AHC System

AHC System
AHC System
Series
MA
Automatic exchange of robot hand tools,
FMS (flexible manufacturing system)
implemented for assembly lines.
The robot hand tools change automatically to accommodate workpieces of different shapes,
thus making it possible to adopt the FMS (flexible manufacturing system) in the assembly line.
Specifications
MA210
Series
Positioning
MA310
MA311
Ball coupling
Max. work load
3 kg
Single acting/Air supply
at separation
Handling
Handling air pressure
MA320
MA321
Curved coupling
5 kg
Single acting/
Double acting Air supply at Double acting
separation
0.4 to 0.7 MPa
Proof pressure
1.05 MPa
Ambient and fluid temperature
0 to 60°C
Positioning repeatability
±0.01 mm
System Construction
AHC System
Option
AHC unit
Robot adapter
D-sub
connector
Unit body
MHZ
Additional installation
unit of electrical
contact point
(Able to add 8 contact
points.)
MHF
Tool stand
Tool
adapter
SMC tool
User tool
MHR
Additional installation
unit of electrical contact
point (Able to add 8
contact points.)
MHK
MHS
90° reverse unit
Air gripper for AHC
MHC
MHT
-Z
MHY
Variations
Adapter for assembling robot
Series MA2
ø8, ø10, ø11, ø14, ø15, ø20
Series MA3
ø10, ø11, ø14, ø15, ø20, ø24, ø25
MHL
Air grippers for AHC (ø10 to ø20)
Standard type
10D
MHZ2-16D
20D
Narrow type
10DN
MHZ2-16DN
20DN
MHW
Additional installation unit
of electrical contact point
(Able to add 8 contact points)
Added to the standard
AHC unit
-X
90° reverse unit
MRHQ
By attaching 2 tools, a single
robot can perform 2 types of
tasks.
Added to the standard tool An auto switch for detecting Tool stand
adapter
the location can be mounted.
(Series MA3 only)
(Series MA3 only)
MA
The height for
setting a tool
can be adjusted.
An auto switch for
detecting a tool
can be mounted.
Rotary actuated
type
MHR2- 10
15
783
D-
AH
uto
and
hanging System
C
Series MA210 (Compact type)
Max. work load: 3 kg
Compact/Lightweight
O.D.: 52 mm, Weight: 360 g
Series MA3 1 (Double acting type)
Ideal for carrying heavy loads.
2.5 times the moment resistance
and torque resistance of
the conventional series.
No adjustment or teaching necessary
when replacing tools
All attachment and removal during tool replacement is carried
out automatically, allowing for elimination of the onerous labor
of the replacement process, and a major reduction of time
needed for changing setups.
Quicker launch of assembly lines
Use of the AHC system makes it possible to
design the equipment layout more quickly, and
reduces the time required for manufacturing.
Electric interface
Series MA2: 8 power systems
(Contact points: gold plated)
Series MA3: 12 power systems
Failsafe mechanism
Prevents tools from dropping due
to reductions in air pressure
Air interface
Series MA2: 4 power systems, self-seal mechanism,
built-in check valve
Series MA3: 6 power systems, self-seal mechanism,
built-in check valve
(Contact points: gold plated)
Additional installation unit, 8 power
systems (option)
D-sub connector, with robot cable
(option)
Repeatable high-precision
±0.01 mm
Series MA210
Series MA31
Ball coupling
Series MA32
Curved coupling
Max. work load:
Series MA2:
Series MA3:
784
3 kg
5 kg
(For high torque resistance)
AHC System
Series
MA
AHC System/Model/Specifications
Series MA2
MA210
Series
Series MA3
MA310
MA311
MA320
MA321
Ball coupling
Curved coupling
Positioning
Ball coupling
Handling
Single acting
Single acting
Double acting
Single acting
Double acting
Soldering





D-sub connector
—




—





Electric
specifications
D-sub connector
(With socket side connector)
D-sub connector
—



Nil





ø8

—
—
—
—
ø10





ø11





ø14





ø15





ø20





ø24
—




ø25
—



M3



(With socket side connector with 3 m cable)
AHC unit
Robot adapter
Applicable shaft
diameter
Tool adapter
Air pressure port

