180° Angular Style Air Gripper
Series MHY2/MHW2
Cam Style / Rack & Pinion Style
MHZ
MHF
MHL
MHR
MHK
MHS
MHC
MHT
-Z
MHY
MHW
-X
MRHQ
MA
D-
699
180° Angular Style Air Gripper
Cam Style
Rack & Pinion Style
Series MHY2/MHW2
Series MHY2/Cam Style
Light and compact size in small bore sizes
Over length L (mm)
Bore size
(mm)
Gripping moment ∗
( N·m)
MHY2-10D
10
0.16
71
70
MHY2-16D
16
0.54
84
150
MHY2-20D
20
1.10
106
320
MHY2-25D
25
2.28
131
560
Model
L
Weight
(g)
∗ At the pressure of 0.5 MPa
Auto switch mounting
at 4 locations
Improved mounting repeatability
Stainless steel
fingers are
standard.
Resistance to dusty environments
Reduced opening sizes helps prevent
foreign objects from entering.
Assembly
Series Variations
Bore size (mm)
10
Clamping workpiece
Cam style
Series MHY2
Rack & Pinion
style
Series MHW2
700
16
20
25
32
40
50
Series
180° Angular Style Air Gripper
MHY2/MHW2
Series MHW2/Rack & Pinion Style
Unique seal design allows shorter total length
construction and constant grippng force when
opening and closing fingers. (PAT.PEND)
Auto switch mounting
at 4 locations
Over length L(mm)
Bore size
(mm)
Gripping moment ∗
(N·m)
MHW2-20D
20
0.30
68
300
MHW2-25D
25
0.73
78
510
MHW2-32D
32
1.61
93.5
905
MHW2-40D
40
3.70
117.5
2135
MHW2-50D
50
8.27
154
5100
Model
L
Weight
(g)
∗ At the pressure of 0.5 MPa
Two finger styles available.
Flat finger type
Right angle finger type
MHZ
Key connection is
ideal for impact
resistance.
MHF
MHL
Dustproof construction
Key connection between finger
and shaft prevents finger angle
slippage during impact.
MHR
Seal arrangement protects gripper from harsh
dusty environments.
MHK
MHS
Bearings are standard.
MHC
MHT
-Z
MHY
MHW
Clamping workpiece
-X
INDEX
Applicable auto switch
MRHQ
Page
MA
Transferring
workpiece
D-
706 to 712
Solid state switch
D-M9/M9W type
713 to 720
701
Series MHY2/MHW2
Model Selection
Model Selection
Selection Procedure
of
Step 1 Confirmation
gripping force
Step 1
of
Step 2 Confirmation
gripping point
of moment of
Step 3 Confirmation
inertia of attachments
Confirmation of Gripping Force
Confirmation of conditions
Calculation of required gripping force
Selection of model from gripping force graph
MHY2-16D
Example
Guidelines for the selection of the
gripper with respect to workpiece mass
Workpiece mass: 0.05 kg
30
• Although conditions differ according to the
workpiece shape and the coefficient of
friction between the attachments and the
workpiece, select a model that can
provide a gripping force of 10 to 20 times
the workpiece mass, or more.
• If high acceleration, deceleration or impact
forces are encountered during motion, a
further margin of safety should be
considered.
Example) For setting the gripping force to
be at least 20 times the work
weight;
Required gripping force
= 0.05 kg x 20 x 9.8 m/s2 = 10 N min.
Gripping force (N)
25
20
15
13
10
5
Pressure 0.6 MPa
0.5
0.4
0.3
0.2
0.1
0
20
30
40
50
60 70
Gripping point L (mm)
• When MHY2-16D is selected, the
gripping force is determined to be
13 N according to the gripping
point distance (L = 35 mm) and
the pressure (0.4 MPa).
• The gripping force is 26 times the
workpiece mass and therefore
satisfies a gripping force setting
value of 20 times or more.
Gripping point L = 35 mm
Operating pressure: 0.4 MPa
Effective Gripping Force
Series MHY2/MHW2 Double Acting MHY2-10D
MHY2-20D
50
10
6
Pressure 0.6 MPa
0.5
0.4
0.3
4
0.2
2
0.1
0
20
30
40
50
Pressure 0.6 MPa
40
Gripping force (N)
8
Gripping force (N)
• Indication of effective grippng 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 fingers and
attachments are in full contact with the workpiece
as shown in the figure below.
60
0.5
30
20
0.4
0.3
0.2
10
0.1
0
30
Gripping point L (mm)
F
F
F
MHY2-16D
Gripping force (N)
30
External grip
25
15
0
0.5
80
0.4
0.3
0.2
0.1
20
30
40
50
Gripping point L (mm)
702
60
70
80
Pressure 0.6 MPa
60
0.5
0.4
0.3
40
0.2
20
0.1
L
5
L
100
Pressure 0.6 MPa
20
10
50
MHY2-25D
35
Gripping force (N)
F
40
Gripping point L (mm)
60
70
0
30
40
50
60
70
Gripping point L (mm)
80
90
180° Angular Style Air Gripper
MHW2-32D
100
Pressure 0.7 MPa
0.6
Gripping force (N)
Gripping force (N)
25
0.5
15
0.4
0.3
10
0.2
5
0
20
40
60
80
80
60
20
0
0.5
0.3
0.2
20
40
60
80
100
Gripping point L (mm)
200
150
100
50
0
120
0.6
0.5
0.4
0.3
0.2
40
80
120
160
200
Gripping point L (mm)
MHW2-40D
160
50
Pressure 0.7 MPa
140
0.6
40
Gripping force (N)
Gripping force (N)
Pressure 0.7 MPa
250
Gripping point L (mm)
MHW2-25D
300
Pressure 0.7 MPa
0.6
0.4
40
MHY2/MHW2
MHW2-50D
Gripping force (N)
MHW2-20D
20
Series
0.5
30
0.4
0.3
20
0.2
10
120
100
Pressure 0.7 MPa
0.6
0.5
80
0.4
60
0.3
0.2
40
MHZ
MHF
20
0
20
40
60
80
100
0
20
Gripping point L (mm)
40
60
80
MHL
100 120 140 160
Gripping point L (mm)
MHR
Confirmation of Gripping Point
MHY
MHW
60
200
H
H
Overhang H (mm)
Gripping point
40
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
30
20
MHS
MHC
MHW2-20D
MHW2-25D
MHW2-32D
MHW2-40D
MHW2-50D
150
100
MHT
-Z
MHY
50
10
0
Gripping point
MHK
50
Overhang H (mm)
Step 2
MHW
0.1
0.2
0.3
0.4
Pressure P (MPa)
0.5
0.6
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
-X
Pressure P (MPa)
MRHQ
• Workpiece should be held at a point within
the range of overhanging distance (H) for a
given pressure indicated in the tables on the
right.
