END OF ARM TOOLING

AUTOMATIC TOOL CHANGER

DEBURRING TOOL
VACUUM GRIPPER
PNEUMATIC GRIPPER
About MINDMAN.

QUALITY POLICY
Quality advancement &
Exceeding customers'
600 PEOPLE 97 COUNTRIES
demands EMPLOYEES SALES NETWORK

HEADQUARTERS IN

1979 No.1 TAIPEI

Core Business:
Manufacture and sale
for varieties of high
quality automation FOUNDED Quantity supplied of
components. pneumatic components CITY, TAIWAN
in Taiwan.

MANUFACTURE BASE IN

CAPITAL
TAINAN
CHING-CHENG HUANG CITY, TAIWAN 90,000 m2
PRESIDENT USD 12,558,000 Plant Size

ISO 9001 ISO 14001 ISO 45001

Quality Environmental Friendly Health and Safety

M indman Industrial Co., Ltd. was established in

1979 with a destination to provide high quality
automation components for a wide variety of industries.
We thoroughly control the process via standard operation
procedure (SOP), statistical process control system (SPC) and
total productive management (TPM). Most important of all,
During the past 40 years, Mindman has devoted to the Mindman commits to providing the products with 100%
expansion of our product range. Thanks to our R&D inspection after assembly.
department, we are proud to possess the diversified
Currently, Mindman products are exported to more than
product lineup includes solenoid valves, air treatment 90 countries around the world. We devoted ourselves to
units, pneumatic cylinders, electric actuators and all building the relationship with customers worldwide and
different types of fluid power accessories. provide them with the strong support, such as online 3D
We always believe that fast delivery of automation drawing, inventory check and promotional program. In the
components is the key of success in the market. vast automation market, Mindman will spare no effort in
Through the complete vertical integration of all establishing a brand – a world-class premium automation
manufacturing processes and automated warehouse, components supplier.
we are confident to achieve on time delivery.
To keep quality high during the whole production
process, we implement the strict quality control
standard.

RoHS MIT

II
 Connect with

ROBOT
Connect gripper and robotic arm to achieve
various workpiece gripping applications.

1
P ARALLEL
GRIPPER
2-FINGER

MCHC series
All max. holding force is based 2-finger
on the conditions below. P. 9
Operation Pressure 0.5 MPa. Using linear ball bearing.
Gripping Length 20 mm. Excellent repeatability.
External gripping. 7 kinds of mounting jaw available.
* MCHS, MCHJ series: Under the condition of clamping Max. holding force 254N.
length 40mm and operation pressure 0.6 MPa.

MCH* series MCHCJ series Dust Cover

Model selection 2-finger
P. 8 P. 27
Gripper selection. Using linear ball bearing.
Selection suggestions. Dust cover for food-grade
Selection example. silicone rubber.
Max. holding force 30N.

2
2-FINGER

MCHU series MCHB series MCHD series

2-finger 2-finger 2-finger
P. 32 P. 36 P. 42
Using mechanism to Using mechanism to Using linear ball bearing.
achieve parallel gripping. achieve parallel gripping. Excellent repeatability.
Designed for long soft-jaws Economic type. Flat profile.
installation. Max. holding force 175N. Max. holding force 140N.
Max. holding force 60N.

2-FINGER

MCHX series MCHH series MCHS / MCHS-OS series

2-finger 2-finger 2-finger
P. 52 P. 58 P. 63 / 73
Using rack and pinions to Using rack and pinions to Using transmission cam to
achieve parallel gripping. achieve parallel gripping. achieve parallel gripping.
Long gripping stroke. High rigidity. Clamping safety device.
High rigidity. Max. holding force 125N. High rigidity.
Max. holding force 410N. Max. holding force 3283N.
(Gripping length 40 mm)

3
P ARALLEL
GRIPPER

3-FINGER

MCHG2 series MCHJ series

3-finger 3-finger
P. 79 P. 86
Using transmission cam to Using transmission cam to
achieve centering gripping. achieve centering gripping.
High rigidity. High rigidity.
Max. holding force 1270N. Max. holding force 1756N.
(Operation pressure 0.5 MPa, (Operation pressure 0.6 MPa,
Gripping length 50 mm) Gripping length 40 mm)

S ENSOR SWITCH

RDE series RDFE series RDGV series RLG series

P. 148 P. 149 P. 150 P. 151
Non-contact Non-contact Non-contact 3 point positioning
NPN, PNP NPN, PNP NPN, PNP NPN, PNP

4
A NGULAR
GRIPPER
30° 180°
-10° -3°

2-FINGER

MCHA series MCHY series

2-finger 2-finger
P. 94 P. 99
Simple structure with high Using cams to achieve
stability. angular gripping.
Economic type. Max. effective gripping
Max. holding force 145N. moment: 2.28 N.m
(Operation pressure 0.5 MPa,
Gripping length 20 mm)

RLZ series RJY series

P. 152 P. 155
Freely set M5, M8
measuring range NPN, PNP

5
ALL-IN-ONE
PNEUMATIC GRIPPER

3-FINGER 2-FINGER

MCTA-J66 series MCTA-S80 series

P. 104 P. 104
Plug and play. Plug and play.
High rigidity. High rigidity.
Max. holding force 177N Max. holding force 225N
(Operation pressure 0.6 MPa, Gripping length 40 mm) (Operation pressure 0.6 MPa, Gripping length 40 mm)

AUTOMATIC 180°
TOOL CHANGER ROTATION GRIPPER

MCTC series MCRT series

P. 108 P. 123
ISO flange for easy-mounting on Hose-free direct connection.
most of the robot arms. High rigidity.
Locking force 2300N, 4500N. Max. holding force 527N
(Operation pressure 0.6 MPa, Gripping length 40 mm)

6
DEBURRING TOOL
FOR ROBOT ( RADIAL / ANGULAR ) P. 130

TRG20 series TRG30 series TRF20 series TAF20 series

P. 131 P. 132 P. 133 P. 134
Radial Radial Radial Angular
Curved edge Curved edge Curved edge Straight edge
Milling cutter Milling cutter Round file File

VACUUM GRIPPER
PISCO VACUUM PAD P. 135

VRG series VMG series VLG series

P. 137 P. 140 P. 144
Foam rubber pad Sealing foam pad, Sealing foam pad,
P.C.D. 31.5, 40, 56, 80, 100. Bellows pads Bellows pads
P.C.D. 31.5, 40, 56, 80, 100. P.C.D. 31.5

7
MCH* Model selection
GRIPPER

Gripper selection
● Depends on the coefficient of friction and the gripping
conditions between soft fingers and work piece. Parallel gripper Angular gripper
When gripping a workpiece as in the figure as shown above: (2-Finger)
F: Gripping force of single finger (N)
n: Number of finger
μ: Coefficient of friction between the
attachments and the workpiece
m: Workpiece mass (kg)
g : Gravitational acceleration (=9.8m/s2)
a : Safe factor
the conditions under which the workpiece
will not drop are, F F F F
n×μF > m×g
Therefore,
m×g μF μF μF μF
F≥ m×g
n×μ m×g
With "a" representing the extra margin, "F"
is determined by the following formula: Parallel gripper Parallel gripper
m×g (3-Finger) (4-Finger)
F≥ ×a
n×μ
Model selection suggestions
1. For normal gripping and carrying usage, the recommended
safe factor (a) is 4.
2. The value of gripping force of single finger can be found at the F F
F F
gripping force table.
3. The safe factor (a) have to be higher if the gripper is using with μF μF
a great accelerated velocity or impaction condition. μF μF
m×g m×g

Model selection example

In the motion process did not produce high acceleration, In the motion process did not produce high acceleration,
deceleration or impact forces, Workpiece mass: 0.3kg , deceleration or impact forces, Workpiece mass: 0.05kg ,
Gripping method: External gripping, Operating pressure: 0.5 Gripping method : External gripping, Operating pressure: 0.3
MPa, Coefficient of friction (μ): 0.1, Holding position: L=20mm MPa, Coefficient of friction (μ): 0.1, Holding position: L=40mm
(no overhang) (no overhang)

L=20mm L=40mm

1. Based on the above formula, 0.3×9.8 1. Based on the above formula, 0.05×9.8
F≥ ×4 F≥ ×4
the required gripping force can 2×0.1 the required gripping force can 2×0.1
be derived: be derived:
≥ 60(N) ≥ 10(N)
2. From Effective Gripping Force Fig, 2. From Effective Gripping Force Fig,
Operating pressure: 0.5 MPa; Holding position: 20 mm Operating pressure: 0.3 MPa; Holding position: 40 mm
Effective gripping force is greater than 60 (N) Effective gripping force is greater than 10 (N)
So selected MCHC-25 grippers. So selected MCHC-16 grippers.
MCHC-25 P=Pressure MCHC-16 P=Pressure
100 F≥10N 70
F≥60N P=0.7MPa L=40mm 60 P=0.7MPa
Holding force (N)

L=20mm 80 0.6MPa
Holding force (N)

50 0.6MPa
60 0.5MPa 40 0.5MPa
0.4MPa 30 0.4MPa
40 0.3MPa
0.3MPa 20
20 0.2MPa 0.2MPa
10
0 0
0 20 40 60 80 100 120 0 10 20 30 40 50 60

Holding position L (mm) Holding poistion L (mm)

8
 Connect with Gripper
Automatic Tool Changer
180° Rotation Gripper
Deburring Tool
Sensor Switch

AIR CYLINDER
Connect gripper with cylinder to
achieve regular workpiece gripping.
Caution

9
 MCHC series
PARALLEL GRIPPER (2-Finger)

Features
● Integral linear guide used for high rigidity and high precision.
● The material of finger is martensitic stainless steel.
● Body thickness tolerance ±0.05mm.
● Bottom pin holes for accurate re-locating.
● Grooves on the body for sensor switch to be inserted into.
● The gripping stroke of long-stroke type is approximately double
compare with standard type.
● Magnetic as standard.

Specification
Model MCHC
Acting type Double acting / Single acting
Tube I.D. (mm) 6 10 16 20 25 32 40
Opening / Closing stroke (mm) 4 4(8) 6(12) 10(18) 14(22) 22 30
Port size M3×0.5 M5×0.8
Order example
Medium Air
MCHC ─ 20 ─ N Operating
pressure
Double acting 0.15~0.7 0.2~0.7 0.1~0.7
range (MPa) Single acting – 0.35~0.7 0.25~0.7 –
Tube Ambient temperature -10~+60°C (No freezing)
Model Style (*1) Type (*2)
ID.
Repeatability (mm) ± 0.01 ± 0.02
Blank: Standard
Max. operating frequency (c.p.m) 180 (120) 60
6 Blank: Double acting 1: Standard (Side tapped)
2: Standard (Through hole) Lubricator Not required
Blank: Standard Specification
Sensor switch (*2) *1 RDE, RDE-D: Non-contact
Blank: Double acting 1: Standard (Side tapped)
10 Standard 27 55 124 250 461 732 1298
MCHC S: Single acting / 2: Standard (Through hole)
16 Double
Normally open 3: Flat
Weight (g)

(Standard 20 acting
Long stroke – 56 125 252 463 – –
stroke) C: Single acting / N: Narrow
25
Normally closed N1: Narrow (Side tapped) Flat type – 53 124 244 450 760 1344
N2: Narrow (Through hole)
Single acting – 70 145 270 490 – –
Blank: Standard
32 1: Standard (Side tapped) *1. Tube I.D. ø6 use RDFE(V) sensor switch.
Blank: Double acting *2. RDE*, RDFE(V) specification, please refer to page 148, 149.
40 2: Standard (Through hole)
3: Flat *3. ( ) value for long stroke.

10
Blank: Standard
MCHCL 16
20
Blank: Double acting 1: Standard (Side tapped) Gripping force L
(Long stroke) 2: Standard (Through hole)
25

*1. STYLE
Blank: Double S: Single acting / C: Single acting /
acting Normally open Normally closed

*2. TYPE
Tube I.D. 6 10 16 20 25 32 40
1: Standard 2: Standard
Blank: Standard 3: Flat
(Side tapped) (Through hole) Double External 3.3(0.3) 11(1.1) 34(3.5) 42(4.3) 65(6.6) 158(15.8) 254(25.4)
acting Internal 6.1(0.6) 17(1.7) 45(4.6) 66(6.7) 104(10.6) 193(19.3) 318(31.8)
Single
acting /
Normally
External – 7.1(0.7) 27(2.8) 33(3.4) 45(4.6) – –
N1: Narrow N2: Narrow open
N: Narrow Single
(Side tapped) (Through hole)
acting /
Normally
Internal – 13(1.3) 38(3.9) 57(5.8) 83(8.5) – –
closed
* Operation pressure 0.5 MPa, gripping length 20mm, the effective gripping
force for each finger is *** N(kgf).

10
MCHC Feature

Gripper
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

SUS

7 kinds of mounting Linear ball bearing guide for Whole gripping set made with
jaw available high rigidity and precision martensitic stainless steel

180° Rotation Gripper

VARIOUS FINGER REPEATABILITY
TYPES ±0.01 mm
Standard
STROKE
Standard and long stroke.

Deburring Tool
The long stroke type is approximately
Narrow double compare with standard type.

ACTING
Single / Double acting
N.C. / N.O. (optional)
Side tapped

Vacuum Gripper
mounting MOUNTING POSITION
Bottom / Side / Front

SENSOR SWITCH
Through hole RDE, RNE, RPE series
Standard with magnet
Embedded sensor design
Sensor Switch

POSITIONING HOLES
Flat
With positioning holes
for fast positioning when
changing grippers.
Caution

11
MCHC Inside structure & Parts list ø6
PARALLEL GRIPPER (2-Finger)

Double acting

4 7 14 5 12 2 6

1
9

13

15

3 10 16 11 8 17

Material
Repair kits
No. Part name Material Q'y
(inclusion)
1 Body Aluminum alloy 1
2 Front cap Stainless steel 1
3 Magnet holder Stainless steel 1
4 Piston rod Stainless steel 1
5 Rod cover Stainless steel 1
6 Lever Stainless steel 2
7 Cushion pad PU 1
8 Screw Stainless steel 4
9 End cover Aluminum alloy 1
10 Magnet ring Magnet material 1
11 Pin Bearing steel 2
12 Rod packing NBR 1
13 O-ring NBR 1
14 O-ring NBR 1
Order example
15 Snap ring Carbon steel 1
of repair kits
16 Piston packing NBR 1 Tube I.D. Repair kits
17 Gripping set Stainless steel (*) 1 ø6 PS-MCHC-6
* Bearing steel balls as standard.