M5
�—


ø10



ø12



ø10

—
—
ø16



ø20
—


90° reverse unit
—


Tool stand



For AHC unit
—


For tool adapter
—


MHR2
Air gripper for
AHC ∗1
Additional installation unit
of electrical contact point
MHZ2
MHZ
MHF
∗1) This air gripper for AHC is prepared as an optional air gripper that provides the air passage in the attachment to eliminate the fittings piping when mounting.
As the mounting attachment and air piping are prepared, there is no problem even when other air gripper or vacuum pad is mounted.
However, make sure that the axial force, moment, and torque due to a load are 1/2 or less of their allowable values. (For details about allowable values, refer to
the specifications.)
MHL
MHR
MHK
MHS
MHC
MHT
-Z
MHY
MHW
-X
MRHQ
MA
D-
785
AHC System/Auto Hand Changing System
Series MA2
Specifications
MA210
Series
Positioning
Ball coupling
Max. work load
3 kg
Handling
Single acting/Air supply at disconnection
Handling air pressure
0.4 to 0.7 MPa
Proof pressure
Moment
resistance
Combined
axial force
Torque
resistance
1.05 MPa
Ambient and fluid temperature
0 to 60°C
Positioning repeatability
±0.01 mm
Combined axial force W ∗
150 N
Moment resistance M ∗
2 N·m
Torque resistance T ∗
2 N·m
0.7 MPa
Interface
Max. operating pressure
Operating vacuum pressure
Air
–100 kPa or more (10 Torr or more)
0.056
Cv value
4
Number of circuits
Electricity
2 A/interface
Contact point capacity
Number of contact points
8
∗ Values given on the table for combined axial force, moment resistance, and torque resistance are the
values for when the AHC unit and tool adapter begin to separate. During use, make sure the axial force,
moment and torque from load are 1/2 or less than those shown above, for safety reasons.
Option Part No.
Robot adapter
786
Part no.
Applicable shaft diameter
MA210-CS1
MA210-CR1
MA210-CR2
MA210-CR3
MA210-CR4
MA210-CR5
ø8
Note
ø10
ø11
ø14
ø15
ø20
Hexagon socket head cap screw
M3 x 8 (4 pcs.)
M3 x 10 (4 pcs.)
AHC System
MA2
Series
How to Order
nit
AHC unit
Cu
AH
MA 210 Y N M3 R3
Nil
Auto hand
changer
HC
S1
R1
R2
R3
R4
R5
Work load
rA
r fo
e
ipp
r
g
Air
Robot adapter
p
da
la
o
To
ter
2
Work load 3 kg
AHC unit
Electric specifications
N
Without robot adapter
ø8
ø10
Applicable
ø11
shaft diameter
ø14
ø15
ø20
Air connection size
M3
Soldering
M3 x 0.5
Air gripper for AHC
Tool adapter
<ø10/ø15>
MA 210 A M3
MHR2 10 A210
Air connection size
Auto hand
changer
M3
2
Work load 3 kg
10 10 mm
15 15 mm
M3 x 0.5
Tool adapter
Work load
Cylinder bore
For MA2
With adapter
<ø10/ø16>
MHZ
MHZ2 16 D N A210 Y69A
Cylinder bore
MHF
MHL
For MA2
With adapter
10 10 mm
16 16 mm
MHR
Finger position
Nil
N
MHK
Standard
Narrow type
MHS
Auto switch type
Nil
Y69A
Y69B
Without auto switch
MHC
D-Y69A
(3-wire)
Solid state auto switch
Lead wire: Right angle entry
D-Y69B
Lead wire length: 0.5 m
(2-wire)
MHT
-Z
Auto switch additional symbol
Nil
S
2 pcs.
1 pc.
MHY
MHW
-X
Tool stand
MA210 S1 Y59A
MRHQ
MA
Tool stand
Auto switch type
Nil
Y59A
Without auto switch
D-Y59A
(3-wire)
D-Y59B
Y59B (2-wire)
Solid state auto switch
Lead wire:
Axial direction entry
D-
Lead wire length
Nil
L
Grommet
With 0.5 m lead wire
With 3 m lead wire
787
Series
MA2
AHC Unit and Tool Adapter
AHC Unit/MA210-YNM3 (Without robot adapter)
AHC Unit/MA210-YNM3- (With robot adapter)
Tool adapter/MA210-AM3
Air pressure port (PCD45)
4 x M3 x 0.5
Applicable shaft diameter ød
For mounting robot adapter (PCD44.5)