• When the workpiece is held at a point
outside of the recommended range for a
given pressure, it may cause adverse effect
on the product life.
MA
D-
703
Series MHY2/MHW2
Model Selection
Step 3
Confirmation of Moment of Inertia of Attachments
Confirm the moment of inertia for the attachment at one side.
Calculate the moment of inertia for A and B separately as
shown in the figures on the right.
Procedure
1. Check the operating conditions,
dimensions of attachment, etc.
A part
Calculation
Calculation example
Operating model: MHY2-16D
Opening time: 0.15 s
a = 40 (mm)
b = 7 (mm)
c = 8 (mm)
d = 5 (mm)
e = 10 (mm)
f = 12 (mm)
A part
a
b
B part
B part
c
e
f
d
2. Calculate the moment of inertia
of attachment.
z
r1
A part
Material of attachment: Aluminum alloy
(Specific gravity = 2.7)
z1
Calculation of weight
m1 = a x b x c x Specific gravity
Moment of inertia around Z1 axis
IZ1 = {m1(a2 + b2)/12} x 10-6
∗
Moment of inertia around Z axis
IA = IZ1 + m1r12 X 10-6
∗
B part
IA
= 0.8 x 10-6 (kg·m2)
= 0.8 x 10-6 + 0.006 x 372 x 10-6
= 9.0 x 10-6 (kg·m2)
z
r2
r2 = 47(mm)
Calculation of weight
m2 = d x e x f x Specific gravity
m2 = 5 x 10 x 12 x 2.7 x 10-6
= 0.002 (kg)
Moment of inertia around Z2 axis
-6
IZ2 = {m2 (d2 + e2)/12} x 10∗
IZ2 = {0.002 x (52 + 102)/12} x 10-6
Moment of inertia around Z axis
IB = IZ2 + m2r22 x 10-6
∗
Total moment of inertia
I = IA + IB
(∗ Constant for unit conversion)
MHY2-16D
= 0.02 x 10-6 (kg·m2)
IB = 0.02 x 10-6 + 0.002 x 472 x 10-6
= 4.4 x 10-6 (kg·m2)
I = 9.0 x 10-6 + 4.4 x 10-6
= 13.4 x 10-6= 0.13 x 10-4 (kg·m2)
The moment of inertia is determined to
be 0.9 x 10-4 (kg·m2) according to the
operating time (0.15 s) from the graph to
the left.
3.0
2.5
Inertia moment (x 10-4 kg·m 2)
= 40 x 7 x 8 x 2.7 x 10-6
= 0.006 (kg)
Iz1 = {0.006 x (402 + 72)/12} x 10-6
z2
3. Determine the allowable moment
of inertia from the graph.
r1 = 37 (mm)
m1
2.0
1.5
0.9
1.0
0.5
0
0.1
0.2
0.3
0.4
0.5
Operating time (s/90°)
4. Confirm the moment of inertia of
one attachment is within the
allowable range.
704
Moment of inertia of attachment <
Allowable moment of inertia
0.13 x 10-4 (kg·m2) < 0.9 x 10-4 (kg·m2)
Possible to use this model MHY2-16D
completely.
180° Angular Style Air Gripper
Series
MHY2/MHW2
Symbol
Symbol
Definition
Unit
Symbol
Definition
Unit
Z
Finger rotation axis
—
IA
Moment of inertia around the Z axis of A part of attachment kg·m2
Z1
Axis on the center gravity of A part of attachment and parallel to Z
—
IB
Moment of inertia around the Z axis of B part of attachment kg·m2
Z2
Axis on the center gravity of B part of attachment and parallel to Z
—
Weight of A part of attachment
I
Total moment of inertia for attachment
IZ1
Inertia moment around the Z1 axis of A part of attachment kg·m2
IZ2
Inertia moment around the Z2 axis of B part of attachment kg·m2
m1
m2
r1
r2
kg·m2
kg
Weight of B part of attachment
kg
Distance between Z and Z1 axis
mm
Distance between Z and Z2 axis
mm
Allowable Range of Moment of Inertia of Attachment
MHW2-20D
1.0
0.8
0.6
0.4
0.2
0
0.1
0.2
0.3
0.4
0.5
5
4
3
2
1
0
0.1
0.2
Operating time (s/90°)
2.0
1.5
1.0
0.5
0.1
0.2
0.3
0.4
0.5
Moment of inertia (x 10-4 kg·m2)
Moment of inertia (x 10-4 kg·m2)
2.5
5
4
3
2
1
0.2
0.4
0.6
0.8
Moment of inertia (x 10-4 kg·m2)
Moment of inertia (x 10-4 kg·m2)
300
200
100
0
0.2
0.4
0.6
0.8
1.0
1.2
Operating time (s/90°)
15
MHZ
10
MHF
5
MHL
MHR
0
0.2
0.3
0.4
0.5
MHK
Operating time (s/90°)
MHS
50
40
MHC
30
MHT
-Z
20
MHY
10
MHW
0
0.2
0.3
Operating time (s/90°)
0.4
0.5
0.6
-X
Operating time (s/90°)
MHW2-40D
20
15
10
5
0.4
0.6
0.8
Operating time (s/90°)
1.0
Moment of inertia (x 10-4 kg·m2)
MHY2-25D
Moment of inertia (x 10-4 kg·m2)
400
MHW2-32D
6
0.2
500
20
Operating time (s/90°)
MHY2-20D
0
600
MHW2-25D
3.0
0
0.3
Operating time (s/90°)
MHY2-16D
0
MHW2-50D
6
Moment of inertia (x 10-4 kg·m2)
1.2
Moment of inertia (x 10-4 kg·m2)
Moment of inertia (x 10-4 kg·m2)
MHY2-10D
200
MRHQ
150
MA
100
D-
50
0
0.2
0.4
0.6
0.8
1.0
Operating time (s/90°)
705
180° Angular Style Air Gripper
Cam Style
Series MHY2
ø10, ø16, ø20, ø25
How to Order
MHY 2 16 D 2
M9BW
Made to Order
Refer to page 707 for details.