12
 MCHC Inside structure & Parts list

Gripper
ø10~ø40
PARALLEL GRIPPER (2-Finger)

Double acting Single acting

Automatic Tool Changer

Normally open

17 21 22

180° Rotation Gripper

15 19

8 9 7 3 5 4 10 6 2 Single acting
Normally closed

22 21

Deburring Tool
13 12 11 1 14 16 18 20

Material
Tube I.D. Repair kits (inclusion) Tube I.D. Repair kits (inclusion)

Vacuum Gripper
No. 10 16 20 25 32 40 Q'y No. 10 16 20 25 32 40 Q'y
Part name Double Single Part name Double Single
1 Body Aluminum alloy 1 19 Pin Bearing steel 2
2 Piston rod Stainless steel 1 20 Gripping set Stainless steel *4 1
3 Piston Aluminum alloy *1 1 21 Spring Stainless steel 1
4 Magnet holder *2 Aluminum alloy 1 22 Spring holder Stainless steel 1
5 Magnet ring Magnet material 1 *1. Single acting: Stainless steel
*2. Stainless steel
6 Rod packing NBR 1
*3. Carbon steel
7 Piston packing NBR 1 *4. Bearing steel balls as standard.
Sensor Switch

8 Screw ― Stainless steel 1

9 O-ring ― NBR 1
10 Cushion pad PU 1 Order example of repair kits
11 End cover Aluminum alloy 1 Repair kits
Tube I.D.
12 Cover ring NBR 1 Double acting Single acting N.O. / N.C.
13 Snap ring *3 Stainless steel 1 ø10 PS-MCHC-10 PS-MCHC-10-S
14 Spindle river Carbon steel 1 ø16 PS-MCHC-16 PS-MCHC-16-S
15 Screw *2 Alloy steel 4 ø20 PS-MCHC-20 PS-MCHC-20-S
16 Grip rivet Bearing steel 2 ø25 PS-MCHC-25 PS-MCHC-25-S
Caution

17 Bolt Stainless steel 4 ø32 PS-MCHC-32 –

18 Lever Stainless steel 2 ø40 PS-MCHC-40 –

13
MCHCL Inside structure & Parts list ø10~ø25
PARALLEL GRIPPER

Double acting

A
7 18 19 A-A

17 3 11 15 6 13 10 5 12 8 14 2 9 4 1 16

Material
Tube I.D. Repair kits
No. 10 16 20 25 Q'y
Part name (inclusion)
1 Gripping set Stainless steel *1 1
2 Piston rod Stainless steel 1
3 Body Aluminum alloy 1
4 Lever Stainless steel 2
5 Spring holder Stainless steel 1
6 Piston Stainless steel 1
7 Bolt Stainless steel 4
8 Stop ring *2 – 1
9 Grip rivet Carbon steel 2
10 Magnet ring Magnet material 1
11 End cover Aluminum alloy 1
Order example
12 Gasket NBR 1
of repair kits
13 Piston packing NBR 1 * ø10 use the same repair kits with
14 Rod packing NBR 1 standard stroke single acting type.

15 O-ring NBR 1 Tube I.D. Repair kits

16 Spindle river Carbon steel 1 ø10 PS-MCHC-10-S
17 Snap ring *3 Stainless steel 1 ø16 PS-MCHCL-16
18 Hexagon screw *2 Alloy steel 4 ø20 PS-MCHCL-20
19 Pin Carbon steel 2 ø25 PS-MCHCL-25
*1. Bearing steel balls as standard.
2. Stainless steel 3.Carbon steel

14
MCHC Allowable load calculation

Gripper
PARALLEL GRIPPER (2-Finger)

Confirmation of external force Installation of sensor switch

on fingers

Automatic Tool Changer

L
Watchmakers
screw driver
Set screw
Mp

L
Sensor switch
RDE,RDE-D

My

180° Rotation Gripper

L

Fv
Mr

L: distance to the point at which the load is applied (mm)

Allowable Maximum allowable moment

Tube I.D.
(mm)
vertical load Pitch moment Yaw moment Roll moment
Fv (N)

Deburring Tool
Mp (N-m) My (N-m) Mr (N-m)
6 10 0.04 0.04 0.08
10 58 0.26 0.26 0.53
16 98 0.68 0.68 1.36
20 147 1.32 1.32 2.65
25 255 1.94 1.94 3.88
32 343 3 3 6
40 490 4.5 4.5 9

Vacuum Gripper
* Values for load and moment in the table indicate static values.

Allowable load calculation

Allowable M(maximum allowable moment)(N•m)
F(N) =
load L(m)

Example
When a static load of f=20N is operating,which applies pitch
moment to point L=25mm from the MCHC-16 guide.
Sensor Switch

0.68 (N•m)
Allowable load F(N) =
25×10-3(m)
= 27.2 (N)
Load f=20 (N) < 27.2 (N), so can be used.

Model selection suggestions

1. For normal gripping and carrying usage, the recommended
safe factor (a) is 4.
2. The value of gripping force of single finger can be found at the
Caution

gripping force table.

3. The safe factor (a) have to be higher if the gripper is using with
a great accelerated velocity or impaction condition.

15
 MCHC Capacity – Double acting
PARALLEL GRIPPER (2-Finger)

Effective gripping force (Double acting)

Indication of effective force. External gripping force Internal gripping force
The effective gripping force shown in the graphs to the right
is expressed as F, which is the thrust of one finger, when both MCHC-6 MCHC-6
fingers and attachments are in full contact with the workpiece P=pressure P=pressure
7 10
as shown in the figure below.
P=0.7MPa

Holding force (N)

Holding force (N)

6
8
1N=0.102 kgf 5 P=0.7MPa 0.6MPa
1MPa=10.2 kgf/cm2 4 0.6MPa 6 0.5MPa
0.5MPa 0.4MPa
3 4
0.4MPa
2 0.3MPa
0.3MPa 2
1 0.2MPa
0.2MPa
0 10 20 30 0 10 20 30
Holding postion L (mm) Holding postion L (mm)

MCHC(L)-10 MCHC(L)-10
L

P=pressure P=pressure
16
F F 14
P=0.7MPa
30
Holding force (N)

Holding force (N)

0.6MPa
12 25 P=0.7MPa
0.5MPa
10 0.6MPa
External grip 0.4MPa 20
8 0.5MPa
15
6 0.3MPa 0.4MPa
4 10
0.3MPa
2 0.2MPa 5
0.2MPa
0 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Holding postion L (mm) Holding postion L (mm)

MCHC(L)-16
P=pressure
50
45 P=0.7MPa MCHC(L)-16
P=pressure
L

40 70
35 0.6MPa
F F P=0.7MPa
Holding force (N)

Holding force (N)

60
30 0.5MPa
50 0.6MPa
25 0.4MPa
40 0.5MPa
20
0.3MPa 0.4MPa
15 30
Internal grip 10 20 0.3MPa
5 0.2MPa 0.2MPa
10
0 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60
External gripping force Internal gripping force Holding postion L (mm) Holding postion L (mm)

MCHC-32 MCHC-32 MCHC(L)-20 MCHC(L)-20

P=pressure P=pressure P=pressure P=pressure
250 300 100
P=0.7MPa P=0.7MPa 70 P=0.7MPa
Holding force (N)

Holding force (N)

Holding force (N)

Holding force (N)

200 250 80 0.6MPa

0.6MPa 0.6MPa 60 P=0.7MPa
200 50 0.6MPa
150 0.5MPa 0.5MPa 60 0.5MPa
0.4MPa 150 0.4MPa 40 0.5MPa 0.4MPa
100 0.3MPa 30 0.4MPa 40
0.3MPa 100 0.3MPa
0.2MPa 0.2MPa 20 0.3MPa
50 50 20 0.2MPa
10 0.2MPa
0 0 0 0
0 50 100 150 0 20 40 60 80 100 0 20 40 60 80 100 0 20 40 60 80 100
Holding postion L (mm) Holding postion L (mm) Holding postion L (mm) Holding postion L (mm)

MCHC-40 MCHC-40 MCHC(L)-25 MCHC(L)-25

P=pressure P=pressure P=pressure P=pressure
400 500 100 160
P=0.7MPa P=0.7MPa P=0.7MPa
140
Holding force (N)

Holding force (N)

350
Holding force (N)

Holding force (N)

P=0.7MPa 80 0.6MPa 0.6MPa

400 0.6MPa 120
300 0.6MPa
0.5MPa 60 0.5MPa 100 0.5MPa
250 0.5MPa 300
200 0.4MPa 80 0.4MPa
0.4MPa 0.4MPa
200 40 60
150 0.3MPa 0.3MPa 0.3MPa
0.3MPa 40
100 0.2MPa 0.2MPa 20
100 20 0.2MPa
50 0.2MPa
0 0 0
0 0 20 40 60 80 100 120 0 20 40 60 80 100 120
0 50 100 150 200 0 20 40 60 80 100
Holding postion L (mm) Holding postion L (mm) Holding postion L (mm) Holding postion L (mm)

16
MCHC Capacity – Single acting

Gripper
PARALLEL GRIPPER (2-Finger)

Effective gripping force (Single acting) External gripping force Internal gripping force

Automatic Tool Changer

Indication of effective force. Single acting / N.O. Single acting / N.C.
The effective gripping force shown in the graphs to the right
is expressed as F, which is the thrust of one finger, when both MCHC-10-S MCHC-10-C
fingers and attachments are in full contact with the workpiece P=Pressure P=Pressure
12
as shown in the figure below. P=0.7MPa P=0.7MPa

Holding force (N)

Holding force (N)

10 20
0.6MPa 0.6MPa
1N=0.102 kgf 8
15
0.5MPa
1MPa=10.2 kgf/cm2 6 0.5MPa
0.4MPa 10
4 0.4MPa
0.35MPa 5 0.35MPa
2
0 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60

180° Rotation Gripper

Holding position L(mm) Holding position L(mm)
L

MCHC-16-S MCHC-16-C
F F P=Pressure
60
P=Pressure

P=0.7MPa P=0.7MPa
Holding force (N)

Holding force (N)

40 50
0.6MPa 0.6MPa
External grip 30 0.5MPa
40 0.5MPa
(Single acting / Normally open) 0.4MPa 30 0.4MPa
20 0.3MPa
0.3MPa

Deburring Tool
20
10 10
0.25MPa 0.25MPa
0 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Holding position L(mm) Holding position L(mm)

MCHC-20-S MCHC-20-C
L

P=Pressure P=Pressure

Vacuum Gripper
60 100
F F P=0.7MPa P=0.7MPa
Holding force (N)

Holding force (N)

50 80
0.6MPa 0.6MPa
40
0.5MPa 60 0.5MPa
30
0.4MPa 40 0.4MPa
Internal grip 20 0.3MPa 0.3MPa
(Single acting / Normally closed) 10
0.25MPa
20
0.25MPa
0 0
0 20 40 60 80 100 0 20 40 60 80 100
Holding position L(mm) Holding position L(mm)
Sensor Switch

MCHC-25-S MCHC-25-C
P=Pressure P=Pressure
100 140
P=0.7MPa P=0.7MPa
Holding force (N)

Holding force (N)

80 120
0.6MPa 0.6MPa
100
60 0.5MPa 0.5MPa
80
40 0.4MPa 0.4MPa
60
0.3MPa 0.3MPa
20 40
0 0.25MPa 0 0.25MPa
0 20 40 60 80 100 0 20 40 60 80 100
Caution

Holding position L(mm) Holding position L(mm)

17
 MCHC Capacity – Overhang
PARALLEL GRIPPER (2-Finger)

Confirmation of gripping point

● The air gripper should be operated so that the workpiece gripping External gripping Internal gripping
point "L" and the amount of overhang "H" stay within the range
shown for each operating pressure given in the graphs to the right. MCHC-6 MCHC-6
● If the workpiece gripping point goes beyond the range limits, this P=pressure P=pressure
40 40
will have an adverse effect on the life the air gripper.

Overhang H (mm)

Overhang H (mm)
0.5MPa 0.5MPa
30 30
0.2 0.6MPa 0.2 0.6MPa
MP MP
L a 0.7MPa a 0.7MPa
20 0.3M 20 0.3M
0.4 Pa 0.4 Pa
MP MP
a a
10 10

0 10 20 30 40 0 10 20 30 40
H

Holding postion L (mm) Holding postion L (mm)

Gripping point MCHC(L)-10 MCHC(L)-10

P=pressure P=pressure
External grip 60 50 0.
0.
Overhang H (mm)

Overhang H (mm)
2M 2M
50 Pa 40 Pa P=0.6MPa,
0.
3M 0. 0.7MPa
40 Pa P=0.6MPa, 3M
L 0. 30
4M Pa
30 P 0.7MPa 0.
0.
5M a 20 4M 0.5MPa
20 Pa Pa

10 10

0 0
H

0 10 20 30 40 50 60 0 10 20 30 40 50
Holding postion L (mm) Holding postion L (mm)

Gripping point MCHC(L)-16 MCHC(L)-16

P=pressure P=pressure
70 60
Internal grip 60 0.
Overhang H (mm)
0.2 2
Overhang H (mm)

50
M 0. MP
50 0.3 Pa 3M a
MP P=0.6MPa, 40 Pa P=0.6MPa,
40 0.4 a 0.7MPa
M 30 0.4M 0.7MPa
30 0.5 Pa 0. Pa
MP 20 5M
20 a Pa
10 10
0 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60
External gripping Internal gripping Holding postion L (mm) Holding postion L (mm)

MCHC-32 MCHC-32 MCHC(L)-20 MCHC(L)-20

P=pressure P=pressure P=pressure P=pressure
100 P= 100 100
0.
Overhang H (mm)

Overhang H (mm)
Overhang H (mm)

Overhang H (mm)

2M 0.
150 0. 2M 0.2 P=0.7MPa
P=0.2MPa 80 3M P 0.4MPa 80 P 0.5MPa 80
0. MP
0.3MPa Pa a 0.5MPa 3M a a
60 0.4 Pa 0.6MPa 0.3 0.6MPa
100 60 60 M
0.4MPa M P=0.7MPa 0.4 Pa
Pa
0.5MPa 40 40 M
40 0.5 Pa
50 MP
0.6MPa 20 0.6MPa 20 a
20
0.7MPa 0.7MPa
0 0 0 0
0 50 100 150 0 20 40 60 80 100 0 20 40 60 80 100 0 20 40 60 80
Holding postion L (mm) Holding postion L (mm) Holding postion L (mm) Holding postion L (mm)

MCHC-40 MCHC-40 MCHC(L)-25 MCHC(L)-25

P=pressure P=pressure P=pressure P=pressure
200 120 120 120
0.2
Overhang H (mm)
Overhang H (mm)

P= 0. 0.4MPa
100 100 2M 100 MP
Overhang H (mm)

Overhang H (mm)

P= 0.
150 0. 2M 0. P 0.5MPa 0.3 a 0.5MPa
2M 0. 80 3M a MP
80 0.6MPa 80
0.
3M Pa 0. 3M Pa Pa 0.4 a 0.6MPa
0.4MPa 0. 4M Pa P=0.7MPa
100 Pa 60 5M Pa 60 60 MP P=0.7MPa
0.5MPa a
Pa
40 40 40
50 0.6MPa
0.6MPa 20 20 20
0.7MPa 0.7MPa
0 0 0 0
0 50 100 150 0 20 40 60 80 100 0 20 40 60 80 100 120 0 20 40 60 80 100
Holding postion L (mm) Holding postion L (mm) Holding postion L (mm) Holding postion L (mm)

18
MCHC Dimensions ø6

Gripper
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

2-ø2.6 Thru

180° Rotation Gripper

2-M3×0.5 Thru

3.4 36.8 4.8

1.2 max.
4 -0.1
0

20
20

12
Open 12±1

-0.4

Deburring Tool
ø7H8 +0.022
0

25.5 0 ×1.5 depth 10±0.05

Close 8

12.5 38.8

53

M3×0.5
(Finger closing port)

4-M2×0.4 Thru M3×0.5

(Finger opening port)

Vacuum Gripper
4 -0.05
0

1.6

5.5
2.5 5
17
Sensor Switch
Caution

19
MCHC Dimensions ø10
PARALLEL GRIPPER (2-Finger)

27(29)

11.4
2-M3×0.5×6 depth
(Mounting thread)

2×2-M3×0.5×5.5 depth (Mounting thread)

Prepared hole dia. 2.6 through (Mounting hole) (Note)

Note. When using auto switches, through-

hole mounting is not possible. 5.2±0.02
ø2H9 +0.025 ×3 depth
4 -0.1

-0
0

7.6±0.02
29(35)

18

23
16

ø11H9 +0.043 ×2 depth

0 )

)
Open 15.2 +2.2

-0
12 23(25)
Close 11.2 -0.7
(19.2 +2.2

-0.4
0

12
(11.2

6 37.8
16.4±0.05
57
2-M3×0.5×6 depth
(Mounting thread)

4-M2.5×0.45 through M3×0.5

(Thread for mounting attachment) (Finger closing port)

M3×0.5
(Finger opening port)
-0.05

10
0
5

3 5.7 9(8)
19(21)
*( ) for long stroke value.

