 0+0.074 0

WA WB2 2.5

4H95H9

+0.030 0+0.030 0

XA XB45

(mm)

Dimensions

AB

AA

AC

øB


CB


M

GI

Ope

n E

OC

lose

d E

C

J

KL

CA

Q


O

NA



RB

RA

NB

20°20°

øVA, depth VB

FXFYFZX

A, d

epth

XB

4-M6 x 1, thread depth 12(mounting threads)

RB

RA

øWA, depth WB

56.4

35° 35°

MHS2-50D, 63D

YC

RA5266

YC7 7.5

Series MHS2

7

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

D Double acting

D Double acting

Symbol

NilSn

2 pcs.1 pc.

"n" pcs.



16mm20mm25mm

NilS

2 pcs.1 pc.


Action

Auto switch type


Cylinder bore size 32 40 50 63 80100125

32mm 40mm 50mm 63mm 80mm100mm125mm


Action


MHS 3 D50ø32 to ø125 Y59A

How to Order


Auto switch typeNil Without auto switch (built-in magnet)

—

Type


Specialfunction

Electricalentry

Indicatorlight

Wiring(output)

Perpendicular


Lead wire length (m)∗Applicable

loadsIn-line0.5(Nil) 3 (L)

DC AC

So

lid s

tate

Grommet Yes

3 wire (NPN)

3 wire(PNP)

24V

F9NV F9N

Relay,PLC—

2 wire 12V

F9PV F9P

5 (Z)

—

—

F9BV F9B

— F9BA

—

—

Water

resistant(2 color

indicator)

—

Type

Auto switch specificationsSpecialfunction

Electricalentry

Indicatorlight

Wiring(output) Perpendicular


So

lid s

tate

Grommet Yes

3 wire (NPN)3 wire (PNP)

2 wire3 wire (NPN)3 wire (PNP)

2 wire

24V

5V, 12V

12V

5V, 12V

12V

Y69AY7PVY69B

Y59AY7PY59B

Relay,PLC—

Y7NWV

Y7BWV

Y7NWY7PWV Y7PW

Y7BW

— Y7BA

—

5 (Z)

IC circuit

IC circuit

—

—


indicator) Water

resistant(2 color

indicator)

Cylinder Bore Size

Cylinder Bore Size

∗ Lead wire length symbols: 0.5m .......Nil (Example) F9B3m .......... L (Example) F9BL5m .......... Z (Example) F9BZ


∗ Lead wire length symbols: 0.5m ..… Nil (Example) Y59B3m…..… L (Example) Y59BL5m…..… Z (Example) Y59BZ


5V,12V

Series MHS3ø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80, ø100, ø125

3 FingerAir Gripper

Parallel Type

8




Model


Fluid


Ambient and fluid temperature ° C

Repeatability mm


Lubrication

Action

MHS3-32D

32

74

82

8

237

MHS3-40D

40

118

130

8

351

MHS3-50D

50

187

204

12

541

MHS3-63D

63

335

359

16

992

Air

0.1 to 0.6

–10 to 60

±0.01

60

Non-lube

Double acting

Construction

No.

1234567

Description

Body

Piston

Cam

Finger

Cap

End plate

Piston bolt

Material

Aluminum alloy

Aluminum alloy

Carbon steel

Carbon steel

Aluminum alloy

Stainless steel

Stainless steel

Note

Hard anodized

Hard anodized



Hard anodized

Parts listNo.

8910111213

Description

Rubber magnet

C type snap ring

Piston seal

Rod seal

Gasket

Gasket

Material

Synthetic rubber

Carbon steel

NBR

NBR

NBR

NBR

Note

Nickel plated


MHS3-32D MHS3-40D MHS3-50D MHS3-63DContents


MHS3-16D

16

14

16

4

60

MHS3-20D

20

120

25

28

4

100

MHS3-25D

25

42

47

6

140

MHS3-80D

80

500

525

20

1,850

MHS3-100D

100

30

750

780

24

3,340

MHS3-125D

125

1,270

1,320

32

6,460

0.2 to 0.6

MHS3-16D MHS3-20D MHS3-25D MHS3-125DMHS3-80D MHS3-100D

External gripping force

MHS16-PS MHS20-PS MHS25-PS MHS32-PS MHS40-PS MHS50-PS MHS63-PS MHS80-PS MHS100-PS MHS125-PS

Note 1)

Opening/closing stroke mm (dia.)

Weight g

Effective gripping force N at pressure of 0.5MPa

Internalgripping force

Note 1) Values for ø16 to ø25 are with gripping point L = 20mm, for ø32 to ø63 with gripping point L = 30mm, and for ø80 to ø125 with gripping point L = 50mm.Refer to the "Effective Gripping Force" data on pages 10 through 12 for the gripping force at each gripping position.

Note 2) Open and closed diameter values apply for external gripping of work pieces.

Series MHS3

9



Gripping Point





L L

MHS3-16D MHS3-16D

Pressure 0.6MPa

Pressure 0.6MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

5 510 1020 2025 2530 30

Gripping point L mm Gripping point L mm15 15

20 20

15 15

10 10

5 5

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

25 25

MHS3-20D MHS3-20DPressure 0.6MPa Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

10 1015 1520 2030 3035 35


5 525 25

30

3025

2520

2015

15

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

35

35

40

1010

5 5

MHS3-25D MHS3-25D


0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

10 1020 2030 3040 4050 50


4040

30 30

20 20

10 10

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

6060

70

5050

0.4MPa0.4MPa

0.5MPa0.5MPa

F

F F


External gripping

Internal gripping

F

FF


• Expressing the effective gripping forceThe effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger when all 3 of the fingers and attachments are in full contact with the work piece as shown in the figure below.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

10



MHS3-32D MHS3-32D

MHS3-40D MHS3-40D

MHS3-50D MHS3-50D

MHS3-63D MHS3-63D


0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

10 1020 2030 3040 4050 50


0.1MPa 0.1MPa

160 160

120 120

80 80

40 40

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

200 200


0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

20 2040 4060 6080 80100 100


0.1MPa 0.1MPa

400 400

300 300

200 200

100 100

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

500 500


0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

10 1020 2030 3040 4050 50


0.1MPa 0.1MPa

8080

6060

40 40

20 20

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

100

100

120

Pressure 0.6MPa

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

20 2030 3040 4060 6070 70

Gripping point L mm Gripping point L mm10 1050 50

0.1MPa 0.1MPa

300 300

250 250

200 200

150 150

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

350 350

100 100

50 50



F

F F

External gripping

Internal gripping

F

FF


Series MHS3

11


MHS3-80D MHS3-80D


0.5MPa0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

20 2040 4060 6080 80


0.1MPa 0.1MPa

600

500

400

300

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

700 700

600

500

400

300

200

100

200

100

MHS3-100D MHS3-100D


0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa

0.3MPa

0.2MPa0.2MPa

20 2040 4060 6080 80100 100


0.1MPa0.1MPa

800

600

400

200

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

1,000 1,000

800

600

400

200

MHS3-125D MHS3-125D


0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

20 20100 10040 4060 60120 120Gripping point L mm Gripping point L mm

80 80

0.1MPa 0.1MPa

1,200

1,000

800

600

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

1,400

400

200

1,6001,800 1,800

1,600

1,400

1,200

1,000

800

600

400

200

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

12


MHS3-16D to 25D

Dimensions


AA353840


AB323537

B303642

DO172024

DC151821

EO 7 810

EC567

CB111315

FX12.514.517

FY11 13 14.5

FZ335

G252728

I455

J101214

K456

NA 81012

NB5h96h96h9

0-0.030 0-0.030 0-0.030

O2 2.53

SA3.43.44.5

SB6.56.58

SC8 9.510

TB566

UAM3 x 0.5M3 x 0.5M4 x 0.7

UB4.56 6

VA2H92H93H9

+0.025 0+0.025 0+0.025 0

VB223

WA17H921H926H9

+0.043 0+0.052 0+0.052 0

XA2H92H93H9

+0.025 0+0.025 0+0.025 0

XB223

(mm)


PM3 x 0.5M5 x 0.8M5 x 0.8

Q678

R252934


CB 7


Q

(Ope

n D

O)

(Clo

sed

DC

)

O

NB

NA

3-øSA, counter bore dia. SB, counter bore depth SCP.C.D.R (mounting hole)


ø4

3

5

33°

54° ø43

5

54°

33°

5

6

ø43

5

54°

33°

5

6.5


AB

AA

3

øB

2

GI

Ope

n E

OC

lose

d E

C

J

K2H

9+0

.025

0

22.5°

20° 20°

øWA, depth 1.5

øVA, depth VB

FXFY

FZ

3-UA, thread depth UBP.C.D.R (mounting threads)

XA, depth XB

Series MHS3

13

MHS3-32D to 80D

ModelMHS3-32DMHS3-40DMHS3-50DMHS3-63DMHS3-80D

AA4447556682

AB4144526277

AC33345

B 52 62 70 86106

DO32354151

63.5

DC28313543

53.5

EO12 14 17 23 31.5

EC8

10 11 15 21.5

CA 8 9 912

13.5

CB1617202227

FX22

26.53138

47.5

FY 19.5 23.5

28 34.5 43.5

FZ56678

G 30.5

32 37.5

4456

I 6 7 91112

J2021242832

K 9 9101112

L2H93H94H96H98H9

+0.025 0+0.025 0+0.030 0+0.030 0+0.036 0

M22234

NA1416182428

NB 8h9 8h910h912h914h9

0-0.036 0-0.036 0-0.036 0-0.043 0-0.043

(mm)

P (finger opening port)

CB

P (finger closing port)

CA

Q

(O

pen

DO

)

(

Clo

sed

DC

)

O

NB

NA


6-TA, thread depth TBAttachment mounting threads

22.5°

20° 20°

FYFZ

FX

øWA, depth WB

XA, depth XB


øVA, depth VBAB

AA

AC

øB

M

GI

Ope

n E

OC

lose

d E

C

J

KL


6.4

5

40°

10° 40°

10°

Y

ModelMHS3-32DMHS3-40DMHS3-50DMHS3-63DMHS3-80D

O4.54.55 5.56

3H94H94H95H96H9

+0.025 0+0.030 0+0.030 0+0.030 0+0.030 0

Q1112141720

SA4.55.55.56.66.6

SB 8

9.5 9.5

1111

SC 9 9121419

TAM4 x 0.7M4 x 0.7M5 x 0.8M5 x 0.8M6 x 1

TB 8 8101012

UAM4 x 0.7M5 x 0.8M5 x 0.8M6 x 1M6 x 1

UB 6

7.5 10 9 12

VA VB34456

34H942H952H965H982H9

+0.062 0+0.062 0+0.074 0+0.074 0+0.087 0

WA WB222

2.53

3H94H94H95H96H9

+0.025 0+0.030 0+0.030 0+0.030 0+0.030 0

XA XB34456

Y6 8 7 7.58

PM5 x 0.8M5 x 0.8M5 x 0.8M5 x 0.8Rc 1/8

R4453627695

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

14


MHS3-100D, 125D


AA 96122


AB 90114

AC68

B134166

DO7898

DC6682

EO4046

EC2830

CA18

23.5

FY5468

CB 30.6

38

FX5974

FZ1012

G6384

I1518

J3852

K1521

M46

L 8H910H9

+0.036 0+0.036 0

O 7.510.5

8H910H9

+0.036 0+0.036 0

VAQ2331

R118148

SA 911

SB14

17.5

SC2134

NA3440

NB18h922h9

0-0.043 0-0.052

TA M8 x 1.25M10 x 1.5

TB1620

UA M8 x 1.25M10 x 1.5

UB1620

VB68

102H9130H9

+0.087 0+0.100 0

WA WB46

PRc 1/4Rc 3/8

8H910H9

+0.036 0+0.036 0

XA XB68

(mm)



CB

P (finger closing port)

CA

Q (O

pen

DO

) (

Clo

sed

DC

)

O

NB

NA



40°

10°

40°

10°

90°

56.410

5 13

56.4

12

7 15

40°

10°

40°

10°

90°

FY

FZ

FX

XA, depth XB


22.5°

20° 20° øWA, depth WBøVA, depth VB

MHS3-100D MHS3-125D

AB

AA

AC

øB

M

GI

Ope

n E

OC

lose

d E

C

J

KL

Dimensions

Series MHS3

15


MHSJ3-80D

80

30

400

525

20

3,200

Internalgripping force


0.2 to 0.6

MHSJ3-25D

25

36

47

6

230

MHSJ3-20D

20

120

21

28

4

150

MHSJ3-16D

16

9

16

4

95

Air

0.1 to 0.6

–10 to 60

±0.01

60

Non-lube

Double acting

MHSJ3-63D

63

280

359

16

1,800

MHSJ3-50D

50

155

204

12

1,050

MHSJ3-40D

40

97

130

8

620

MHSJ3-32D

32

62

82

8

440

Model


Fluid



Repeatability mm


Lubrication

Action

Effective gripping forceN at pressure of 0.5MPa

Opening/closing stroke mm (dia.)

Weight g

Chloroprene rubber (CR) Fluoro rubber (FKM) Silicon rubber (Si)

NilFS

Dust cover type

With dust cover

Without auto switch (built-in magnet)Nil

How to Order

F9N32 DMHSJ 3

Auto switch type

Double actingDAction Number of auto switches

2 pcs.1 pc.

NilS

16mm20mm25mm32mm40mm50mm63mm80mm

1620253240506380

Cylinder bore size

3 fingers3

Number of fingers

—

Type


Specialfunction

Electricalentry

Indicatorlight

Wiring(output)

Perpendicular



loadsIn-line0.5(Nil) 3 (L)

DC AC

So

lid s

tate

Grommet Yes

3 wire (NPN)

3 wire (PNP)

24V

F9NV F9N

Relay,PLC

—

2 wire

5V,12V

F9PV F9P

5 (Z)

—

—

F9BV F9B

— F9BA

—

—

Water

resistant(2 color indicator)

Note 1)

∗ Lead wire length symbols: 0.5m ..… Nil (Example) F9B3m ....…. L (Example) F9BL5m ....…. Z (Example) F9BZ




Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

12V

With Dust Cover

Series MHSJ3ø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80

3 FingerAir Gripper

Parallel Type

16

Construction

No.

1

2

34567

Description

Body

Piston

Cam (J)

Finger

Cap (J)

End plate (J)

Guide

Material

Aluminum alloy

ø16 to ø25: Stainless steel

ø32 to ø80: Aluminum alloy

Carbon steel

Carbon steel

Aluminum alloy

Stainless steel

Aluminum alloy

Note

Hard anodized

Hard anodized



Hard anodized

Hard anodized

No.