Number of fingers
2
Number of auto switches
2 fingers
Bore size
10
10 mm
16
16 mm
20
20 mm
25
25 mm
Nil
2 pcs.
S
1 pc.
n
n pc.
Auto switch
Nil
Without auto switch (Built-in magnet)
∗ For the applicable auto switch model, refer to the table below.
Finger option
Action
D
Double acting
Nil: Standard tapped 2: Through-holes in
mounting
opening/closing direction
Applicable Auto Switches / Refer to pages 807 to 856 for further information on auto switches.
Type
Special
function
Electrical Indicator
entry
light
Wiring
(Output)
Solid state auto switch
3-wire(NPN)
—
3-wire(PNP)
Diagnosis
(2-color
indication)
3-wire(NPN)
2-wire
Water
resistant
(2-color
indication)
Grommet
Yes
3-wire(PNP)
2-wire
3-wire(NPN)
3-wire(PNP)
2-wire
Load voltage
DC
AC Perpendicular
M9NV
M9PV
12 V
M9BV
M9NWV
5 V, 12 V
24 V
— M9PWV
12 V
M9BWV
M9NAV∗∗
5 V, 12 V
M9PAV∗∗
12 V
M9BAV∗∗
5 V, 12 V
Lead wire length (m)∗
Auto switch model
Electrical entry direction
In-line
0.5
(Nil)
1
(M)
3
(L)
5
(Z)
M9N
M9P
M9B
M9NW
M9PW
M9BW
M9NA∗∗
M9PA∗∗
M9BA∗∗




































Pre-wired
connector









Applicable
load
IC
circuit
—
IC
circuit
—
Relay,
PLC
IC
circuit
—
∗∗ Water resistant type auto switches can be mounted on the above models, but in such case SMC cannot guarantee water resistance.
∗ Auto switches marked with a “” symbol are produced upon receipt of order.
∗ Lead wire length symbols: 0.5 m ········· Nil (Example) M9NW
1 m ········· M (Example) M9NWM
3 m ········· L (Example) M9NWL
5 m ········· Z (Example) M9NWZ
Note 1) When using the 2-color indicator type, please make the setting so that the indicator is lit in red to ensure the detection at the proper position of the
air gripper.
706
180° Angular Style Air Gripper
Cam Style
MHY2
Series
Specifications
Air
Fluid
0.1 to 0.6 MPa
Operating pressure
–10 to 60°C
Ambient and fluid temperature
Repeatability
±0.2 mm
Max. operating frequency
60 c.p.m.
Not required
Lubrication
Double acting
Action
Auto switch (Option) Note)
Solid state auto switch (3-wire, 2-wire)
Note) Refer to pages 807 to 856 for further information on auto switches.
Symbol
Double acting: External grip
Made to Order
Model
Opening/Closing angle
(Both sides)
Weight (2)
(g)
Model
Bore size
(mm)
Effective gripping force (1)
(N·m)
MHY2-10D
10
0.16
70
MHY2-16D
16
0.54
150
MHY2-20D
20
1.10
MHY2-25D
25
2.28
Opening Closing
side
side
180°
-3°
320
560
Note 1) At the pressure of 0.5 MPa
Note 2) Except auto switch
(Refer to pages 727 to 759 for details.)
Symbol
-X4
-X5
-X50
-X53
-X63
-X79
-X79A
-X81A
Specifications/Description
Heat resistance (100°C)
Fluororubber seal
Without magnet
EPDM for seals, Fluorine grease
Fluorine grease
Grease for food processing machines, Fluorine grease
Grease for food processing machines
Anti-corrosive treatment of finger
MHZ
• Refer to “How to Select the Applicable Model” on page 702.
• Refer to pages 702 and 703 for the details on effective holding force and allowable
overhanging distance.
MHF
MHL
MHR
MHK
MHS
MHC
MHT
-Z
MHY
MHW
-X
MRHQ
Moisture
Control Tube
Series IDK
MA
D-
When operating an actuator with a small diameter
and a short stroke at a high frequency, the dew
condensation (water droplet) may occur inside the
piping depending on the conditions.
Simply connecting the moisture control tube to the
actuator will prevent dew condensation from occurring. For details, refer to Series IDK in the
WEB catalog.
707
A
Series
MHY2
Construction
Closed condition
ø10
ø16
ø20, ø25
r o !8 e w !7 t !5
r o !8 e !6 w @0 !7 t !5
r o !8 e !6 w @0 !7 t !5
!0 u !2 i q !1 !4 y !9
!0 u !3 !2 i q !1 !4 y !9
!0 u !2 i q !1 !4 y !9
Open condition
Component Parts
No.
Description
1
Body
2
Piston
3
4
5
6
7
8
Material
Note
No.
Aluminum alloy
Hard anodized
9
10
Bushing B
11
Bumper
12
Needle roller
13
14
15
16
Joint roller
ø10: Stainless steel
ø16 to 25: Chromated
ø16 to 25: Aluminum alloy
Joint
Stainless steel
Heat treated
Finger
Stainless steel
Heat treated
Cap
Resin
Wear ring
Resin
Shaft
Stainless steel
Bushing A
Nitriding
Sintered alloy steel
Description
Material
End plate
Stainless steel
Urethane rubber
High carbon chrome
bearing steel
Carbon steel
Rubber magnet
Type C retaining ring
Piston bolt
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
MHY10-PS
MHY16-PS
MHY20-PS
MHY25-PS
MHY-A1001
MHY-A1601
MHY-A2001
MHY-A2501
MHY-A1001-2
MHY-A1601-2
MHY-A2001-2
MHY-A2501-2
Joint assembly
MHY-A1002
MHY-A1602
MHY-A2002
MHY-A2502
Piston assembly
MHY-A1003
MHY-A1603
MHY-A2003
MHY-A2503
Description
Finger assembly
MHY2-D
MHY2-D2
∗ Order 1 piece of finger assembly per one unit.