4 x M3 x 0.5 through
4 x M3 x 0.5 depth 4
(PCD44.5)
ø30H8 +0.033
0
Operating port
M3 x 0.5
AHC unit junction
ø10H8 +0.022
depth 5.5
0
Air pressure port
4 x M3 x 0.5
Electrical contact points: 8
Model
MA210-YNM3
MA210-YNM3-S1
MA210-YNM3-R1
MA210-YNM3-R2
AHC unit
MA210-YNM3-R3
MA210-YNM3-R4
MA210-YNM3-R5
Tool adapter MA210-AM3
788
Applicable shaft diameter
ød
øD
Weight
(g)
—
—
260
8
25
10
11
14
30
300
15
20
35
—
—
100
For tool mounting (PCD16)
3 x 3.4 depth 7.5
AHC System
Series
MA2
Robot adapter
MA210-C
MA210-CS1
MA210-CR1, 2, 3, 4
ø50
ø50
AHC unit mounting hole
4 x 3.4 (PCD44.5)
ø8H8 +0.022
0
0
ø30h8 –0.033
ø50
AHC unit mounting hole
4 x 3.4 (PCD44.5)
AHC unit mounting hole
4 x 3.4 (PCD44.5)
ø30
ø25
MA210-CR5
ø10H8 +0.022
0
ø11H8 +0.027
0
ø14H8 +0.027
0
ø15H8 +0.027
0
ø35
ø20H8 +0.033
0
0
ø30h8 –0.033
0
ø30h8 –0.033
MHZ
MHF
MHL
Part no.
MA210-CS1
MA210-CR1
MA210-CR2
MA210-CR3
MA210-CR4
MA210-CR5
Applicable shaft diameter
Weight (g)
ø8
ø10
ø11
ø14
40
MHR
MHK
MHS
ø15
ø20
MHC
MHT
-Z
MHY
MHW
-X
MRHQ
MA
D-
789
Series
MA2
ø10/ø15 Air Gripper: Rotary Actuated Type
ø10/ø15: MHR2- 10
15 -A210
ø10
MHR2-10-A210
ø10
MHR2-10-A210
ø15
MHR2-15-A210
Finger opening port
With gasket
Finger opening port
With gasket
Finger opening port
With gasket
Finger opening port
With gasket
For mounting tool adapter (PCD16)
3 x M3 x 0.5 depth 4
For mounting tool adapter (PCD16)
3 x M3 x 0.5 depth 4
ø10f8 –0.013
–0.035
ø10f8 –0.013
–0.035
Hexagon socket head cap screw
M3 x 12 (3 included)
3 x 3 +0.022
depth 6
0
(A, B, C common view)
ø29
6 x M2 x 0.4 thread depth 4
0
(A, B, C common view)
ø3 –0.02
ø34
0
ø3.5 –0.03
0
ø3 –0.02
0
ø3.5 –0.03
Open: 22, Closed 14
Open: 16, Closed: 10
ø15: MHR2-15-A210
2 x M3 x 0.5 thread depth 6
(Thread for mounting attachment)
2 x M3 x 0.5 thread depth 6
(Thread for mounting attachment)
Hexagon socket head cap screw
M3 x 12 (3 included)
Weight: 130 g
+0.022
3 x 3 0 depth 6
(A, B, C common view)
6 x M3 x 0.5 thread depth 7
(A, B, C common view)
Note) Refer to Series MHR2 (page 536) for the detailed specifications of air grippers.
790
Weight: 210 g
AHC System
Series
MA2
ø10/ø16 Air Gripper: Standard Type
Finger opening port
6
D1
PC
MHZ2-10D-A210
MA210-CR
With gasket
24
28
MA210-YNM3
(81.8)
(68.8)
(48.8)
49
For mounting tool adapter
3 x M3 x 0.5 depth 4
Finger closing port
With gasket
Hexagon socket head cap screw
M3 x 12 (3 included)
MA210-AM3
7
3
(12)
23
ø10f8 –0.013
–0.035
2 x M3 x 0.5 depth 6
6.5
2.4
43.8
Closed: 11.2
Open: 15.2
4
0
5 –0.05
3
Not possible to use a through-hole
when using an auto switch.
11.4
13.2
6
4 x M3 x 0.5 depth 5
Bottom hole dia. 2.6 through
5.7
20.8
16.8
24.5
16
Hexagon width across flats 5
16.4
29
For attachment mounting
M2.5 x 0.45 through
MHZ2-10DN-A210
Closed: 5.7
Open: 9.7
MHF
Finger opening port
PC
MHZ2-16D-A210
MHZ
MA210-CR
MHL
6
D1
With gasket
MA210-YNM3
24
28
MHR
49
For mounting tool adapter
3 x M3 x 0.5 depth 4
Finger closing port
With gasket
(81.8)
(68.8)
(48.8)
Hexagon socket head cap screw
M3 x 12 (3 included)
MHS
MA210-AM3
MHC
31
MHT
-Z
9
(12)
3
ø10f8 –0.013
–0.035
4 x M4 x 0.7 depth 4.5
MHY
3
MHW
50
Closed: 14.9
Open: 20.9
5
For attachment mounting
4 x M3 x 0.5 through
38
MRHQ
MA
0
8 –0.05
4
(Not possible to use a through-hole
when using an auto switch.)
17.3
7
7.5
4 x M4 x 0.7 depth 8
Bottom hole dia. 3.4 through
16
-X
25.5
20
31
24
Hexagon width across flats 7
23.6
D-
MHZ2-16DN-A210