89101112131415

Description

Rubber magnet

Hexagon socket head screw

Parallel pin

C type snap ring

Gasket

Gasket

Piston seal

Rod seal

Material

Synthetic rubber

Carbon steel

Stainless steel

Carbon steel

NBR

NBR

NBR

NBR

Note

Nickel plated

Nickel plated

Parts list


MHSJ3-32D MHSJ3-40D MHSJ3-50D MHSJ3-80DContents

A set of the aboveNos. 12, 13, 14 & 15

MHSJ3-16D MHSJ3-20D MHSJ3-25D

MHSJ16-PS MHSJ20-PS MHSJ25-PS MHSJ32-PS MHSJ40-PS MHSJ50-PS MHSJ80-PS

MHSJ3-63D

MHSJ63-PS

16CR Note)

FKM Note)

Si Note)

Replacement parts/Dust cover (J)Part number

MHSJ3-32D MHSJ3-40D MHSJ3-50D MHSJ3-80DDescriptionNo. MaterialMHSJ3-16D MHSJ3-20D MHSJ3-25D

MHSJ3-J16

MHSJ3-J16F

MHSJ3-J16S

MHSJ3-J20

MHSJ3-J20F

MHSJ3-J20S

MHSJ3-J25

MHSJ3-J25F

MHSJ3-J25S

MHSJ3-J32

MHSJ3-J32F

MHSJ3-J32S

MHSJ3-J40

MHSJ3-J40F

MHSJ3-J40S

MHSJ3-J50

MHSJ3-J50F

MHSJ3-J50S

MHSJ3-J80

MHSJ3-J80F

MHSJ3-J80S

MHSJ3-63DMHSJ3-J63

MHSJ3-J63F

MHSJ3-J63S

Dust cover (J)

Note) CR: Chloroprene rubber, FKM: Fluoro rubber, Si: Silicon rubber


ø16 to ø25

ø32 to ø80 Open condition

Open conditionClosed condition

Series MHSJ3

17

MHSJ3-16D MHSJ3-16D

Pressure 0.6MPa

Pressure 0.6MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

55 1010 2020 2525 3030

Gripping point L mmGripping point L mm

1515

20

15

15

10

10

55

00

Grip

ping

forc

e N

Grip

ping

forc

e N

25

0.4MPa0.4MPa

MHSJ3-20D MHSJ3-20DPressure 0.6MPa

Pressure 0.6MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

55 1010 2020 2525 3030 3535


1515

20

20

1515

1010

55

00

Grip

ping

forc

e N

Grip

ping

forc

e N

25

25

40

35

35

30

30

0.4MPa

0.4MPa

0.5MPa

0.5MPa

MHSJ3-25D MHSJ3-25D

Pressure 0.6MPa

Pressure 0.6MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

1010 2020 3030 4040 5050


00

Grip

ping

forc

e N

Grip

ping

forc

e N

7070

6060

5050

4040

3030

2020

1010

0.4MPa

0.4MPa

0.5MPa

0.5MPa

0.5MPa

0.5MPa



L


L

Gripping Point



F

F

F F

F

F


External gripping

Internal gripping




Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

18

3 Finger Air Gripper Series MHSJ3

MHSJ3-32D MHSJ3-32D

0.5MPa

0.5MPa0.4MPa

0.4MPa0.3MPa

0.3MPa0.2MPa

0.2MPa

1010 2020 3030 4040 5050


0.1MPa0.1MPa

80

80

6060

4040

2020

00

Grip

ping

forc

e N

Grip

ping

forc

e N

MHSJ3-40D MHSJ3-40D

0.5MPa0.5MPa0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

1010 2020 3030 4040 5050


0.1MPa0.1MPa

00G

rippi

ng fo

rce

N

Grip

ping

forc

e N

200

160

160

120

120

80

80

4040

MHSJ3-50D MHSJ3-50D

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa0.3MPa0.3MPa

0.2MPa0.2MPa

1010 2020 3030 4040 5050 6060 7070


0.1MPa0.1MPa

00

Grip

ping

forc

e N

Grip

ping

forc

e N

350

300

250

250

200

200

150

150

100

100

5050

MHSJ3-63D MHSJ3-63D

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

2020 4040 6060 8080 100100


0.1MPa0.1MPa

00

Grip

ping

forc

e N

Grip

ping

forc

e N

500

400

400

300

300

200

200

100100

100

100 120




F

F

F F

F

F

External gripping

Internal gripping


Pressure 0.6MPa

Pressure 0.6MPa

Pressure 0.6MPa

Pressure 0.6MPa


Pressure 0.6MPa

Series MHSJ3

19

MHSJ3-80D MHSJ3-80DPressure 0.6MPa

Pressure 0.6MPa0.5MPa

0.5MPa0.4MPa

0.4MPa0.3MPa

0.3MPa

0.2MPa0.2MPa

2020 4040 6060 8080


0.1MPa0.1MPa

00

Grip

ping

forc

e N

Grip

ping

forc

e N

700

600

600

500

500

400

400

300300

200200

100100


Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

20


Section SD - SD

(C

ount

er b

ore

dept

h 4)

(Counter bore dia. SB)

AI

(3-ø3.2)

MHSJ3-16D to 25D

Dimensions

ModelMHSJ3-16DMHSJ3-20DMHSJ3-25D

AA464955

ModelMHSJ3-16DMHSJ3-20DMHSJ3-25D

AD161820

AE272832

CA77

7.5

B303642

DC17.520 23.5

CB14 14 17.5

AI394247

DO19.522 26.5

EC7.58 9.5

EO 9.510 12.5

FX121518

HA445059

HB364250

J101214

K456

NB5h96h96h9

0-0.030 0-0.030 0-0.030

O2

2.53

SB6 6.56.5

R242934

TB566

WA17H921H926H9

+0.043 0+0.052 0+0.052 0

(mm)


PM3 x 0.5M5 x 0.8M5 x 0.8

Q678


SD

SD

NB

3-ø3.2, counter bore dia. SB, counter bore depth 4 (See section SD-SD)P.C.D.R (mounting hole)

3-M4 x 0.7, thread depth 8P.C.D.R (mounting threads)

O

2H9

+0.0

25 0

ø3H9 , depth 3+0.025 0

Q J

KøH

A

øB(O

pen

DO

)(C

lose

d D

C)

Ope

n E

OC

lose

d E

C



CB CA

2

3 AD AE

AA

FX

øWA, depth 1.5

20°

20°

30°

ø4 ø4

ø4

5

5

5

6

6.53

33

5 520°

20° 20°

90° 90°

20°

20° 20°

MHSJ3-16D MHSJ3-20D MHSJ3-25D

øHB

Series MHSJ3

21

MHSJ3-32D to 80D

ModelMHSJ3-32DMHSJ3-40DMHSJ3-50DMHSJ3-63DMHSJ3-80D

AA 63 66 80 91108

ModelMHSJ3-32DMHSJ3-40DMHSJ3-50DMHSJ3-63DMHSJ3-80D

AC33345

AD2426313746

B 54 62 74 92112

AI5457707993

CB19 19 26.528 31

CA 9.510.511.513 14

AE3637465057

DC 31.536 42 51 63

DO 35.540 48 59 73

EC 11.515 18 23 31

EO 15.519 24 31 41

FX2226324050

HA 76 86103125158

HB 65 75 88106130

J2021242832

L2H93H94H96H98H9

+0.025 0 +0.025 0

+0.030 0 +0.030 0 +0.036 0

K 9 9101112

O4.54.55 5.56

NB8h98h910h912h914h9

0 -0.036 0 -0.036 0 -0.036 0 -0.043 0 -0.043

R4452637898

SA4.24.25.16.66.6

SB8 8 9.511 11

SC77888

Q1112141720

VA4H94H95H96H96H9

+0.030 0+0.030 0+0.030 0+0.030 0+0.030 0

WA34H942H952H965H982H9

+0.062 0+0.062 0+0.074 0+0.074 0+0.087 0

TB 8 810 10 12

UB1010121616

VB44566

WB2 2 2

2.53

(mm)


PM5 x 0.8M5 x 0.8M5 x 0.8M5 x 0.8Rc 1/8

TAM4 x 0.7M4 x 0.7M5 x 0.8M5 x 0.8M6 x 1

UAM5 x 0.8 M5 x 0.8 M6 x 1

M8 x 1.25 M8 x 1.25

YB 8 8101212

YAM4 x 0.7M4 x 0.7M5 x 0.8M6 x 1 M6 x 1

M22234


3-øSA, counter bore dia. SB, counter bore depth SC (See section SD - SD)P.C.D.R (mounting hole)

Q J

KL

øH

A

øB

(Ope

n D

O)

(Clo

sed

DC

)

Ope

n EO

Clos

ed E

C

O

SD

NB

SD

M

AC AD AE

AA

CB CA




3-YA, thread depth YBP.C.D.R

øVA, depth VB

øWA, depth WB

20°

30°

20°

FX

7

10

11

7

7.5

5

5

5

5

53

3

3

335

5

5

55

20°

20° 20°

20° 20°

20°

20° 20°

20° 20°

90°

90° 90°

90° 90°

MHSJ3-32D

Section SD - SD

MHSJ3-63D MHSJ3-80D

MHSJ3-40D MHSJ3-50D

(Cou

nter

bor

e de

pth

SC

)


AI

(3-øSA)

øHB

ø4

ø4

ø4

ø4ø4

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

22



Cylinderbore size

1620253240506380

16mm20mm25mm32mm40mm50mm63mm80mm

NilS

n Note 2)

2 pcs.1 pc.

"n" pcs.



Auto switch type

MHSH D32 F9N

How to Order


F9NMHSH 3 A 50 A

Through hole

Numberof fingers3 3 fingers

Through hole

Dust cover

Air grippercylinder bore size

3240506380

32mm40mm50mm63mm80mm

Dust cover type(with dust cover only)NilFS

Chloroprene rubber (CR)Fluoro rubber (FKM)Silicon rubber (Si)

Center pusher

Center pusher assembly

NilAB

Without center pusherCylinder typeSpring type

Center pusherAB

Cylinder typeSpring type

NilJ

Without dust coverWith dust cover

3

Center Pusher Assembly

NilS

2 pcs.1 pc.

Number of auto switchesAuto switch type (cylinder type only)Nil Without auto switch (built-in magnet)

—

Type


Specialfunction

Electricalentry

Indicatorlight

Wiring (output)

Perpendicular



loadsIn-line

0.5(Nil)

3(L)DC AC

Sol

id s

tate

Grommet Yes

3 wire (NPN)

3 wire (PNP)

24V

F9NV F9N

Relay,PLC

—

2 wire 12V

F9PV F9P

5(Z)

—

—

F9BV F9B

— F9BA

—

—

Water

resistant(2 color

indicator)

—

Type


Specialfunction

Electricalentry

Indicatorlight

Wiring(output)

Perpendicular


Lead wire length (m)∗

ApplicableloadsIn-line

0.5(Nil)

3(L)DC AC

Sol

id s

tate

Grommet Yes

3 wire(NPN)

3 wire(PNP)

24V

F9NV F9N

Relay,PLC—

2 wire 12V

F9PV F9P

5(Z)

—

—

F9BV F9B

— F9BA

—

—

Water

resistant(2 color

indicator)

Total of 2 pcs.→Nil

Total of 4 pcs.→Enter "4"

Note) ø16, ø20 and ø25 are not available with dust cover.

Note) ø16, ø20 and ø25 are not available with center pusher.

Note) Symbol entry examples when mounting auto switches on air gripper with cylinder type center pusher

1. Air gripper unit ..........1 pc.Center pusher unit ....1 pc.MHSH3-32DA-F9N

2. Air gripper unit ......... 2 pcs.Center pusher unit ... 2 pcs.MHSH3-32DA-F9N4

∗ Lead wire length symbols: 0.5m ..… Nil (Example) F9B3m…..… L (Example) F9BL5m…..… Z (Example) F9BZ


∗ Lead wire length symbols: 0.5m ..… Nil (Example) F9B3m .....… L (Example) F9BL5m .....… Z (Example) F9BZ

D-F9BA is available only as "L".∗ Auto switches marked with a "" symbol are produced upon receipt of order.Note 1) Take note of hysteresis with 2 color indication type switches.Note 2) Refer to pages 53 through 65 for detailed auto switch specifications.Note 3) Auto switches for center pusher assembly are available only on the cylinder type.

5V,12V

5V,12V

Through Hole

Series MHSH3ø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80

3 FingerAir Gripper

Parallel Type

23


Model


Fluid



Repeatability mm

Maximum operating frequency c.p.m.

Lubrication

Action

Through hole diameter mm

Opening/closing stroke (dia.) mm

Weight g

MHSH3-32D

32

62

77

ø6H10

8

410

MHSH3-40D

40

97

118

ø10H10

8

570

MHSH3-50D

50

155

187

ø12H10

12

970

MHSH3-63D

63

280

329

ø16H10

16

1,650

Air

0.1 to 0.6

–10 to 60

±0.01

60

Non-lube

Double acting

MHSH3-16D

16

9

15

ø3H10

4

90

MHSH3-20D

20

120

21

26

ø3H10

4

140

MHSH3-25D

25

36

45

ø4H10

6

220

0.2 to 0.6

Externalgripping forceInternalgripping force

MHSH3-80D

80

30

400

490

ø20H10

20

2,920

+0.040 0

+0.040 0

+0.048 0

+0.048 0

+0.058 0

+0.070 0

+0.070 0

+0.084 0

Model

Pusher cylinder bore size mm

Fluid



Pusher maximum operating frequency c.p.m.

Lubrication

Action

Pusher stroke mm

Pusher thrust N at pressure of

0.5MPa

Weight g

MHSH3-40DA

20

MHSH3-50DA

25

MHSH3-63DA

32

Air

0.1 to 0.6

–10 to 60

Non-lube

Double acting

MHSH3-80DA

40

MHSH3-32DA

12

Extension

0.2 to 0.6

5

45

530

5

130

770

10

204

1,330

10

335

2,300

15

524

4,000

Center pusher (cylinder type) specifications

Air gripper specifications

Model

Pusher stroke mm

Pusher spring force N

Weight g

MHSH3-40DB

5

11 to 15

740

MHSH3-50DB

10

20 to 25

1,290

MHSH3-63DB

10

29 to 34

2,250

MHSH3-80DB

15

49 to 59

4,000

MHSH3-32DB

5

6 to 10

500

Center pusher (spring type) specifications

Through hole with dust coverMHSHJ3-D

Center pusher (spring type) with dust coverMHSHJ3-DB

Center pusher (cylinder type) with dust coverMHSHJ3-DA

ø40

600

800

770

ø50

1,020

1,380

1,340

ø63

1,710

2,360

2,310

ø80

3,040

4,120

4,120

ø32

430

550

520

Weights

60 30

Note 1) Values for ø16 to ø25 are with gripping point L = 20mm, for ø32 to ø63 with gripping point L = 30mm, and for ø80 with gripping point L = 50mm. Refer to the "Effective Gripping Force" data on pages 27 through 29 for the gripping force at each gripping position.

Note 1)Effective gripping force N at pressure of 0.5MPa

Without center pusher Center pusher/cylinder type Center pusher/spring type

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

24

3 Finger Air Gripper Series MHSH3

Construction

No.

1

2

3456789101112

Description

Body

Piston

Cam (A)

Finger

Cap (A)

End plate (A)

Tube

Guide

Rubber magnet


Parallel pin

C type snap ring

Material

Aluminum alloy

ø16 to ø25: Stainless steel

ø32 to ø80: Aluminum alloy

Carbon steel

Carbon steel

Aluminum alloy

Stainless steel

Stainless steel

Aluminum alloy

Synthetic rubber

Carbon steel

Stainless steel

Carbon steel

Note

Hard anodized

Hard anodized



Hard anodized

Hard anodized

Nickel plated

Nickel plated

No.

131415161718

Description

Gasket

Gasket

Gasket

Piston seal

Rod seal

Rod seal

Material

NBR

NBR

NBR

NBR

NBR

NBR

Note

Parts list


MHSH3-32D

MHSHJ3-32D

MHSH3-40D

MHSHJ3-40D

MHSH3-50D

MHSHJ3-50D

MHSH3-80D

MHSHJ3-80DContents

A set of the aboveNos. 13, 14, 15, 16, 17 & 18

MHSH3-16D MHSH3-20D MHSH3-25D

MHSH16-PS MHSH20-PS MHSH25-PS MHSH32-PS MHSH40-PS MHSH50-PS MHSH63-PS

MHSH3-63D

MHSHJ3-63D

MHSH80-PS

∗ Seal kits are sets consisting of items 13, 14, 15, 16, 17 and 18, which can be ordered using the kit number for each cylinder bore size.

19

Replacement parts/Dust cover (A)Part number

MHSH3-32D

MHSHJ3-32D

MHSH3-40D

MHSHJ3-40D

MHSH3-50D

MHSHJ3-50D

MHSH3-80D

MHSHJ3-80D

DescriptionNo. Material MHSH3-63D

MHSHJ3-63D

Note) CR: Chloroprene rubber, FKM: Fluoro rubber, Si: Silicon rubber

Dust cover (A)

CR Note)

FKM Note)

Si Note)

MHSHJ3-J32

MHSHJ3-J32F

MHSHJ3-J32S

MHSHJ3-J40

MHSHJ3-J40F

MHSHJ3-J40S

MHSHJ3-J50

MHSHJ3-J50F

MHSHJ3-J50S

MHSHJ3-J63

MHSHJ3-J63F

MHSHJ3-J63S

MHSHJ3-J80

MHSHJ3-J80F

MHSHJ3-J80S

ø16 to ø25 Closed condition

ø32 to ø80 Open condition

Open condition

Series MHSH3

25

Construction

Center pusher/cylinder type

Center pusher/spring type

No.

12345678910111213

Description

Push holder (P)

Piston (P)

Rod holder

Bumper

Push rod (P)

Rubber magnet


C type snap ring

Steel ball

Gasket

Gasket

Piston seal

Rod seal

Material

Aluminum alloy

Aluminum alloy

Aluminum alloy

Urethane rubber

Stainless steel

Synthetic rubber

Carbon steel

Carbon steel

Stainless steel

NBR

NBR

NBR

NBR

Note

Hard anodized

Hard anodized

Hard anodized

Hard chromed

Nickel plated

Nickel plated

No.