Finger position – Narrow

MCHC(L)-10-N
Open 9.7 +2.2

-0.4
0

0
Close 5.7

20
MCHC Dimensions ø16

Gripper
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

30(36)

16
2-M4×0.7×4.5 depth
(Mounting thread)

2×2-M4×0.7×8 depth (Mounting thread)

180° Rotation Gripper

ø3H9 +0.025
-0 ×3 depth
Prepared hole dia. 3.4 through (Mounting hole) (Note)
6.5±0.02
5 -0.1
0

11±0.02
38(47)

30.6
22
24
+2.2
- 0.2

-0.7

)
0 )

0
(26.9 +2.2

15 24.5(31)
(14.9 -0.4

ø17H9 +0.043×2 depth

0
Close 14.9
Open 20.9

-0
15

Deburring Tool
7.5 42.5(45.2)
67.3(70) 23.6±0.05

2-M4×0.7×8 depth
Note. Through-hole mounting is not possible when
(Mounting thread)
using the auto switch at the square groove.

M5×0.8
4-M3×0.5 through (Finger closing port)
(Thread for mounting attachment)
M5×0.8
(Finger opening port)

Vacuum Gripper
13
-0.05
0
8

4 7 8.5(8)
19(25)
*( ) for long stroke value.

Finger position – Narrow

Sensor Switch

MCHC(L)-16-N
-0.4
Open 12.6 +2.2

0
0

Close 6.6

Caution

21
MCHC Dimensions ø20
PARALLEL GRIPPER

35(43)

18.6
2-M5×0.8×8 depth
(Mounting thread)
2×2-M5×0.8×10 depth (Mounting thread)
Prepared hole dia. 4.3 through (Mounting hole) (Note) ø4H9 +0.030
-0 ×4 depth 7.5±0.02
8 -0.1
0

16.8±0.02
50(62)

32

42
30
+2.2
-0.2

ø21H9 +0.052×3 depth

0 )

)
-0.7

20 29(36) 18 -0
(34.3 +2.4

(16.3 -0.4
0
Close 16.3
Open 26.3

9.5 52.8(58) 27.6±0.05

84.8(90) 2-M5×0.8×10 depth

(Mounting thread)
Note. Through-hole mounting is not possible when
using the auto switch at the square groove.

M5×0.8
4-M4×0.7 through
(Finger closing port)
(Thread for mounting attachment)
M5×0.8
(Finger opening port)
10 -0.05

15
0

5 9 10

23(30)
*( ) for long stroke value.

Finger position – Narrow

MCHC(L)-20-N
Open 17.2 +2.2

-0.4
0

0
Close 7.2

22
MCHC Dimensions ø25

Gripper
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

36.5(48)

22
2-M6×1×10 depth
(Mounting thread)
2×2-M6×1×12 depth (Mounting thread)
Prepared hole dia. 5.1 through (Mounting hole) (Note)

180° Rotation Gripper

10±0.02 ø4H9 +0.030
-0 ×4 depth
10 -0.1
0

21.8±0.02
63(75)

40

52
36

2-M6×1×12 depth ø26H9 +0.052×3.5 depth

Open 33.3 +2.5

)
-0.2
0 )

-0
Close 19.3 -0.8
(41.3 +2.6

(19.3 -0.4
0

Deburring Tool
25 30(40) (Mounting thread) 22
0

11 63.6(66.9) 33.6±0.05

102.7(106)

Note. Through-hole mounting is not possible when

using the auto switch at the square groove.

M5×0.8
4-M5×0.8 through (Finger closing port)
(Thread for mounting attachment) M5×0.8
(Finger opening port)

Vacuum Gripper
12 -0.05

20
0

6 12 9.7(10)

23.5(33)
*( ) for long stroke value.

Finger position – Narrow

Sensor Switch

MCHC(L)-25-N
-0.4
Open 22.8 +2.5
0
0

Close 8.8

Caution

23
MCHC Dimensions ø32
PARALLEL GRIPPER (2-Finger)

48

26
2-M6×1×10 depth
(Mounting thread)

2×2-M6×1×13 depth (Mounting thread) 12±0.02

Prepared hole dia. 5.1 through (Mounting hole) (Note)

ø5H9+0.03
0 ×5 depth
12 -0.1
0

23±0.02
Open 48 +2.5

-0.5
0

0
Close 26

46

60
46
97

-0.1
0
12

2-M6×1×13 depth ø34H9 +0.062

0 ×4 depth
(Mounting thread)
40

29 12 67 26

113 40±0.01

Note. Through-hole mounting is not possible when

using the auto switch at the square groove.

4-M6×1 through M5×0.8

(Thread for mounting attachment) (Finger closing port)
15 -0.05

24
0

7 14
M5×0.8
11 (Finger opening port)

31

24
 MCHC Dimensions ø40

Gripper
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

58

32

180° Rotation Gripper

2-M8×1.25×13 depth
(Mounting thread)
2×2-M8×1.25×16 depth (Mounting thread)
Prepared hole dia. 6.6 through (Mounting hole) (Note) ø5H9+0.03
0 ×5 depth 14±0.02
14 -0.1
0

29±0.02

Deburring Tool
Open 60 +2.7

-0.5
119

0
0

Close 30

56

56

72
-0.1
0
14

2-M8×1.25×17 depth ø42H9 +0.062

0 ×4 depth
(Mounting thread)
49

36 15 83 32

Vacuum Gripper
139 48±0.01

Note. Through-hole mounting is not possible when

using the auto switch at the square groove.

4-M8×1.25 through M5×0.8

(Thread for mounting attachment) (Finger closing port)
18 -0.05

Sensor Switch
0

28

9 17
M5×0.8
(Finger opening port)
12

38
Caution

25
MCHC Finger option ø6~ø40
PARALLEL GRIPPER (2-Finger)

MCHC*-1, N1 Side tapped MCHC*-2, N2 Through hole

2×2-MM thru
(Thread for mounting 4-øH thru
attachment) (Hole for mounting attachment)
E -0.1
0

A B

A B

Code Code
Tube I.D.
A B C E MM Tube I.D.
A B H
6 2.5 5 2 4 M2×0.4 6 2.5 5 ø2.4
10 3 5.7 2 4 M2.5×0.45 10 3 5.7 ø2.9
16 4 7 2.5 5 M3×0.5 16 4 7 ø3.4
20 5 9 4 8 M4×0.7 20 5 9 ø4.5
25 6 12 5 10 M5×0.8 25 6 12 ø5.5
32 7 14 6 12 M6×1.0 32 7 14 ø6.6
40 9 17 7 14 M8×1.25 40 9 17 ø9

MCHC*-3 Flat

H
2×2-MM×L depth
(Thread for mounting attachment ) C
F
K
D
A B

J
G
B A

J
D

K
W

Code G
A B C D F H J K MM L W
Tube I.D. Open Closed
10 2.45 6 5.2 10.9 2 5.4 +2.2
0 1.4 0
-0.2 11.2 4.45 2H9 +0.025
0 M2.5×0.45 5 5 0
-0.05

16 3.05 8 8.3 14.1 2.5 7.4 +2.2

0 1.4 0
-0.2 15.8 5.8 2.5H9 +0.025
0 M3×0.5 6 8 0
-0.05

20 3.95 10 10.5 17.9 3 11.6 +2.3

0 1.6 0
-0.2 20 7.45 3H9 +0.025
0 M4×0.7 8 10 0
-0.05

25 4.90 12 13.1 21.8 4 16 +2.5

0 2 0
-0.2 24.1 8.9 4H9 +0.03
0 M5×0.8 10 12 0
-0.05

32 7.30 20 18 34.6 5 25 +2.7

0 3 0
-0.2 30 14.8 5H9 +0.03
0 M6×1.0 12 15 0
-0.05

40 8.70 24 22 41.4 6 33 +2.9

0 3 0
-0.2 37 17.7 6H9 +0.03
0 M8×1.25 16 18 0
-0.05

26
MCHCJ series [ Dust Cover ]

Gripper
PARALLEL GRIPPER (2-Finger)

Features

Automatic Tool Changer

● Integral linear guide used for high rigidity and high precision.
● The material of finger is martensitic stainless steel.
● The dust cover is made of food-grade silicone rubber.
● Body thickness tolerance ±0.05mm.
● Bottom pin holes for accurate re-locating.
● Grooves on the body for sensor switch to be inserted into.
● Magnetic as standard.

Specification
Model MCHCJ

180° Rotation Gripper

Acting type Double acting Single acting
Tube I.D. (mm) 16

Order example Opening / Closing stroke (mm) 6

Port size M5×0.8
MCHCJ ─ 16 ─ Medium Air
Operating pressure range (MPa) 0.1~0.7 0.25~0.7
Ambient temperature -10~+60°C (No freezing)
MODEL TUBE I.D. Repeatability ± 0.01 mm
16
Max. operating frequency (c.p.m) 180

Deburring Tool
STYLE Lubricator Not required
Blank: S: Single acting / C: Single acting / Sensor switch RDFE(V) (Refer to page 149)
Double acting Normally open Normally closed
Weight (g) 135

Order example of dust cover Gripping force

Vacuum Gripper
JD ─ MCHCJ ─ 16

DUST
MODEL TUBE I.D.
COVER Sensor Switch

L
Installation of sensor switch
Set screw Watchmakers
Tube I.D. (mm) 16
screw driver
External 30 (3.1)
Double acting
Internal 40 (4.1)
Sensor switch Single acting /
RDFE Normally open
External 24 (2.5)

Single acting /
Normally closed
Internal 31 (3.2)

* Operation pressure 0.5 MPa, gripping length 20mm, the effective gripping
force for each finger is *** N(kgf).
Caution

27
MCHCJ Inside structure & Parts list ø16
PARALLEL GRIPPER (2-Finger)

21 20 15 14
A

B B

Double acting A 17 A-A

12 6 5 7 8 9 4 3 B-B
Material
Repair kits
No. Part name Material Q'y
(inclusion)
1 Grip rivet Carbon steel 2
2 Body Aluminum alloy 1
3 Piston rod Stainless steel 1
4 Rod packing NBR 1
5 Piston packing NBR 1
6 Piston Stainless steel 1
10 11 2 13 1 16 7 Magnet ring Magnet material 1
8 Spring holder Stainless steel 1
Single acting 9 Cushion pad PU 1
Normally closed 10 End cover Aluminum alloy 1
19
11 O-ring NBR 1
12 Snap ring Stainless steel 1
13 Pin Bearing steel 1
14 Screw Stainless steel 4
15 Bolt Stainless steel 4
16 Lever Stainless steel 2
17 Locating pin Bearing steel 2
18 Spring Stainless steel 1
19 Spring Stainless steel 1
Normally opened
20 Gripping set Stainless steel (*) 1
18 21 Dust cover Silicone rubber 1
* Bearing steel balls as standard.

Order example of repair kits

* Use the same repair kits with MCHC.

Tube I.D. Repair kits

ø16 PS-MCHC-16-S

28
MCHCJ Allowable load calculation / Capacity – Overhang

Gripper
PARALLEL GRIPPER (2-Finger)

Confirmation of external force Confirmation of gripping point

on fingers

Automatic Tool Changer

L ● The air gripper should be operated so that the workpiece
gripping point "L" and the amount of overhang "H" stay
within the range shown for each operating pressure given
in the graphs to the right.
Mp ● If the workpiece gripping point goes beyond the range limits,
this will have an adverse effect on the life the air gripper.

L
L

My

180° Rotation Gripper

H
L

Gripping point
Fv
Mr
External grip

Deburring Tool
L: distance to the point at which the load is applied (mm)

Allowable Maximum allowable moment

Tube I.D.
vertical load Fv Pitch moment Yaw moment Roll moment
(mm)
H

(N) Mp (N-m) My (N-m) Mr (N-m)

16 98 0.68 0.68 1.36
* Values for load and moment in the table indicate static values. Gripping point

Allowable load calculation Internal grip

Vacuum Gripper
Allowable M(maximum allowable moment)(N•m)
F(N) =
load L(m)

Example
When a static load of f=20N is operating,which applies pitch External gripping Internal gripping
moment to point L=25mm from the MCHCJ-16 guide.
P=pressure P=pressure
70 60
0.68 (N•m) 0.
60
Overhang H (mm)

Allowable load F(N) = 0.2 2

Overhang H (mm)

50
25×10-3(m) M 0. MP
50 0.3 Pa 3M a
MP P=0.6MPa, 40 Pa P=0.6MPa,
= 27.2 (N) 40 0.4 a 0.7MPa
30 0.4M 0.7MPa
Sensor Switch

M
30 0.5 Pa 0. Pa
Load f=20 (N) < 27.2 (N), so can be used. MP 20 5M
20 a Pa
10 10
0
Model selection suggestions 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60
Holding postion L (mm) Holding postion L (mm)
1. For normal gripping and carrying usage, the recommended
safe factor (a) is 4.
2. The value of gripping force of single finger can be found at the
gripping force table.
3. The safe factor (a) have to be higher if the gripper is using with
a great accelerated velocity or impaction condition.
Caution

29
MCHCJ Capacity – Double acting / Single acting
PARALLEL GRIPPER (2-Finger)

Effective gripping force External gripping force

Indication of effective force.
P=pressure
The effective gripping force shown in the graphs to the below
is expressed as F, which is the thrust of one finger, when both 50

Holding force (N)

P=0.7MPa
fingers and attachments are in full contact with the workpiece 40
0.6MPa
as shown in the figure below. 30 0.5MPa
0.4MPa
20 0.3MPa
10
0.2MPa
0
0 10 20 30 40 50 60
Holding postion L (mm)

Internal gripping force

P=pressure
60 P=0.7MPa

Holding force (N)

50 0.6MPa
L

40 0.5MPa
30 0.4MPa
F F 0.3MPa
20
10 0.2MPa

External grip 0
0 10 20 30 40 50 60
( Double acting,
Holding postion L (mm)
Single acting / Normally open )

External gripping force

Single acting / N.O.

P=Pressure
Holding force (N)

40 P=0.7MPa
30 0.6MPa
0.5MPa
20 0.4MPa
0.3MPa
10
0.25MPa
L

0
0 10 20 30 40 50 60
F F Holding position L(mm)

Internal gripping force

Internal grip Single acting / N.C.
( Double acting,
Single acting / Normally closed ) P=Pressure
60
Holding force (N)

50 P=0.7MPa
40 0.6MPa
0.5MPa
30 0.4MPa
20 0.3MPa
10 0.25MPa
0
0 10 20 30 40 50 60
Holding position L(mm)

30
MCHCJ Dimensions ø16

Gripper
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

30

23.6±0.05
(29.6)

16
2-M4×0.7×4.5 depth

180° Rotation Gripper

(Mounting thread)

2×2-M4×0.7×8 depth (Mounting thread)

Prepared hole ø3.4 through (Mounting hole)
ø3H9 +0.025
-0 ×3 depth 6.5±0.02
5 -0.1
0

Deburring Tool
11±0.02
Close 14.9 -0.7
Open 20.9 +2.2
-0.2

30.6

22
(45)

24

24.5 2-M4×0.7×8 depth 15

15 34.8 (Mounting thread)

Vacuum Gripper
67.3 ø17H9 +0.043
0 ×2 depth

M5×0.8
(Finger closing port)
4-M3×0.5 through
(Thread for mounting M5×0.8
attachment) (Finger opening port)
Sensor Switch
8 -0.05

13
0

4 7 8

19
Caution

31
 Connect with

AUTOMATIC ASSEMBLY
MACHINE
Connect gripper with cylinder to achieve
regular workpiece gripping.