Closed: 6.6
Open: 12.6
MHK
Note) Only D-Y69A and D-Y69B auto switches can be used.
Refer to Series MHZ2 (page 444) for the detailed
specifications of air grippers.
791
Series
MA2
Tool Stand
40
MA210-S1-
2 x 4.5 mounting hole
Height can be adjusted
With auto switch
ø13
4 x 4.5 mounting hole
Weight: 520 g
792
AHC System
Series
MA2
Construction: Component Parts
Single acting type
When disconnected
When connected
!3
y
u
Air supply
(0.4 to 0.7 MPa)
Exhaust
!1
w
o
q
i
e
t
!0
!2
r
AHC unit
Tool
adapter
!4 !5
!7 !6
MHZ
MHF
Component Parts
Description
MHL
Component Parts
Material
Note
1 Unit body
2 Head cap
Aluminum alloy
Hard anodized
Aluminum alloy
Hard anodized
3 Ball base
4 Ball cover
Aluminum alloy
Hard anodized
Carbon steel
Electroless nickel plating
No.
5 Contact probe assembly
Stainless steel
6 Piston
Steel wire
7 Clamp spring
No.
Description
Zinc chromated
Carbon steel
Special black thin membrane anti-corrosive treated
10 Pilot pin
Carbon steel
Special black thin membrane anti-corrosive treated
Note
MHR
11 Parallel pin
12 Steel ball
Stainless steel
13 Robot adapter
14 Tool adapter
Aluminum alloy
Hard anodized
Aluminum alloy
Hard anodized
Carbon steel
Special black thin membrane anti-corrosive treated
15 Hook
16 Contact block assembly
8 Check valve assembly
9 Lever
Material
17 Passage seal
Stainless steel
MHK
Contact point gold plated
Synthetic rubber
MHS
MHC
MHT
-Z
MHY
MHW
-X
MRHQ
MA
D-
793
AHC System/Auto Hand Changing System
Series MA3
Specifications
MA310
Series
Positioning
MA311
MA320
Ball coupling
5 kg
Max. work load
Single acting/
Air supply at
disconnection
Handling
1.05 MPa
Ambient and fluid temperature
0 to 60°C
Positioning repeatability
±0.01 mm
500 N
(0.5 MPa)
200 N
500 N
(0.5 MPa)
Moment resistance M ∗
3 N·m
7.5 N·m
(0.5 MPa)
3 N·m
7.5 N·m
(0.5 MPa)
Torque resistance T ∗
3 N·m
7.5 N·m
(0.5 MPa)
12 N·m
30 N·m
(0.5 MPa)
Air
200 N
Interface
Combined axial force W ∗
Max. operating pressure
0.7 MPa
Operating vacuum pressure
–100 kPa or more (10 Torr or more)
0.072
Cv value
6
Number of circuits
Electricity
Torque
resistance
Double acting
0.4 to 0.7 MPa
Proof pressure
Moment
resistance
Single acting/
Air supply at
disconnection
Double acting
Handling air pressure
Combined
axial force
MA321
Curved coupling
Contact point capacity
2 A/interface
Number of contact points
12
∗ Values given on the table for combined axial force, moment resistance, and torque resistance are the
values for when the AHC unit and tool adapter begin to separate. During use, make sure the axial force,
moment and torque from load are 1/2 or less than those shown above, for safety reasons.
Option Part No.
Robot adapter
Part no.
Applicable shaft diameter
MA310-CR1
MA310-CR2
MA310-CR3
MA310-CR4
MA310-CR5
MA310-CS6
MA310-CR6
ø10
Note
ø11
ø14
Hexagon socket head cap screw
M4 x 10 (4 pcs.)
M4 x 14 (4 pcs.)
ø15
ø20
ø24
ø25
Additional Installation Unit of Electrical Contact Point
794
Part no.
Additional installation unit
MA310-EY1
MA310-EA1
8 contact points
Application
Note
AHC unit
Hexagon socket head cap screw
M2.5 x 10 (2 pcs.)
Tool adapter
MA3
Series
AHC System
How to Order
nit
Cu
AH
MA 3 1 0 Y A M5 R3
l
ad
o
To
r
r fo
C
AH
1
2
M5 M5 x 0.8
Electric
specifications
Ball coupling
Curved coupling
N
A
Single acting
Double acting
AHC unit
Air gripper for AHC
Tool adapter
<ø10/ø15>
MA 3 10 A M5
Cylinder bore
M3 x 0.5
M5 x 0.8
Series
10 10 mm
15 15 mm
—