12345678

Description

Push holder (S)

Cap (S)

Spring holder

Spring

Push rod (S)



C type snap ring

Material

Aluminum alloy

Stainless steel

Stainless steel

Stainless steel

Stainless steel

Carbon steel

Carbon steel

Carbon steel

Note

Hard anodized

Hard chromed

Nickel plated

Nickel plated

Nickel plated

Replacement parts/Seal kits (center pusher/cylinder type)

Parts list

Kit number

MHSH3-A63A MHSH3-A80AContents

A set of the above Nos. 10, 11, 12 & 13

MHSH3-A32A MHSH3-A40A MHSH3-A50A

Construction

MHSH32A-PS MHSH40A-PS MHSH50A-PS MHSH63A-PS MHSH80A-PS

Parts list


Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

26


MHSH3-16D MHSH3-16D

0.3MPa0.3MPa

0.2MPa0.2MPa

55 10 15 20 25 30 10 20 25 30


15

25

20

15

15

10

5

10

5

00

Grip

ping

forc

e N

Grip

ping

forc

e N

0.4MPa0.4MPa

0.5MPa

0.5MPa

MHSH3-20D MHSH3-20D

0.3MPa0.3MPa

0.2MPa0.2MPa

55 20 25 30 3510 15 10 15 20 25 30 35


40

35

35

30

25

20

15

10

5

30

25

20

15

10

5

00

Grip

ping

forc

e N

Grip

ping

forc

e N

0.4MPa0.4MPa

0.5MPa0.5MPa

MHSH3-25D MHSH3-25D

0.3MPa0.3MPa

0.2MPa0.2MPa

1010 20 30 40 50 20 30 40 50


7070

60

50

40

30

20

10

60

50

40

30

20

10

00

Grip

ping

forc

e N

Grip

ping

forc

e N

0.4MPa

0.4MPa

0.5MPa

0.5MPa

F

F

F

F

F

F

External gripping

Internal gripping

Gripping Point





L L






Pressure 0.6MPa

Pressure 0.6MPa


Pressure 0.6MPa

Pressure 0.6MPa

Series MHSH3

27

MHSH3-32D MHSH3-32D

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

1010 20 30 40 50 20 30 40 50


0.1MPa0.1MPa 20

40

60

80

100

100

80

60

40

20

120

00

Grip

ping

forc

e N

Grip

ping

forc

e N

MHSH3-40D MHSH3-40D

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

1010 20 30 5040 20 30 40 50


0.1MPa0.1MPa

00

Grip

ping

forc

e N

Grip

ping

forc

e N

200

160

160

120

80

40

120

80

40

MHSH3-50D MHSH3-50D

0.5MPa0.5MPa

0.4MPa

0.4MPa0.3MPa0.3MPa

0.2MPa0.2MPa

1010 20 30 40 50 60 70 20 30 40 50 60 70


0.1MPa0.1MPa

00

Grip

ping

forc

e N

Grip

ping

forc

e N

350

300

250

250

200

150

100

50

200

150

100

50

MHSH3-63D MHSH3-63D

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

2020 40 60 80 100 40 60 80 100


0.1MPa0.1MPa

00

Grip

ping

forc

e N

Grip

ping

forc

e N

500

400

400

300

200

100

300

200

100



F

F

F

F

F

F

External gripping

Internal gripping



Pressure 0.6 MPaPressure 0.6MPa

Pressure 0.6 MPaPressure 0.6MPa



Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

28


MHSH3-32DA MHSH3-32DB


PBPA

PA PB

Pusher stroke mmSupply pressure MPa

Supply pressure MPa Pusher stroke mm

0

00 0.1 0.2 0.3 0.4 0.5 0.6 1 2 3 4 5 6

1 2 3 4 5 6

Spr

ing

forc

e N

Pus

her

thru

st N

Pus

her

thru

st N

Spr

ing

forc

e N

1160

50

40

30

20

10

0 0.1 0.2 0.3 0.4 0.5 0.6

10

9

8

7

6

16180

150

120

90

60

30

15

14

13

12

11

Cylinder type (Note1) Spring type

Effective Thrust of Center Pusher

PA

PB

PA: Pusher thrust

PB: Spring force

MHSH3-80D MHSH3-80D

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

2020 40 60 80 40 60 80


0.1MPa0.1MPa

00

Grip

ping

forc

e N

Grip

ping

forc

e N

700

600

600

500

400

300

200

100

500

400

300

200

100



F

F

F

F

F

F

External gripping

Internal gripping




Note1) The thrust of the cylinder type is on extension of the push rod.

Series MHSH3

29



PA

PA

PB

PB

Supply pressure MPa

Supply pressure MPa

Pusher stroke mm

Pusher stroke mm

00 0.1 0.2 0.3 0.4 0.5 0.6

00 0.1 0.2 0.3 0.4 0.5 0.6 2 4 6 8 10 12

2 4 6 8 10 12

Pus

her

thru

st N

Pus

her

thru

st N

Spr

ing

forc

e N

Spr

ing

forc

e N

300

250

200

600

500

400

300

200

100

150

50

100

25

24

34

33

32

31

30

29

23

22

21

20

Cylinder type (Note1) Spring type

Effective Thrust of Center Pusher

PA

PB

PA: Pusher thrust

PB: Spring force


PB

PA

Supply pressure MPa Pusher stroke mm

Pus

her

thru

st N

Spr

ing

forc

e N

59900

750

600

450

300

150

57

55

53

51

49

00 0.1 0.2 0.3 0.4 0.5 0.6 3 6 9 12 15 18

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Note1) The thrust of the cylinder type is on extension of the push rod.

30


ø4 ø4 ø4

5

5

5

6

6.53

33

55

20°

20° 20°

90° 90°

20°

20° 20°

MHSH3-16D MHSH3-20D MHSH3-25D

MHSH3-16D to 25D

ModelMHSH3-16DMHSH3-20DMHSH3-25D

AA464955

ModelMHSH3-16DMHSH3-20DMHSH3-25D

AC778

AD 10.512 13

BB30.536.542.5

BA303642

BD272832

BC344047

AE 28.530 34

CA7 7 7.5

CB14 14 17.5

DC 17.520 23.5

DO 19.522 26.5

FX121518

EC 7.58 9.5

EO 9.510 12.5

G323438

I455

J101214

NB5h96h96h9

0-0.030 0-0.030 0-0.030

K456

NA 81012

O2 2.53

R242934

SB6 6.5 6.5

TB566

Q678

WA17H921H926H9

+0.043 0+0.052 0+0.052 0

ZA3H103H104H10

+0.040 0+0.040 0+0.048 0

(mm)


PM3 x 0.5M5 x 0.8M5 x 0.8

Dimensions


3-ø3.2, counter bore dia. SB, counter bore depth 4P.C.D.R (mounting hole)

NA

AC AD AE

AA

øZA øWA, depth 1.5

BD

GI

NB 2

Q

K

O øB

A

øB

B

øB

C

J

(Ope

n D

O)

(Clo

sed

DC

)

Ope

n E

OC

lose

d E

C2H

9+0

.025

0



CB CA

ø3H9 +0.025 0 , depth 3

FX

3-M4 x 0.7, thread depth 8P.C.D.R (mounting threads)

30°

20°

20°

Series MHSH3

31

MHSH3-32D to 80D

ModelMHSH3-32DMHSH3-40DMHSH3-50DMHSH3-63DMHSH3-80D

AA63668091

108

ModelMHSH3-32DMHSH3-40DMHSH3-50DMHSH3-63DMHSH3-80D

AC99

101215

AD 15.517.5

2126

31.5

BB 54.562.574.592.5

112.5

BA54627492

112

BD3637465057

BC627284

102125

AE 38.539.5

4953

61.5

CA 9.510.511.51314

CB191926.52831

DC31.536425163

DO35.540485973

EC11.515182331

EO15.519243141

FX2226324050

G43.54555.56172

I 679

1112

J2021242832

L2H93H94H96H98H9

+0.025 0 +0.025 0 +0.030 0 +0.030 0 +0.036 0

NB8h98h910h912h914h9

0-0.036 0-0.036 0-0.036 0-0.043 0-0.043

K99

101112

Q1112141720

SC77888

TB88101012

SB8 8

9.5 11 11

R4452637898

SA4.24.25.16.66.6

WA4H94H95H96H96H9

+0.030 0+0.030 0+0.030 0+0.030 0+0.030 0

34H942H952H965H982H9

+0.062 0+0.062 0+0.074 0+0.074 0+0.087 0

ZA 6H1010H1012H1016H1020H10

+0.048 0+0.058 0+0.070 0+0.070 0+0.084 0

UB1010121616

VB44566

WB222

2.53

88

101212

ZB 7.4

11.413.417.421.4

ZC99

101215

(mm)


PM5 x 0.8M5 x 0.8M5 x 0.8M5 x 0.8Rc 1/8

UAM5 x 0.8M5 x 0.8M6 x 1

M8 x 1.25 M8 x 1.25

YAM4 x 0.7M4 x 0.7M5 x 0.8M6 x 1 M6 x 1

TAM4 x 0.7M4 x 0.7M5 x 0.8M5 x 0.8M6 x 1

VA

M22234

NA1416182428

O4.54.555.56

6-TA, thread depth TB

3-ø SA, counter bore dia. SB, counter bore depth SCP.C.D.R (mounting hole)

NA

NB

ZC

Q

øB

A

øB

B

øB

C

O

J

KL

øZ

B

(Ope

n D

O)

(Clo

sed

DC

)

Ope

n EO

Clos

ed E

C

I

AD AEAC

M G

BD

CB CA



3-UA, thread depth UBP.C.D.R


øVA, depth VB

øWA, depth WBøZA

30°

20°

20°

7

10

11

7

7.5

5

5

5

5

53

3

3

335

5

5

55

20°

20° 20°

20° 20°

20°

20° 20°

20° 20°

90°

90°

90°

90° 90°

MHSH3-32D

MHSH3-63D MHSH3-80D

MHSH3-40D MHSH3-50D

AA

FX

ø4ø4

ø4

ø4

ø4

YB

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

32


MHSH3-32DA to 80DA

Center pusher auto switch mounting groove positions (2 locations)

Dimensions: Center Pusher/Cylinder Type

ZH, thread depth ZI

øZ

D

6.3

5.7

10.2

11.2 8.2

7.2

8.8

5.8

2.7

3.3

øB

E

3-ø

UE

øB

Fø

BG

ZE

ZJ

AH

12

18 21

12

16

ø4

ø4 ø4

ø4ø4

5

6 6

33

5

6

3

3

3

Pusher extended ZFPusher retracted ZG

3-UC

Thread depth UD M5 x 0.8(pusher retraction port)

M5 x 0.8(pusher extension port)

AG(AF)

CC CCFX

øVA, depth VB

MHSH3-32DA

MHSH3-63DA MHSH3-80DA

MHSH3-40DA MHSH3-50DA

Note) For dimensions, refer to the MHSH3-32 to 80D dimensions on page 32.

ModelMHSH3-32DAMHSH3-40DAMHSH3-50DAMHSH3-63DAMHSH3-80DA

AF3536444858

AG2627333545

AH 912151820

AJ 9 9111313

CC 9.5 13.5 17.5 20 25

BG 53.5 61.5 73.5 91.5 111.5

BE3038485868

FX2226324050

UD1010121616

UE5.55.56.68.68.6

VB44566

ZE 5 8101417

ZF2021283241

ZG1516182226

ZI 610121620

ZJ3.54.55 7 8

BF32h940h950h960h970h9

0-0.062 0-0.062 0-0.062 0-0.074 0-0.074

VA4H94H95H96H96H9

+0.030 0+0.030 0+0.030 0+0.030 0+0.030 0

ZD 610121620

(mm)

UCM5 x 0.8M5 x 0.8M6 x 1

M8 x 1.25 M8 x 1.25

ZH M3 x 0.5 M5 x 0.8 M6 x 1

M8 x 1.25 M10 x 1.5

AJ

Series MHSH3

33

Note) For dimensions, refer to the MHSH3-32 to 80D dimensions on page 32.

MHSH3-32DB to 80DB

Dimensions: Center Pusher/Spring Type

ZH, thread depth ZI

Pusher extended ZFPusher retracted ZG

øZ

D

øB

E

3-ø

UE

øB

Fø

BG

øB

F

øB

G

ZE

ZJ

3-UC

Thread depth UD

AH

AG(AF)

AH

AF

MHSH3-32DB, 40DB

FX

øVA, depth VB

øWC, depth WD

ModelMHSH3-32DBMHSH3-40DBMHSH3-50DBMHSH3-63DBMHSH3-80DB

ZJ3.54.5578

ZHM3 x 0.5M5 x 0.8M6 x 1

M8 x 1.25 M10 x 1.5

ZI 610121620

ModelMHSH3-32DBMHSH3-40DBMHSH3-50DBMHSH3-63DBMHSH3-80DB

AF1821303548

AG——192235

AH 912151820

AJ 9 9111313

BG 53.5 61.5 73.5 91.5111.5

BE——485868

FX2226324050

UD1010121616

UE5.55.56.68.68.6

VB44566

ZE 5 8101417

ZF2021283241

ZG1516182226

BF32h940h950h960h970h9

0-0.062 0-0.062 0-0.062 0-0.074 0-0.074

VA4H94H95H96H96H9

+0.030 0+0.030 0+0.030 0+0.030 0+0.030 0

ZD 610121620

(mm)

UCM5 x 0.8M5 x 0.8M6 x 1

M8 x 1.25 M8 x 1.25

WC2024324252

+0.1 0+0.1 0+0.1 0+0.1 0+0.1 0

WD1.51.51.52 2

AJ

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

34


MHSHJ3-32D to 80D

ModelMHSHJ3-32DMHSHJ3-40DMHSHJ3-50DMHSHJ3-63DMHSHJ3-80D

AA63668091

108

AC33345

AD2426313746

B 54627492

112

AI5457707993

CB191926.52831

CA 9.510.511.51314

AE3637465057

DC31.536425163

DO35.540485973

EC11.515182331

EO15.519243141

FX2226324050

HA7686

103125158

HB657588

106130

J2021242832

L2H93H94H96H98H9

+0.025 0+0.025 0+0.030 0+0.030 0+0.036 0

K99

101112

M22234

NB8h98h9

10h912h914h9

0-0.036 0-0.036 0-0.036 0-0.043 0-0.043

Dimensions: Through Hole with Dust Cover

(mm)


SD

SD

NB

3-øSA, counter bore dia. SB, counter bore depth SC (See section SD - SD)P.C.D.R (mounting hole)

Q J

KL

O

øH

A

øB

(Ope

n D

O)

(Clo

sed

DC

)

Open

EO

Clos

ed E

C

M

AC AD AE

AA

CB CA



øZA

FX

øWA, depth WB

øVA, depth VB



20°

20°

Section SD - SD

(Cou

nter

bor

e de

pth

SC

)


AI

(3-øSA)

øHB


MHSHJ3-32D

MHSHJ3-63D MHSHJ3-80D

MHSHJ3-40D MHSHJ3-50D

20° 20° 20° 20° 20° 20°

20° 20° 20° 20°

90° 90° 90°

90°

90°

7

7

7.5

5

5

11 5

10 5

5

53

55

3

5

353

3

ø4ø4

ø4

ø4ø4

ModelMHSHJ3-32DMHSHJ3-40DMHSHJ3-50DMHSHJ3-63DMHSHJ3-80D

R4452637898

Q1112141720

O4.54.55 5.56

SA4.24.25.16.66.6

SC77888

TB 8 8101012

UB1010121616

VB44566

WB2 2 2 2.53

YB 8 8101212

TAM4 x 0.7M4 x 0.7M5 x 0.8M5 x 0.8M6 x 1

PM5 x 0.8M5 x 0.8M5 x 0.8M5 x 0.8Rc 1/8

SB8 8

9.511 11

UAM5 x 0.8M5 x 0.8M6 x 1

M8 x 1.25 M8 x 1.25

YAM4 x 0.7M4 x 0.7M5 x 0.8M6 x 1 M6 x 1

VA WA4H94H95H96H96H9

+0.030 0+0.030 0+0.030 0+0.030 0+0.030 0

34H942H952H965H982H9

+0.062 0+0.062 0+0.074 0+0.074 0+0.087 0

ZA6H1010H1012H1016H1020H10

+0.048 0+0.058 0+0.070 0+0.070 0+0.084 0

Series MHSH3

35

MHSHJ3-32DA to 80DA

Dimensions: Center Pusher/Cylinder Type with Dust Cover

ZH, thread depth ZIPusher extended ZFPusher retracted ZG

øZ

D

øB

Eø

BF

øB

G

ZE

ZJ

3-UC Thread depth UD

AH

AG(AF)

M5 x 0.8(pusher retraction port)

M5 x 0.8(pusher extension port)

FXCC CC

øVA, depth VB

Note) For dimensions, refer to the MHSHJ3-32 to 80D dimensions on page 35.For auto switch mounting groove dimensions for the center pusher, refer to MHSH3-32 to 80DA on page 33.

ModelMHSHJ3-32DAMHSHJ3-40DAMHSHJ3-50DAMHSHJ3-63DAMHSHJ3-80DA

AF3536444858

AG2627333545

AH 912151820

AJ 9 9111313

BG 53.5 61.5 73.5 91.5111.5

CC 9.513.517.520 25

BE3038485868

FX2226324050

UD1010121616

VB44566

ZE 5 8101417

ZF1415212431

ZG 910111416

ZII 610121620

ZJ3.54.55 7 8

BF32h940h950h960h970h9

0-0.062 0-0.062 0-0.062 0-0.074 0-0.074

VA4H94H95H96H96H9

+0.030 0+0.030 0+0.030 0+0.030 0+0.030 0

ZD 610121620

(mm)

UCM5 x 0.8M5 x 0.8M6 x 1

M8 x 1.25 M8 x 1.25

ZHM3 x 0.5M5 x 0.8M6 x 1

M8 x 1.25M10 x 1.5

AJ

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

36


MHSHJ3-32DB to 80DB

Dimensions: Center Pusher/Spring Type with Dust Cover

ZH, thread depth ZI Pusher extended ZFPusher retracted ZG

øZ

D

øB

E

3-ø

UE

øB

F

øB

F

øB

Gø

BG

ZE

ZJ

3-UC

Thread depth UD

AH

AG(AF)

FX

øVA, depth VB

øWC, depth WD

AH

AF

MHSHJ3-32DB, 40DB

Note) For dimensions, refer to the MHSHJ3-32 to 80D dimensions on page 35.