32
 MCHU series

Gripper
PARALLEL GRIPPER (2-Finger)

Features

Automatic Tool Changer

● Compact design, light weight with rugged construction.
● Jaws mounted to wear resistant bush guides.
● Magnetic as standard.

Specification
Model MCHU
Acting type Double acting
Tube I.D. (mm) 12 16 20

180° Rotation Gripper

Stroke 15 20 25
Fluid Air
Order example Operating pressure range 0.2~0.7 MPa
Ambient temperature -10~+60°C (No freezing)
MCHU ─ 12 M Lubrication (*1) Not required
Repeatability ±0.03 mm

Sensor switch 2 wire RDFE(V): Non-contact

MODEL TUBE I.D. M: Magnet (*2) 3 wire RNFE(V): NPN, RPFE(V): PNP
12 * Magnetic as standard.
16 Weight (kg) 0.16 0.29 0.58
20

Deburring Tool
*1. Sliding area of jaws need scheduled relubrication.
*2. R*FE(V) specification, please refer to page 149.

Model selection suggestions

* Finger selection please refer to page 8.

1. For normal gripping and carrying usage, the

recommended safe factor (a) is 4.

Vacuum Gripper
2. The value of gripping force of single finger can
be found at the gripping force table.
L
L

3. The safe factor (a) have to be higher if the F F

F F
gripper is using at high acceleration or impact
condition.
1N=0.102 kgf
External grip 1MPa=10.2 kgf/cm2 Internal grip

Capacity
Sensor Switch

MCHU-12 MCHU-16 MCHU-20

50 100
0.7MPa
30
0.7MPa 0.7MPa
40 80
Holding force(N)

Holding force(N)

Holding force(N)

0.5MPa
20 30 60
0.5MPa 0.5MPa

0.3MPa 20 40
0.3MPa 0.3MPa
10
10 20

0 1 2 3 4 5 0 2 4 6 8 10 0 3 6 9 12 15
Caution

Holding position L (cm) Holding position L (cm) Holding position L (cm)

33
MCHU Inside structure & Parts list
PARALLEL GRIPPER (2-Finger)

2 1 8 13 5 2 15
A

10

9 3 7 4 12 6 11 14

Α-Α

Material
Tube I.D. Repair kits
No. 12 16 20 Q'y
Part name (inclusion)
1 Body Aluminum alloy 1
2 Finger Aluminum alloy 2
3 Cover Aluminum alloy 2
4 Piston Stainless steel 1
5 Cam SCM 1
6 Guide rod SUS Carbon steel 2
7 Piston packing NBR 2
8 Bearing Bearing steel 1
9 Snap ring Spring steel 2
10 Magnet Magnet material 1 Order example
11 Bush Carbon steel 6 Repair kits
12 Pin Carbon steel 2 Tube I.D. Repair kits
13 Pin Carbon steel 1 ø12 PS-MCHU-12
14 O-ring NBR 2 ø16 PS-MCHU-16
15 Screw Carbon steel 2 ø20 PS-MCHU-20

34
MCHU Dimensions ø12~ø20

Gripper
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

QH9
X

2-M5×0.8 dp10

Y
A
Z

A view

180° Rotation Gripper

I B

M5×0.8 Finger K J M5×0.8 Finger C 2-M5×0.8 dp10

opening port closing port

mounting attachment (*)

M1

M2

Limited area for

G
L

Deburring Tool
H1
H

N 2×2-P E D1(open) E
* Do not extend the attachment from
0
D2(close) limited area for mounting to avoid
O -0.1
interference with the attachment or
main body

Code
Tube I.D. A B C D1 D2 E F G H H1 I J K L M1 M2 N O P QH9 X Y ZH9
12 30 54 30 30 15 6 12 29 10 9 38 8 9 35 7.5 14 14 22 M4×0.7 ø2 +0.025
0 ×2dp 6 3 2 +0.025
0 ×2dp

16 40 70 40 40 20 10 13.5 34 12 11 43 8 11 41 7.5 12.5 18 30 M5×0.8 ø3 +0.025

×4dp 10 4 3 +0.025 ×4dp

Vacuum Gripper
0 0

20 60 82 60 50 25 10 15 43 22 21 56 10 15 59 9 20 20 35 M5×0.8 ø3 +0.025
0 ×6dp 15 4 3 +0.025
0 ×6dp

Sensor Switch
Caution

35
 Connect with

AIR CYLINDER
Connect gripper with cylinder to
achieve regular workpiece gripping.

36
MCHB series

Gripper
PARALLEL GRIPPER (2-Finger)

Features

Automatic Tool Changer

● Available with comprehensive range of Tube I.D. 12~32 mm.
● Highly accurate air driven device for holding work-piece.
● Magnetic as standard.

Specification
Model MCHB
Acting Type Double / Single acting
Tube I.D. (mm) 12 16 20 25 32
Port size M3×0.5 M5×0.8
Air

180° Rotation Gripper

Medium
Operating Double acting 0.15~0.7 MPa
pressure
range Single acting 0.2~0.7 MPa
Ambient temperature -5~+60°C (No freezing)
Max. operating frequency (c.p.m) 180
Cylinder Not required
Lubrication
Lever Grease (Actuation at)
30 40 60 70 85
Order example Max. arm length (L) (mm)

Lever open / close stroke 6 8 12 14 16

MCHB ─ 16 ─ S

Deburring Tool
Sensor switch (*) RDE, RDE-D: Non-contact
Double acting 66 144 255 419 719
Weight (g)
Single acting 66.5 145 257 422 722
MODEL TUBE I.D. ACTING
* RDE, RDE-D specification, please refer to page 148.
12 Blank: Dougle acting
16 S: Single acting
20 (Normally open)
25
32

Vacuum Gripper
Length of gripping point Installation of sensor switch

Sensor switch
RDE,RDE-D
Sensor Switch

Set screw Watchmakers

screw driver
L

Caution

37
MCHB Inside structure & Parts list
PARALLEL GRIPPER (2-Finger)

Double acting Single acting

Normally open

18 19 14 15 3 2 1 11 10 12 18 19 14 15 3 2 22 1 11 10 12

16 17 13 9 5 4 7 8 6 16 17 13 9 5 4 7 8 6

Order example
Material of repair kits
Repair kits Tube I.D. Repair kits
No. Part name Material Q'y
(inclusion)
ø12 PS-MCHB-12
1 Body Aluminum alloy 1
ø16 PS-MCHB-16
2 Rod packing NBR 1
ø20 PS-MCHB-20
3 Piston rod Stainless steel 1
ø25 PS-MCHB-25
4 Gasket NBR 1
ø32 PS-MCHB-32
5 Piston-R Aluminum alloy 1
6 Piston-H Aluminum alloy 1
7 Piston packing NBR 1
8 Magnet ring Magnet material 1
9 Screw Stainless steel 1
10 Head cover Carbon steel 1
11 Cover ring NBR 1
12 Stop ring Spring steel 1
13 Spindle river Bearing steel 1
14 Grip per Carbon steel 2
15 Grip rivet Carbon steel 2
16 Grip per Carbon steel 2
17 Bush Stainless steel 4
18 Grip rivet Bearing steel 2
19 Grip rivet Carbon steel 2
20 Screw SCM 4
21 Screw SCM 4
22 Spring Spring steel 1

38
MCHB Capacity – Double acting

Gripper
PARALLEL GRIPPER (2-Finger)

Effective gripping force (Double acting) External gripping force Internal gripping force

Automatic Tool Changer

Indication of effective force. Double acting Double acting
The effective gripping force shown in the graphs to the right
is expressed as F, which is the thrust of one finger, when both MCHB-12 MCHB-12
fingers and attachments are in full contact with the workpiece P=pressure P=pressure
40 40
as shown in the figure below.

Holding force (N)

Holding force (N)

P=0.7MPa
30 30
P=0.7MPa
20 0.5MPa 20
0.5MPa
10 0.3MPa 10
0.3MPa

0 10 20 30 40 0 10 20 30 40

180° Rotation Gripper

Holding postion L (mm) Holding postion L (mm)

MCHB-16 MCHB-16
P=pressure P=pressure
60 60
Holding force (N)

Holding force (N)

50 P=0.7MPa 50
40 40 P=0.7MPa
30 30
F F 0.5MPa
20 20 0.5MPa
0.3MPa
10 10 0.3MPa
1N=0.102 kgf
0 20 40 60 0 20 40 60
1MPa=10.2 kgf/cm2

Deburring Tool
Holding postion L (mm) Holding postion L (mm)

MCHB-20 MCHB-20
P=pressure P=pressure
100 100
P=0.7MPa
Holding force (N)

Holding force (N)

80 80
P=0.7MPa
60 60
0.5MPa
40 40 0.5MPa
0.3MPa
20 20 0.3MPa

Vacuum Gripper
0 20 40 60 80 0 20 40 60 80
L Holding postion L (mm) Holding postion L (mm)

External grip MCHB-25 MCHB-25

P=pressure P=pressure
200 200
Holding force (N)

Holding force (N)

150 150
P=0.7MPa
100 100 P=0.7MPa
0.5MPa
50 50 0.5MPa
0.3MPa
Sensor Switch

0.3MPa

0 20 40 60 80 0 20 40 60 80
Holding postion L (mm) Holding postion L (mm)

L MCHB-32 MCHB-32
P=pressure P=pressure
300 300
Internal grip
Holding force (N)

Holding force (N)

250 250
200 P=0.7MPa 200
150 150 P=0.7MPa
0.5MPa
100 100
0.5MPa
0.3MPa
50 50 0.3MPa
Caution

0 25 50 75 100 0 25 50 75 100
Holding postion L (mm) Holding postion L (mm)

39
MCHB Capacity – Single acting
PARALLEL GRIPPER (2-Finger)

Effective gripping force (Single acting) External gripping force

Indication of effective force. Single acting / N.O.
The effective gripping force shown in the graphs to the right
is expressed as F, which is the thrust of one finger, when both MCHB-12-S
fingers and attachments are in full contact with the workpiece P=pressure
40
as shown in the figure below.

Holding force (N)

30
1N=0.102 kgf
1MPa=10.2 kgf/cm2 20
P=0.7MPa

10
0.5MPa
0.3MPa
0 10 20 30 40
Holding postion L (mm)

MCHB-16-S
P=pressure
60

Holding force (N)

50
40
30 P=0.7MPa
20
L

0.5MPa
10
0.3MPa
F F 0 20 40 60
Holding postion L (mm)

External grip MCHB-20-S

P=pressure
(Single acting / Normally open) 100
Holding force (N)

80

60
P=0.7MPa
40
0.5MPa
20
0.3MPa
0 20 40 60 80
Holding postion L (mm)

MCHB-25-S
P=pressure
200
Holding force (N)

150

100
P=0.7MPa
50
0.5MPa
0.3MPa
0 20 40 60 80
Holding postion L (mm)

MCHB-32-S
P=pressure
300
Holding force (N)

250
200
150 P=0.7MPa
100
0.5MPa
50 0.3MPa

0 25 50 75 100
Holding postion L (mm)

40
MCHB Dimensions ø12~ø32

Gripper
PARALLEL GRIPPER (2-Finger)

2-W

Automatic Tool Changer

M
O

2-F E
2-X

180° Rotation Gripper

Z
H
G2(close)
G1(open)

J
I

Y2±0.02
H

Y Y1±0.02

L B K

A D

Deburring Tool
2-P
V
(port)
2×2-N
U
Q

Vacuum Gripper
R S
T

Code
Tube I.D.
A B C D E F G1 G2 H I J K L M N O
12 63.5 (68.5) 50.5 (55.5) 28 16 20 (25) M3×0.5×5 depth 27 21 4 18 17 10 13 10 M3×0.5 16 (21)

16 73.5 (78.5) 58.5 (63.5) 34 22 25.5 (30.5) M4×0.7×11 depth 33 25 5 24 26 14 15 14 M3×0.5 21 (26)

20 88.5 (93.5) 69.5 (74.5) 45 26 25 (30) M5×0.8×8 depth 44 32 6 30 35 16 19 16 M4×0.7 19 (24)

25 102.5 (107.5) 78.5 (83.5) 52 32 28 (33) M6×1.0×10 depth 51 37 8 36 40 20 24 20 M5×0.8 22 (27)

Sensor Switch

32 120.5 (125.5) 90.5 (95.5) 60 40 34 (39) M6×1.0×10 depth 59 43 10 44 46 24 30 26 M6×1.0 26 (31)

Code
Tube I.D.
P Q R S T U V W X Y Y1 Y2 Z
12 M3×0.5×5 depth 7 3 6 23 10.2 7.5 M3×0.5×5 depth M3×0.5×5 depth Ø2H9 +0.025
0 ×3 depth 5 8.5 Ø14H9 +0.043
0 ×1.5 depth

16 M5×0.8×5 depth 11 3 8 22 12 7.5 M4×0.7×7 depth M4×0.7×7 depth Ø3H9+0.025

0 ×3 depth 7 13 Ø18H9+0.043
0 ×1.5 depth

20 M5×0.8×5 depth 12 4 10 26 13 8.0 M5×0.8×8 depth M5×0.8×8 depth Ø4H9+0.03

0 ×4 depth 8 17.5 Ø22H9+0.052
0 ×1.5 depth

25 M5×0.8×5 depth 14 5 12 29 18 8.5 M6×1.0×10 depth M6×1.0×10 depth Ø4H9+0.03

0 ×4 depth 10 20 Ø27H9+0.052
0 ×2 depth

32 M5×0.8×5 depth 20 7 15 35 24 10.5 M6×1.0×10 depth M6×1.0×10 depth Ø5H9 +0.03

0 ×5 depth 12 23 Ø34H9+0.062
0 ×2.5 depth

* Values in ( ) are for single acting.

Caution

41
 Connect with

AIR CYLINDER
Connect gripper with cylinder to
achieve regular workpiece gripping.

42
MCHD series

Gripper
PARALLEL GRIPPER (2-Finger)

Features

Automatic Tool Changer

● Low profile design saves space and reduces bending moments,
improved accuracy with smooth operation.
● Improved mounting repeatability, easy positioning for mounting.
● Double piston construction achieves compact design with strong
gripping force.
● High rigidity and high precision with martensitic stainless steel.
● Grooves on the body for sensor switch to be inserted into.
● Magnetic as standard.

Specification
Model MCHD

180° Rotation Gripper

Acting type Double acting
Tube I.D. (mm) 8 12 16 20
Port size M3×0.5 M5×0.8
Medium Air
Operating pressure range 0.15~0.7 0.1~0.7 MPa
Ambient temperature -10~+60°C (No freezing)
Repeatability ± 0.05 mm (*1)
Max. Short 120
operating

Deburring Tool
frequency
Medium 120
(c.p.m) Long 60
Order example
Lubricator Not required
MCHD ─ 20R ─ Sensor switch 2 wire RDFE(V): Non-contact
(*2) 3 wire RNFE(V): NPN, RPFE(V): PNP
Attached bolt 2 pcs ―
MODEL TUBE I.D. STROKE * * 1. This is the value when no offset load is applied to the finger. When an
8, 12, 16, 20 Blank: Short offset load is applied to the finger, the maximum value is ±0.15mm due
1: Medium to the influence of backlash of the rack and pinion.

Vacuum Gripper
PIPING TYPE 2: Long * 2. R*FE(V) specification, please refer to page 149.

Blank: Axial piping R: Side piping

Gripping force
L

Port Port

Gripping force per finger

* Stroke selection Model Weight (g)
Sensor Switch

effective value (N) (*)

Tube I.D. MCHD-8 65
Stroke (mm)
8 12 16 20
MCHD-8-1 19 79.1
Short MCHD-8-2 113.3
stroke
8 12 16 20
MCHD-12 150
Medium MCHD-12-1 48 191.3
16 24 32 40
stroke MCHD-12-2 291.2
MCHD-16 350
Long MCHD-16-1 90 454.2
stroke
32 48 64 80
MCHD-16-2 678.3
MCHD-20 660
Caution

MCHD-20-1 141 869

MCHD-20-2 1310.6
* Values based on pressure of 0.5 MPa, gripping point L=20mm, at center
of stroke.