Replacement part/grease pack part no. : MH-G04 (30g)
708
Nitriding
Synthetic rubber
Carbon steel
Stainless steel
Replacement Parts
Seal kit
Note
Sintered alloy steel
Main parts
<ø10> !7!8!9@0
<ø16, ø20, ø25> !7!8!9@0
ro
<ø10, ø16> e!2
<ø20, ø25> e!2!3
<ø10> we!2!4
<ø16, ø20, ø25> wy!1!4!6
Phosphate coated
180° Angular Style Air Gripper
Cam Style
Series
MHY2
Dimensions
MHY2-10D
Pin hole positioning
9
9
30
6
(Mounting thread)
3H9+ 0.025
depth 3
0
—0.005
—0.025
4 x M3 x 0.5 thread depth 6
3
4
(Mounting thread)
12
2 x ø3.4 through
2 x M3 x 0.5 depth 6
(Mounting hole)
(Mounting thread)
30
24
24
22
6
18
23.5
(Limted area for mounting attachment∗)
4
2 x M3 x 0.5 thread depth 4
4 x M3 x 0.5 through
(Thread for mounting attachment)
35
ø11H9 + 0.043
0 depth 1.5
Positioning pin hole
9
2
15
47.5
58
Auto Switch Mounting
Groove Dimensions
MHZ
MHF
3
M5 x 0.8
(Finger opening port)
13
MHL
MHR
3
7
23
MHK
ø4
M5 x 0.8
(Finger closing port)
2
MHS
MHC
MHY2-10D2
Opening/Closing direction
through-hole type
4 x ø3.4 through
MHT
-Z
(Hole for mounting attachment)
3
MHY
6
MHW
-X
(Limted area for mounting attachment∗)
12
6
-0.005
-0.025
MRHQ
MA
D-
∗ Do not extend the attachment from limited area for mounting to
avoid interference with the attachment or main body.
709
Series
MHY2
Dimensions
MHY2-16D
33
4 x M3 x 0.5 through
2 x M4 x 0.7 thread depth 5
(Thread for mounting attachment)
(Mounting thread)
—0.005
—0.025
3H9 + 0.025
depth 3
0
5
4
4 x M4 x 0.7 thread depth 8
2 x M4 x 0.7 thread depth 8
(Mounting thread)
2 x ø4.5 through
30
28
30
(Mounting hole)
7
20
28.5
(Limted area for mounting attachment∗)
14
(Mounting thread)
38
8
ø17H9 + 0.043
0 depth 1.5
41
Positioning pin hole
2.5
12
55.5
20
69
25
M5 x 0.8
(Finger closing port)
MHY2-16D2
7
2.5
4 x ø3.4 through
7
(Hole for mounting attachment)
8 -0.005
-0.025
(Limted area for mounting attachment∗)
14
4
Opening/Closing direction
through-hole type
ø4
3
8
18
Auto Switch Mounting
Groove Dimensions
M5 x 0.8
(Finger opening port)
∗ Do not extend the attachment from limited area for mounting
to avoid interference with the attachment or main body.
710
15
4
12
Pin hole positioning
180° Angular Style Air Gripper
Cam Style
Series
MHY2
MHY2-20D
2 x M5 x 0.8 thread depth 8
5
14
19
Pin hole positioning
(Mounting thread)
42
4H9 + 0.030
depth 4
0
4 x M4 x 0.7 through
5
(Thread for mounting attachment)
10
4 x M5 x 0.8 thread depth 10
8
—0.005
—0.025
(Mounting thread)
2 x M5 x 0.8 thread depth 10
(Mounting thread)
37
25
ø21H9 + 0.052
0 depth 1.5
Positioning pin hole
50
48
36
36
38
9
(Limted area for mounting attachment∗)
18
2 x ø5.5 through
(Mounting hole)
16
4
69
26
86
MHZ
Auto Switch Mounting
Groove Dimensions
M5 x 0.8
(Finger opening port)
MHF
MHL
12
20
MHR
8
ø4
32
MHK
3
M5 x 0.8
(Finger closing port)
3
MHS
MHC
MHY2-20D2
Opening/Closing direction
through-hole type
MHT
-Z
4 x ø4.5 through
(Hole for mounting attachment)
MHY
5
MHW
9
-0.005
-0.025
-X
(Limted area for mounting attachment∗)
18
10
MRHQ
MA
D-
∗ Do not extend the attachment from limited area for mounting to
avoid interference with the attachment or main body.
711
Series
MHY2
Dimensions
2 x M6 x 1 thread depth 10
Pin hole positioning
5
16
(Mounting thread)
50
23
MHY2-25D
4H9 + 0.030
depth4
0
4 x M5 x 0.8 through
(Thread for mounting attachment)
10
—0.005
—0.025
4 x M6 x 1 thread depth 12
(Mounting thread)
6
12
2 x M6 x 1 thread depth 12
(Mounting thread)
ø26H9 + 0.052
depth1.5
0
30
45
58
46
42
45
12
(Limted area for mounting attachment∗)
22.5
2 x ø6.6 through
(Mounting hole)
Positioning pin hole
60
18
5
86
30
107
Auto Switch Mounting
Groove Dimensions
24
14
M5 x 0.8
(Finger opening port)
8
ø4
42
3
M5 x 0.8
(Finger closing port)
3
MHY2-25D2
4 x ø5.5 through
12
(Hole for mounting attachment)
12 -0.005
-0.025
(Limted area for mounting attachment∗)
22.5
6
Opening/Closing direction
through-hole type
∗ Do not extend the attachment from limited area for mounting to
avoid interference with the attachment or main body.
712
180° Angular Style Air Gripper
Rack & Pinion Style
Series MHW2
ø20, ø25, ø32, ø40, ø50
How to Order
MHW2 20
D 1 M9BW
Made to Order
Number of fingers
2
Refer to page 714 for details.
2 fingers
Number of auto switches
Bore size
20
25
32
40
50
20 mm
25 mm
32 mm
40 mm
50 mm
Nil
Nil
TN
TF
2 pcs.
S
1 pc.
n
n pc.
Auto switch
Port thread type
Symbol
Nil
Type
Size
M thread ø20, ø25
Rc
ø32
ø40
NPT
ø50
G
Without auto switch (Built-in magnet)
∗For the applicable auto switch model, refer to the table below.