AJ

ModelMHSHJ3-32DBMHSHJ3-40DBMHSHJ3-50DBMHSHJ3-63DBMHSHJ3-80DB

AF1821303548

AG——192235

AH 912151820

AJ 9 9111313

BG 53.5 61.5 73.5 91.5111.5

BE——485868

FX2226324050

UD1010121616

UE5.55.56.68.68.6

VB44566

ZE 5 8101417

WD1.51.51.52 2

ZF1415212431

BF32h940h950h960h970h9

0-0.0620

-0.0620

-0.0620

-0.0740

-0.074

VA4H94H95H96H96H9

+0.030 0+0.030 0+0.030 0+0.030 0+0.030 0

ZD 610121620

WC2024324252

+0.1 0+0.1 0+0.1 0+0.1 0+0.1 0

(mm)

UCM5 x 0.8M5 x 0.8M6 x 1 M8 x 1.25 M8 x 1.25

ModelMHSHJ3-32DBMHSHJ3-40DBMHSHJ3-50DBMHSHJ3-63DBMHSHJ3-80DB

ZII 610121620

ZG 910111416

ZJ3.54.55 7 8

ZHM3 x 0.5M5 x 0.8M6 x 1

M8 x 1.25M10 x 1.5

Series MHSH3

37

D Double acting

D Double acting

Symbol

NilSn

2 pcs.1 pc

"n" pcs.



16mm20mm25mm

NilS

2 pcs.1 pc.


Action

Auto switch type


Cylinder bore size

32 40 50 63 80100125

32mm 40mm 50mm 63mm 80mm100mm125mm


Action

MHSL 3 D20ø16 to ø25 F9N

MHSL 3 D50ø32 to ø125 Y59A

How to Order

Nil Without auto switch (bulit-in magnet)

Auto switch type Nil Without auto switch (built-in magnet)

—

Type


Specialfunction

Electricalentry

Indicatorlight

Wiring(output)

Perpendicular



loadsIn-line

0.5(Nil)

3(L)DC AC

Sol

id s

tate

Grommet Yes

3 wire(NPN)

3 wire(PNP)

24V

F9NV F9N

Relay,PLC

—

2 wire 12V

F9PV F9P

5(Z)

—

—

F9BV F9B

— F9BA

—

—

Water

resistant(2 color indicator)

—

Type


Electricalentry

Indicatorlight



Sol

id s

tate

Grommet Yes



2 wire

24V

5V, 12VY69AY7PVY69B

Y59AY7PY59B

Relay,PLC—5V, 12V

12V

12V

Y7NWV

Y7BWV

Y7NWY7PWV Y7PW

Y7BW

— Y7BA

—

5 (Z)

ICcircuit

ICcircuit

—

—


indicator)Water

resistant(2 color

indicator)

Cylinder Bore Size

Cylinder Bore Size

∗ Lead wire length symbols: 0.5m..… Nil (Example) F9B3m…..…L (Example) F9BL5m…..…Z (Example) F9BZ


∗ Lead wire length symbols: 0.5m ..… Nil (Example) Y59B3m …..… L (Example) Y59BL5m …..… Z (Example) Y59BZ


Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

5V,12V

Series MHSL3ø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80, ø100, ø125

3 FingerAir Gripper

Parallel Type

38




Model


Fluid



Repeatability mm


Lubrication

Action

Effective gripping forceN at pressure of 0.5MPa

Opening/closing stroke mm (diameter)

Weight g

MHSL3-32D

32

74

82

16

370

MHSL3-40D

40

118

130

20

550

MHSL3-50D

50

187

204

28

930

MHSL3-63D

63

335

359

32

1,550

Air

0.1 to 0.6

-10 to 60

±0.01

60

Non-lube

Double acting

Construction

No.

1234567

Description

Body

Piston

Cam

Finger

Cap

End plate

Piston bolt

Material

Aluminum alloy

Aluminum alloy

Carbon steel

Carbon steel

Aluminum alloy

Stainless steel

Stainless steel

Note

Hard anodized

Hard anodized



Hard anodized

Parts listNo.

8910111213

Description

Rubber magnet

C type snap ring

Piston seal

Rod seal

Gasket

Gasket

Material

Synthetic rubber

Carbon steel

NBR

NBR

NBR

NBR

Note

Nickel plated

Replacement parts/Seal kitsKit Number

MHSL3-32D MHSL3-40D MHSL3-50D MHSL3-63DContents


MHSL3-16D

16

14

16

10

80

MHSL3-20D

20

120

25

28

10

135

MHSL3-25D

25

42

47

12

180

MHSL3-80D

80

500

525

40

2,850

MHSL3-100D

100

30

750

780

48

5,500

MHSL3-125D

125

1,270

1,320

64

11,300

0.2 to 0.6

MHSL3-16D MHSL3-20D MHSL3-25D MHSL3-125DMHSL3-80D MHSL3-100D

External gripping forceInternalgripping force

MHSL16-PS MHSL20-PS MHSL25-PS MHSL32-PS MHSL40-PS MHSL50-PS MHSL63-PS MHSL80-PS MHSL100-PS MHSL125-PS

Note 1)



Series MHSL3

39

Gripping Point


MHSL3-16D MHSL3-16D

0.3MPa 0.3MPa

0.2MPa 0.2MPa

5 510 1020 2025 2530 3015 15

20 20

15 15

10 10

5 5

0 0

25 25

MHSL3-20D MHSL3-20D

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

10 1015 1520 2030 3035 355 525 25

30

3025

2520

2015

15

0 0

35

35

40

1010

5 5

MHSL3-25D MHSL3-25D

Pressure 0.6MPa

0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

10 1020 2030 3040 4050 50

4040

30 30

20 20

10 10

0 0

6060

70

5050

0.4MPa0.4MPa

0.5MPa0.5MPa

F

F F

External gripping

Internal gripping

F

FF

L L

Gripping point• The work piece gripping point distance should be within the gripping force ranges given for each pressure in the effective gripping force graphs below.


Effective Gripping Force• Expressing the effective gripping force

The effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger when all 3 of the fingers and attachments are in full contact with the work piece as shown in the figure below.


Gripping point



Pressure 0.6MPa

Grip

ping

forc

e N


Grip

ping

forc

e N



Grip

ping

forc

e N

Grip

ping

forc

e N

Grip

ping

forc

e N

Grip

ping

forc

e N

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Pressure 0.6MPa


Pressure 0.6MPa

40

3 Finger Air Gripper Series MHSL3

MHSL3-32D MHSL3-32D

MHSL3-40D MHSL3-40D

MHSL3-50D MHSL3-50D

MHSL3-63D MHSL3-63D

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

10 1020 2030 3040 4050 50

0.1MPa 0.1MPa

160 160

120 120

80 80

40 40

0 0

200 200

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

20 2040 4060 6080 80100 100

0.1MPa 0.1MPa

400 400

300 300

200 200

100 100

0 0

500 500

Pressure 0.6MPa

0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

10 1020 2030 3040 4050 50

0.1MPa 0.1MPa

8080

6060

40 40

20 20

0 0

100

100

120

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa0.2MPa

20 2030 3040 4060 6070 7010 1050 50

0.1MPa 0.1MPa

300 300

250 250

200 200

150 150

0 0

350 350

100 100

50 50

F

F F

F

FF




External gripping

Internal gripping



Grip

ping

forc

e N

Grip

ping

forc

e N


Grip

ping

forc

e N

Grip

ping

forc

e N


Grip

ping

forc

e N

Grip

ping

forc

e N


Grip

ping

forc

e N

Grip

ping

forc

e N

Pressure 0.6MPa

Pressure 0.6MPa

Pressure 0.6MPa

Pressure 0.6MPa

Series MHSL3

41

MHSL3-80D MHSL3-80D

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

20 2040 4060 6080 80

0.1MPa 0.1MPa

600

500

400

300

0 0

700 700

600

500

400

300

200

100

200

100

MHSL3-100D MHSL3-100D

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa

0.3MPa

0.2MPa0.2MPa

20 2040 4060 6080 80100 100

0.1MPa0.1MPa

800

600

400

200

0 0

1,000 1,000

800

600

400

200


Pressure 0.6MPa

0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

20 20100 10040 4060 60120 12080 80

0.1MPa 0.1MPa

1,200

1,000

800

600

0 0

1,400

400

200

1,6001,800 1,800

1,600

1,400

1,200

1,000

800

600

400

200



Grip

ping

forc

e N

Grip

ping

forc

e N


Grip

ping

forc

e N

Grip

ping

forc

e N


Grip

ping

forc

e N

Grip

ping

forc

e N

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Pressure 0.6MPa

Pressure 0.6MPa

Pressure 0.6MPa

42


MHSL3-16D to 25D

Dimensions

MHSL3-16DMHSL3-20DMHSL3-25D

AA43.546 49

MHSL3-16DMHSL3-20DMHSL3-25D

AB40.543 46

AD28 29 31.5

BC30.636.642.6

BB404552

CB14 14 16.5

BD121619

BA303642

DO23.526 30

DC18.521 24

EO13.514 16

EC 8.5

910

FX12.514.517

FY11 13 14.5

FZ335

G30.532 34.2

H7 8 7.8

14 4 4.5

NC577

O2 2.53

Q678

R252934

PM3 x 0.5M5 x 0.8M5 x 0.8

SA3.43.44.5

SB6.56.58

SC588

TB566

VB223

XB223

5h96h96h9

0-0.030 0-0.030 0-0.030

UAM3 x 0.5M3 x 0.5M4 x 0.7

(mm)

Mounting hole counter bore dimensions

J101214

K456

NA 81113

NB

2H92H93H9

+0.025 0+0.025 0+0.025 0

VA17H921H926H9

+0.043 0+0.052 0+0.052 0

WA2H92H93H9

+0.025 0+0.025 0+0.025 0

XA

QO

NB

øBC

øBB

NA

BD

3-UA thread depth 6P.C.D.R(mounting threads)

ø4 ø4

3

3 5

6.1Counter bore depth 5

7.1Counter bore depth 8

6 (6

.5)

533 °

4.554 °

36 °

48 °

MHSL3-16D MHSL3-20D, 25D MHSL3-16D

MHSL3-20D

CB 7

AB

(AA)

3

øB

A

2

G

AD

H

1

JK

2H9

+0.0

25 0

22.5°

20° 20°

øWA depth 1.5

øVA depth VB

FXFY

FZ

NC

XA depth XB

Dimensions inside ( ) are for ø25

6-M3 x 0.5, thread depth TB(attachment mounting threads)

3-øSA, counter bore dia. SB,counter bore depth SCP.C.D.R (mounting hole)



Ope

n E

OC

lose

d E

C

(Ope

n D

O)

(Clo

sed

DC

)


Model

Model

Note) The counter bore configuration differs only for the mounting hole section between the auto switch mounting grooves. (ø16 and ø20 only)

Series MHSL3

43

MHSL3-32D to 80D

ModelMHSL3-32DMHSL3-40DMHSL3-50DMHSL3-63DMHSL3-80D

M22234


AA 58 64 77.5 89

116

AB 55 61 74.5 85

111

AC33345

AD35.538.546.551 70

CA 8 9 91214

BC 52.6 62.6 70.6 86.6

106.6

BD2430324050

DO42 47.560 70 80.5

CB20 22 29 30.537.5

BA 52 62 70 86106

BB 72 82104120140

DC34 37.546 54 60.5

EO22 26.536 42 48.5

EC14 16.522 26 28.5

FX22 26.531 38 47.5

FY19.523.528 34.543.5

FZ56678

G39.642.551.358.578.5

8h98h9

10h912h914h9

0–0.036 0–0.036 0–0.036 0–0.043 0–0.043

H10.413.517.719.523.5

J2021242832

K 9 9101112

1 5 7 81011

NA1618202630

O4.54.55 5.56

Q1112141720

R4453627695

PM5 x 0.8M5 x 0.8M5 x 0.8M5 x 0.8Rc 1/8

SA4.55.55.56.66.6

TAM4 x 0.7M4 x 0.7M5 x 0.8M5 x 0.8M6 x 1

UAM4 x 0.7M5 x 0.8M5 x 0.8M6 x 1 M6 x 1

SB8

9.5 9.511 11

SC8

9.5 9.517 23

NB TB 8 8101012

UB 610101212

3H94H94H95H96H9

+0.025 0+0.030 0+0.030 0+0.030 0+0.030 0

VA VB34456

(mm)

NC1010121416


WB2 2 2 2.53

3H94H94H95H96H9

+0.025 0+0.030 0+0.030 0+0.030 0+0.030 0

Y6 8 7 7.59

XA XB34456

Auto switch mounting groove positions

QO

NB

øBB

øBC

NA

BD

AB(AA)

AC

øB

A

M

GAD

HNCI

J

KL

CB CA

22.5°

20° 20°

FYFZ

FX

øWA depth WB

XA depth XB

øVA depth VB

6.4 5

40°

10°

40°

10°

Y

8.3 counter bore depth 8

(2 positions) R

7

2H93H94H96H98H9

+0.025 0+0.025 0+0.030 0+0.036 0+0.036 0

L

34H942H952H965H982H9

+0.062 0+0.062 0+0.074 0+0.074 0+0.087 0

WA


P (finger closing port) 3-øSA, counter bore dia. SB, counter bore depth SC

P.C.D.R (mounting hole)

6-TA thread depth TBAttachment mounting threads

Open

EO

Clos

ed E

C

(Ope

n D

O)

(Clo

sed

DC

)

3-UA depth UBP.C.D.R (mounting threads)


Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Mounting hole counter bore dimensionsMHSL3-32D

Note) The counter bore configuration differs only for themounting hole section between the auto switch mounting grooves. (ø32 only)

44


MHSL3-100D, 125D

ModelMHSL3-100DMHSL3-125D

AA135175


AB129167

AC68

AD 78102

BD5666

BC134.6166.6

CB44.554

CA1824

BA134166

DC 79100

BB184234

DO103132

EO6580

EC4148

FX5974

FY5468

FZ1012

G 86112

L 8H910H9

+0.036 0+0.036 0

18h922h9

0-0.043 0-0.052

M46

NA3743

Q2331

R118148

SA 9 11

SB14 17.5

H3143

J3852

K1521

I1417

PRc 1/4Rc 3/8

NC2125

O 7.510.5

NB SC3132

TA M8 x 1.25M10 x 1.5

UA M8 x 1.25M10 x 1.5

TB1620

UB1620

8H910H9

+0.036 0+0.036 0

VA

(mm)


XA 8H910H9

+0.036 0+0.036 0

XB68


Dimensions

CB CA

QO

NB

øBB

øBC

NA

BD

AB

(AA)

AC

øB

A

M

GHADI

KL

J

FYFZ

FX

XA depth XB

22.5°

20° 20° øWA depth WBøVA depth VB

40°

10°

40°

10°

90°

56.4

10 5 13

56.4

12 7

15

40°

10°

40°

10°

90°

VB68

102H9 130H9

+0.087 0+0.100 0

WA WB46


6-TA thread depth TB(attachment mounting threads)



Ope

n EO

Clo

sed

EC

(Ope

n D

O)

(Clo

sed

DC

)

3-UA thread depth 6 UBP.C.D.R (mounting threads)

Series MHSL3

45

D Double acting

D Double acting

Symbol

NilS

2 pcs.1 pc



16mm20mm25mm

NilS

2 pcs.1 pc.


Action

Auto switch type


Cylinder bore size


Action


MHS 4 D50ø32 to ø63 Y59A

How to Order

Nil Without auto switch (bulit-in magnet)

Auto switch typeNil Without auto switch (built-in magnet)

—

Type


Specialfunction

Electricalentry

Indicatorlight

Wiring(output)

Perpendicular



loadsIn-line

0.5(Nil)

3(L)DC AC

Sol

id s

tate

Grommet Yes

3 wire(NPN)

3 wire(PNP)

24V

F9NV F9N

Relay,PLC

—

2 wire

5V,12V

F9PV F9P

5(Z)

—

—

F9BV F9B

— F9BA

—

—

Water

resistant(2 color

indicator)

—

Type


Electricalentry

Indicatorlight



Sol

id s

tate

Grommet Yes



2 wire

24V

5V, 12VY69AY7PVY69B

Y59AY7PY59B

Relay,PLC—5V, 12V

12V

12V

Y7NWV

Y7BWV

Y7NWY7PWV Y7PW

Y7BW

— Y7BA

—

5 (Z)

ICcircuit

ICcircuit

—

—


indicator)Water resistant

(2 color indicator)

Cylinder Bore Size

Cylinder Bore Size

32 40 50 63

32mm 40mm 50mm 63mm

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

∗ Lead wire length symbols: 0.5m ..... Nil (Example) F9B3m ........ L (Example) F9BL5m ........ Z (Example) F9BZ


∗ Lead wire length symbols: 0.5m ..… Nil (Example) Y59B3m…..… L (Example) Y59BL5m…..… Z (Example) Y59BZ


12V

Series MHS4ø16, ø20, ø25, ø32, ø40, ø50, ø63

4 FingerAir Gripper

Parallel Type

46


Model


Fluid



Repeatability mm


Lubrication

Action

Opening/closing stroke mm

Weight g

MHS4-32D

32

55

61

8

300

MHS4-40D

40

88

97

8

390

MHS4-50D

50

140

153

12

590

MHS4-63D

63

251

268

16

1,095

Air

0.1 to 0.6

–10 to 60

±0.01

60

Non-lube

Double acting

Construction

No.