43
 MCHD Inside structure & Parts list
PARALLEL GRIPPER (2-Finger)

Axial piping Side piping

24 24
17 1 4 27 4 1

20 10 25 18 9

2 3 5 13 11 12 26 16 23 6 4

15
Order example of
repair kits
Tube I.D. Repair kits Tube I.D. Repair kits
PS-MCHD-8 PS-MCHD-16
ø8 ø16
PS-MCHD-8R PS-MCHD-16R
2 3 5 14 22 21 19 8 23 6 7
PS-MCHD-12 PS-MCHD-20
ø12 ø20
PS-MCHD-12R PS-MCHD-20R
Material
Tube I.D. Material Q'y Repair kits Tube I.D. Material Q'y Repair kits
No. No.
Part name 8 12 16 20 Axial Side (inclusion) Part name 8 12 16 20 Axial Side (inclusion)
1 Body Aluminum alloy 1 1 19 Piston packing NBR 4 4
2 Cover A Aluminum alloy 2 0 20 Pin Stainless steel 2 2
3 Hexgon screw Stainless steel 2 0 21 Magnet Magnet material 4 4
4 Cover B Aluminum alloy 1 3 22 Needle Stainless steel 1 1
5 O-ring NBR 2 0 23 Ball Stainless steel 2 2
6 O-ring NBR 2 4 24 Ball Stainless steel 4 4
7 Cover C Aluminum alloy 1 1 25 Needle Stainless steel 2 2
8 Cushion pad TPU 1 1 26 Wear ring *3 Resin 4 4
9 Guide set Stainless steel 1 1 27 Bolt *4 Stainless steel K K
10 Lever Stainless steel 2 2 *1. Stainless steel
*2. Alloy steel
11 Pinion Alloy steel 1 1
*3. Model MCHD-8(R)(-1), MCHD-12(R)(-1) without wear ring.
12 Pinion piston Stainless steel 2 2 *4. Bolt Q'y
13 Piston *1 Aluminum alloy 4 2 Model K Model K
14 O-ring NBR 4 4 MCHD-8 2 MCHD-16 2
15 Snap ring Stainless steel 4 4 MCHD-8-1 2 MCHD-16-1 4
MCHD-8-2 4 MCHD-16-2 4
16 Bolt – Stainless steel 4 4
MCHD-12 2 MCHD-20 2
17 Screw Alloy steel Stainless steel 4 4
MCHD-12-1 4 MCHD-20-1 4
18 Screw Stainless steel *2 *1 4 4 MCHD-12-2 4 MCHD-20-2 4

44
MCHD Model selection / Allowable load calculation

Gripper
PARALLEL GRIPPER (2-Finger)

Model selection Confirmation of external force on fingers

Automatic Tool Changer

Please select your model according to the weight of workpiece L

● Although conditions differ according to the work piece shape

and the coefficient of friction between the attachments and the
Mp
workpiece, select a model that can provide a gripping force of
10 to 20 times the workpiece weight, or more.
● If high acceleration, deceleration or impact forces are L
encountered during motion, a further margin of safety should
be considered.

My
When gripping a workpiece as in the

180° Rotation Gripper

figure as shown above:
F: Gripping force (N) L

μ: Coefficient of friction between the Fv

attachments and the workpiece Mr
m: Workpiece mass (kg)
g : Gravitational acceleration (=9.8m/s2)
mg : Workpiece weight (N)
L: Distance to the point at which the load is applied (mm)
the conditions under which the workpiece
will not drop are, F F Allowable Maximum allowable moment
Tube I.D.
vertical load Pitch moment Yaw moment Roll moment
2×μF > mg (mm)
Fv(N) Mp(N-m) My(N-m) Mr(N-m)
Number of fingers 8 58 0.26 0.26 0.53
μF μF

Deburring Tool
Therefore, mg 12 98 0.68 0.68 1.4
F> mg
2×μ 16 176 1.4 1.4 2.8
With"a"representing the extra margin, "F" 20 294 2 2 4
is determined by the following formula: * Values for load and moment in the table indicate static values.
mg
F= ×a Allowable load calculation
2×μ
The "10 to 20 times or more of the workpiece weight" is
calculated with a safety margin of a=4, which allows for impacts Allowable M(maximum allowable moment)(N•m)
load
F(N) =
that occur during normal transportation, etc. L(m)

Vacuum Gripper
Example
When a static load of f=20N is operating, which applies pitch
moment to point L=25mm from the MCHD-16 guide.
μ=0.2 μ=0.1
1.4 (N•m)
Allowable load F(N) =
mg mg 25×10-3(m)
F= ×4 F= ×4
2×0.2 2×0.1 = 56 (N)

= 10×mg = 20×mg Load f=20 (N) < 56 (N), so can be used.

Model selection example

Sensor Switch

In the motion process did not produce high acceleration,

10×workpiece weight 20×workpiece weight deceleration or impact forces,
Workpiece mass: 300g , Gripping method: External gripping,
Operating pressure: 0.5 MPa, Coefficient of friction (μ): 0.1,
* 1. Even in cases where the coefficient of friction is greater Holding position: 20mm (no overhang)
than μ=0.2, for reasons of safety, please select a gripping
force which is at least 10 to 20 times greater than the 1. The conditions under which the workpiece will not drop are,
workpiece weight. 0.3
* 2. If high acceleration, deceleration or impact forces are F= × 4 = 6 (kgf) ≈ 60 (N)
2×0.1
encountered during motion, a further margin of safety should
be considered. 2. From Effective Gripping Force Fig,
Operating pressure: 0.5 MPa; Holding position: 20 mm
Caution

Effective gripping force is greater than 60 (N)

So selected MCHD-16 grippers.

45
 MCHD Capacity ø8~ø20
PARALLEL GRIPPER (2-Finger)

Effective gripping force (Double acting) Confirmation of gripping point

Indication of effective force. ● The air gripper should be operated so that the workpiece
The effective gripping force shown in the graphs to the right gripping point "L " and the amount of overhang "H" stay
is expressed as F, which is the thrust of one finger, when both within the range shown for each operating pressure given in
fingers and attachments are in full contact with the workpiece the graphs.
as shown in the figure below. ● If the workpiece gripping point goes beyond the range limits,
this will have an adverse effect on the life the air gripper.

MCHD-8 P=pressure MCHD-8 P=pressure

30 50

Overhang H (mm)
Holding force (N)

P=0.7MPa 0.
2M
Pa 0.5MPa
0.6MPa 40 0.6MPa
20 0.
3M P=0.7MPa
0.5MPa 30 Pa
0.4MPa 0.
4M
0.3MPa 20 Pa
10
L 10
0.2MPa
F F
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Holding postion L (mm) Holding postion L (mm)
1N=0.102 kgf
H

1MPa=10.2 kgf/cm2

MCHD-12 P=pressure MCHD-12 P=pressure

70 Gripping point 80
P=0.7MPa
60

Overhang H (mm)
0.6MPa External grip
Holding force (N)

0.
50 60 2M 0.5MPa
0.5MPa Pa 0.6MPa
0. P=0.7MPa
40 3M
0.4MPa 40 0. Pa
30 4M
0.3MPa Pa
20
20
0.2MPa L
10
0 0
0 20 40 60 80 0 20 40 60 80
L Holding postion L (mm) Holding postion L (mm)

External grip
H

MCHD-16 P=pressure MCHD-16 P=pressure

140 100
P=0.7MPa Gripping point
120
Overhang H (mm)

0.
Holding force (N)

0.6MPa 80 2M
Pa 0.5MPa
100 Internal grip 0.
3M 0.6MPa
0.5MPa 60
80 0. Pa P=0.7MPa
0.4MPa 4M
Pa
60 40
40 0.3MPa
0.2MPa 20
20
0 0
0 20 40 60 80 100 0 20 40 60 80 100
Holding postion L (mm) Holding postion L (mm)
L

Internal grip MCHD-20 P=pressure

MCHD-20 P=pressure
210
P=0.7MPa 100 0.
180 2M
Overhang H (mm)

Pa
Holding force (N)

0.6MPa
150 80 0.
0.5MPa 3M 0.6MPa
0. Pa
120 4M P=0.7MPa
0.4MPa 60 0. Pa
90 5M
Pa
60 0.3MPa 40

30 0.2MPa 20
0
0 20 40 60 80 100 0
0 20 40 60 80 100
Holding postion L (mm)
Holding postion L (mm)

46
MCHD Product precautions

Gripper
PARALLEL GRIPPER (2-Finger)

Product precautions

Automatic Tool Changer

Before mount the fingers, sure be refer the tightening torque
values in the table below.

Tube I.D. Max. tightening torque

Bolt
(mm) (N.m)
8 M2.5×0.45 0.36 Fingers
12 M3×0.5 0.63
16 M4×0.7 1.5
20 M4×0.7 1.5

180° Rotation Gripper

Order example of attached bolt

BOLT ─ MCHD ─ 8 ─ 1 Installation of sensor switch

Watchmakers
ATTACHED TUBE I.D. APPLICABLE screw driver
BOLT STROKE Sensor switch
8 Set screw RDFEV
12 -1: Short and medium strokes RNFEV
-2: Long strokes RPFEV

Deburring Tool
C
øA

Code
Specification
A B C Quantity Sensor switch
RDFE
8-1 / 8-2 3.8 M2.5×0.45 15 2/4
RNFE
RPFE
12-1 / 12-2 4.9 M3×0.5 20 2/4

Vacuum Gripper
High degree of mounting flexibility
* Use the attached bolt for
mounting in tube I.D. ø8, ø12.

Sensor Switch
Caution

47
 MCHD Dimensions ø8
PARALLEL GRIPPER (2-Finger)

ø2.5H9 +0.025
0 ×2.5 depth M2.5×0.45

ø3.8
15

×2.5 depth
* Use the attached hex socket bolt
N G while using the mounting hole.
NA-M3×0.5×7 depth

ø2.5H9 +0.025
(Mounting thread) (NA-1)×G

0
11.4

0.2
3 3.4
Axial piping D

32 A
1.3 15.8 B XA XA
5.9
3.4
3

11
11
14
19

ø4.3
Sensor switch 2-M3×0.5×4 depth
mounting groove
A (Mounting thread)
A-A 2-ø2.6 thru
0
M3×0.5 17 -0.1 M3×0.5 C 0.8 0.8 C (Mounting hole)
(Finger opening port) (Finger closing port) +0.1
When closed 0 0 2-ø4.5
When open L±1

2-ø2H9 +0.025 ×2 depth

MCHD-8(R)
4-M3×0.5×4 depth
MCHD-8(R)-1
0
H 2×2-M2.5×0.45×3 depth
(Mounting thread)
(Mounting thread)
26
12

4×2-M2.5×0.45×3 depth Q K K Q Q K K Q
(Mounting thread)
2-M3×0.5×4 depth
(Mounting thread)
11

Side piping
Side view of side piping type S 5.5
11

M3×0.5 M3×0.5
(Finger closing port) (Finger opening port)

Unit: mm
Code
Model
A B C D G H K L N NA Q S
MCHD-8(R) 36 22 12 28.3 16 14 6 8 10 2 4 25
MCHD-8(R)-1 48 34 14 40.3 28 26 7 16 10 2 4 37
MCHD-8(R)-2 72 58 18 64.3 17 50 5 32 10.5 4 8 61

48
 MCHD Dimensions

Gripper
ø12
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

ø3H9 +0.025
0 ×3 depth M3×0.5

ø4.9
20

×3 depth
* Use the attached hex socket bolt
NA-M4×0.7×10 depth while using the mounting hole.
(Mounting thread)

ø3H9 +0.025
13 G
10

0.3
(NA-1)×G
Axial piping 4 D 4

180° Rotation Gripper

40
A
20
1.7
B XA
XA
3.1
3.3

7.7

15

15
ø4.3
19
25

Sensor switch
mounting groove
M5×0.8 2-M4×0.7×5 depth
(Finger opening port) 0 M5×0.8 A
(Mounting thread)
A-A 2-ø3.4 thru
20 -0.1 C 1 1 C
(Finger closing port) (Mounting hole)
2-ø5.5
+0.1
Close 0 0

Deburring Tool
Open L±1
4-M4×0.7×5 depth
H
2-ø2.5H9 +0.025
0 ×2.5 depth MCHD-12(R)
(Mounting thread)
4-M3×0.5×4 depth
(Mounting thread)
33
15

Q K K Q

Vacuum Gripper
4×2-M3×0.5×4 depth Q K K Q 2-M4×0.7×5 depth
(Mounting thread) (Mounting thread)
15

Side piping
Side view of side piping type S 7
Sensor Switch
14.8

M5×0.8 M5×0.8
(Finger closing port) (Finger opening port)

Unit: mm
Code
Model
A B C D G H K L NA Q S
MCHD-12(R) 52 38 18 42 26 28 9 12 2 5 38
Caution

MCHD-12(R)-1 68 54 21 58 42 44 4.5 24 2 12 54
MCHD-12(R)-2 104 90 27 94 26 80 4.5 48 4 18 90

49
 MCHD Dimensions ø16
PARALLEL GRIPPER (2-Finger)

ø4H9 +0.03
0 ×3 depth

×3 depth
14.4

0.3
NA-M5×0.8×12 depth

ø4H9 +0.03
17 G

0
Axial piping (NA-1)×G
6 D 5
50 XA
A
2.2 26
B XA
3.1
4.6

10.6

20

20
24

ø4.3
33

Sensor switch
mounting groove
2-M5×0.8×5.5 depth
M5×0.8 A
0 M5×0.8 C 1 1 C (Mounting thread) 2-ø4.3 thru
(Finger opening port) 27 -0.1
(Finger closing port) 2-ø7.5
+0.1
Close 0 0

Open L±1 A-A

4-M5×0.8×5.5 depth H
2-ø3H9 +0.025
0 ×3 depth
(Mounting thread) 43
20

4×2-M4×0.7×4 depth Q K K Q
(Mounting thread) 2-M5×0.8×5.5 depth
(Mounting thread)
20

Side piping
Side view of side piping type S 9
19

M5×0.8 M5×0.8
(Finger closing port) (Finger opening port)

Unit: mm
Code
Model
A B C D G H K L NA Q S
MCHD-16(R) 72 52 25.4 57.5 38 36 5.2 16 2 15 54
MCHD-16(R)-1 94 74 29.4 79.5 60 58 5.7 32 2 18 76
MCHD-16(R)-2 142 122 37.4 127.5 36 106 5.7 64 4 26 124

50
 MCHD Dimensions

Gripper
ø20
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

ø5H9 +0.03
0 ×4 depth

×4 depth
NA-M6×1.0×15 depth 18

0.3
(Mounting thread)

ø5H9 +0.03
G

0
24 (NA-1)×G
Axial piping

180° Rotation Gripper

6 D 6 XA
62
A
2.3 33 B XA
A
6
3.1

13

25

25
30

ø4.3
41

Sensor switch
mounting groove
2-M6×1.0×6 depth
M5×0.8
0
32 -0.1 M5×0.8 A (Mounting thread) 2-ø5.2 thru
(Finger opening port)
C 1 1 C
(Finger closing port)
+0.1 2-ø10
Close 0 0

Deburring Tool
Open L±1 A-A
4-M6×1.0×6 depth H
(Mounting thread)
24

52

4×2-M4×0.7×5 depth
(Mounting thread)
Q K K Q 2-ø3H9 +0.025
0 ×3 depth

Vacuum Gripper
2-M6×1.0×6 depth
(Mounting thread)
25

Side piping
Side view of side piping type S 10
Sensor Switch
23

M5×0.8 M5×0.8
(Finger closing port) (Finger opening port)

Unit: mm
Code
Model
A B C D G H K L NA Q S
MCHD-20(R) 86 56 31.4 71 38 40 7.7 20 2 16 66
Caution

MCHD-20(R)-1 114 84 36.4 99 66 68 8.2 40 2 20 94

MCHD-20(R)-2 174 144 46.4 159 42 128 8.2 80 4 30 154

51
 Connect with

REVERSING GRIPPING
Connect gripper with rotary actuator to
achieve workpiece exchange.