Finger option
Nil: Flat type fingers 1: Right angle type fingers
(Standard)
tapped mounting
Action
D
MHZ
Double acting
MHF
MHL
MHR
Applicable Auto Switches / Refer to pages 807 to 856 for further information on auto switches.
Type
Special
function
Electrical Indicator
entry
light
Wiring
(Output)
Solid state auto switch
3-wire(NPN)
—
3-wire(PNP)
Diagnosis
(2-color
indication)
3-wire(NPN)
2-wire
Water
resistant
(2-color
indication)
Grommet
Yes
3-wire(PNP)
2-wire
3-wire(NPN)
3-wire(PNP)
2-wire
Load voltage
DC
Electrical entry direction
AC Perpendicular
M9NV
M9PV
12 V
M9BV
M9NWV
5 V, 12 V
24 V
— M9PWV
12 V
M9BWV
M9NAV∗∗
5 V, 12 V
M9PAV∗∗
12 V
M9BAV∗∗
5 V, 12 V
Lead wire length (m)∗
Auto switch model
In-line
0.5
(Nil)
1
(M)
3
(L)
5
(Z)
M9N
M9P
M9B
M9NW
M9PW
M9BW
M9NA∗∗
M9PA∗∗
M9BA∗∗




































Pre-wired
connector









Applicable
load
MHS
IC
circuit
MHC
—
IC
circuit
—
MHK
Relay,
PLC
MHT
-Z
MHY
IC
circuit
MHW
—
∗∗ Water resistant type auto switches can be mounted on the above models, but in such case SMC cannot guarantee water resistance.
∗ Auto switches marked with a “” symbol are produced upon receipt of order.
∗ Lead wire length symbols: 0.5 m ········· Nil (Example) M9NW
1 m ········· M (Example) M9NWM
3 m ········· L (Example) M9NWL
5 m ········· Z (Example) M9NWZ
-X
Note 1) When using the 2-color indicator type, please make the setting so that the indicator is lit in red to ensure the detection at the proper position of the
air gripper.
Note 2) When ordering the air gripper with the auto switch, the auto switch mounting bracket is included.
When ordering the auto switch separately, the auto switch mounting bracket (BMG2-012) is required.
MA
713
MRHQ
D-
Series
MHW2
Specifications
Air
Fluid
0.15 to 0.7 MPa
Operating pressure
–10 to 60°C
Ambient and fluid temperature
±0.2 mm
Repeatability
ø20, 25: 60 c.p.m.
ø32 to 50: 30 c.p.m.
Max. operating frequency
Lubrication
Not required
Action
Double acting
Auto switch (Option) Note)
Solid state auto switch (3-wire, 2-wire)
Note) Refer to pages 807 to 856 for further information on auto switches.
Symbol
Model
Double acting: External grip
Model
Effective
gripping force
(N·m)
20
0.30
−5°
25
0.73
−6°
32
1.61
MHW2-20D
MHW2-20D1
MHW2-25D
MHW2-25D1
MHW2-32D
Made to Order
(Refer to pages 727 to 759 for the details.)
Symbol
-X4
-X5
-X50
-X53
-X63
-X79
-X79A
Specifications/Description
Heat resistance
Fluororubber seal
Without magnet
EPDM for seals, Fluorine grease
Fluorine grease
Grease for food processing machines, Fluorine grease
Grease for food processing machines
Opening angle
(Both sides)
Bore size
(mm)
MHW2-32D1
MHW2-40D
MHW2-40D1
MHW2-50D
MHW2-50D1
Opening Closing
180°
−5°
40
3.70
−5°
50
8.27
−4°
Weight (2)
(g)
300
320
510
540
910
950
2140
2270
5100
5350
Note 1) At the pressure of 0.5 MPa
Note 2) Except auto switch
• Refer to “How to Select the Applicable Model” on page 702
• Refer to pages 702 and 703 for the details on effective holding force and allowable
overhanging distance.
Precautions
Be sure to read before handling.
Refer to front matter 35 for Safety Instructions and pages 402 to 410 for Air Gripper and Auto Switch
Precautions.
Mounting
MHW
Warning
When using right angle finger tap mounting
type, monitor the interference of the bolt with
the speed controller.
Tighten the
bolt from
this side
Finger
Bolt interferes with speed controller
714
180° Angular Style Air Gripper
Rack & Pinion Style
Series MHW2
Construction
r
e
@1
@0
!2
!6
!3
!5 u
Closed condition
o
t !8 i !9
!4
y
q
e
w
!0
@2
!7
!1
Open condition
MHZ
MHF
MHL
MHR
MHK
Component Parts
No.
1
2
3
4
5
6
7
8
9
Material
Note
Body
Description
Aluminum alloy
Hard anodized
Piston
Aluminum alloy
Hard anodized
Pinion gear
Carbon steel
Heat treated
Seal cover
Brass
Bumper
Urethane rubber
Finger (A)
Carbon steel
Nitriding
Finger (B)
Carbon steel
Nitriding
Rubber magnet
Synthetic rubber
Rack
Carbon steel
Nitriding
No.
Description
Material
Note
ø20, 25: Resin
10
Cap
11
12
13
14
15
16
17
Piston bolt
Stainless steel
Ball bearing
Carbon steel
ø32 to 50: Aluminum alloy Hard anodized
Description
Finger assembly
Finger A assembly
Finger C assembly
Finger B assembly
MHT
-Z
MHY
Key
Carbon steel
Hexagon socket head bolt
Carbon steel
Zinc chromated
Hexagon socket cap screw
Carbon steel
Zinc chromated
Type C retaining ring
Carbon steel
Phosphate coated
Type C retaining ring
Carbon steel
Phosphate coated
MHW2-20
MHW2-25
MHW2-32
MHW2-40
MHW2-50
MHW20-PS
MHW25-PS
MHW32-PS
MHW40-PS
MHW50-PS
!8!9@0@1@2
wtio!1@2
Main parts
MHW-A2001
MHW-A2501
MHW-A3201
MHW-A4001
MHW-A5001
MHW2-D
MHW-A2002
MHW-A2502
MHW-A3202
MHW-A4002
MHW-A5002
MHW2-D1
MHW-A2002-1
MHW-A2502-1
MHW-A3202-1
MHW-A4002-1
MHW-A5002-1
MHW2-D
MHW-A2006
MHW-A2506
MHW-A3206
MHW-A4006
MHW-A5006
y!4
MHW2-D1
MHW-A2006-1
MHW-A2506-1
MHW-A3206-1
MHW-A4006-1
MHW-A5006-1
y!4
MHW-A2007
MHW-A2507
MHW-A3207
MHW-A4007
MHW-A5007
∗ Please order 1 piece finger assembly per one unit.
