Magnet Gripper Unit for Collaborative Robots

Auto switch Auto Switch Specifications D-M9P (With indicator light) Auto switch model D-M9P Electrical entry direction In-line Wiring 3-wire Output PNP type Applicable load IC circuit,Relay,PLC Power supply voltage DC51224V(4.5 to 28V) Current consumption 10 mA or less Load voltage DC28V or less Load current 40 mA or less Internal voltage drop 0.8 V or less at 10 mA (2 V or less at 40 mA)

Rotary Actuated Air Gripper/3-Finger Type MHR3/MDHR3 Series Size: 10, 15

MDHR2-20, 30 MDHR2-10, 15 H H L L Auto switches of D-M9NV, D-M9PV, D-M9BV, and D-M9AV are used. Auto switches of D-M9N, D-M9P, D-M9B, and D-M9A are used. Auto switches of D-M9NV, D-M9PV, D-M9BV, and D-M9AV are used. Max. Protrusion of Auto Switch from Edge of Body: L, H Max.

Solid-state Auto Switches for Direct Mounting Series D-M9N(V)/D-M9P(V)/D-M9B(V)

Information Solid-state Auto Switches for Direct Mounting Series D-M9N(V)/D-M9P(V)/D-M9B(V) Auto Switch Specifications Grommet PLC: Programmable Logic Controller D-M9/D-M9V (with Indicator light) Reduced load currents for two-wire model (2.5 to 40 mA) Compliance with lead-free requirements Use of UL-approved lead wires (style 2844) Three-wire D-M9N In-line Perpendicular D-M9P In-line

Parallel Style Air Gripper/2-Finger Type Series MHS2 ø16, ø20, ø25, ø32, ø40, ø50, ø63 How to Order Bore size 20 MHS2 D M9BW ø16 to ø25 Number of fingers Number of auto switches 2 Nil 2 pcs. 2 fingers Auto switch Bore size S 1 pc. Nil Without auto switch

Bore size 32 to 63 M9BW MHS2 D 50 Made to Order Refer to page 545 for details. 2 fingers Number of fingers 2 Number of auto switches Nil S 2 pcs. 1 pc. Action Bore size Double acting D 32 40 50 63 32 mm 40 mm 50 mm 63 mm Auto switch Nil Without auto switch (Built-in magnet) For the applicable auto switch model, refer to the table below.

Table of Contents

C D D D D D CRA1 C C C CRQ2 MSQ MRQ C D D DKey 20(mm) Nominal size C D 50 63 80 100 19.5 39.5 21 45 23.5 53.5 30 65 Note) Dimensions and tolerance of the shaft and keyway are the same as the standard.

CLQ

D-F79F D-F7NTL D-A7H/A80H D-A73C/A80C D-F7BAVL D-F7BAL/F79F D-F7W D-F7/J79 D-F7V/J79C D-J79W D-F7WV D-F7V D-F7WV D-F7BAVL D-J79C D-A79W D-A7 D-A80 D-A73C D-A80C Bore size (mm) D-A7/A80 D-A79W Bore size (mm) Hs Hs Hs Hs Hs Hs 20 A B A B A B 25 20 32 25 35 38 34 31.5 32.5 38.5 40 32 41.5 37.5 36 42 38.5 35 38.5 3.5 41 6 41.5 6.5 50 40 43.5 48 44.5 47.5 41 42 6 47 8.5 47.5 9 44.5 63 50 51 54

RSQ

D-J79W D-F79F, D-F7NTL D-F7BAL 32 to 50 D-A79W D-F7WV D-F7V D-F7BAVL D-A73C D-A80C D-J79C RS H A D-A7 D-A8 RZQ MI W S CEP1 U U U U CE1 A B CE2 32 to 50 ML2B D-A9V D-M9V D-F9WV D-F9BAL D-A9 D-M9 D-F9W C J G5-S U U B CV MVGQ CC A RB Proper Auto Switch Mounting Position Auto Switch Mounting Height (mm) J D-A7H D-A80H D-A73C D-A80C D-F7 D-J79 D-F7V D-J79C D-F7BAVL D-F7BAL D-F7W D-J79W

smcmaintenancepartslist

Bore size 16 20 25 32 40 50 63 16 20 25 32 40 50 53 Recommended length Part No.

Brake mechanism added

121 56 59.5 56 62.5 56 D-A9 and D-A9V cannot be mounted on 50.

7

Hs B A 16 8.5 D-B54 Hs B 33 A Minimum Stroke for Auto Switch Mounting Unit: mm Same surface With 2 pcs. Auto switch model With 1 pc. Different surfaces D-P3DWA D-P4DW D-P79WSE D-P74 24.5 50 50 50 12 D-M9 D-M9W D-M9A Caution D-A9 D-B54 50 50 75 As for the precautions on the auto switches, product specifications, refer to pages 437 to 439.