52
MCHX series

Gripper
PARALLEL GRIPPER

Features
● Rack and pinion construction enable synchronisation of both

Automatic Tool Changer

jaws enabling smooth and consistent gripping force.
● Wide range of strokes available.
● Dust seals protect all internal parts from ingress of dirt.
● Proximity and reed switches can be used with this unit.
● Magnetic as standard.

Specification
Model MCHX
Acting type Double acting
Tube I.D. (mm) 10 16 20 25 32 40

180° Rotation Gripper

Medium Air
Operating pressure range 0.2~0.6 MPa

Order example Ambient temperature -5~+60°C (No freezing)

Lubrication Not required
MCHX ─ 16 ─ 30 M Repeatability ±0.1 mm

Sensor 2 wire RDFE(V): Non-contact

switch (*) 3 wire RNFE(V): NPN, RPFE(V): PNP
MODEL TUBE I.D. STROKE M: Magnet
* Magnetic as standard. * R*FE(V) specification, please refer to page 149.
10 20, 40, 60
16 30, 60, 80

Deburring Tool
20 40, 80, 100
25 50, 100, 120
32 70, 120, 160
40 100, 160, 200

Weight
Model MCHX-10 MCHX-16 MCHX-20 MCHX-25 MCHX-32 MCHX-40
Stroke (mm) 20 40 60 30 60 80 40 80 100 50 100 120 70 120 160 100 160 200
Max. operating frequency (c.p.m) 60 40 40 60 40 40 60 40 40 60 40 40 30 20 20 30 20 20

Vacuum Gripper
Weight (kg) 0.28 0.35 0.44 0.56 0.8 0.94 1.0 1.5 1.68 1.69 2.8 3.0 3.15 4.36 5.02 5.3 6.8 8.6

Mounting
Axial mounting Axial mounting Lateral mounting
2-TT×TA depth
(Mounting thread)

2-øMM thru
4-SS×SA depth (Body mounting hole)
(Mounting thread)
Sensor Switch

* Only for ø10~ø25.

Max. tightening Max. tightening Max. tightening
Tube I.D. SA SS torque (N.m)
Tube I.D. MM Bolt torque (N.m)
Tube I.D. TA TT torque (N.m)
10 8 M4×0.7 2.1 10 4.5 M4×0.7 2.1 10 5 M4×0.7 1.4

16 10 M5×0.8 4.3 16 5.5 M5×0.8 4.3 16 7 M5×0.8 2.8

20 12 M6×1.0 7.3 20 6.6 M6×1.0 7.3 20 7 M6×1.0 4.8

Caution

25 16 M8×1.25 17.7 25 9 M8×1.25 17.7 25 7 M8×1.25 12

32 16 M8×1.25 18 32 – – – 32 11 M8×1.25 12

40 20 M10×1.5 36 40 – – – 40 12 M10×1.5 24

53
MCHX Inside structure & Parts list
WIDE TYPE PARALLEL GRIPPER (2-Finger)

ø10 2 3 1 22 11 13 20 10 15 21 17 4 14 19 16 18 6 7 5 24

25

ø16~ø40 2 1 8 20 23 13 9 11 22 15 21 4 14 19 16 18 6 7 5 24

25

17 15 12 3 10
Material
No.
Tube I.D.
10 16 20 25 32 40 Q'y
Repair kits Order example
Part name (inclusion)
of repair kits
1 Body Aluminum alloy 1
Tube I.D. Repair kits
2 Finger Aluminum alloy 2
ø10 PS-MCHX-10
3 Piston rod Stainless steel 2
4 Rack Stainless steel 2 ø16 PS-MCHX-16

5 Pinion Carbon steel 1 ø20 PS-MCHX-20

6 Pinion cover Carbon steel 1 ø25 PS-MCHX-25
7 Pinion axis Stainless steel 1 ø32 PS-MCHX-32
8 Piston – Brass 2 ø40 PS-MCHX-40
9 Magnet holder – Brass 2
10 Rod cover Aluminum alloy 4
11 Damper NBR PU NBR 4
12 Stop ring – Spring steel 4
13 Magnet Magnet material 2
14 Washer Stainless steel Carbon steel 4
15 Bearing Oil containing polyacetal with back metal 8
16 U nut Carbon steel 4
17 R-shape snap ring *1 *2 Carbon steel *2 4
18 C-shape snap ring Carbon steel 1
19 Conical spring washer Stainless steel *3 4
20 Piston packing NBR 2
21 Rod packing NBR 8
22 O-ring NBR 4
23 O-ring – NBR 2
24 Wave washer Carbon steel 1
Screw *1 – Carbon steel 4 *1. Carbon steel
25 *2. Stainless steel
Ball – SUS – 4 *3. ø40: Stainless steel 2 pcs + Carbon steel 2 pcs

54
MCHX Model selection / Mounting precautions

Gripper
PARALLEL GRIPPER

Model selection example

Automatic Tool Changer

* Finger selection please refer to page 8.

In the motion process did not produce high acceleration,

deceleration or impact forces, Workpiece mass: 0.3kg , MCHX-20-40 P=Pressure
F≥60N 120
Gripping method: External gripping, Operating pressure: 0.5
MPa, Coefficient of friction (μ): 0.1, Holding position: L=20mm L=20mm 100

Holding force (N)

P=0.6MPa
(no overhang) 80
0.5MPa
60
0.4MPa
1. Based on the above formula, 0.3×9.8 40
F≥ ×4 0.3MPa
the required gripping force can 2×0.1 20 0.2MPa
be derived:
≥ 60(N) 0
0 20 40 60 80 100 120 140
2. From Effective Gripping Force Fig,

180° Rotation Gripper

Operating pressure: 0.5 MPa; Holding position: 20 mm Holding position L(mm)
Effective gripping force is greater than 60 (N)
So selected MCHX-20-40 grippers.
Applications
Connect with rotary actuator to roate workpiece in a
Model selection suggestions automatic manufacture line.

1. For normal gripping and carrying usage, the recommended

safe factor (a) is 4.
2. The value of gripping force of single finger can be found at the
gripping force table.
3. The safe factor (a) have to be higher if the gripper is using with

Deburring Tool
a great accelerated velocity or impaction condition.

Mounting precautions
1. To prevent bending the piston rod, please mount the
attachment when finger is closing.
2. Do not scratch or dent the sliding portion of the piston rod, or it
may cause air leaks or faulty operation.
3. Refer to the table below for the proper tightening torque on the
bolt used for securing the attachment to the finger.

Vacuum Gripper
Bolt Finger

Attachment
Sensor Switch

Max. tightening
Tube I.D. Bolt
torque (N.m)
10 M4×0.7 1.4

16 M5×0.8 2.8

20 M6×1.0 4.8

25 M8×1.25 12

32 M10×1.5 24

40 M12×1.75 42.2
Caution

55
MCHX Capacity ø10~ø40
WIDE TYPE PARALLEL GRIPPER (2-Finger)

Effective gripping force MCHX-10-20

MCHX-10-40
P=Pressure MCHX-10-60 P=Pressure
Indication of effective force.

Holding force (N)

Holding force (N)

The effective gripping force shown in the 25 25
graphs to the right is expressed as F, which 20 P=0.6MPa 20 P=0.6MPa
is the thrust of one finger, when both fingers 0.5MPa 0.5MPa
15 15
and attachments are in full contact with the 0.4MPa 0.4MPa
10 10
workpiece as shown in the figure below. 0.3MPa
0.3MPa
5 5
0.2MPa
0 0.2MPa 0
0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70
Holding position L(mm) Holding position L(mm)

MCHX-16-60
MCHX-16-30 P=Pressure MCHX-16-80 P=Pressure
60 60
P=0.6MPa P=0.6MPa
Holding force (N)

Holding force (N)

50 50
F F 0.5MPa 0.5MPa
40 40
0.4MPa 0.4MPa
30 30
0.3MPa 0.3MPa
20 20
1N=0.102 kgf 0.2MPa 0.2MPa
1MPa=10.2 kgf/cm2 10 10
0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Holding position L(mm) Holding position L(mm)

MCHX-20-80
MCHX-20-40 P=Pressure MCHX-20-100 P=Pressure
120 120
Holding force (N)

Holding force (N)

100 100
P=0.6MPa P=0.6MPa
80 80
0.5MPa 0.5MPa
L

60 60
0.4MPa 0.4MPa
40 0.3MPa 40 0.3MPa
20 20 0.2MPa
0.2MPa
0 0
L: Holder position (mm) 0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140
Holding position L(mm) Holding position L(mm)

MCHX-25-100
MCHX-40-100 P=Pressure MCHX-25-50 P=Pressure MCHX-25-120 P=Pressure
220 220
500
Holding force (N)
Holding force (N)

Holding force (N)

P=0.6MPa 200 200

400 P=0.6MPa
0.5MPa 160 P=0.6MPa 160
300 0.4MPa 0.5MPa 0.5MPa
120 120
0.3MPa 0.4MPa 0.4MPa
200 80 80
0.2MPa 0.3MPa 0.3MPa
100 40 40
0.1MPa 0.2MPa 0.2MPa
0 0
0 50 100 150 200 0 40 80 120 160 200 0 40 80 120 160 200
Holding position L(mm) Holding position L(mm) Holding position L(mm)

MCHX-40-160 MCHX-32-120
MCHX-40-200 P=Pressure MCHX-32-70 P=Pressure MCHX-32-160 P=Pressure

500
Holding force (N)

Holding force (N)

Holding force (N)

P=0.6MPa 300 300

P=0.6MPa P=0.6MPa
400 250 250
0.5MPa 0.5MPa 0.5MPa
300 0.4MPa 200 200
0.4MPa 0.4MPa
0.3MPa 150 150
200 0.3MPa 0.3MPa
0.2MPa 100 100
100 0.2MPa 0.2MPa
0.1MPa 50 50
0.1MPa 0.1MPa
0 0
0 50 100 150 200 0 40 80 120 160 200 0 40 80 120 160 200
Holding position L(mm) Holding position L(mm) Holding position L(mm)

56
MCHX Dimensions

Gripper
WIDE TYPE PARALLEL GRIPPER (2-Finger)

Code
Tube I.D.
Stroke A B DA DB E F G M P1 P2

Automatic Tool Changer

20 76 56 100 80 26 36 51 38 11.5 11.5

10 40 118 78 142 108 42 52 67 54 19.5 19.5

60 156 96 180 146 60 70 85 72 28.5 28.5

30 98 68 128 98 28 45 60 40 13 13

16 60 170 110 200 152 58 75 90 70 25 25

T1

80 210 130 240 192 78 95 110 90 35 35

2-TT×TA depth E
(mounting thread) 40 122 82 160 120 38 58 71 54 16 16

G 20 80 222 142 260 194 80 100 113 96 34 34

180° Rotation Gripper

M 100 262 162 300 234 100 120 133 116 44 44
2-øMM F øRS H9×RA depth 50 150 100 196 146 48 70 88 66 19 19
(body mounting hole)
25
øYB

100 282 182 328 244 102 124 142 120 43 43

120 320 200 366 282 120 142 160 138 52 52

70 220 150 272 202 60 86 110 ─ 28 28

S

32 120 318 198 370 282 108 134 158 ─ 52 52

1

160 402 242 454 366 152 178 202 ─ 74 74

øYA

100 288 188 348 252 80 116 148 ─ 36 36

øRR H9×RA depth 4-SS×SA depth
(mounting thread) 40 160 406 246 466 370 138 174 206 ─ 65 65
øPP H9×PA depth

Deburring Tool
200 486 286 546 450 178 214 246 ─ 85 85

DA(open) / DB(close)
H
UU UU KA
Finger closing port P2 P1 Finger opening port
KB
P3

KD
X1

KC
X

T
(V)

Vacuum Gripper
R

N B(close) N K
2×2-QQ
Z A(open) Z L

Code
Tube I.D. H K KA KB KC KD L N MM PA PP P3 QQ R RA RR RS S SA SS
10 44 20 20 18.2 12.5 8 34 7 4.5 1.5 18 9 M4×0.7 15 3 3 3 34 8 M4×0.7
Sensor Switch

16 55 25 25 22.6 16.5 9 43 9 5.5 1.5 23 10 M5×0.8 19 3 3 3 42 10 M5×0.8

20 65 30 30 28.2 20 10 54 12.5 6.6 1.5 24 11 M6×1.0 24 4 4 4 52 12 M6×1.0
25 76 40 38 33.2 23.5 11.5 64 14 9 1.5 32 16 M8×1.25 29 4.5 4 4 62 16 M8×1.25
32 82 50 40 32.2 30 14.5 70 15 – 2.5 35 16 M10×1.5 32 8 6 6 64 16 M8×1.25
40 98 60 48 40.2 37 16 86 18 – 2.5 40 18 M12×1.75 38 8 6 6 76 20 M10×1.5

Code
Tube I.D. T T1 TA TT UU V W X X1 YA YB Z
10 31 9 5 M4×0.7 M5×0.8 46 7 30.5 0.5 6 6 10
16 39 10 7 M5×0.8 M5×0.8 58 8 38.5 0.5 8 8 13
20 46 11 7 M6×1.0 M5×0.8 70 10 45 1 10 10 17
Caution

25 52 12.5 7 M8×1.25 M5×0.8 81 12 51 1 12 12 21

32 68 22 11 M8×1.25 Rc1/8 100 15 67 1 14 16 24
40 79 28 12 M10×1.5 Rc1/8 117 18 78 1 16 20 28

57
 Connect with

AUTOMATIC Connect gripper with

cylinder to achieve
ASSEMBLY regular workpiece
gripping.
MACHINE
58
MCHH series

Gripper
PARALLEL GRIPPER (2-Finger)

Features

Automatic Tool Changer

● With the same tube I.D., the griping stroke is longer compare
with other grippers.
● The plain bearing parts are hardened for longer effective life
time.
● Three mounting directions are available.
● Magnetic as standard.