Replacement part/grease pack part no. :
ø20, ø25, ø32 : GR-S-010(10g)
ø40, 50 : GR-S-020(20g)
MHC
Schield type
Replacement Parts
Seal kit
Piston assembly
MHS
yu!3!4!5
u!3!5
715
MHW
-X
MRHQ
MA
D-
Series
MHW2
Dimensions
MHW2-20D
20
Flat finger type (Standard)
2 x M5 x 0.8 thread depth 7
(Mounting thread)
17
60
4 x M5 x 0.8 thread depth 10 (Mounting thread)
Bottom through hole dia. 4.2 (Mounting hole)
45
35
2 x M5 x 0.8 thread depth 10
(Mounting thread)
2
26
36
7
23
18
27
23
ø21H9 +0.052
depth 3
0
12 +0.2
+0.1
16
26
36
4 x M4 x 0.7 thread depth 5
(Thread for mounting attachment)
Auto Switch Mounting
Groove Dimensions
5
4
12
41
30
18
M5 x 0.8
(Finger closing port)
9
M5 x 0.8
(Finger opening port)
6.45
4
20
6
MHW2-20D1
14
28
41
716
5
4 x M4 x 0.7 through
(Thread for mounting attachment)
10
15
31
Right angle finger type
11
16
180° Angular Style Air Gripper
Rack & Pinion Style
Series MHW2
Dimensions
MHW2-25D
24
Flat finger type (Standard)
20
2 x M6 x 1 thread depth 10
(Mounting thread)
4 x M6 x 1 thread depth 12 (Mounting thread)
Bottom through hole dia. 5.1 (Mounting hole)
2 x M6 x 1 thread depth 12
(Mounting thread)
2
8
27
24
34
40
27
30
51
45
69
17 +0.2
+0.1
ø26H9 +0.052
0 depth 3
30
40
21
4 x M5 x 0.8 thread depth 6
(Thread for mounting attachment)
MHZ
Auto Switch Mounting
Groove Dimensions
MHF
16
45
30.3
20
M5 x 0.8
(Finger closing port)
4.5
MHL
MHR
M5 x 0.8
(Finger opening port)
6.45
MHW2-25D1
Right angle finger type
MHK
5
10
4.5
23
MHS
5.5
MHC
MHT
-Z
MHY
MHW
-X
MRHQ
15
16
30
45
D-
12
6
18
37
MA
4 x M5 x 0.8 through
(Thread for mounting attachment)
21
717
MHW2
Series
Dimensions
MHW2-32D
24
Flat finger type (Standard)
21
2 x M6 x 1 thread depth 10
(Mounting thread)
83.5
61.5
4 x M6 x 1 thread depth 12 (Mounting thread)
Bottom through hole dia. 5.1 (Mounting hole)
47
2 x M6 x 1 thread depth 12
(Mounting thread)
2
45
58
9
32
30
42
29
4 x M6 x 1 thread depth 7
(Thread for mounting attachment)
23
+0.2
+0.1
27
ø34H9 +0.062
depth 4
0
30
Rc 1/8 (G1/8, NPT1/8)
(Finger closing port)
45
11
20
20
51
32.9
Auto Switch Mounting
Groove Dimensions
13
Rc 1/8 (G1/8, NPT1/8)
(Finger opening port)
11
MHW2-32D1
18
34
718
51
7
14
21
44
6.45
Right angle finger type
4 x M6 x 1 through
(Thread for mounting attachment)
20
27
5.5
5
25
180° Angular Style Air Gripper
Rack & Pinion Style
Series MHW2
Dimensions
MHW2-40D
30
Flat finger type (Standard)
27.5
2 x M8 x 1.25 thread depth 15
(Mounting thread)
104.5
4 x M8 x 1.25 thread depth 16 (Mounting thread)
Bottom through hole dia. 6.8 (Mounting hole)
75.5
2 x M8 x 1.25 thread depth 15
(Mounting thread)
56.5
3
60
80
12
42
40
54
37.5
30
4 x M8 x 1.25 thread depth 9
(Thread for mounting attachment)
+0.3
+0.1
36
ø42H9 +0.062
depth 4
0
36
Rc 1/8 (G1/8, NPT1/8)
(Finger closing port)
56
MHZ
MHF
20
28
MHL
10
14
Rc 1/8 (G1/8 ,NPT1/8)
(Finger opening port)
MHR
10
33.5
MHK
5
67
45
Auto Switch Mounting
Groove Dimensions
6.45
MHW2-40D1
Right angle finger type
MHS
MHC
6
MHT
-Z
MHY
MHW
-X
MRHQ
24
44
67
D-
21
10
30
60
MA
4 x M8 x 1.25 through
26
36
(Thread for mounting attachment)
719
Series
MHW2
Dimensions
MHW2-50D
40
Flat finger type (Standard)
2 x M10 x 1.5 thread depth 20
(Mounting thread)
36
136
96
4 x M10 x 1.5 thread depth 20 (Mounting thread)
Bottom through hole dia. 8.5 (Mounting hole)
69
2 x M10 x 1.5 thread depth 20
(Mounting thread)
80
112
70
+0.4
44 +0.1
40
52
ø52H9 +0.074
0 depth 5
66
Rc 1/4 (G1/4, NPT1/4)
(Finger closing port)
Auto Switch Mounting
Groove Dimensions
13
Rc 1/4 (G1/4, NPT1/4)
(Finger opening port)
6.45
22 16
13
30
38
58.6
85
4 x M10 x 1.5 through
(Thread for mounting attachment)
MHW2-50D1
37
58
85
720
12
30
24
78
Right angle finger type
4 x M10 x 1.5 through
(Thread for mounting attachment)
39
52
6
5
4
17
58
56
48
Series MHY2/MHW2
Auto Switch Installation Examples
and Mounting Positions
Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions.