1234567

Description

Body

Piston

Cam

Finger

Cap

End plate

Piston bolt

Material

Aluminum alloy

Aluminum alloy

Carbon steel

Carbon steel

Aluminum alloy

Stainless steel

Stainless steel

Note

Hard anodized

Hard anodized



Hard anodized

No.

8910111213

Description

Rubber magnet

C type snap ring

Piston seal

Rod seal

Gasket

Gasket

Material

Synthetic rubber

Carbon steel

NBR

NBR

NBR

NBR

Note

Nickel plated

Parts list


MHS4-32D MHS4-40D MHS4-50D MHS4-63DContents


MHS4-16D

16

10

12

4

66

MHS4-20D

20

120

19

21

4

110

MHS4-25D

25

31

35

6

154

0.2 to 0.6



Internal gripping force

MHS16-PS MHS20-PS MHS25-PS MHS32-PS MHS40-PS MHS50-PS MHS63-PSA set of the aboveNos. 10, 11, 12 and 13


Note 1)Effectivegripping force N at pressure of 0.5MPa

Note) Values for ø16 to ø25 are with gripping point L = 20mm, and for ø32 to ø63 with gripping point L = 30mm.Refer to the "Effective Gripping Force" data for the gripping force at each gripping position.

Series MHS4

47


Gripping Point





MHS4-16D MHS4-16D

5 510 1020 2025 2530 30


15 15

10

5

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

15

15

10

5

MHS4-20D MHS4-20D

10 1020 2030 3040 40


20 20

10 10

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

3030

MHS4-25D MHS4-25D

10 1020 2030 3040 40


3030

20 20

10 10

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

5050

4040

L


F

F

F

F

F

F

F

F

Pressure 0.6MPa

0.5MPa 0.5MPa

0.4MPa0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

Pressure 0.6MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

0.4MPa0.4MPa

0.5MPa0.5MPa

0.5MPa0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

• Expressing the effective gripping forceThe effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger when all four of the fingers and attachments are in full contact with the work piece as shown in the figure below. If only one of the two pairs of opposing fingers are used for gripping work pieces, while the other pair is used for another function such as positioning, the gripping force of the Series MHS4 will be the same as that of the Series MHS2.

L

External gripping

Internal gripping



Pressure 0.6MPa

Pressure 0.6MPa

Pressure 0.6MPa

Pressure 0.6MPa

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

48


MHS4-32D MHS4-32D

MHS4-40D MHS4-40D

MHS4-50D MHS4-50D

MHS4-63D MHS4-63D

10 1020 2030 3040 4050 50


100100

7575

50 50

25 25

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

125125

20 2040 4060 60


200 200

100 100

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

300 300

10 1020 2030 3040 4050 50


6060

4545

30 30

15 15

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

7575

20 2040 4060 60


150 150

100 100

0 0

Grip

ping

forc

e N

Grip

ping

forc

e N

200 200

50 50

0.5MPa0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

0.1MPa 0.1MPa

0.5MPa0.5MPa

0.4MPa0.4MPa

0.3MPa0.3MPa

0.2MPa 0.2MPa

0.1MPa 0.1MPa

0.5MPa 0.5MPa

0.4MPa 0.4MPa

0.3MPa0.3MPa

0.2MPa 0.2MPa

0.1MPa 0.1MPa

Pressure 0.6MPa

0.5MPa0.5MPa

0.4MPa 0.4MPa

0.3MPa 0.3MPa

0.2MPa 0.2MPa

0.1MPa 0.1MPa




F

F

F

F

F

F

F

F

• Expressing the effective gripping forceThe effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger when all four of the fingers and attachments are in full contact with the work piece as shown in the figure below. If only one of the two pairs of opposing fingers are used for gripping work pieces, while the other pair is used for another function such as positioning, the gripping force of the Series MHS4 will be the same as that of the Series MHS2.

External gripping

Internal gripping

Pressure 0.6MPa




Series MHS4

49

AB

AA

3

øB


CB 7


2

GI

Ope

n E

OC

lose

d E

C

J

K2H

9+0

.025

0

Q

(Open DO)(Closed DC)

O

NB

NA



RB

RA

20°

20°

øWA, depth 1.5

øVA depth VB

FXFYFZ

XA

, dep

th X

B

2-M4 x 0.7, thread depth 8(mounting threads)

RB

RA

3

4.5

33°

24°

ø4ø4

3

5

56

ø4

3

5

56.

5

33°

24°

33°

24°

MHS4-16D to 25D

Dimensions


AA353840


AB323537

B303642

DO374354

DC333948

EO171926

EC131520

CB111315

FX12.514.517

FY11 13 14.5

FZ335

G252728

I455

J101214

K456

NA 81012

NB5h96h96h9

0-0.030 0-0.030 0-0.030

O2 2.53

RA182426

RB161822

SC8

9.510

TB566

VA2H92H93H9

+0.025 0+0.025 0+0.025 0

VB223

WA17H921H926H9

+0.043 0+0.052 0+0.052 0

XA2H92H93H9

+0.025 0+0.025 0+0.025 0

XB223

(mm)


PM3 x 0.5M5 x 0.8M5 x 0.8

Q678


Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

50


AB

AA

3

øB


CB


2

GI

Ope

n E

O

Clo

sed

EC

J

9L

CA

Q

(Open DO)(Closed DC)

4.5

NA

2-øSA, counter bore dia. SB

Counter bore depth 9 (mounting hole)


RB

RA

20° 20°

øVA, depth VB

FXFYFZ

XA

, dep

th X

B

2-UA, thread depth UB(mounting threads)

RB

RA

øWA, depth 2

56.4

35° 35°

MHS4-32D, 40D



AA4447

AB4144

B5662

DO6874

DC6066

EO2832

EC2024

CA89

CB1617

FX23

26.5

FY20.523.5

FZ56

G 30.5

32

I67

J2021

L2H93H9

+0.025 0+0.025 0

3H94H9

+0.025 0+0.030 0

NA1416

RA3844

SA4.55.5

SB8 9.5

UAM5 x 0.8 M6 x 1

UB1012

VA VB34

34H942H9

+0.062 0+0.062 0

WA3H94H9

+0.025 0+0.030 0

XA XB34

(mm)

RB2528

8h9

0 -0.0

36

8

Q1112

Dimensions

Series MHS4

51


AA5566


AB5262

AC34

B7086

DO 86107

DC7491

EO3851

EC2635

CA 912

FY28 34.5

CB2022

FX3138

FZ67

G37.544

I 911

J2428

K1011

M23

L4H96H9

+0.030 0+0.030 0

O5 5.5

4H95H9

+0.030 0+0.030 0

VAQ1417

RB3438

SC1214

NA1824

NB10h912h9

0-0.036 0-0.043

VB45

52H965H9

+0.074 0+0.074 0

WA WB2 2.5

4H95H9

+0.030 0+0.030 0

XA XB45

(mm)

AB

AA

AC

øB


CB


M

GI

Ope

n E

OC

lose

d E

C

J

KL

CA

Q


O

NA

4-ø5.1, counter bore dia. 9.5

Counter bore depth SC (mounting hole)


RB

RAN

B

20°20°

øVA, depth VB

FXFYFZX

A, d

epth

XB

4-M6 x 1, thread depth 12 (mounting threads)

RB

RA

øWA, depth WB

56.4

35° 35°

MHS4-50D, 63D

YC

RA5266

YC7 7.5

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

52


Auto Switch Common Specifications

Lead Wire Length

Model

Operating time

Impact resistance

Insulation resistance

Withstand voltage

Ambient temperature

Enclosure

Solid state switch

1ms or less

1000m/s²

1000VAC for 1min.(between lead wire and case)

50MΩ or more at 500VDC (between lead wire and case)

–10 to 60°C

IEC529 standard IP67, JISC0920 watertight construction

Lead Wire Color Changes

D-F9PLead wire length

Lead wire length indication

(Example)

NilLZ

0.5m3m5m

L

D-F9PL-

Flexible specification

(Example) 61

Output (+)

Output (–)

Red

Old

Black

Brown

New

Blue

2 wire 3 wire

Power supply +

Power supply GND

Red

Old

Black

Brown

New

Blue

Output White Black

Power supply +

Power supply GND

Red

Old

Black

Brown

New

Blue

Solid state withdiagnostic output

Solid state with latch typediagnostic output

Output White Black

Diagnostic output Yellow Orange

Power supply +

Power supply GND

Red

Old

Black

Brown

New

Blue

Output White Black

Latch type diagnostic output Yellow Orange

The lead wire colors of SMC auto switches have been changed as shown below to satisfy IEC947-5-2 standards for production beginning September, 1996 and thereafter.Take special care regarding wire polarity during the time that old colors still coexist with the new colors.

Note1) Lead wire length Z: 5m applicable auto switchesSolid state: All models are produced upon receipt of order.

Note2) The standard lead wire length is 3 meters for water resistant 2 color indication solid state auto switches. (0.5m is not available.)

Note3) Enter – 61 after the lead wire length for flexible specification solid state switches.

Series MHSAuto Switch Common Specifications

53

Auto Switch Specifications

Auto Switch Weights

D-F9, D-F9V (with indicator light )

Auto switch part no.

Electrical entry direction

Wiring type

Output type

Applicable load

Power supply voltage

Current consumption

Load voltage

Load current

Internal voltage drop

Leakage voltage

Indicator light

D-F9NIn-line

D-F9NVPerpendicular

D-F9BVPerpendicular

D-F9PVPerpendicular

D-F9BIn-line

D-F9NV, D-F9PV,D-F9BV

2 wire

—

24VDC relay, PLC

—

—

24VDC (10 to 28VDC)

5 to 40mA

4V or less

0.8mA or less

Auto Switch Internal Circuits

D-F9N (V)

D-F9B (V)

D-F9P (V)

OUTBlack[White]

DC (+)Brown[Red]

DC (–)Blue[Black]

Mai

nsw

itch

circ

uit

DC (+)Brown[Red]

DC (–)Blue[Black]

OUTBlack[White]

Mai

nsw

itch

circ

uit

Mai

nsw

itch

circ

uit

OUT (+)Brown[Red]

OUT (–)Blue[Black]

NPN

D-F9PIn-line

28VDC or less

40mA or less

1.5V or less

(0.8V or less at 10mA load current)

Lead wire colors inside ( ) are those prior to conformity with IEC standards.

PNP

Grommet

3 wire

Model

Lead wire length 0.5m

Lead wire length 3m

D-F9N

7

37

D-F9P

7

37

D-F9B

6

31

D-F9NV

7

37

D-F9PV

7

37

D-F9BV

6

31

Unit: g

Auto Switch Dimensions

IC circuit, Relay, PLC

5, 12, 24VDC (4.5 to 28V)

10mA or less

80mA or less

0.8V or less

100µA or less at 24VDC

Red LED lights when ON

—

Lead wires — Oil proof heavy duty vinyl cable, ø2.7, 3 cores (Brown, Black, Blue [Red, White, Black]), 0.15mm², 2 cores (Brown, Blue [Red, Black]), 0.18mm², 0.5m

Note 1) Refer to page 53 for solid state switch common specifications.Note 2) Refer to page 53 for lead wire lengths.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

D-F9N, D-F9P,D-F9B

Solid State Switches/Direct Mount TypeD-F9N(V), D-F9P(V), D-F9B(V)

54


Improved water (coolant)resistant type

Indicator light/Display method

Grommet

Operating Precautions


Auto Switch Weights

Model

Lead wire length 3m

D-F9BAL

37

D-F9BAL

2 wire

—

24VDC relay, PLC

—

—

24VDC (10 to 28VDC)

5 to 30mA

5V or less


Unit: g

Lead wires — Oil proof heavy duty vinyl cable, ø2.7, 2 cores (Brown, Blue [Red, Black]), 0.18mm², 0.5mNote 1) Refer to page 53 for solid state auto switch common specifications.Note 2) Refer to page 53 for lead wire lengths.

D-F9BAL (with indicator light )

OUT (+)Brown [Red]

OUT (–)Blue [Black]

Caution 1mA or less at 24VDC

Operating position ......................... Red LED lights upOptimum operating position .......... Green LED lights up


Wiring type

Output type

Applicable load


Current consumption

Load voltage

Load current


Leakage voltage

Indicator light

Mai

nsw

itch

circ

uit

Consult SMC if a solution other than water is to be used.


Water Resistant 2 Color Indication Solid State Switches/Direct Mount TypeD-F9BAL

55


Auto Switch Weights


D-Y5, D-Y6, D-Y7P, D-Y7PV (with indicator light )



Wiring type

Output type

Applicable load


Current consumption

Load voltage

Load current


Leakage voltage

Indicator light

D-Y59A

In-line

D-Y69A

Perpendicular

D-Y69B

Perpendicular

D-Y7PV

Perpendicular

D-Y59B

In-line

D-Y59A, D-Y7P, D-Y59B

D-Y69A, D-Y7PV,D-Y69B

Unit: g

2 wire

—

24VDC relay, PLC

—

—

24VDC (10 to 28VDC)

5 to 40mA

4V or less

0.8mA or less at 24VDC


D-Y59A, D-Y69A

D-Y59B, D-Y69B

D-Y7P (V)

OUTBlack[White]

DC (+)Brown[Red]

DC (–)Blue[Black]

Mai

nsw

itch

circ

uit

DC (+)Brown[Red]

DC (–)Blue[Black]

OUTBlack[White]

Mai

nsw

itch

circ

uit

Mai

nsw

itch

circ

uit

OUT (+)Brown[Red]


NPN

D-Y7P

In-line

28VDC or less

40mA or less

1.5V or less(0.8V or less at 10mA load current)


PNP

Grommet

Lead wires — Heavy duty oil resistant flexible vinyl cord, ø3.4, 0.15mm² , 3 cores (Brown, Black, Blue [Red, White, Black]), 2 cores (Brown, Blue [Red, Black]), 0.5m

Note 1) Refer to page 53 for solid state auto switch common specifications.Note 2) Refer to page 53 for lead wire lengths.


Red LED lights when ON

Model


Lead wire length 3m

D-Y59A/Y69A

10

53

D-Y59B/Y69B

9

50

D-Y7P/Y7PV

10

53

3 wire


5, 12, 24VDC (4.5 to 28VDC)

10mA or less

—

80mA or less

0.8V or less

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

56

Solid State Switches/Direct Mount TypeD-Y59 , D-Y69 , D-Y7P(V)A

BAB


D-Y7NW(V)

D-Y7BW(V)


D-Y7PW(V)

Grommet

Lead wires — Heavy duty oil resistant flexible vinyl cord, ø3.4, 0.15mm², 3 cores (Brown, Black, Blue [Red, White, Black]), 2 cores (Brown, Blue [Red, Black]), 0.5m

Note 1) Refer to page 53 for solid state switch common specifications.Note 2) Refer to page 53 for lead wire length.


D-Y7W

D-Y7WV


D-Y7W, D-Y7WV (with indicator light )



Wiring type

Output type

Applicable load


Current consumption

Load voltage

Load current


Leakage voltage

Indicator light

D-Y7NW

In-line

3 wire

NPN


5, 12, 24VDC (4.5 to 28VDC)

10mA or less

28VDC or less

40mA or less


D-Y7NWV

Perpendicular

D-Y7BWV

Perpendicular

D-Y7PWV

Perpendicular

D-Y7BW

In-line

2 wire

—

24VDC relay, PLC

—

—

24VDC (10 to 28VDC)

5 to 40mA

4V or less

0.8mA or less at 24VDC

D-Y7PW

In-line

PNP

—

80mA or less

0.8V or less

1.5V or less(0.8V or less at 10mA load current)

Auto Switch Weights

Model


Lead wire length 3m

D-Y7PW

11

54

D-Y7BW

11

54

D-Y7NW

11

54

Unit: g

Mai

nsw

itch

circ

uit

Mai

nsw

itch

circ

uit

Mai

nsw

itch

circ

uit

DC (+)Brown[Red]OUTBlack[White]

DC (–)Blue[Black]

DC (+)Brown[Red]

DC (–)Blue[Black]

OUTBlack[White]

OUT (+)Brown[Red]




The optimum operating position can be determined by the color of the light.(Red→Green←Red)

57

2 Color Indication Solid State SwitchesDirect Mount TypeD-Y7NW(V), D-Y7PW(V), D-Y7BW(V)

ø3.