(With socket side connector)
C
—

(With socket side
connector with 3 m cable)
∗ Refer to page 798 “D-sub connectors” for details.
For MA3
With adapter
<ø16/ø20>
Cylinder bore
Ball coupling
Curved coupling
MHZ
MHF
For MA3
With adapter
16 16 mm
20 20 mm
Work load
3
—
B
MHZ2 16 D N A310 Y69A
Tool adapter
10
20
D-sub connector
—

MHR2 10 A310
Air connection size
M3
M5
Soldering

Symbol
Operation
0
1
Auto hand
changer
R1
R2
R3
R4
R5
S6
R6
Positioning
pe
rip
Work load 5 kg
Without robot adapter
ø10
ø11
ø14
Applicable
ø15 shaft diameter
ø20
ø24
ø25
Nil
Air
connection
size
Work load
3
g
Air
Robot adapter
Auto hand
changer
r
te
ap
MHL
MHR
Finger position
Work load 5 kg
Nil
N
Standard
Narrow type
Y69A
Y69B
MHK
Auto switch type
Nil
Without auto switch
MHS
D-Y69A
(3-wire)
Solid state auto switch
Lead wire: Right angle entry
D-Y69B
Lead wire length: 0.5 m
(2-wire)
MHC
Auto switch additional symbol
∗ When using an air gripper for AHC, use tool adapter
90° reverse unit
MA3 12 0-AM3
Tool stand
MRHQ
S99
T99
Nil
L
Reed auto
switch
D-S991,
Solid
D-S992 (1 pc. each) state
auto
D-T991,
D-T992 (1 pc. each) switch
∗ Can also be used for Series MA320.
3-wire
2-wire
Lead wire
length:
0.5 m
MHY
-X
Lead wire length
Auto switch type
90
90A
MHT
-Z
MHW
Tool stand
90° reverse unit
Without auto switch
D-90 (2 pcs.)
D-90A (2 pcs.)
S
2 pcs.
1 pc.
MA310 S1 Y59A
MA310 R1 90A
Nil
Nil
Grommet
With 0.5 m lead wire
With 3 m lead wire
Auto switch type
Nil
Without auto switch
D-Y59A
(3-wire) Solid state auto switch
Lead wire:
D-Y59B
Y59B (2-wire) Axial direction entry
Y59A
∗ Can also be used for Series MA320.
795
MA
D-
Series
MA3
AHC Unit and Tool Adapter/Single Acting Type
AHC Unit/MA3 12 0-YNM5 (Without robot adapter)
AHC Unit/MA3 12 0-YNM5- (With robot adapter)
Tool adapter/MA3 12 0-A
When mounting MA3 120-AM3
When mounting MA3 120-AM5
Air pressure port (PCD60)
6 x M5 x 0.8
For mounting an additional installation
unit for electrical contact points
2 x M2.5 x 0.45 thread depth 6
For mounting robot adapter
4 x M4 x 0.7 depth 7
Robot shaft mounting bolt
4 x M4 x 14 Hexagon socket head cap screw
Electrical contact points: 12
Operating port
M5 x 0.8
AHC unit junction
10H8 +0.022
depth 10.5
0
10H8
+0.022
0
depth 8
For tool mounting
4 x M4 x 0.7 depth 8.5
For tool mounting
4 x M4 x 0.7 depth 6
For tool mounting
3 x 3.4 depth 10
For tool mounting
3 x 3.4 depth 12.5
Magnet for tool stand sensor
Air pressure port
6 x M3 x 0.5
Model
MA3 12 0-YNM5
MA3 12 0-YNM5-R1
MA3 12 0-YNM5-R2
MA3 12 0-YNM5-R3
AHC unit
MA3 12 0-YNM5-R4
MA3 12 0-YNM5-R5
MA3 12 0-YNM5-S6
MA3 12 0-YNM5-R6
MA3 12 0-AM3
Tool adapter
MA3 12 0-AM5
796
Applicable
shaft diameter
ød
—
øD
Weight
(g)
—
440
Electrical contact points: 12
10
11
14
35
15
520
20
24
41
25
—
Air pressure port
6 x M5 x 0.8
—
250
270
AHC System
Series
MA3
AHC Unit and Tool Adapter/Double Acting Type
AHC Unit/MA3 12 1-YNM5 (Without robot adapter)
AHC Unit/MA3 12 1-YNM5- (With robot adapter)
Tool adapter/MA3 121-A
When mounting MA3 121-AM3
When mounting MA3 121-AM5
Air pressure port (PCD60)
6 x M5 x 0.8
For mounting an additional installation
unit for electrical contact points
2 x M2.5 x 0.45 thread depth 6
For mounting robot adapter
4 x M4 x 0.7 depth 7
Robot shaft mounting bolt
4 x M4 x 14 Hexagon socket head cap screw
Connection/Operating port
M5 x 0.8
Electrical contact points: 12
Disconnection/Operating port
M5 x 0.8
MHZ
MHF
MHL
MHR
MHK
AHC unit junction
10H8 +0.022
depth 10.5
0
10H8 +0.022
depth 8
0
For tool mounting
4 x M4 x 0.7 depth 6
For tool mounting
3 x 3.4 depth 10
MHS
For tool mounting
4 x M4 x 0.7 depth 8.5
MHT
-Z
For tool mounting
3 x 3.4 depth 12.5
MHY
MHW
Magnet for tool stand sensor
Model
MA3 12 1-YNM5
MA3 12 1-YNM5-R1
MA3 12 1-YNM5-R2
AHC unit MA3 1 1-YNM5-R3
2
(Double
MA3 12 1-YNM5-R4
Acting)
MA3 12 1-YNM5-R5
MA3 12 1-YNM5-S6
MA3 12 1-YNM5-R6
MA3 12 0-AM3
Tool
adapter MA3 12 0-AM5
Applicable
shaft diameter
ød
—
øD
Weight
(g)
—
500
14
35
15
-X
Air pressure port
6 x M3 x 0.5
MRHQ
MA
Air pressure port
6 x M5 x 0.8
10
11
D-
Electrical contact points: 12
580
20
24
41
25
—
—
MHC
250
270
797
Series
MA3
With D-sub connector
MA3-YM5-
D-sub connector
Robot adapter
MA310-C
(With socket side connector with 3 m cable)
MA310-CR1, 2, 3, 4
(With socket side connector)
AHC unit mounting hole
4 x 4.5
View A
MA310-CR5, 6, CS6
AHC unit mounting hole
4 x 4.5
View B
AHC unit with D-sub connector
Weight (g)
Model
Applicable shaft diameter
600
MA310-CR1
MA310-CR2
MA310-CR3
MA310-CR4
MA310-CR5
MA310-CS6
MA310-CR6
ø10
MA3 12 0-YAM5-
MA3 12 0-YBM5-
MA3 12 0-YCM5-
MA3 12 1-YAM5-
MA3 12 1-YBM5-
MA3 12 1-YCM5-
620
890
660
680
950
Weight (g)
ø11
ø14
ø15
80
ø20
ø24
ø25
D-sub connectors
D-sub connector specifications
AHC unit main Cable side
body side
Contact
classification
A
D-sub
connector No. of cores