Detection when Gripping Exterior of Workpiece
Detection example
1. Confirmation of the fingers in reset position
Position of fingers
fully opened
2. Confirmation of work held
Position when gripping a workpiece
Position to be detected
Operation of auto switch
Auto Switch turned ON when fingers return.
(Light ON)
Auto Switch turned ON when gripping a workpiece.
(Light ON)
Step 1) Completely
open the fingers.
Step 1) Position fingers for gripping a workpiece.
Step 2) Insert the auto switch into the switch groove in the
direction shown in the drawing.
Step 2) Insert the auto switch into the switch groove in
the direction shown in the drawing.
How to determine
auto switch
installation position
At no pressure or low pressure,
connect the auto switch to a
power supply, and follow the
directions.
MHZ
MHF
MHL
Step 3) Slide the auto switch in the direction of the
arrow until the indicator light illuminates.
Step 3) Slide the auto switch in the direction of the
arrow until the indicator light illuminates. Move the
switch an additional 0.3 to 0.5 mm in the direction of the
arrow and fasten it.
MHR
MHK
MHS
Step 4) Slide the auto switch further in the direction of
the arrow until the indicator light goes out.
MHC
Position where light turns ON
MHT
-Z
MHY
0.3 to 0.5 mm
Step 5) Move the auto switch in the opposite direction
and fasten it at a position 0.3 to 0.5 mm beyond the
position where the indicator light illuminates.
MHW
Position to be secured
-X
MRHQ
Position where
light turns ON
MA
Position to
be secured
D-
0.3 to 0.5 mm
721
Series
MHY2
Auto Switch Mounting
Protrusion of Auto Switch from Edge of Body
To set the auto switch, insert the auto switch into the installation
groove of the gripper from the direction indicated in the following
drawing. After setting the position, tighten the attached auto
switch mounting set screw with a flat head watchmaker’s
screwdriver.
The projection of an auto switch from the edge of the body is
shown in the table below. Use the table as a guideline for
mounting.
Note) 2-color indicator type and perpendicular entry type protrude in the
direction of the lead wire entry.
Flat head
watchmaker’s screwdriver
L
ø5 to ø6
When auto switch D-M9 is used
Auto switch mounting screw
M2.5 x 4 L
Auto switch
L
Note) Use a watchmaker’s screwdriver with a grip diameter of 5 to 6 mm
to tighten the auto switch mounting screw.
The tightening torque should be about 0.05 to 0.15 N·m.
∗ Refer to the page 814 for the details on “Auto Switches Connection
and Example”.
When auto switch D-M9V is used
Max. Protrusion of Auto Switch
from Edge of Body (L)
Auto switch
model
Auto Switch Hysteresis
Auto switches have hysteresis similar to micro switches. Use the
table below as a guide when adjusting auto switch positions, etc.
Air
gripper
model
Finger
position
MHY2-10D
MHY2-16D
Auto switch reset position (OFF)
MHY2-20D
te
Hys
MHY2-25D
resis
Hystere
sis
Auto switch operating position (ON)
Auto switch operating position (ON)
Auto switch reset position (OFF)
D-M9(V)
D-M9W(V)/M9A(V)
MHY2 Finger fully closed
-10D
Finger fully open
2°
MHY2 Finger fully closed
-16D
Finger fully open
2°
MHY2 Finger fully closed
-20D
Finger fully open
2°
MHY2 Finger fully closed
-25D
Finger fully open
1°
722
4°
3°
3°
2°
In-line
(mm)
Protrusion
Perpendicular In-line
Perpendicular
D-M9
D-M9V
D-M9W D-M9WV D-M9A D-M9AV
D-M9A D-M9AV
Open
—
—
—
Closed
3
1
5
3
Open
—
—
—
—
—
Closed
3
1
5
3
Open
—
—
—
—
Closed
—
—
3
1
Open
—
—
—
—
Closed
—
—
1
—
180° Angular Style Air Gripper
Auto Switch Mounting
Series
MHW2
Handling of Mounting Brackets
(1) Insert the auto switch bracket into the installation groove of
the gripper as shown below and roughly set it.
(2) Insert the auto switch into the auto switch bracket installation
groove.
(3) After confirming the detecting position, tighten the set screws
(M2.5) attached to the auto switch and set it.
(4) Be sure to change the detecting position in the state of (2).
When auto switch is set on mounting side as shown below, allow
at least 2 mm run off space on mounting late since the auto
switch is protruded from the gripper edge.
Run off space
2 mm or more
Auto switch mounting bracket
Auto Switch Mounting Bracket: Part No.
Auto switch part no.
D-M9(V)/M9W(V)/M9A(V)
Auto switch mounting bracket part no.
BMG2-012
Note) Use a screwdriver with a grip diameter of 5 to 6 mm to tighten the
set screws (M2.5). The tightening torque should be 0.5 to 1 N•m. As
a rule, it should be turned about 90° beyond the point at which
tightening can be felt.
Auto Switch Hysteresis
Auto switches have hysteresis similar to micro switches. Use the
table below as a guide when adjusting auto switch positions, etc.
Protrusion of Auto Switch from Edge of Body
The maximum protrusion of an auto switch (when fingers are fully
closed) from the edge of the body is shown in the table below.
Use the table as a guideline for mounting.