4

Grommet


Improved water (coolant)resistant type


D-Y7BAL

Auto Switch Weights


Wiring type

Applicable load

Load voltage

Load current


Leakage voltage

Indicator light

• Operating time 1ms or less• Lead wires Heavy duty oil resistant flexible vinyl cord, ø3.4, 0.2mm², 2 cores (Brown, Blue [Red, Black]), 3m• Impact resistance 1000m/s² 102G• Insulation resistance 50MΩ or more at 500VDC (between lead wire and case)• Withstand voltage 1000VAC for 1 min. (between lead wire and case)• Ambient temperature –10 to 60°C• Enclosure IEC529 standard IP67, watertight (JISC0920)

D-Y7BAL

2 wire

24VDC relay, PLC

24VDC (10 to 28VDC)

5 to 40mA

4V or less

Unit: g

D-Y7BAL

51

Model

Lead wire length 3m

33 30002

2.5

Indicator light

Switch mounting screw

Slotted set screw (M2.5 x 4l)

5

6.2

0.4

10.6

Most sensitive position12.5


OFF

ON



1mA or less at 24VDC

Mai

nsw

itch

circ

uit

OUT (+)Brown [Red]

OUT (–)Blue [Black]

Operating range

Red Green RedIndicator

Optimumoperating position

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Water Resistant 2 Color IndicationSolid State SwitchesD-Y7BAL 2 Wire

58

Auto Switch Hysteresis

Auto switchmodel D-F9(V)Model

Hysteresis (max. value) mm

Auto switches have hysteresis similar to micro switches. When performing adjustments of switch positions, etc., refer to the standards in the tables below.

Auto switchmodel

D-Y59D-Y69

D-Y7P(V)

0.7

0.4

0.4

0.4

0.4

0.4

0.4

D-Y7W (V)

1.2

0.7

0.7

0.7

0.7

0.8

0.4

D-Y7BAL

0.7

0.4

0.4

0.4

0.6

0.6

0.7

D-F9BAL

Model

MHSMHSL3

MHSMHSL3

MHSMHSL3

MHSMHSL3

MHSMHSL3

MHSMHSL3

MHSMHSL3


ø16 to ø25

ø32 to ø125

Switch operating position (ON)

Hysteresis

Switch reset position (OFF)

Series MHS/MHSL Series MHSJ/MHSH

MHSMHSL3

MHSMHSL3

MHSMHSL3

0.3

0.3

0.4

0.4

0.4

0.4

1.6

1.6

1.6

Setting of ON positionwhen red light is on

Setting of ON positionwhen green light is on



D-F9BAL

0.3

0.3

0.4

0.6

0.6

0.6

0.6

0.7

0.3

0.3

0.4

0.4

0.4

0.4

0.4

0.5

1.3

1.3

1.3

1.5

1.5

1.7

1.7

1.8



MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

-16D

-20D

-25D

-32D

-40D

-50D

-63D

-80D

Auto Switch Hysteresis


Hysteresis

Switch operating position (ON)

Switch reset position (OFF)


Maximum hysteresis mm

D-F9BAL

MHSH3-32DA

MHSH3-40DA

MHSH3-50DA

MHSH3-63DA

MHSH3-80DA

0.5

0.5

0.6

0.8

1

0.3

0.3

0.4

0.5

0.5

0.8

0.9

1

1

1.1



- 16D

- 20D

- 25D

- 32D

- 40D

- 50D

- 63D

- 80D

-100D

-125D

Series MHS

59

The amount of auto switch protrusion from the body's end surface is shown in the table below.Use this as a standard when mounting, etc.

Direction of auto switchmounting on air gripper

Mounting with lead wire on side opposite the fingers Mounting with lead wire on same side as the fingers

D-Y59D-Y7P

D-Y7W—6—5.5—5—3———————6—5.5—5—3——————

D-Y7BAL

—9—8—7.5—5———————9—8—7.5—5——————

D-Y69D-Y7PV

D-Y7WV—4—4—3—1———————4—4—3—1——————

D-Y7BAL

5—2.5—————————————————————————

OpenClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

Closed

MHS- 32D

MHS- 40D

MHS- 50D

MHS- 63D

MHS- 80D

MHS-100D

MHS-125D

MHSL3- 32D

MHSL3- 40D

MHSL3- 50D

MHSL3- 63D

MHSL3- 80D

MHSL3-100D

MHSL3-125D

Perpendicular entryIn-line entryIn-line entry Perpendicular entryLead wire type

Auto switch modelFinger positionAir gripper

Unit: mm

D-F9V————————————

OpenClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

ClosedOpen

Closed

MHS- 16D

MHS- 20D

MHS- 25D

MHSL3- 16D

MHSL3- 20D

MHSL3- 25D

Perpendicular entryIn-line entryIn-line entry Perpendicular entryLead wire typeAuto switch model

Finger positionAir gripper D-F9BAL104.58281

4.5—3—2—

D-F9V—3—3—1—3—3—1

In-lineelectricalentry type

F

L

Perpendicularelectricalentry type

L


L


L

D-F91———————————

D-F9BAL8.5147135128.514713512

D-F9—5—5—3—5—5—3

Amount of Auto Switch Protrusion from the Body End Surface

D-Y59D-Y7P

D-Y7W————————————————————————————

D-Y69D-Y7PV

D-Y7WV————————————————————————————

Note 1) There is no protrusion for sections of the table with no values entered.

Note 2) When mounted with lead wires on the finger side, be sure that attachments and work pieces, etc., do not touch switch units or lead wires.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

60

Auto Switch Specifications Series MHS

The amount of auto switch protrusion from the body's end surface is shown in the table below.Use this as a standard when mounting, etc.

D-F92

5.5

2

5

—

5

—

4.5

—

3

—

1.5

—

—

—

—

D-F9BAL

11

14.5

11

14.5

10

14.5

8.5

14

7.5

13

3

11.5

—

10

—

9

D-F9V

—

3

—

3

—

2.5

—

1

—

1

—

—

—

—

—

—

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

Open

Closed

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

MHSJ3MHSH3

In-line entry Perpendicular entryLead wire typeAuto switch model

Finger positionAir gripper

Note 1) Indicates the amount of protrusion from the mounting surface F. There is no protrusion from the finger side.

Note 2) There is no protrusion for sections of the table with no values entered.

Note 3) When mounted with lead wires on the finger side, be sure that attachments and work pieces, etc., do not touch switch units or lead wires.

The amount of auto switch protrusion from the push holder (P) end surface is shown in the table below.Use this as a standard when mounting, etc.

Unit: mm

Unit: mm

Amount of Auto Switch Protrusion from the Body End Surface

-16D

-20D

-25D

-32D

-40D

-50D

-63D

-80D



L

L

F

D-F94

9

3

8

—

7.5

—

7

—

4

D-F9BAL

9

14

8

13

2

12

1.5

11.5

—

9

D-F9V

1

6

0.5

5.5

—

5

—

4

—

1.5

Extended

Retracted

Extended

Retracted

Extended

Retracted

Extended

Retracted

Extended

Retracted

In-line entry Perpendicular entryLead wire typeAuto switch model

Pusher positionAir gripper

Protrusion from Push Holder (P) End Surface


MHSH32DA

MHSH-40DA

MHSH-50DA

MHSH-63DA

MHSH-80DA



L

L

Series MHS

61

Auto Switch Mounting

When mounting an auto switch, insert it into one of the air gripper's switch mounting grooves from the direction shown in the figure below. After placing it in the desired mounting position, tighten the switch mounting screw (included) using a flat head watchmakers screw driver.

Flat head watchmakers screw driver

ø5 to ø6

Auto Switch

Switch mounting screwM2.5 x 4l

Note) When tightening the auto switch mounting screw, use a watchmakers screw driver with a handle diameter of about 5 to 6mm.The tightening torque should be about 0.05 to 0.1N⋅m. As a rule, it should be turned about 90° beyond the point at which tightening can be felt.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

62

Auto Switch Specifications Series MHS

Basic Wiring

Solid state 3 wire, NPN

Sink input specification

2 wire

Source input specification

2 wire with 2 switch AND connection 2 wire with 2 switch OR connection

2 wire 2 wire

Solid state 3 wire, PNP

Example: Power supply voltage is 24VDC Voltage decline in switch is 4V

Example: Load impedance is 3kΩLeakage current from switch is 1mA

(Power supplies for switch and load are separate.)

Connection Examples for AND (Series) and OR (Parallel)

Examples of Connection to PLC

Connect according to the applica-ble PLC input specifications, as the connection method will vary depending on the PLC input spec-ifications.

When two switches are connected in series, a load may malfunction because the load voltage declines when in the ON state.Indicator lights will light up when both switches are in the ON state.

(Solid state)When two switches are connected in parallel, malfunction may occur because the load voltage increases when in the OFF state.

Blue[Black]

Mainswitchcircuit

Load

Brown [Red]

Black[White]

Mainswitchcircuit

Brown[Red]

Load

Blue[Black]

Black[White]

Mainswitchcircuit

LoadBlue[Black]

Brown[Red]

Mainswitchcircuit

Load

Blue[Black]

Brown[Red]

Mainswitchcircuit

Load

Brown [Red]

Blue[Black]

Black[White]

PLC internal circuitCOM

Switch

InputBlack[White]

Brown[Red]

Blue[Black]


Switch

InputBrown[Red]

Blue[Black] PLC internal circuit

Switch

Input

COM

Blue[Black]

Brown[Red]


Switch

InputBlack[White]

Brown[Red]

Blue[Black]

Switch 1

Switch 2

Load

Blue[Black]

Brown[Red]

Blue[Black]

Brown[Red]

Switch 1

Switch 2

Load

Brown[Red]

Blue[Black]

Brown[Red]

Blue[Black]

3 wireOR connection for NPN output

Switch 1

Switch 2

LoadSwitch 1

Brown[Red]

Switch 2

Black[White]

Blue[Black]

Relay

RelayBlack[White]

Load

Relaycontact

AND connection for NPN output(using relays)

Switch 1

Brown[Red]

Switch 2

Load

Brown[Red]

AND connection for NPN output(performed with switches only)

The indicator lights will light up when both switches are turned ON.

(Solid state)

3 wire, NPN 3 wire, PNP

Brown [Red]

Blue[Black]

Blue[Black]

Black[White]

Black[White]

Blue[Black]

Brown[Red]

Blue[Black]

Black[White]

Blue[Black]

Black[White]

Brown[Red]

Load voltage at ON = – x 2 pcs.

= 24V – 4V x 2 pcs. = 16V

Load voltage at OFF = x 2 pcs. x

= 1mA x 2 pcs. x 3kΩ= 6V

Residualvoltage

Power supplyvoltage

Loadimpedance

Leakagecurrent

63

Series MHSSolid State SwitchConnections and Examples

Detectionexample

Detectionposition

Operation of auto switch

How to determine auto switch

mounting positions

Det

ectio

nco

mb

inat

ion

s

1. To confirm that fingers have returned

2. To confirm that workpiece has been gripped

3. To confirm that work piece has not been gripped

1) Detection when gripping exterior of work pieceVarious auto switch applications are possible through different combinations of auto switch quantity and detecting positions.

Switch turns ON when fingers return.(Light ON)

When gripping work piece (normal): Switch OFF(Light OFF)When not gripping work piece (abnormal):Switch ON (Light ON)

•

•

•

•

•

•

•

••

Step 1) Fully open the fingers.

Position where light turns ON

Position to be secured

0.3 to 0.5mm

0.3 to 0.5mm

"Connect switch to power supply and mount as directed with no pressure or low pressure."

Position of fingers fully opened

Position when gripping work piece

Position of fingers fully closed

Capable with one auto switch

Two auto switches required

Step 1) Move fingers to work piece gripping position.

Step 1) Fully close the fingers.

Step 3) Move the auto switch in the direction of the arrow indicated below until the indicator light turns ON.

Step 2) Insert the auto switch into the auto switch mounting groove from the direction shown in the figure.

Also in case of lead wire entry from the finger direction, installation should be from the direction shown in the figure.

Step 3) Move the auto switch in the direction of the arrow, and secure it at a position 0.3 to 0.5mm beyond the point at which the indicator light turns on. In case of a 2 color indication switch, secure it in the position at which the indicator light changes from red to green.

Step 4) Keep moving the auto switch in the direction of the arrow and confirm that the indicator light has turned OFF.

Step 5) Move the auto switch in the opposite direction, and secure it in a position 0.3 to 0.5mm beyond the point at which the indicator light turns on again. In case of a 2 color indication switch, secure it in the position at which the indicator light changes from red to green.

Notes) • It is recommended that gripping of the work piece be performed close to the center of the finger stroke.• The detection combinations shown above may be limited when gripping of the work piece is performed at the end of the finger opening/closing stroke, due to auto switch

hysteresis, etc.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Switch turns ON when gripping work piece.(Light ON)

64

Series MHSAuto Switch Positioning and Examples

Detectionexample

Detectionposition

Operation of auto switch

"Connect switch to power supply and mount as directed with no pressure or low pressure."

How to determine auto switch

mounting positions

Capable with one auto switch

Det

ectio

nco

mb

inat

ion

s

Two auto switches required

1. To confirm that fingers have returned

2. To confirm that workpiece has been gripped

3. To confirm that work piece has not been gripped

2) Detection when gripping interior of work pieceVarious auto switch applications are possible through different combinations of auto switch quantity and detecting positions.

Notes) • It is recommended that gripping of the work piece be performed close to the center of the finger stroke. • The detection combinations shown above may be limited when gripping of the work piece is performed at the end of the finger opening/closing stroke, due to auto switch hysteresis, etc.

Switch turns ON when fingers return.(Light ON)

When gripping work piece (normal): Switch OFF(Light OFF)When not gripping work piece (abnormal):Switch ON (Light ON)

•

•

•

••

••

••

Step 1) Fully close the fingers.

Step 1) Fully open the fingers.

Also in case of lead wire entry from the finger direction, installation should be from the direction shown in the figure.

Position where light turns ON

Position to be secured

0.3 to 0.5mm

0.3 to 0.5mm

Position of fingers fully closed

Position when gripping work piece

Position of fingers fully opened

Step 1) Move fingers to work piece gripping position.

Step 2) Insert the auto switch into the auto switch mounting groove from the direction shown in the figure.

Step 3) Move the auto switch in the direction of the arrow until the indicator light turns ON.

Step 3) Move the switch in the direction of the arrow and secure it at a position 0.3 to 0.5mm beyond the point at which the indicator light turns on. In case of a 2 color indication switch, secure it in the position at which the indicator light changes from red to green.

Step 4) Keep moving the auto switch in the direction of the arrow and confirm that the indicator light has turned OFF.

Step 5) Move the switch back in the opposite direction, and secure it in a position 0.3 to 0.5mm beyond the point at which the indicator light turns on again. In case of a 2 color indication switch, secure it in the position at which the indicator light changes from red to green.

Switch turns ON when gripping work piece.(Light ON)

65

Series MHSAuto Switch Positioning and Examples

Oil Resistant Specifications1

32, 40, 50, 63, 80, 100, 125

2

16, 20, 25

MHSMHSJ3MHSH3MHSL3

DDFDFD

Cylinder bore size X5

MHSMHSL

MHSJ

MHSH

D-F9BAL D-Y7BAL

MHSMHSJ3MHSH3MHSL3

DDDD

X4

Solid stateswitch

Seals are changed to an oil resistant material for use inenvironments where there is exposure to cutting oil, etc.

Specifications

Oil resistant type

Double acting

Air

Seals, gaskets — Fluoro rubber

D-F9BAL

Type


Action

Fluid

Material

Applicableauto

switches

Note 1) Depending on the type of cutting oil, there are cases in which it is not possible to use air grippers and auto switches. After confirming the type of cutting oil, contact SMC regarding any questions on this matter.

Note 2) Dimensions are the same as the standard type.

Heat Resistant Specifications

Cylinderbore size

Seals and grease are changed to heat resistant materials for usein high temperature ambient conditions up to 100°C.

Specifications

Type


Action

Fluid

Material

Heat resistant type

16, 20, 25, 32, 40, 50, 63, 80, 100, 125

Double acting

Air

Seals, gaskets — Fluoro rubber

Note 1) Not available with auto switches.Note 2) Dimensions are the same as the standard type.Note 3) Select fluoro rubber (F) or silicon rubber (Si) for the dust cover material.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Series MHS

Order Made Specifications

66

Model Selection Example

MHS2-32D External gripping forceWork piece weight: 0.4kg

Gripping point: 20mm

Operating pressure: 0.4MPa

Confirmation of conditions Calculation of required gripping force Model selection from gripping force graph

Example

Gripping method:External gripping

Selection procedure

Confirmation of gripping force

Confirm gripping force Confirm gripping pointStep 1 Step 2

Step 1

Number of fingers: 2

Note) For , refer to the gripping point for the effective gripping force of each model.Step 2

10 20 30 40 50

Gripping point L mm

120

9092

60

30

0

Grip

ping

forc

e N

150 Pressure 0.6MPa

0.5MPa

0.4MPa

0.3MPa

0.2MPa

0.1MPa

Model selection criteria with respect to work piece weight

• Selecting the MHS2-32D.A gripping force of 92N is obtained from the intersection point of the gripping point distance L=20mm and a pressure of 0.4MPa.

• The gripping force is 23 times greater than the work piece weight, and therefore satisfies a gripping force setting value of 20 times or more.

Model selection criteria with respect to work piece weight

Model

MHS2

MHS3

MHSJ3

MHSH3

MHSL3

MHS4

Multiples of gripping force by work piece weight

10 to 20 times or more



• Although differences will exist depending on the coefficient of friction between attachments and work pieces, select a model which will provide a gripping force as shown in the table below.(Note 1) Refer to the model selection illustration regardingmultiples of the work piece weight.