Specification
Model MCHH
Acting type Double acting

180° Rotation Gripper

Tube I.D. (mm) 20 25 40
Stroke per-jaw (mm) 8 13 21
Medium Air
Operating pressure range 0.3~0.7 MPa
Ambient temperature –10~+60°C (No freezing)
Lubrication (*1) Not required
Order example Repeatability ± 0.03 mm

MCHH ─ 25 M Max. operating frequency 60 c.p.m

RDFE(V): Non-contact

Deburring Tool
Sensor 2 wire
switch (*2) 3 wire RNFE(V): NPN, RPFE(V): PNP

MODEL TUBE I.D. M: Magnet Weight (kg) 0.27 0.59 1.46

20 * Magnetic as standard. *1. Sliding area of jaws need scheduled relubrication.
25 *2. R*FE(V) specification, please refer to page 149.
40

Load limit
Fv

My

Vacuum Gripper
Mp

Fr
Mr
Sensor Switch

Installation of sensor switch

Sensor switch
RDFEV Code Mr max. Mp max. My max. Fv max. Fr max.
Tube I.D. (Nm) (Nm) (Nm) (N) (N)

Sensor switch
20 0.83 0.41 0.41 56.55 37.70
RDFE 25 1.56 0.78 0.78 80.86 53.91
Caution

40 9.17 4.58 4.58 371.56 247.71

59
MCHH Inside structure & Parts list
PARALLEL GRIPPER (2-Finger)

15 13 17 20 10 16 7 4 14 12
A

A
A-A
11 18 1 2 9 8 19 5 3 6

Material
Repair kits
No. Part name Material Q'y
(inclusion)
1 End cover Aluminum alloy 1
2 Body Aluminum alloy 1
3 Finger rail Aluminum alloy 1
4 Pinion holder Carbon steel 2
5 Pinion Alloy steel 2
6 Finger Alloy steel 2
7 Piston rod Alloy steel 1
8 Magnet holder Aluminum alloy 1
9 Piston Aluminum alloy 1
10 Magnet ring Magnet material 1
11 Hexgon bolt (*) Steel 2 or 4
12 Hexgon bolt Steel 2
13 Countersink bolt Steel 1
14 Washer Spring steel 2
15 Snap ring Spring steel 1 Order example
16 O-ring NBR 1 of repair kits
17 O-ring NBR 1 Tube I.D. Repair kits
18 O-ring NBR 1 ø20 PS-MCHH-20
19 Rod packing NBR 1 ø25 PS-MCHH-25
20 Piston packing NBR 1 ø40 PS-MCHH-40
* ø20 Q'y: 2 pcs, ø25 & ø40 Q'y: 4 pcs

60
MCHH Capacity

Gripper
PARALLEL GRIPPER

Effective gripping force

Automatic Tool Changer

Indication of effective force.
The effective gripping force shown in the graphs to the
right is expressed as F, which is the thrust of one finger,
when both fingers and attachments are in full contact
with the workpiece as shown in the figure below.

External grip Internal grip

MCHH-20 P=pressure MCHH-20 P=pressure

180° Rotation Gripper

50 50
Holding force (N)

Holding force (N)

40 40

30 30
P=0.7MPa

20 P=0.7MPa 20
F F 0.5MPa
10 0.5MPa 10
0.3MPa
0.3MPa
0 0
0 20 40 60 80 100 0 20 40 60 80 100
1N=0.102 kgf
1MPa=10.2 kgf/cm2 Holding postion L (mm) Holding postion L (mm)

Deburring Tool
MCHH-25 P=pressure MCHH-25 P=pressure

100 100
Holding force (N)

Holding force (N)

80 80

60 60
P=0.7MPa
40 P=0.7MPa 40
L

Vacuum Gripper
20 0.5MPa 20 0.5MPa
0.3MPa 0.3MPa
0 0
0 20 40 60 80 100 120 0 20 40 60 80 100 120

External grip Holding postion L (mm) Holding postion L (mm)

MCHH-40 P=pressure MCHH-40 P=pressure

250 250
Sensor Switch
Holding force (N)

Holding force (N)

200 200

150 150
P=0.7MPa
P=0.7MPa
100 100
L

0.5MPa
50 0.5MPa 50
0.3MPa 0.3MPa
0 0
0 40 80 120 160 200 0 40 80 120 160 200

Internal grip Holding postion L (mm) Holding postion L (mm)

Caution

61
MCHH Dimensions ø20~ø40
PARALLEL GRIPPER (2-Finger)

ø20 C
D E F G 2×2-Q thru

H
B J
Y Z 2-R (Air port)
W
K
2-X

4-Q thru

PP(Open)
LL(Open)

P(Close)
L(Close)
U
V

øWA

N
2×2-T O QA

ø25, ø40 C
D E F G 2×2-Q thru

H
J

B
W Y Z 2-R (Air port)

4-X K

øWA

4-Q thru
PP(Open)
LL(Open)

P(Close)
L(Close)
A

U
V

2×2-T O±0.1 QA

Code
Model A B C D E F G H J K L LL M N O P PP Q QA R S T U
-0.01
MCHH-20 – 34 97 36 10 29 22 26 33.5 5 8 24 10 -0.06 8 12 24 40 M4×0.7 4 M5×0.8 24 M5×0.8×12 dp 40
-0.01
MCHH-25 60 42 126 46 12 39 29 32 41.5 6 14 40 12 -0.06 10 18 34 60 M5×0.8 5 M5×0.8 28 M6×1.0×14 dp ø56
-0.01
MCHH-40 92 60 167 57 15 58 37 38 58 8 26 68 14 -0.06 12 20 50 92 M6×1.0 7 Rc1/8 42 M8×1.25×14 dp ø82

Code
Model V W WA X Y Z
MCHH-20 15 26 ø22+0.05
0 ×1.5 dp M5×0.8×10 dp 8.5 20.5
MCHH-25 32 26 ø26+0.05
0 ×1.5 dp M5×0.8×10 dp 9 28.5
MCHH-40 44 34 ø42+0.05
0 ×2 dp M6×1.0×12 dp 11 28.5

62
 Gripper
Automatic Tool Changer
180° Rotation Gripper
Deburring Tool
Sensor Switch

Connect with

ELECTRIC ACTUATOR
Connect gripper with electric actuator to achieve
Caution

workpiece displacement.

63
MCHS series
PARALLEL GRIPPER (2-Finger)

Features
● Compact design to ensure minimum interference while
operating; robust T rail design, ensure accurate gripping.
● Can reach maximum torque suitable for long jaws design.
● Oval piston-driven design ensure maximum gripping force.
● Hose-free direct connection: Air supply channel can connect
directly without piping or through tread to assure the flexibility
of supplying compressed air on any kind of automation system.
● Assembling with a dust-proof module can prevent foreign
matters (>0.5mm) entering the gripper.
● Magnetic as standard.

Specification
Model MCHS
Acting type Double acting
Size 50 66 80 100 125 160 200 300
Stroke per-jaw(mm) 4 6 8 10 12 16 20 30
Effective external
gripping force (N) (*1)
69 122 225 315 505 842 1417 3283
Order example Close / Open time(s) 0.02 0.03 0.04 0.07 0.1 0.2 0.35 0.45

MCHS ─ 50 ─ SD Medium Air

Operating pressure range 0.3~0.8 MPa
Compressed air
DUST-PROOF consumption(cm3)
4.1 10.1 23.6 39.3 85 85 330 1000
MODEL SIZE MODULE (*) Ambient temperature +5°C~ +80°C
50, 66, 80, 100,
125, 160, 200, 300 Lubrication Not required

Sensor 2 wire RDFE(V): Non-contact

switch (*2) 3 wire RNFE(V): NPN, RPFE(V): PNP
* When the size 50 is assembled with the dust-proof
module, the proximity sensor cannot be used. Proximity sensor – RJY (Please refer to page 155)
Accessories Mounting block, Accessory kits
Dust-proof Module Weight (kg) 0.14 0.27 0.495 0.85 1.6 3.0 5.7 14.2

SD ─ MCHS ─ 50 *1. Under the condition of clamping length 40mm and operation pressure
0.6 MPa.
*2. R*FE(V) specification, please refer to page 149.
*3. Regularly relubricate the finger to increase the service life.
DUST-PROOF Please contact us for grease info.
MODEL SIZE
MODULE 50 ~ 300

Installation of sensor switch &

speed controller

Speed controller
JSC series
Sensor switch
RDFEV Speed controller
JSS series

Sensor switch
RDFE
M3×0.5 Mounting block
Tightening torque
Proximity sensor
5 kgf·cm
RJY * Each gripper needs at least two speed control valves to control speed.
* Speed controller specification, please refer to Mindman website.

64
MCHS Inside structure & Parts list

Gripper
PARALLEL GRIPPER (2-Finger)

50

Automatic Tool Changer

27

25 10
2 7 3 19 11 6 8
20
12
9 66~300
21
1
13
4
14

180° Rotation Gripper

22
15
17
5

9
16 21

20
A
26 25 24 10 20
A
23 18 A-A Order example
Material of repair kits

Deburring Tool
Size & Q'y Repair kits Model Repair kits
No. Part name Material
50 66 80 100 125 160 200 300 (inclusion) MCHS-50 PS-MCHS-50
1 Body Aluminum alloy 1
MCHS-66 PS-MCHS-66
2 Finger Carbon steel 2
MCHS-80 PS-MCHS-80
3 Rod Carbon steel 1
MCHS-100 PS-MCHS-100
4 Piston Aluminum alloy 1
MCHS-125 PS-MCHS-125
5 End cover Aluminum alloy 1
MCHS-160 PS-MCHS-160
6 Plate cover Stainless steel 1
MCHS-200 PS-MCHS-200
7 Centering sleeve Stainless steel *1
MCHS-300 PS-MCHS-300

Vacuum Gripper
8 Thread insert Brass – 2
9 Sensor adj block Aluminum alloy – 2 Order example
10 Sensor holder Resin 2 of accessory kits
11 Magnet Magnet material 1 Model Accessory kits
12 Spring SWP – 2 MCHS-50 AK-MCHS-50
13 Rod packing NBR 1 MCHS-66 AK-MCHS-66
14 Piston packing NBR 1 MCHS-80 AK-MCHS-80
15 O-ring NBR 1 MCHS-100 AK-MCHS-100
16 O-ring NBR 3 4 2 MCHS-125 AK-MCHS-125
Sensor Switch

17 O-ring NBR 1 MCHS-160 AK-MCHS-160

18 *2 Screw Alloy steel 4 MCHS-200 AK-MCHS-200
19 *3 Screw Alloy steel 2 4 MCHS-300 AK-MCHS-300
20 Bolt Stainless steel 4 6
21 Hex bolt Stainless steel – 2
22 *4 Hex bolt Stainless steel 1
O-ring (×2) Iron plug (×2)
23 Hex screw Stainless steel 2
Material: NBR Stainless steel + NBR
24 Hex screw Alloy steel 4
25 Hex screw Stainless steel 2
26 Hex screw Stainless steel 2
Caution

PIN (×2)* Centering sleeve (×4)

27 Adjust socket Stainless steel 2 – Bearing steel Stainless steel
*1. Included in accessory kits. *2. Cylinder size 80~300 is hexagonal socket bolt. * Size 200 Q'y: 4 pcs
*3. Cylinder size 50 is cross flat head screw. *4. Cylinder size 80/100/160/200/300 is alloy steel.

65
MCHS Capacity 50~300
PARALLEL GRIPPER (2-Finger)

Effective gripping force External gripping force

* Finger selection please refer to page 8.
MCHS-50 MCHS-125
Indication of effective gripping force.
P=pressure P=pressure
The effective gripping force shown in the graphs to the right 160 800
is expressed as F, which is the thrust of one finger, when two

Holding force (N)

Holding force (N)

fingers and attachments are in full contact with the workpiece 120 600
P=0.8MPa
as shown in the figure below. P=0.8MPa 0.7MPa
80 0.7MPa 400 0.6MPa
0.6MPa 0.5MPa
1N=0.102 kgf 0.5MPa
40 0.4MPa 200 0.4MPa
1MPa=10.2 kgf/cm2 0.3MPa
0.3MPa
0 0
0 15 30 45 60 75 90 0 40 80 120 160 200 240
Holding position L(mm) Holding position L(mm)

MCHS-66 MCHS-160
P=pressure P=pressure
240 1500
Holding force (N)

Holding force (N)

1200
180
P=0.8MPa
L

0.7MPa 900 P=0.8MPa

120 0.7MPa
0.6MPa
0.6MPa
F F 0.5MPa 600
0.5MPa
60 0.4MPa 0.4MPa
300
0.3MPa
0.3MPa
0 0
0 25 50 75 100 125 0 50 100 150 200 250 300
External grip Holding position L(mm) Holding position L(mm)

MCHS-80 MCHS-200
P=pressure P=pressure
400 2500
Holding force (N)

Holding force (N)

Mz 2000
300
P=0.8MPa
1500 P=0.8MPa
0.7MPa
Fz 200
0.6MPa
1000
0.7MPa
0.6MPa
0.5MPa 0.5MPa
100 0.4MPa
0.4MPa 500
My 0.3MPa 0.3MPa
0 0
0 25 50 75 100 125 0 50 100 150 200 250 300 350
Holding position L(mm) Holding position L(mm)

MCHS-100 MCHS-300
Mx P=pressure P=pressure
600 5000
Holding force (N)

Holding force (N)

4000
450
P=0.8MPa
P=0.8MPa 3000
0.7MPa 0.7MPa
300 0.6MPa
0.6MPa 2000
Code Mx max. My max. Mz max. Fz max. 0.5MPa 0.5MPa
Model (Nm) (Nm) (Nm) (N) 150 0.4MPa 0.4MPa
1000
0.3MPa 0.3MPa
MCHS-50 15 15 8 700
0 0
0 30 60 90 120 150 180 0 70 150 225 300 375 450
MCHS-66 50 45 35 1200
Holding position L(mm) Holding position L(mm)
MCHS-80 80 60 50 1800

MCHS-100 100 90 75 2500

MCHS-125 120 120 100 3200

MCHS-160 160 180 140 5000

MCHS-200 180 220 170 7000

MCHS-300 275 300 200 9000

66
MCHS Capacity

Gripper
50~300
PARALLEL GRIPPER (2-Finger)

Effective gripping force Internal gripping force

Automatic Tool Changer

* Finger selection please refer to page 8.
MCHS-50 MCHS-125
Indication of effective gripping force.
P=pressure P=pressure
The effective gripping force shown in the graphs to the right 160 1000
is expressed as F, which is the thrust of one finger, when two

Holding force (N)

Holding force (N)
800
fingers and attachments are in full contact with the workpiece 120
P=0.8MPa P=0.8MPa
as shown in the figure below. 0.7MPa
600
80 0.7MPa
0.6MPa 400 0.6MPa
0.5MPa 0.5MPa
1N=0.102 kgf 40 0.4MPa 200 0.4MPa
1MPa=10.2 kgf/cm2 0.3MPa 0.3MPa
0 0
0 15 30 45 60 75 90 0 40 80 120 160 200 240
Holding position L(mm) Holding position L(mm)

180° Rotation Gripper

MCHS-66 MCHS-160
P=pressure P=pressure
240 1500
Holding force (N)

Holding force (N)

1200
180
P=0.8MPa P=0.8MPa
L

0.7MPa 900
120 0.7MPa
0.6MPa 0.6MPa
F F 0.5MPa 600
0.5MPa
60 0.4MPa 0.4MPa
0.3MPa 300
0.3MPa
0 0
0 25 50 75 100 125 0 50 100 150 200 250 300

Deburring Tool
Internal grip Holding position L(mm) Holding position L(mm)

MCHS-80 MCHS-200
P=pressure P=pressure
500 2500
Holding force (N)

Holding force (N)

400 2000
P=0.8MPa
300 P=0.8MPa 1500
0.7MPa 0.7MPa
200 0.6MPa 1000 0.6MPa
0.5MPa 0.5MPa

Vacuum Gripper
100 500 0.4MPa
0.4MPa
0.3MPa 0.3MPa
0 0
0 25 50 75 100 125 0 50 100 150 200 250 300 350
Holding position L(mm) Holding position L(mm)

MCHS-100 MCHS-300
P=pressure P=pressure
600 5000
Holding force (N)

Holding force (N)

4000
450
P=0.8MPa
P=0.8MPa
3000 0.7MPa
0.7MPa
Sensor Switch

300 0.6MPa
0.6MPa 2000
0.5MPa 0.5MPa
150 0.4MPa 0.4MPa
1000
0.3MPa 0.3MPa
0 0
0 30 60 90 120 150 180 0 70 150 225 300 375 450
Holding position L(mm) Holding position L(mm)
Caution

67
MCHS Capacity 50~300
PARALLEL GRIPPER (2-Finger)

Max. feasible centrifugal degree MCHS-50

70

Y 60

50

Z (mm)
40

30

20

10
Z

0
0 10 20 30 40 50 60
Y (mm)

MCHS-66
90
80
70
60
■ Feasible Z (mm)
50
□ Infeasible 40
30
20
10
0
0 10 20 30 40 50 60 70 80
Y (mm)

MCHS-80 MCHS-100
90 140
80 120
70
100
60
Z (mm)

Z (mm)

50 80
40 60
30
40
20
20
10
0 0
0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80 90 100 110
Y (mm) Y (mm)

MCHS-125 MCHS-160
175 250
150
200
125
Z (mm)

Z (mm)

100 150

75
100
50
50
25

0 0
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120 140 160 180
Y (mm) Y (mm)

MCHS-200 MCHS-300
300 400
350
250
300
200
250
Z (mm)

Z (mm)

150 200
150
100
100
50
50
0 0
0 30 60 90 120 150 180 210 240 270 0 50 100 150 200 250 300
Y (mm) Y (mm)

68
MCHS Internal structure & Application examples

Gripper
PARALLEL GRIPPER (2-Finger)

Internal structure & Movement description

Automatic Tool Changer

Compressed air will push or press the oval piston.
By tilting the working surface, the wedge hook will transfer the movement to
side movement, and initiate the action of the two base jaws simultaneously.