When auto switches
D-M9/M9W/Y59 AB
D-M9A
D-Y7, Y7W
are used
L
When auto switches
D-M9V/M9WV/Y69 AB
D-M9AV
D-Y7V, Y7WV
are used
MHZ
L
MHF
MHL
MHR
Max. Protrusion of Auto Switch
from Edge of Body (L)
Air gripper
model
MHW2-20D
Hyste
resis
Auto switch operating position (ON)
MHW2-25D
Auto switch reset position (OFF)
MHW2-32D
Auto switch
model
Air gripper
model
D-Y59/Y69
D-Y7P(V)/Y7W(V)
MHW2-20D
MHW2-25D
MHW2-32D
MHW2-40D
MHW2-50D
4°
4°
2°
2°
2°
Auto switch Max. hysteresis (Max. value)
D-M9(V)
model
Air gripper
model
MHW2-20D
MHW2-25D
MHW2-32D
MHW2-40D
MHW2-50D
D-M9W(V)
D-M9A(V)
4°
4°
2°
2°
2°
(mm)
Auto switch
Protrusion (mm)
Finger model In-line electrical entry type Perpendicular electrial entry type
position
D-Y59/Y7P/Y7W
D-Y69/Y7PV/Y7WV
MHW2-40D
MHW2-50D
Open
Closed
Open
Closed
Open
Closed
Open
Closed
Open
Closed
—
7
—
7
—
4
—
3
—
1
—
5
—
5
—
2
—
1
—
—
MHT
-Z
MHY
MHW
Auto switch
Protrusion (mm)
Finger model In-line electrical entry type Perpendicular electrial entry type
position
D-M9/M9W M9A D-M9V/M9WV M9AV
MHW2-20D
MHW2-25D
MHW2-32D
MHW2-40D
MHW2-50D
Open
Closed
Open
Closed
Open
Closed
Open
Closed
Open
Closed
—
7
—
7
—
4
—
3
—
1
—
9
—
9
—
6
—
5
—
3
—
5
—
5
—
2
—
1
—
—
MHS
MHC
(mm)
Air gripper
model
MHK
—
7
—
7
—
4
—
3
—
1
723
-X
MRHQ
MA
D-
Series MHY2/MHW2
Specific Product Precautions 1
Be sure to read before handling.
Mounting Air Grippers/Series MHY2
Possible to mount from 3 directions.
Axial Mounting
(Body Tapped)
Lateral mounting
(Body Tapped, Body through-hole)
Vertical Mounting
(Body Tapped)
L
Body tapped
Use the hole at the end of the
body for positioning, etc.
Model
Applicable bolts
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
M3 x 0.5
M4 x 0.7
M5 x 0.8
M6 x 1
Max. tightening Max. screw-in
torque (N·m) depth (Lmm)
6
0.88
8
2.1
10
4.3
12
7.4
Body through-hole
Model
Applicable bolts
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
M3 x 0.5
M4 x 0.7
M5 x 0.8
M6 x 1
Model
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
+0.043
0
+0.043
0
+0.052
0
+0.052
0
Hole depth (mm)
Model
Applicable bolts
1.5
1.5
1.5
1.5
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
M3 x 0.5
M4 x 0.7
M5 x 0.8
M6 x 1
Applicable bolts
M3 x 0.5
M4 x 0.7
M5 x 0.8
M6 x 1
Max. tightening
torque (N·m)
0.88
2.1
4.3
7.4
Attachment
(1) To mount the attachment to the finger, make
sure to use a wrench to support the attachment
so as not to apply undue strain on the finger.
(2) Refer to the table below for the proper
tightening torque on the bolt used for securing
the attachment to the finger.
Model
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
724
Max. tightening Max. screw-in
torque (N·m) depth (Lmm)
4
0.59
5
1.3
8
3.3
10
5.9
How to Mount the Attachment to the Finger
Max. tightening Max. screw-in
torque (N·m) depth (Lmm)
6
0.88
8
2.1
10
4.3
12
7.4
Bore(mm)
ø11H9
ø17H9
ø21H9
ø26H9
Model
MHY2-10D
MHY2-16D
MHY2-20D
MHY2-25D
Applicable bolts
Max. tightening
torque (N·m)
M3 x 0.5
0.59
M4 x 0.7
M5 x 0.8
1.4
2.8
Series MHY2/MHW2
Specific Product Precautions 2
Be sure to read before handling.
Mounting Air Grippers/Series MHW2
Possible to mount from 3 directions.
Axial Mounting
(Body Tapped)
Lateral mounting
(Body Tapped, Body through-hole)
Vertical Mounting
(Body Tapped)
L
Body tapped
Model
Use the hole at the end of the
body for positioning, etc.
Model
Applicable bolts
Max. tightening Max. screw-in
torque (N·m) depth (Lmm)
MHW2-20D M5 x 0.8
M6 x 1
MHW2-25D
M6 x 1
MHW2-32D
MHW2-40D M8 x 1.25
MHW2-50D M10 x 1.5
4.3
7.4
7.4
17.7
37.2
10
12
12
15
20
Model
Bore(mm)
Hole depth (mm)
MHW2-20D
MHW2-25D
MHW2-32D
MHW2-40D
MHW2-50D
ø21H9 +0.052
0
ø26H9 +0.052
0
+0.062
ø34H9 0
ø42H9 +0.062
0
ø52H9 +0.074
0
3
3
4
4
5
Applicable bolts
Max. tightening Max. screw-in
torque (N·m) depth (Lmm)
MHW2-20D M5 x 0.8
M6 x 1
MHW2-25D
M6 x 1
MHW2-32D
MHW2-40D M8 x 1.25
M10
x 1.5
MHW2-50D
4.3
7.4
7.4
17.7
37.2
10
12
12
16
20
Model
Applicable bolts
Max. tightening Max. screw-in
torque (N·m) depth (Lmm)
MHW2-20D M5 x 0.8
M6 x 1
MHW2-25D
M6 x 1
MHW2-32D
MHW2-40D M8 x 1.25
M10
x 1.5
MHW2-50D
2.9
5.9
5.9
17.7
37.2
7
10
10
15
20
Body through-hole
How to Mount the Attachment to the Finger
Attachment
Model
Applicable bolts
Max. tightening
torque (N·m)
MHW2-20D
MHW2-25D
MHW2-32D
MHW2-40D
MHW2-50D
M4 x 0.7
M5 x 0.8
M5 x 0.8
M6 x 1
M8 x 1.25
2.1
4.3
4.3
7.4
17.7
MHZ
Finger
MHF
MHL
(1) To mount the attachment to the finger, make
sure to use a wrench to support the attachment
so as not to apply undue strain on the finger.
(2) Refer to the table below for the proper
tightening torque on the bolt used for securing
the attachment to the finger.
MHR
MHK
MHS
Model
Applicable bolts
Max. tightening
torque (N·m)
MHC
MHW2-20D
MHW2-25D
MHW2-32D
MHW2-40D
MHW2-50D
M4 x 0.7
M5 x 0.8
M6 x 1
M8 x 1.25
M10 x 1.5
1.4
2.5
4.1
10.6
24.5
MHT
-Z
MHY
MHW
-X
MRHQ
MA
D-
725