Connector
type
Robot
cable
798
Socket
Pin
Shell size
15
MA3-YAM5- with a D-sub connector
Since the AHC unit main body is compatible with a
pin contact, prepare a socket contact.
MA3-YBM5- with a socket side connector
A pin contact is comprised of 12 crimping connection
type pins as standard.
For a crimping tool, we recommend the CT150-2-D*C
made by Japan Aviation Electronics Industry, Inc.
Socket side shell
—
0.2 mm2
No. of cores
—
12
Socket contact
The combination of the electric contact point number
and cables of the AHC unit is shown in the table
below.
Electrical Contact Point No./Cable Wiring
Electrical
contact 1
point no.
2 3 4 5 6 7 8 9 10 11 12
Insulation Red White Black Pink Light Purple Gray Orange Green Yellow Brown Blue
color
blue
Crimping connection type
Effective area
MA3-YCM5- with a socket side
connector with 3 m cable
Connector cover
AHC System
Series
MA3
ø10/ø15 Air Gripper: Rotary Actuated Type
ø10/ø15: MHR2- 10
15 -A310
ø10
MHR2-10-A310
ø10
MHR2-10-A310
ø15
MHR2-15-A310
PC
D1
6
With robot adapter
Finger closing port
With O-ring
18.5
61
37
Finger opening port
With O-ring
Use MA3 12 0-AM3
for the tool adapter.
For mounting tool adapter
3 x M3 x 0.5 depth 4
Hexagon socket head cap screw
M3 x 14 (3 included)
MHZ
3 x 3 +0.022
depth 6
0
(A, B, C common view)
MHF
MHL
6 x M2 x 0.4 thread depth 4
(A, B, C common view)
View D
Open: 16, Closed: 10
Open: 22, Closed 14
MHR
MHK
ø15: MHR2-15-A310
Use MA3 12 0-AM3
for the tool adapter.
MHS
MHC
MHT
-Z
Hexagon socket head cap screw
M3 x 14 (3 included)
MHY
MHW
2 x M3 x 0.5 thread depth 6
(Thread for mounting attachment)
View D
6 x M3 x 0.5 thread depth 7
(A, B, C common view)
Weight: 130 g
-X
2 x M3 x 0.5 thread depth 6
(Thread for mounting attachment)
MRHQ
Weight: 210 g
MA
D-
Note) Refer to Series MHR2 (page 536) for the detailed specifications of air grippers.
799
Series
MA3
ø16/ø20 Air Gripper: Standard Type
With robot adapter
9
Finger opening port
With O-ring
MA312-YM5-
ø6
6
D1
PC
MHZ2-16D-A310
98.5
82
58
29
30°
.6
10
43
Finger closing port
Hexagon socket head cap screw
M3 x 14 (3 included)
MA3120-AM3
Use MA3120-AM3
for the tool adapter.
For mounting tool adapter
3 x M3 x 0.5 depth 4
30.6
6.5
2
ø10f8 –0.013
–0.035
15
With O-ring
3
2 x M4 x 0.7 depth 4.5
50
38
4
Closed: 14.9
Open: 20.9
5
7
(Not possible to use a through-hole
when using an auto switch.)
16
17.3
7.5
4 x M4 x 0.7 depth 8
Bottom hole dia. 3.4 through
25.5
24
Hexagon width across flats 7
20
31
24
For attachment mounting
4 x M3 x 0.5 through
0
8 –0.05
23.6
MHZ2-16DN-A310
Closed: 6.6
Open: 12.6
With robot adapter
Finger opening port
With O-ring
ø6
9
6
D1
PC
MHZ2-20D-A310
MA312-YM5-
98.5
82
58
29
30°
.6
10
43
42
2
ø10f8 –0.013
–0.035
M5 x 0.8 depth 8
MA3120-AM3
Use MA3120-AM3
for the tool adapter.
For mounting tool adapter
3 x M3 x 0.5 depth 4
15
With O-ring
6.5
Finger closing port
Hexagon socket head cap screw
M3 x 14 (3 included)
3
62.3
9.5
4 x M5 x 0.8 depth 10
Bottom hole dia. 3.4 through
(Not possible to use a through-hole
when using an auto switch.)
Closed: 16.3
Open: 26.3
18.6
22.5
5 9
33.3
Hexagon width across flats 7
27.3
39.3
30
0
10 –0.05
50
For attachment mounting
4 x M4 x 0.7 through
MHZ2-20DN-A310
Closed: 7.2
Open: 17.2
800
27.6
Note) Only D-Y69A and D-Y69B auto switches can be used.
Refer to Series MHZ2 (page 444) for the detailed
specifications of air grippers.
AHC System
Series
MA3
90° Reverse Unit
MA310-R1-
With robot adapter
Tool adapter
For mounting tool adapter
6 x M3 thread depth 8
77 for MA3120-AM5
Hexagon socket head cap screw
M3 x 16 (3 included)
MHZ
Stopper
Tool mounting hole
3 x 3 drill
MHF
MHL
90° reverse
MHR
MHK
With auto switch
MHS
View A
MHC
MHT
-Z
Output Table
MHY
Tool mounting hole
3 x 3 drill
Ap
pro
x. 2
3
°
Effective output (N·m)
Operating port M3 x 0.5
MHW
-X
MRHQ
MA
Operating pressure (MPa)
D-
Weight: 260 g
(Rotary operating angle)
View B
Please consult SMC regarding operating conditions (load, speed, etc.) before using.
801
Series
MA3
Additional Installation
Unit of Electrical
Contact Point
Tool Stand
MA310-S1-
MA310-EY1: For AHC unit
2 x 5 mounting hole
Electrical
contact point
Accessory
Weight
Mounting hole
position
Hexagon socket head cap screw M2.5 x 10
Flat washer, Compact round washer, Nominal size 2.5
20 g
MA310-EA1: For tool adapter
Electrical
contact point
Mounting
hole position
Height can be
adjusted
With auto switch
Accessory Hexagon socket head cap screw M2.5 x 10
Weight
25 g
4 x 5 mounting hole
802
Weight: 950 g
AHC System
Series
MA3
Construction: Component Parts
Single acting type
@1
@2
!5
i
o
!3
r
!4
Air supply
(0.4 to 0.7 MPa)
Exhaust
!1
!0
y
q
e
w
!2
AHC unit
Tool adapter
t
u
!6
@0
Double acting type
!8
!7
e
!9
r @3 !5 i o !3
MHZ
Air supply/port A
(0.4 to 0.7 MPa)
MHF
Air supply/port B
(0.4 to 0.7 MPa)
@4