• Furthermore, in cases with high acceleration or impact, etc.,it is necessary to allow an even greater margin of safety.Example: When it is desired to set the gripping force at 20 times or more of the work piece weight.Required gripping force = 0.4kg x 20 x 9.8m/s²: Approx. 78.4N or more

Series MHS

Model Selection

67

Model Selection Illustration

Multiples of gripping force by work piece weight

Number of fingers: When n = 2 • SMC performs calculations allowing for impacts which occur during normal

transfer, etc., using a safety margin of a = 4.

When µ = 0.2 When µ = 0.1

mgF = ———— x 4 2 x 0.2

= 10 x mg

10 x work piece weight 20 x work piece weight

When gripping a work piece as in the drawing to the left, and with the following definitions,n: Number of fingersF: Gripping force (N)µ: Coefficient of friction between attachments and work piecem: Work piece mass (kg)g: Gravitational acceleration (= 9.8m/s²)

mg: Work piece weight (N)

the conditions under which the work piece will not drop are

n x µF > mg

and therefore,

mgF > ———— n x µ

With "a" as the safety margin, F is determined as follows:

a x mgF = ———— n x µ

F F

µ x F µ x F

m x g

(Note) • Even in cases where the coefficient of friction is greater than µ = 0.2, for safety reasons, SMC recommends selecting a gripping force which is at least 10 to 20 times the work piece weight.

• It is necessary to allow a greater safety margin for high accelerations and strong impacts, etc.

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

mgF = ———— x 4 2 x 0.1

= 20 x mg

68

Model Selection Series MHS

69

Series MHS

Safety Instructions

Note 1) ISO 4414: Pneumatic fluid power -- Recommendations for the application of equipment to transmission and control systems

Note 2) JIS B 8370: General Rules for Pneumatic Equipment

Warning

Caution : Operator error could result in injury or equipment damage.

Warning : Operator error could result in serious injury or loss of life.

Danger : In extreme conditions, there is a possible result of serious injury or loss of life.

These safety instructions are intended to prevent a hazardous situation and/or equipment damage. These instructions indicate the level of potential hazard by a label of "Caution", "Warning" or "Danger". To ensure safety, be sure to observe ISO 4414 Note 1), JIS B 8370 Note 2) and other safety practices.

1. The compatibility of pneumatic equipment is the responsibility of the person who designs the pneumatic system or decides its specifications.Since the products specified here are used in various operating conditions, their compatibility for the specific pneumatic system must be based on specifications or after analysis and/or tests to meet your specific requirements.

2. Only trained personnel should operate pneumatically operated machinery and equipment.Compressed air can be dangerous if an operator is unfamiliar with it. Assembly, handling or repair of pneumatic systems should be performed by trained and experienced operators.

3. Do not service machinery/equipment or attempt to remove components until safety is confirmed.

1. Inspection and maintenance of machinery/equipment should only be performed after confirmation of safe locked-out control positions.

2. When equipment is to be removed, confirm the safety process as mentioned above. Cut the supply pressure for this equipment and exhaust all residual compressed air in the system.

3. Before machinery/equipment is restarted, take measures to prevent shooting-out of cylinder piston rod, etc. (Bleed air into the system gradually to create back pressure.)

4. Contact SMC if the product is to be used in any of the following conditions:1. Conditions and environments beyond the given specifications, or if product is used outdoors.2. Installation on equipment in conjunction with atomic energy, railway, air navigation, vehicles, medical

equipment, food and beverages, recreation equipment, emergency stop circuits, press applications, or safety equipment.

3. An application which has the possibility of having negative effects on people, property, or animals, requiring special safety analysis.

1. Keep the holding point with-in the limits of the specified gripping range.When the gripping point distance becomes large, the finger attachments apply an excessively large load to the cross roller section, causing excessive play of the fingers and possibly leading to premature failure. Refer to the graph of the specified gripping distance range for each series.

2. Design attachments to be as light and short as possible.1. Long and heavy attachments in-

crease the inertial force when open-ing and closing the fingers. This may cause unsteady movement of the fin-gers and have an adverse effect on product life.

2. Even with the gripping point within the limits of the range, make the at-tachment as light and short as pos-sible.

3. Select a larger size gripper or use multiple grippers for handling long and large work pieces.

3. Provide run off space in the attachments when using for small or thin work pieces.If run off space is not provided, gripping becomes unstable, and it may fail to grip or the position may slip, etc.

4. Select a model which has sufficient gripping force for the work piece weight.Incorrect selection may lead to drop-ping of work pieces, etc. Refer to the model selection criteria for each series pertaining to effective gripping force and work piece weight.

5. Do not use in applications where excessive external force or impact force will be applied to the gripper.This may cause malfunction. Contact SMC for further information.

6. Select a model having a suf-ficient finger opening width for the work piece.

< In case of insufficient width >1. Gripping becomes unstable due to

variations in opening width or work piece diameter.

2. Causes detection failure when using an auto switch. Ensure a stroke suffi-cient to allow for hysteresis, after re-ferring to the information on auto switch hysteresis for each series.

L

Gripping point

L

Gripping point

L

Needle shapedwork piece

Run off space

Model

16D

20D

25D

32D

40D

50D

63D

80D

100D

125D

Bolt

M3 x 0.5

M4 x 0.7

M5 x 0.8

M6 x 1

M8 x 1.25

M10 x 1.5

Maximum torqueN⋅m

0.59

1.4

2.8

4.8

12

24

Attachmentfemale mounting thread

MHS-

MHSJ3-

MHSH3-

MHSL3-

Gripping point

L is too longL is appropriate

Thin platework piece

Run off space

1. When moving work pieces pose a danger to personnel, or there is a danger of fin-gers being caught in a grip-per, etc., implement safety measures such as mounting of protective covers.

2. If circuit pressure drops due to a power failure or trouble with the air supply, etc., there is a danger of work pieces dropping because of reduced gripping force. Im-plement drop prevention measures to avoid human injury and damage to ma-chinery.

Precautions on Design

Warning1. Do not scratch or gouge the

gripper by dropping or bumping it when mounting.Even a slight deformation can cause in-accuracy or malfunction.

2. Tighten screws within the specified torque range when mounting the attachments.Tightening with a higher torque than specified may cause malfunction, while tightening with a lower torque may allow slipping of the gripping position or drop-ping of work pieces, etc.

Selection Mounting

Selection

Warning

WarningWarning

Mounting attachments to the fingers

Mount attachments by inserting bolts, etc.,into the female mounting threads on the fingers and tightening with the torque shown in the table below.

Series MHSAir Gripper Precautions 1Be sure to read before handling.

70

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

Warning

Model

MHSH3-32DA, B

-40DA, B

-50DA, B

-63DA, B

-80DA, B

Maximum torqueN⋅m

0.6

2.8

4.8

12

24

Max. screw depthmm

6

10

12

16

20

Mounting

Bolt

M4 x 0.7

M4 x 0.7

M4 x 0.7

M5 x 0.8

M6 x 1

M6 x 1

M6 x 1

Maximum torque N⋅m

2.1

2.1

2.1

4.3

7.3

7.3

7.3

Max. screw depthl (mm)

8

8

8

10

12

12

12

Model

MHS2- 16D

20D

25D

32D

40D

50D

63D

Bolt

M3 x 0.5

M3 x 0.5

M4 x 0.7

M4 x 0.7

M5 x 0.8

M5 x 0.8

M6 x 1

M6 x 1

M8 x 1.25

M10 x 1.5


0.88

0.88

1.6

1.6

4.3

4.3

7.3

7.3

18

36


6

6

6

6

10

10

12

12

16

20

Model

MHS3- 16D

MHSL3- 20D

25D

32D

40D

50D

63D

80D

100D

125D

Series MHS3, MHSL3

Bolt

M4 x 0.7

M4 x 0.7

M4 x 0.7

M5 x 0.8

M6 x 1

M6 x 1

M6 x 1


2.1

2.1

2.1

4.3

7.3

7.3

7.3


8

8

8

10

12

12

12

Model

MHS4- 16D

20D

25D

32D

40D

50D

63D

Series MHS4

l

Attachment design

Attachment

Limit to the finger width and position laterally.

Finger

Insert a pin, etc., into the groove in the finger (H9 tolerance), and position in the stroke direction.

Counter boreopening

Work piecegripping surface

In cases of small diameter work pieces, etc., where there is inter-ference between the work piece gripping surface and the bolt po-sition, provide a counter bore in the work piece gripping surface to accomodate the head of the bolt, as shown in the drawing to the left.

3. Fasten the push plate and other parts securely to the push rod at a torque within the limiting range.Insufficient tightening can cause slippage or dropping, etc.

Mounting of push plate, etc., onto push rod

Mount a push plate or other parts to the fe-male mounting threads of the push rod us-ing a bolt, etc., and tighten at the appro-priate torque shown in the table below.

Female threads formounting push plate

Series MHSH3 (with center pusher)

Remove RemoveFinger

Finger

Dust cover

Return

Dust cover sectional view

Slot

4. When installing or removing the product's dust cover, use the procedure shown in the drawing below.

Installation and removal of dust cover

<Removal>1. Squeeze the sections of the dust cover

and remove the dust cover return from the circumference of the guide.

2. When the dust cover return has been removed from the circumference of the guide, pull it in the direction of the arrows while holding the sections and remove it from the slots in the fingers.

3. When the dust cover is removed from the slots in the fingers, pull it in the direction of the arrows and remove it from the product.

<Mounting>1. Reversing the removal procedure,

install the dust cover in the slots in the fingers.

2. Install the dust cover return onto the entire circumference of the guide.Note) Be careful not to tear the dust

cover when installing or removing it.

5. When mounting an air grip-per, tighten screws properly at a torque value within the limits of the specified range.Tightening at a torque above the limits of the range can cause malfunction, while tightening at a lower torque can cause slipping or dropping of work pieces, etc.

Mounting of air gripper

Using tapped holes

Series MHS2

Bolt

M3 x 0.5

M5 x 0.8

M6 x 1

M8 x 1.25

M10 x 1.5


71

Mounting

Mounting of air gripper

Bolt

M4 x 0.7

M4 x 0.7

M4 x 0.7

M4 x 0.7

M5 x 0.8

M4 x 0.7

M5 x 0.8

M5 x 0.8

M6 x 1

M6 x 1

M8 x 1.25

M6 x 1

M8 x 1.25

Max. torqueN⋅m

Max. screw depth l (mm)Model

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

Series MHSJ3, MHSH3

-16D

-20D

-25D

-32D

-40D

-50D

-63D

-80D

Bolt

M5 x 0.8

M5 x 0.8

M6 x 1

M8 x 1.25

M8 x 1.25

Max. torqueN⋅m

3.2

3.2

7.3

18

18

Max. screw depth l (mm)

10

10

12

16

16

Model

MHSH3-32DAMHSH3-32DB





Series MHSH (center pusher)

Using through holesUsing tapped holes

Bolt

M3 x 0.5

M3 x 0.5

M3 x 0.5

M4 x 0.7

M5 x 0.8

M5 x 0.8

M5 x 0.8

Maximum torqueN⋅m

0.88

0.88

0.88

2.1

4.3

4.3

4.3

MHS2-16D

20D

25D

32D

40D

50D

63D

Series MHS2

Bolt

M3 x 0.5

M3 x 0.5

M4 x 0.7

M4 x 0.7

M5 x 0.8

M5 x 0.8

M6 x 1

M6 x 1

M8 x 1.25

M10 x 1.5

Maximum torqueN⋅m Model

MHS3-16D

20D

25D

32D

40D

50D

63D

80D

100D

125D

Series MHS3, MHSL3

Maximum torqueN⋅m Model

MHS4-16D

20D

25D

32D

40D

50D

63D

Series MHS4

Bolt

M3 x 0.5

M3 x 0.5

M3 x 0.5

M4 x 0.7

M4 x 0.7

M5 x 0.8

M6 x 1

M6 x 1

Maximum torqueN⋅mModel

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

MHSJ3 MHSH3

Series MHSJ3, MHSH3

-16D

-20D

-25D

-32D

-40D

-50D

-63D

-80D

Bolt

M4 x 0.7

M4 x 0.7

M5 x 0.8

M6 x 1

M6 x 1

Maximum torqueN⋅m

2.1

2.1

4.3

7.3

7.3

Model






Series MHSH (center pusher)

Note) When using the through holes to mount models MHSJ3 and MHSHJ3, first remove the dust cover from the product, and after screwing it into place, reinstall the dust cover. Refer to page 71 for installation and removal of the dust cover.

ll

Model

8

8

8

8

10

8

10

10

12

12

16

12

16

2.1

2.1

2.1

2.1

3.2

2.1

3.2

3.2

7.3

7.3

18

7.3

18

0.88

0.88

0.88

2.1

4.3

4.3

4.3

Bolt

M3 x 0.5

M3 x 0.5

M3 x 0.5

M4 x 0.7

M5 x 0.8

M5 x 0.8

M5 x 0.8

0.88

0.88

2.1

2.1

4.3

4.3

7.3

7.3

18

36

MHSL3-

0.88

0.88

0.88

2.1

2.1

4.3

7.3

7.3


72

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

1. Avoid twisting the fingers when mounting the attach-ments.This may cause malfunction and loss of accuracy.

2. Be sure that external forces are not applied to the fin-gers.Fingers may be damaged by continual lateral or impact loads. Provide clearance to prevent the work piece or attachments from striking against any-thing at the stroke end.

Caution

Mounting

Impact load

Cle

aran

ce

Impact load

Turning over

2. Stroke end with air gripper moving

3. When turning over

Impact load

3. Perform thorough alignment and assure that excessive force is not applied to the fingers during the work piece gripping operation.Particularly when performing a trial run, operation should be done manually or with low cylinder pressure and speed, while confirming that there is no impact or other unsafe conditions.

4. Adjust with a device such as a speed controller so that the finger closing speed and push rod exten-sion/retraction are no faster than necessary.If the finger closing speed and the push rod extension/retraction speed are greater than necessary, impact forces acting on the fingers and other parts will increase. This will cause a danger of poor work piece gripping re-peatability and an adverse effect on service life.Applicable speed controllersAir gripper directcoupling type: AS1200, M3, M5 AS2200-01, etc.In-line type: AS1000 Series AS1001F, AS2051F, etc.

1. Preparation before pipingBefore piping is connected, it should be thoroughly blown out with air (flushing) or washed to remove chips, cutting oil and other debris from inside the pipe.

2. Wrapping of pipe tapeWhen screwing together pipes and fit-tings, etc., be certain that chips from the pipe threads and sealing material do not get inside the product.Also, when pipe tape is used, leave 1.5 to 2 thread ridges exposed at the end of the threads.

Piping

Caution

1. Do not operate in locations having an atmosphere of cor-rosive gases, chemicals, sea water, water, water vapor, or where contact with any of these may occur.

2. Provide shading in locations which receive direct sunlight.

3. Do not use in locations where vibration or impact occurs.

4. Do not use in locations where radiated heat will be received from nearby heat sources.

5. Attach a cover or other pro-tection in locations where there will be exposure to dust or cutting oil.

6. Contact SMC before using in an environment where ad-verse effects appear particu-larly likely.

Operating Environment

Warning

1. The non-lube type air grip-per is lubricated at the fac-tory, and can be used with-out any further lubrication.In the event that lubrication will be ap-plied, use Class 1 turbine oil (without additives) ISO VG32. Furthermore, once lubrication is applied, it must be continued.If lubrication is later stopped, malfunc-tion can occur due to loss of the original lubricant.

CautionLubrication

Impact load

Maintenance

Warning1. Do not allow people to enter

or place objects into the car-rying path of the air gripper.This can cause injury or accidents, etc.

2. Do not put hands, etc., in between the air gripper fin-gers or attachments.This can cause injury or accidents, etc.

3. When removing the air grip-per, first confirm that no work pieces are being held and then release the com-pressed air before removing the air gripper.If a work piece is still being held, there is a danger of it being dropped.

1. Stroke end with fingers open

Clearance Clearance

Without clearanceWith clearance

Without clearanceWith clearance

Cle

aran

ceC

lear

ance

Aligned Not aligned


73

74

Series MHSAuto Switch Precautions 1Be sure to read before handling.

1. Confirm the specifications.Read the specifications carefully anduse this product appropriately. Theproduct may be damaged or malfunctionif it is used outside the range of specifi-cations for load current, voltage, tem-perature or impact.

2. Take precautions whenmultiple air grippers areused close together.When multiple auto switch air grippersare used in close proximity, magneticfield interference may cause the switch-es to malfunction. Maintain a minimumair gripper separation of 40mm. (Whenthe allowable separation is indicated foreach air gripper series, use the specifiedvalue.)

3. Pay attention to the lengthof time that a switch is ONat an intermediate strokeposition.When an auto switch is placed at anintermediate position of the stroke and aload is driven at the time the pistonpasses, the auto switch will operate, butif the speed is too great the operatingtime will be shortened and the load maynot operate properly. The maximumdetectable piston speed is:

4. Keep wiring as short aspossible.<Solid state switch>Although wire length should not affectswitch function, use a wire 100m orshorter.