CQM

Note 12 16 20 25 32 40 50 D-F7 , J79 D-F7 V D-J79C D-F7 W, J79W D-F7 WV D-F7BAL, F7BAVL D-F79F D-F7NTL D-F7, D-F7V D-J79, D-J79C D-F7W, D-F7WV D-J79W D-F7BAL, D-F7BAVL D-F7NTL, D-F79F -X Switch mounting screw (M3 x 0.5 x 10 ) Switch spacer Switch mounting nut D-A7 , A80 D-A73C, A80C D-A7 H, A80H D-A79W 6 6 6 32, 40 50 BQ-2 20Data D-F9W, D-F9WV D-F9BAL 5.5 3 4 5 5.5 5.5 5.5 Switch mounting

RQ

Mounting bolt C D Mounting bolt Mounting bolt Model C D 50 55 60 65 75 85 55 60 65 70 80 90 60 65 70 80 90 115 140 Model C D 65 70 75 85 95 120 145 85 95 105 130 155 90 100 110 135 160 105 115 140 165 120 130 155 180 R(D)QB20-15 -20 -25 -30 -40 -50 R(D)QB25-15 -20 -25 -30 -40 -50 R(D)QB32-20 -25 -30 -40 -50 -75 -100 R(D)QB40-20 -25 -30 -40 -50 -75 -100 R(D)QB50-30 -40 -50 -75 -100 R(D)QB63

51

) (n = 2, 4, 6) Note 3) D-H7 D-H7W D-H7BA D-H7NF (n 2) 2 70 + 45 (n 2) 25 + 45 70 25 10 (n = 2, 3, 4, 5) (n = 2, 4, 6) Note 3) D-C73C D-C80C D-H7C (n 2) 2 80 + 50 (n 2) 30 + 50 80 5 30 (n = 2, 3, 4, 5) (n = 2, 4, 6) Note 3) D-B5 D-B64 D-G5 D-K59 (n 2) 2 70 + 50 (n 2) 25 + 50 5 70 25 (n = 2, 3, 4, 5) (n = 2, 4, 6) Note 3) (n 2) 2 75 + 50 (n 2) 30 + 50 D-B59W 10 75 30 (n = 2, 3, 4,

Air Gripper for Collaborative Robots

M9B D-M9B M9N D-M9N Solid state switch M9P D-M9P M9BW D-M9BW Solid state switch (2-color indication) M9NW D-M9NW M9PW D-M9PW *Note 1) lead wire length symbols 0.5mNil. (Case) M9NW 1mM (Case) M9NWM 3mL (Case) M9NWL 5mZ (Case) M9NWZ *Note 2) When 2 auto-switches are specified they are assembled for shipping.

Air Gripper for Collaborative Robots

M9B D-M9B M9N D-M9N Solid state switch M9P D-M9P M9BW D-M9BW Solid state switch (2-color indication) M9NW D-M9NW M9PW D-M9PW *Note 1) lead wire length symbols 0.5mNil. (Case) M9NW 1mM (Case) M9NWM 3mL (Case) M9NWL 5mZ (Case) M9NWZ *Note 2) This product can be mounted on the NEXTAGE KAWADA ROBOTICS CORPORATION. 3-2.

Basic Type/Direct Mount Type

Note 4) D-Z7 and D-Y types cannot be mounted. 25 to 63 (mm) Auto switch model D-Z7 D-Z80 D-Y59 D-Y7P D-Y7W D-Y7BA A B C D D-Z7 D-Z80 D-Y59 D-Y7P D-Y7W D-Y7BA D-Z7 D-Z80 D-Y59 D-Y7P D-Y7W D-Y7BA D-Z7 D-Z80 D-Y59 D-Y7P D-Y7W D-Y7BA D-A9 D-M9 D-M9W D-M9A D-A9 D-M9 D-M9W D-M9A D-M9 D-M9W D-M9A D-A9 D-M9 D-M9W D-M9A D-A9 Bore size (mm) 25 32 40 50 63 19 23 18 98 94 99 42 38 43 75 79 74 22.5 26.5

RLQ

, F7BAL D-F79F, F7NTL D-F7V D-F7WV D-F7BAVL D-A7 D-A80 D-A73C D-A80C D-J79C D-A79W Bore size (mm) HS HS HS HS HS HS 32 34 38 35 38.5 32.5 31.5 40 37.5 41.5 38.5 42 36 35 50 43.5 47.5 44.5 48 42 41 63 50 54 51 54.5 48.5 47.5 9-12-22 23 Operationg Range Minimum Auto Switch Mounting Stroke (mm) (mm) Auto switch type Bore size D-A7 D-A80 D-A73C D-A80C D-A9V D-A7H D-A80H D-F7 D-J79 D-F9W 32 40

1.63

Position (Detection at Stroke End) and Its Mounting Height D-M9 D-M9V D-M9W D-M9WV D-M9A D-M9AV D-A9 D-A9V 20 to 63 B A Hs 32 to 63 D-P3DWA B A Hs Auto Switch Proper Mounting Position Auto Switch Mounting Height (mm) (mm) D-M9 D-M9V D-M9W D-M9WV D-M9A D-M9AV Auto switch model Auto switch model D-A9V D-P3DWA D-M9V D-M9WV D-M9AV D-A9 D-A9V D-P3DWA Bore size (mm) Bore size (mm) B 11 12.5

3

Operating Range (mm) Auto switch model Bore size 12 16 20 25 32 40 50 63 D-M9/M9V D-M9W/M9WV D-M9A/M9AV D-A9/A9V 6.5 5 5 5 5.5 5 4 3 11 9.5 9.5 9 9 10 7.5 6 D-F7/J79 D-F7V/J79C D-F7W/F7WV D-J79W D-F79F/F7BA D-F7BAV/F7NT 7.5 6.5 6.5 6 6 6 Since this is a guideline including hysteresis, not meant to be guaranteed (assuming approximately 30% dispersion).

MY1

/Y7PV D-Y7W/Y7WV D-Y7BA D-Y59/Y69 D-Y7P/Y7PV D-Y7W/Y7WV D-Y7BA 5 5 5 5.5 5.5 5 5 5 5.5 5.5 Perpendicular electrical entry type and D-Y7BAL cannot be mounted on 16, 20, 50 and 63.