!4
!1
MHL
!0
MHR
q
e
y
MHK
w
!2
t
u
AHC unit
MHS
Tool adapter
MHC
MHT
-Z
MHY
!6 @0
Component Parts
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
MHW
!8 !7 e !9
Material
Note
Description
Body
Aluminum alloy
Hard anodized
Insulation ring
Synthetic resin
Black
Coupling
Special black thin membrane anti-corrosive treated
Carbon steel
Piston
Chromated
Aluminum alloy
Lever
Special black thin membrane anti-corrosive treated
Carbon steel
Check valve assembly Brass, steel wire, synthetic rubber
Pilot pin
Special black thin membrane anti-corrosive treated
Carbon steel
Clamp spring
Zinc chromated
Steel wire
Seal
Synthetic rubber
Parallel pin
Stainless steel
Multi-tube holder
Black
Synthetic resin
Contact probe
D-sub connector assembly
Component Parts
Note
Material
Description
No.
14 Cable
Robot
adapter
Aluminum
alloy
Hard
anodized
15
Aluminum alloy
Hard anodized
16 Connecting base
Aluminum alloy
Hard anodized
17 Tool plate
Special black thin membrane anti-corrosive treated
Carbon steel
18 Hook
Contact
block
assembly
Beryllium
copper,
synthetic
resin
Contact
point gold plated
19
Synthetic rubber
20 Passage seal
Single acting type
Stainless steel
21 Bearing
Aluminum alloy
Chromated
22 Cap
Double acting type
Aluminum alloy
Hard anodized
23 Head cap
Synthetic rubber
24 Rod seal
803
-X
MRHQ
MA
D-
Series MA
Specific Product Precautions 1
Be sure to read before handling.
Connection procedures
MA3 120
MA3 121
MA210
1. Supply compressed air: 0.4 to 0.7 MPa to
the operating port.
1. Supply compressed air: 0.4 to 0.7 MPa to
the disconnection port.
1. Supply compressed air: 0.4 to 0.7 MPa to
the operating port.
2. Align the positions of the AHC unit and tool adapter as shown below, move the AHC unit to within 0.5 mm of the tool adapter, with the
centers aligned, and insert the pilot pin into the pilot hole on the tool adapter side. Move the AHC unit toward until the t dimension in the
figure below attains 0 to 2 mm larger than the value at the time of connection.
3. Release the compressed air from the
operating port.
3. Release the compressed air from the disconnection
port, and at the same time supply compressed air
(0.4 to 0.7 MPa) to the connection port.
3. Release the compressed air from the
operating port.
1. Supply compressed air: 0.4 to 0.7 MPa to
the operating port.
2. Pull up the AHC unit 12 mm or more.
1. Release the compressed air from the connection
port, and at the same time supply compressed air
(0.4 to 0.7 MPa) to the disconnection port.
2. Pull up the AHC unit 12 mm or more.
1. Supply compressed air: 0.4 to 0.7 MPa to
the operating port.
2. Pull up the AHC unit 12 mm or more.
Disconnected state
Disconnected state
M5 x 0.8
M5 x 0.8
M5 x 0.8
Operating port
(0.4 to 0.7 MPa)
Positioning mark
Positioning mark
On the basis of the t dimension
at the time of connection, move
the AHC unit until the dimension
becomes 0 to 2 mm larger.
Pilot hole
Pilot pin
Pilot hole
Pilot pin
On the basis of the t dimension at the time
of connection, move the AHC unit until the
dimension becomes 0 to 2 mm larger.
On the basis of the t dimension at the time
of connection, move the AHC unit until the
dimension becomes 0 to 2 mm larger.
Connected state
Connected state
Robot Adapter Mounting
Pilot pin
Terminal unit
Pilot hole
Connected state
Electric interface: Port number
Air interface: Port number
Electric interface: Contact point number
804
Disconnected state
Connection/Operating port Disconnection/Operating port
Operating port
Disconnection procedures
Connection and disconnection procedures
Series
Electric interface: Contact point number
[Mounting the robot adapter to the AHC unit]
Attach the robot adapter to the AHC unit by evenly tightening the 4 hexagon socket head cap screws with the maximum tightening torque mentioned in
the figures below.
[Mounting the robot adapter to an assembling robot]
Mount the AHC unit to the shaft of the assembling robot by evenly tightening the 4 hexagon socket head cap screws with the maximum tightening torque
mentioned in the figures below
Shaft on the top of assembling robot
Shaft on the top of
assembling robot
M4 x 10
Hexagon socket head cap screw
Maximum tightening torque
2.5 N·m
M3 x 10
Hexagon socket head cap screw
Maximum tightening torque
1.06 N·m
Robot adapter
Robot adapter
AHC unit
M4 x 14
Hexagon socket head cap screw
Maximum tightening torque
2.5 N·m
M3 x 8
Hexagon socket head cap screw
Maximum tightening torque
1.06 N·m
AHC unit
Series MA
Specific Product Precautions 2
Be sure to read before handling.
Mounting procedures
MA210
1. Based on the positioning of the tool adapter and the air gripper
shown in the figures below, note that it is possible to rotate them
every 120° and in three different directions. Mount them
accordance with your operating conditions.