5. Take precautions for the in-ternal voltage drop of theswitch.<Solid state switch>Generally, the internal voltage drop willbe greater with a 2 wire solid state autoswitch than with a reed switch.

• Take note that there will be a large volt-age drop if auto switches are connectedin series as shown below. (Refer to inter-nal voltage drop in the auto switch spec-ifications.)

[The voltage drop will be "n" times larg-er when "n" auto switches are connect-ed.]

Design and Selection Mounting & Adjustment

• In the same way, when operating at orbelow a specified voltage, although anauto switch may operate normally, theload may not operate. Therefore, theformula below should be satisfied afterconfirming the minimum operatingvoltage of the load.

Also, note that a 12VDC relay is not ap-plicable.

6. Pay attention to leakagecurrent.<Solid state switch>With a 2 wire solid state auto switch,current (leakage current) flows to theload to operate the internal circuit evenwhen in the OFF state.

If the criteria given in the above formulaare not met, it will not reset correctly(stays ON). Use a 3 wire switch if thisspecification will not be satisfied.

Moreover, leakage current flow to theload will be "n" times larger when "n"auto switches are connected in parallel.

7. Do not use a load that gen-erates surge voltage.<Solid state switch>Although a zener diode for surge protec-tion is connected at the output side of asolid state auto switch, damage may stilloccur if the surge is applied repeatedly.When a load, such as a relay or sole-noid, which generates surge is directlydriven, use a type of switch having abuilt-in surge absorbing element.

8. Cautions for use in aninterlock circuit.When an auto switch is used for an inter-lock signal requiring high reliability,devise a double interlock system toavoid trouble by providing a mechanicalprotection function, or by also usinganother switch (sensor) together withthe auto switch. Also perform periodicmaintenance and confirm proper opera-tion.

9. Ensure sufficient clearancefor maintenance activities.When designing an application, be sureto allow sufficient clearance for mainte-nance and inspections.

1. Do not drop or bump.Do not drop, bump or apply excessiveimpacts (1000m/s² or more for solidstate switches) while handling.

Although the body of the switch may notbe damaged, the inside of the switchcould be damaged and cause a mal-function.

2. Do not carry a cylinder bythe auto switch lead wires.Never carry a cylinder by its lead wires.This may not only cause broken leadwires, but it may cause internal ele-ments of the switch to be damaged bythe stress.

3. Mount switches using theproper tightening torque.When a switch is tightened beyond therange of tightening torque, the mountingscrews, mounting bracket or switch maybe damaged. On the other hand, tight-ening below the range of tighteningtorque may allow the switch to slip out ofposition. (Refer to pages 59 through 65regarding switch mounting, movementand tightening torque, etc.)

1. Avoid repeatedly bendingor stretching lead wires.Broken wires will result from applyingrepeated bending stress or stretchingforce to the lead wires.

2. Be sure to connect the loadbefore power is applied.<2 wire type>If the power is turned ON when an autoswitch is not connected to a load, theswitch will be instantly damagedbecause of excess current.

3. Confirm proper insulationof wiring.Be certain that there is no faulty wiringinsulation (contact with other circuits,ground fault, improper insulationbetween terminals, etc.). Damage mayoccur due to excess current flow into aswitch.

4. Do not run wiring nearpower lines or high voltagelines.Wire separately from power lines or highvoltage lines, avoiding parallel wiring orwiring in the same conduit with theselines. Control circuits containing autoswitches may malfunction due to noisefrom these other lines.

Wiring

Auto switch operating range (mm)

Load operating time (ms)x 1000

Internal voltagedrop of switch

Minimum operatingvoltage of load

Supply voltage – >

Operating current of load(OFF condition)

> Leakage current

Warning Warning

Warning

Even though an auto switch operatesnormally, the load may not operate.

Load

V(mm/s) =

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es


75

Old New

Old New

Old New

Old New

∗ Lead wire color changesLead wire colors of SMC switches havebeen changed in order to meet NECAStandard 0402 for production beginningSeptember, 1996 and thereafter. Pleaserefer to the tables provided.

Special care should be taken regardingwire polarity during the time that the oldcolors still coexist with the new colors.

Operating EnvironmentWiring

5. Do not allow short circuit ofloads.<Solid state switch>

Models D-F9(V), F9W(V) and allmodels of PNP output type switches donot have built-in short circuit protectioncircuits. If loads are short circuited, theswitches will be instantly damaged.Take special care to avoid reverse wiringwith the power supply line (brown) andthe output line (black) on 3 wire typeswitches.

6. Avoid incorrect wiring.<Solid state switch>

1) If connections are reversed on a 2 wiretype switch, the switch will not be dam-aged if protected by a protection circuit,but the switch will always stay in an ONstate. However, it is still necessary toavoid reversed connections, since theswitch could be damaged by a loadshort circuit in this condition.

2) If connections are reversed (power sup-ply line + and power supply line –) on a3 wire type switch, the switch will be pro-tected by a protection circuit. However, ifthe power supply line (+) is connected tothe blue wire and the power supply line(–) is connected to the black wire, theswitch will be damaged.

1. Never use in an atmos-phere of explosive gases.The structure of auto switches is notintended to prevent explosion. Neveruse in an atmosphere with an explosivegas since this may cause a seriousexplosion.

2. Do not use in an area wherea magnetic field is generat-ed.Auto switches will malfunction or mag-nets inside air grippers will become de-magnetized.

3. Do not use in an environ-ment where the auto switchwill be continually exposedto water.Although switches, except for a fewmodels, conform to IEC standard IP67construction (JIS C 0920: watertightconstruction), avoid using switches inapplications where continually exposedto water splash or spray. Poor insulationor swelling of the potting resin insideswitches may cause malfunction.

4. Do not use in an environ-ment with oil or chemicals.Consult SMC if auto switches will beused in an environment with coolant,cleaning solvent, various oils or chemi-cals. If auto switches are used underthese conditions for even a short time,they may be adversely affected byimproper insulation, malfunction due toswelling of the potting resin, or harden-ing of the lead wires.

5. Do not use in an environ-ment with temperaturecycles.Consult SMC if switches are used wherethere are temperature cycles other thannormal air temperature changes, as theymay be adversely affected internally.

2 wire

Output (+)Output (–)

RedBlack

BrownBlue

Solid state with diagnostic output

Power supply (+)Power supply GNDOutputDiagnostic output

RedBlackWhiteYellow

BrownBlueBlack

Orange

3 wire

Power supply (+)Power supply GND Output

RedBlackWhite

BrownBlueBlack

Solid state with latch type diagnostic output

Power supply (+)

Power supply GND

Output

Latch type diagnosticoutput

Red

Black

White

Brown

Blue

Black

Wiring

Warning Warning Warning

Yellow Orange


76

Other

1. Consult SMC concerningwater resistance, elasticityof lead wires, and usage atwelding sites, etc.

Warning

6. Do not use in locationswhere surge is generated.<Solid state switch>

When there are units (solenoid type lifter,high frequency induction furnace, motor,etc.) which generate a large amount ofsurge in the area around air grippers withsolid state auto switches, this may causedeterioration or damage to the switches.Avoid sources of surge generation anddisorganized lines.

7. Avoid accumulation of irondebris or close contact withmagnetic substances.When a large amount of ferrous debrissuch as machining chips or spatter isaccumulated, or a magnetic substance(something attracted by a magnet) isbrought into close proximity with an autoswitch air gripper, it may cause the autoswitch to malfunction due to a loss ofthe magnetic force inside the air gripper.

Maintenance

1. Perform the following main-tenance periodically inorder to prevent possibledanger due to unexpectedauto switch malfunction.

1) Securely tighten switch mountingscrews.If screws become loose or the mountingposition is dislocated, retighten themafter readjusting the mounting position.

2) Confirm that there is no damage to leadwires.

To prevent faulty insulation, replaceswitches or repair lead wires, etc., ifdamage is discovered.

3) Confirm lighting of the green light on 2color indication type switches.

Confirm that the green LED is on whenstopped at the established position. Ifthe red LED is on, the mounting positionis not appropriate. Readjust the mount-ing position so that the green LED lightsup.

Warning

Operating Environment

Warning

Precau

tion

sM

od

el selection

2 fing

er MH

S2

3 fing

er MH

S3

With

du

st cover

MH

SJ3

Th

rou

gh

ho

leM

HS

H3

Lo

ng

stroke

MH

SL

3 4 fin

ger M

HS

4A

uto

switch

es

EUROPESPAIN/PORTUGALSMC España, S.A.

SWEDENSMC Pneumatics Sweden AB

SWITZERLANDSMC Pneumatik AG.

UKSMC Pneumatics (U.K.) Ltd.

ASIACHINASMC (China) Co., Ltd.

HONG KONGSMC Pneumatics (Hong Kong) Ltd.

INDIASMC Pneumatics (India) Pvt. Ltd.

MALAYSIASMC Pneumatics (S.E.A.) Sdn. Bhd.

PHILIPPINESSMC Pneumatics (Philippines), Inc.

SINGAPORESMC Pneumatics (S.E.A.) Pte. Ltd.SOUTH KOREASMC Pneumatics Korea Co., Ltd.

TAIWANSMC Pneumatics (Taiwan) Co., Ltd.

THAILANDSMC Thailand Ltd.

NORTH AMERICACANADASMC Pneumatics (Canada) Ltd.

MEXICOSMC Corporation (Mexico) S.A. de C.V.USASMC Pneumatics, Inc.

SOUTH AMERICAARGENTINASMC Argentina S.A.

BOLIVIASMC Pneumatics Bolivia S.R.L.

BRAZILSMC Pneumaticos Do Brazil Ltda.

CHILESMC Pneumatics (Chile) S.A.

VENEZUELASMC Neumatica Venezuela S.A.

OCEANIAAUSTRALIASMC Pneumatics (Australia) Pty. Ltd.

NEW ZEALANDSMC Pneumatics (N.Z.) Ltd.

EUROPEAUSTRIASMC Pneumatik GmbH

CZECHSMC Czech s.r.o.

DENMARKSMC Pneumatik A/S

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HUNGARYSMC Hungary Kft.

IRELANDSMC Pneumatics (Ireland) Ltd.

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NETHERLANDSSMC Pnuematics BV.

NORWAYSMC Pneumatics Norway A/S

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SLOVENIASMC Slovenia d.o.o.

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1-16-4 Shimbashi, Minato-ku, Tokyo 105-0004, JAPANTel: 03-3502-2740 Fax: 03-3508-2480URL http://www.smcworld.com© 1999 SMC CORPORATION All Rights Reserved

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

Printed in Japan.1st printing December, 1999 D-SMC.L.A. P-80 (JT)

2 finger, 3 finger, 4 finger air gripper parallel type ... · employs wedge cam construction ......

Documents

2 Finger, 3 Finger, 4 Finger Parallel Type Air Gripper

2 Finger 130N, 450N - · PDF file2 Finger 130N, 450N MAGNUM® Series Parallel Opening/Closing Type Gripper MAGNUM grippers are universally applicable “out-of-the-box”. The use

Parallel Type Air Gripper/2 Finger, 3 Finger, 4 Fingercontent.smcetech.com/pdf/MHS.pdf · MHS Series Parallel Type Air Gripper/2 Finger, 3 Finger, 4 Finger ø16, ø20, ø25, ø32,

Pneumatic • 3-Finger Centric Gripper • Universal Gripper · 2012-10-26 · 748. PZB-plus . Pneumatic • 3-Finger Centric Gripper • Universal Gripper. . Sectional diagram Functional

2-Finger-Parallel Gripper SPG 100 - Comoso - Home of the Original Operating Manual 2-Finger-Parallel Gripper SPG 100 Assembly and Operating Manual Superior Clamping and Gripping

Design of Parallel-Jaw Gripper Tip Surfaces for Robust Graspinggoldberg.berkeley.edu/pubs/gripper-tip-surface-design... · 2017-04-24 · Design of Parallel-Jaw Gripper Tip Surfaces

P0373-P0441-E.qxd 08.9.29 3:07 PM Page 373 Parallel Style ... · 373 Parallel Style Air Gripper ... Finger option 6 With dust cover MHZAJ2-6 10, 16 ... Parallel Style Air Gripper

2-Finger Parallel Gripper Universal long guide gripper · 2-Finger Parallel Gripper Universal long guide gripper Kinetics wedge system, for high power ... compact design light weight

Parallel Style Air Gripper/2 Finger, 3 Finger, 4 Finger MHS Parallel Style Air Gripper/2 Finger, 3 Finger, 4 Finger ø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80, ø100, ø125 583

Pneumatic · 3-Finger Centric Gripper · Universal Gripper

Application example - BIBUS2 MPG-plus Pneumatic • 2-Finger Parallel Gripper • Gripper for small components Sizes 25 … 40 Weight 0.06 kg … 0.24 kg Gripping force 38 N … 175

Pneumatic · 2-Finger Parallel Gripper · Long-stroke Gripper · PSH Pneumatic · 2-Finger Parallel Gripper ·Long-stroke Gripper 429 Gripping force is the arithmetic total of the

Parallel Type Air Gripper

Parallel Mechanical Gripper Finger(Long Attachment)Type … · 2013. 7. 1. · Parallel Mechanical Gripper (Finger(Long Attachment)Type) HP09F Series (Old Type HP12) Speciﬁcations

Servo-Electric 2-Finger Parallel Gripper WSG 50

Pneumatic · 2-Finger Parallel Gripper · Universal Gripper · PDF filePGN-plus Pneumatic · 2-Finger Parallel Gripper ·Universal Gripper 157 Robust multiple-tooth guidance for precise

PARALLEL ANGULAR GRIPPER · PARALLEL GRIPPER ANGULAR GRIPPER CAUTION SENSOR SWITCH PARALLEL GRIPPER MCHC . series PARALLEL GRIPPER (2-Finger) Features Integral linear guide used for

Pneumatic • 3-Finger Centric Gripper • Universal … 605 PZN-plus 40 Pneumatic • 3-Finger Centric Gripper • Universal Gripper Main view The drawing shows the gripper in the

2 Finger, 3 Finger, 4 Finger Parallel Type Air Gripper ... · Finger Cap End plate Piston bolt Material Aluminum alloy Aluminum alloy Carbon steel Carbon steel Aluminum alloy Stainless

Parallel Type Air Gripper/2 Finger, 3 Finger, 4 Finger · Parallel Type Air Gripper/2 Finger, 3 Finger, 4 Finger ... Grease for food processing machines, Fluorine grease Grease for

Pneumatic · 3-Finger Centric Gripper · Universal Gripper · Pneumatic · 3-Finger Centric Gripper · Universal Gripper 590 Technical data Finger load Moments and forces apply per

Parallel Type Air Gripper Series MHZ

Parallel Type Air Gripper - SMC ETech Type Air Gripper ... Finger positions can be selected. (Standard type/MHZ2) Standard type (MHQG2 compatible width) Narrow type (MHQ2 compatible

A Three-Finger Gripper for Manipulation in Unstructured Environme

2 Finger, 3 Finger, 4 Finger Parallel Style Air Gripper ... Finger, 3 Finger, 4 Finger Parallel Style Air Gripper Series MHS 12-7-1 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc

ADAPTIVE GRIPPER GIVE TO YOUR ROBOT HAND-LIKE …€¦ · ADAPTIVE GRIPPER 3-FINGER T: 1.418.380.2788 [email protected] robotiq.com Gripper opening (see figure) Gripper weight Object

Electrical • 2-Finger Parallel Gripper • Long-stroke Gripper 1273 LEG 760 Electrical • 2-Finger Parallel Gripper • Long-stroke Gripper Main view The drawing shows the unit

2-Finger-Parallel-Gripper PSH 22 - 52 · • 2-Finger-Parallel Gripper PSH in the ordered model. • Accessory pack . Accessories . A wide range of accessories are available for this

SMC Pneumatics MHS Parallel Style Air Gripper/2 Finger, … · Series MHS Parallel Style Air Gripper/2 Finger, 3 Finger, 4 Finger ø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80, ø100,

Pneumatic · 2-Finger Parallel Gripper · Universal … 50 Pneumatic · 2-Finger Parallel Gripper · Universal Gripper 272 Technical data Finger load 300 Moments and forces apply per

UNIVERSAL PARALLEL GRIPPER

Parallel Style Air Gripper/2 Finger, 3 Finger, 4 Finger Parallel Style Air Gripper/2-Finger Type Series MHS2 ø16, ø20, ø25, ø32, ø40, ø50, ø63 How to Order Bore size ø16 to

2 Finger, 3 Finger, 4 Finger Parallel Type Air Gripper ... · 2 Finger, 3 Finger, 4 Finger Parallel Type Air Gripper Series MHS ø16, ø20, ø25, ø32, ø40, ø50, ø63, ø80, ø100,

Grippers and vacuum - Brammer Overview_H… · GrIPPErS AnD VACuuM Parallel grippers j2 – parallel gripper, 2-finger, Chuck grippers j3 – chuck gripper j3 – chuck gripper with

Pneumatic • 2-Finger Radial Gripper • Universal Gripper