1. Mount the tool adapter and the air gripper using the positioning
shown in the figures below.
2. Evenly tighten 3 hexagon socket head cap screws with a maximum tightening torque of 1.06 N·m.
3. Before mounting, confirm that the O-ring or gasket of the air gripper is mounted properly, and make sure there is no dust or debris on the
sheet surface of the tool adapter.
MHZ2
MHR2
M3 x 14: Hexagon socket head cap screw
M3 x 14: Hexagon socket head cap screw
Tool adapter
M3 x 12: Hexagon socket
head cap screw
M3 x 12: Hexagon socket
head cap screw
Tool adapter
Tool adapter
Tool adapter
Gasket
(finger opening port)
Gasket
(finger closing port)
Gasket
(finger closing port)
Magnet
Magnet
Mounting female
thread
Mounting female
thread
O-ring
(finger opening port)
O-ring
(finger closing port)
O-ring
(finger closing port)
Gasket
(finger opening port)
MHZ2
MHZ2
MHR2
Mounting procedures
Piping and wiring
procedures
MHR2
1. The bracket is fitted with a fluid passage, so there is no need for piping except for on the AHC unit side. The bracket also has a mark for the
position of the piping port, which can be referred to while work is taking place.
• Finger closing port: “S” mark
• Finger opening port: “O” mark
2. When using an auto switch, solder it to the terminal on the tool adapter.
MHF
1. Based on the positioning shown in the figure below, note that it is
possible to rotate the tool adapter and the air gripper every 60°
and in six different directions.
2. Mount the 90° reverse unit to the tool adapter, and evenly tighten
the 3 hexagon socket head cap screws (M3 x 16) with a maximum
tightening torque of 1.06 N·m.
M3 x 16: Hexagon socket
head cap screw
MHZ
MHL
MHR
MHK
Tool adapter
MHS
Magnet
MHC
90° reverse unit
MHT
-Z
MHY
Additional installation
unit of electrical
contact point
90° reverse unit
MA3
O-ring
(finger opening port)
Piping and wiring
procedures
How to use dedicated air grippers
Series
1. Pipe the driving air for tools or the rotary actuator to the air port of
the tool adapter.
2. When wiring for use with an auto switch, etc., solder it to the
terminal on the tool adapter.
MHW
-X
MRHQ
1. As shown in the figure below, determine the position in accordance
with the leveled part of the AHC unit and tool adapter, and evenly
tighten the 2 hexagon socket head cap screws (M2.5 x 10) with a
maximum tightening torque of 0.3 N·m.
Tool adapter
MA
D-
Mount based on this surface.
Additional installation unit of
electrical contact point
M2.5 x 10: 2 pcs.
805
Series MA
Specific Product Precautions 3
Be sure to read before handling.
MA3
MA210
1. Align the positions of the tool adapter positioning groove and the
tool stand detent spring.
When using an auto switch, position the auto switch in relation to
the magnet fitted on the tool adapter in accordance with the figure
below.
By changing the auto switch mounting position to the right side, it
is possible to use it by turning it around 180°. When doing so, be
sure the auto switch cable is coming out of the post side.
Tighten the auto switch mounting screws with a maximum
tightening torque of 0.1 N·m.
2. Connect or disconnect the AHC unit and tool adapter only after
attaching the AHC unit in a horizontal direction.
1. Use the tool adapter and tool stand based on the positioning
shown in the figure below.
2. Connect or disconnect the AHC unit and tool adapter in a direction
perpendicular to the AHC unit.
3. When positioning the holder, loosen the hexagon socket head cap screws shown in the figure below right, and set it at the desired height,
then tighten with a maximum tightening torque of 5 N·m.
AHC unit
Detent
spring
Connection, disconnection completed
Connection
Post
Disconnection
How to use the tool stand
Series
When using an auto switch, the notch
should be facing in this direction.
AHC unit
Positioning
groove
During connection and disconnection
Tool adapter
Holder
Holder
Use with the terminal
unit facing outwards.
Tool adapter
Height setting
Height setting
Magnet
Tool stand
M5 x 16: Hexagon socket head cap screw
Auto switch
Auto switch cord
Piping and wiring precautions
Tool stand
1. Use SMC compact One-touch fittings, one-touch mini (M3, M5), or miniature fittings (M3, M5).
Thoroughly flush out the connector piping and be sure that dirt and chips, etc., do not get inside the equipment.
2. When wiring, except for the D-sub connector entry, solder to the probe socket of the AHC unit, or the terminal of the tool adapter.
We recommend insulating the connection points with heat shrinking tube, etc.
3. During piping and wiring, be sure that there is no external forces such as pulling and twisting at work.
AHC unit
Connect with solder/Probe socket
Tool adapter
Connect with solder/Terminal
806
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