1 1 Material
Anodized high rigid aluminum alloy to reduce weight.

2 Rail
Bearing rails load the base jaw,which ensure the minimal
2 vibration of long jaw.

Sensor system

180° Rotation Gripper

3
5 Sensor switch or proximity sensor are available.

4 Base jaw
4 Jaws connected to work piece.
6
5 Wedge hook
High power transmission center jaws.
3
6 Large circular piston
Generate larger structural strength.

7 Air purge connection (External vents)

The air purge is used in order to make it more difficult

Deburring Tool
for dirt and dust to penetrate into the product and the
guiding areas.
* The air purge is effective only when the gripper is
opened.
7 * Install a valve to control the air purge.

Vacuum Gripper
Application examples Hose-free direct connection
Connect gripper with robot to achieve burr removal.
Code
Model R RX RZ Y
MCHS-50 M2 2 4 0.7

MCHS-66 M3 3 5 0.7

MCHS-80 M3 3 5 0.7
Sensor Switch

Mounting
MCHS-100 M5 5 8 1.1
Y

flange
MCHS-125 M5 5 8 1.1

MCHS-160 M5 5 8 1.1
øRX
O-ring øRZ
MCHS-200 M5 5 8 1.1

MCHS-300 M5 5 8 1.1

2-R
Caution

B A A : Gripper open
B : Gripper close

69
 MCHS Dimensions 50
PARALLEL GRIPPER (2-Finger)

4-ø5.6×18 depth
ø3.3 thru

16 8±0.02 4

12 25±0.02
4 50 4 2-M3×0.5
6.5 10 2-ø3H7×4.5 depth
10
1

S
31

15±0.02
15±0.1

22
22

B A
15
5

5
25 27.8 2×2-M3×0.5×3 depth 25 2-M5×0.8
35 2-M5×0.8
42
A/ A': Gripper open
2-ø5.6×18 depth B/ B': Gripper close
ø3.3 thru
S: External vents
Centering sleeve
35±0.02 4-M4×0.7×8 depth 0
4-ø5 -0.02
2-ø3H7×5 depth
4-ø3
1.9
2
20

Centering
B' A'
5
10
8

sleeve

4-M3×0.5

2-M2×0.4 25

70
 MCHS Dimensions

Gripper
66~300
PARALLEL GRIPPER (2-Finger)

66~100 125~300

Automatic Tool Changer

C±0.02 C±0.02
E C±0.02 D
E D

A A

A-A
4-MC 4-MB 6-MC

180° Rotation Gripper

FB FA FB
G K±0.02
2-MA OM 2-O G1 OM 2-L
U

S
BB

BF

KB
KH±0.02
BD

B A
BC
A2
A1

KA
2-P (Air port) H 3×2-M3×0.5 AD 2-M5×0.8
AB A/ A': Gripper open
AC B/ B': Gripper close

Deburring Tool
S: External vents

Centering sleeve
N±0.02
4-Q
0
4-X1-0.02
2-NA
4-X2
WA
NB

B' A'
NR

NC

Centering
MD

sleeve

Vacuum Gripper
2-R T MC

N
Z

Code
Size A1 A2 AB AC AD BB BC BD BF C D E FA FB G G1 H K KA KB KH L MA
66 5 18 28 42 28 39 18.5 23 27.5 12 22 5 64 6 17 10 36 20 5 27.5 18 ø4H7×4dp ø7.4×13dp, ø4.2 thru
80 10 20 40 52 40 49 22 30 35 15 26.7 6 80 8 22 12 42 40 10 35 20 ø4H7×6dp ø9.2×16dp, ø5.2 thru
100 12 25 48 66 54 55 28 33 38 18 34.2 10 100 10 26 14 50 50 12 38 25 ø5H7×7dp ø10.4×28dp, ø6.2 thru
Sensor Switch

125 13 30 62 82 65 64 32 38.5 45 12.5 42.3 10 125 12 31 15.5 60 60 13 45 30 ø6H7×8dp ø13.5×34dp, ø8.4 thru
160 15.5 28 78 100 82 78 39 46 53 18 54.8 10 160 16 39 20 72 76 15.5 53 28 ø6H7×10dp ø13.5×47dp, ø8.4 thru
200 19 44 102 128 108 97 48 58 69 22 67.5 12 200 20 42 22 95 100 19 69 44 ø8H7×8dp ø18.5×55dp, ø12.2 thru
300 19 66 150 180 152 130 67 78 92 30 91 15 260 30 66 32 139 140 19 92 66 ø10H7×12dp ø18.5×100dp, ø12.5 thru

Code
Size MB MC MD N NA NB NC NR O OM P Q R T U W WA X1 X2 Z
66 ø7.4×24dp, ø4.3 thru M4×0.7 6 42 ø4H7×6dp 27 13.5 11 M5×0.8 12 M5×0.8 M5×0.8×10dp M3×0.5 28 1 3.9 2 ø6 ø4 52
80 ø7.4×33dp, ø4.3 thru M6×1.0 8 52 ø4H7×6dp 32 16 12.2 M5×0.8 15 M5×0.8 M5×0.8×10dp M3×0.5 40 1 3.9 2 ø8 ø6 64
100 ø9×21.5dp, ø5.1 thru M6×1.0 10 66 ø5H7×8dp 38 19 16 M5×0.8 16 G1/8 M6×1.0×10dp M5×0.8 48 1 3.9 2 ø10 ø6 80
125 ø10.4×40dp, ø6.8 thru M6×1.0 12 82 ø6H7×8dp 45 22.5 18 M5×0.8 20 G1/8 M8×1.25×10dp M5×0.8 60 1 3.9 2 ø10 ø6 100
160 ø10.4×37dp, ø6.8 thru M8×1.25 12 100 ø6H7×8dp 56 28 22 M5×0.8 27 G1/8 M8×1.25×10dp M5×0.8 76 1 3.9 2 ø12 ø8 125
Caution

200 ø16.5×61dp, ø10.3 thru M10×1.5 17.5 128 ø10H7×12dp 68 34 24 M5×0.8 34.5 G1/4 M12×1.75×16dp M5×0.8 100 1 4.9 2.5 ø14 ø10 160
300 ø16.5×72dp, ø10.3 thru M12×1.5 18 180 ø10H7×12dp 100 50 24 M5×0.8 43 G1/4 M12×1.75×16dp M5×0.8 150 2 4.9 2.5 ø18 ø12 220

71
MCHS Dust-proof module 50 ~ 300
PARALLEL GRIPPER (2-Finger)

Inside structure & Parts list Dimensions

● When installing soft-jaws, the length of jaws are measured
from the the body surface.

6
4
12 C B

1
11

CB
D
7 9
Size 66~300
10
5
A
3
Body surface

E
8

F
6

H
7

G
Size 50
2
AL
8

Material
Code Weight
Q'y Size A AL B C CB D E F G H (g)
No. Part name Material
50 66~300 50 81.2 58.6 30 6 13 24 4.5 5 12 32 85
66 104 92 41 6.5 16.2 30 4.5 5 16.5 41 169
1 Dust cover Aluminum alloy 1 1
80 124 104 52.4 8.3 18.1 32 4.5 5 16.5 47.5 220
2 Mounting block Aluminum alloy 2 0
100 144 124 61 10.5 22 38 4.5 5 16.5 49 296
3 Mounting block L Aluminum alloy 0 1 125 177 157 72 16 22 45 4.5 5 23 59 441
4 Mounting block R Aluminum alloy 0 1 160 231 182 93 21.5 25 56 4.5 6 18 62 688
200 292 247 118 27 30 68 6.3 6 18 72 1279
5 Sensor mounting block Aluminum alloy 0 2
300 394 318 162 34 38 100 8.3 6 20 87 2900
6 Bolt Alloy steel 2 4
7 Bolt Alloy steel 4 4
8 Bolt Alloy steel 4 4
9 Hexagon bolt Alloy steel 0 2
10 O-ring NBR 2 2
11 Slider Carbon steel 2 2
12 Centering sleeve Stainless steel 4 4

72
MCHS-OS series

Gripper
PARALLEL GRIPPER (2-Finger)

Features

Automatic Tool Changer

● Clamping safety device: Gripping force safety device for O.D.
gripping even with a drop pressure.
● Compact design to ensure minimum interference while
operating; robust T rail design, ensure accurate gripping.
● Can reach maximum torque suitable for long jaws design.
● Oval piston-driven design ensure maximum gripping force.
● Hose-free direct connection: Air supply channel can connect
directly without piping or through tread to assure the flexibility
of supplying compressed air on any kind of automation system.
● Magnetic as standard.

180° Rotation Gripper

Specification
Model MCHS-OS
Acting type Double acting
Size 80 100 125

Stroke per-jaw Standaerd 8 10 12

Order example (mm) High 4 5 6

MCHS ─ 100 ─ ─ OS Effective external Standaerd

gripping force (N)
314 372 684
(*1) High 591 701 1287

Deburring Tool
Close / Open Open 0.05 0.09 0.12
GRIPPING CLAMPING time(s) Close 0.03 0.06 0.08
MODEL SIZE
FORCE SAFETY
80 Medium Air
100 Blank: Standard DEVICE
125 F: High Operating pressure range 0.4~0.6 MPa
Compressed air
consumption(cm3)
42 76.7 129

Ambient temperature +5~+80°C

Lubrication Not required

Vacuum Gripper
Sensor switch 2 wire RDFE(V): Non-contact
(*2) 3 wire RNFE(V): NPN, RPFE(V): PNP
Accessories Accessory kits
Weight (kg) 0.57 1 1.74
*1. Under the condition of clamping length 40mm and operation
Installation of sensor switch & pressure 0.6 MPa.
speed controller *2. R*FE(V) specification, please refer to page 149.
Sensor Switch

Sensor switch Speed controller

RDFEV JSC series

Speed controller
JSS series

Sensor switch
RDFE
Caution

* Each gripper needs at least two speed control valves to control speed.
* Speed controller specification, please refer to Mindman website.

73
MCHS-OS Inside structure & Parts list
PARALLEL GRIPPER (2-Finger)

A A

20
13 6 7 1
21
19
2 16
3

8 12

18 17
9 4
10
5
A-A
B
21

11
B
B-B
14 15
Order example
Material of repair kits
Size & Q'y Repair kits Accessory kits Model Repair kits
No. Part name Material
80 100 125 (inclusion) (inclusion)
MCHS-80 PS-MCHS-80
1 Body Aluminum alloy 1
MCHS-100 PS-MCHS-100
2 Finger Carbon steel 2
3 Rod Carbon steel 1 MCHS-125 PS-MCHS-125
4 Piston Aluminum alloy 1
5 End cover Aluminum alloy 1 Order example
6 Plate cover Stainless steel 1 of accessory kits
7 Magnet Magnet material 1 Model Accessory kits
8 Rod packing NBR 1
MCHS-80 AK-MCHS-80-OS
9 Piston packing NBR 1
MCHS-100 AK-MCHS-100-OS
10 O-ring NBR 1
11 O-ring NBR 4 2 MCHS-125 AK-MCHS-125-OS
12 O-ring NBR 1
13 Screw Alloy steel 4
14 Hex bolt Alloy steel 4
15 Screw Alloy steel 2 O-ring (×2) Iron plug (×2)
No.25 No.24, 26
16 Screw Alloy steel 2
17 Hex bolt Alloy steel 1
18 Sprin Spring steel 1
19 Iron plug Stainless steel 2 Pin (×2) Centering sleeve
20 O-ring NBR 2 No.23 (×4) No.22
21 O-ring NBR − 2
22 Centering sleeve Stainless steel 4
23 Pin Bearing steel 2
24 Iron plug Stainless steel 2
25 O-ring NBR 2
26 O-ring NBR 2

74
MCHS-OS Capacity

Gripper
80~125
PARALLEL GRIPPER (2-Finger)

Mz
External gripping force
Fz

Automatic Tool Changer

MCHS-80 Standard
High
My 900
800
700

Holding force (N)

600
500
400
Mx
300
200

180° Rotation Gripper

100
0
0 24 48 72 96 120
Holding position L(mm)
Code Mx max. My max. Mz max. Fz max.
Size (Nm) (Nm) (Nm) (N) MCHS-100 Standard
80 80 60 50 1800 High
1000
100 100 90 75 2500 900
800
125 120 120 100 3200
Holding force (N)

700
600
500

Deburring Tool
400
300
200
100
0
L

0 24 48 72 96 120
Holding position L(mm)
F F
MCHS-125 Standard
* Working pressure is 0.6 MPa. High
1800
* Clamping force = pneumatic clamping

Vacuum Gripper
1600
force + spring holding force
1400
Holding force (N)

1200
Hose-free direct connection 1000
800
600
400
200
0
0 32 64 96 128 160
B A Holding position L(mm)
Sensor Switch

Mounting flange
Y

øRX
O-ring øRZ
A/ A' : Gripper open
B/ B' : Gripper close

Code
Size R RX RZ Y
80 M3 3 5 0.7
Caution

2-R
A' B' 100 M5 5 8 1.1

125 M5 5 8 1.1

75
 MCHS-OS Dimensions 80
PARALLEL GRIPPER (2-Finger)

Centering sleeve
0
ø9 -0.02
5.5 16±0.02 26.7 ø6

1.9
2
Centering

8.5
sleeve M5×0.8

C detail
4-ø7.4×33 depth
ø4.3 thru

8 (4) 80 8 (4) 22 40±0.02 M5×0.8

15 M5×0.8 12 C 15 2-ø4H7
+0.012
0 ×6 depth
4×
1

2-ø9.2×16 depth
ø5.2 thru

S
67

A' B'
B A

53
53
48

38±0.02
38
30
38

20

40
2-M5×0.8
52 21
64 42

52±0.02 4-M5×0.8×10 depth

2-ø4H7+0.012
0 ×6 depth

A/ A': Gripper open

32
12.2

A' B' B/ B': Gripper close

16

S: External vents
( ) for high gripping force
40
2-M3×0.5
52

76
 MCHS-OS Dimensions

Gripper
100
PARALLEL GRIPPER (2-Finger)

Automatic Tool Changer

Centering sleeve
6.5 20±0.02 34.2 0
ø9 -0.02
ø6

1.9
2

180° Rotation Gripper

10
Centering
sleeve
M6×1.0

4-ø9×21.5 depth
C detail
ø5.1 thru

10 (5) 100 10 (5) 26 50±0.02 M5×0.8

16 M5×0.8 14 16 2-ø5H7×7 depth

C
1

4×

Deburring Tool
S
83

B A

66
66
61

53±0.02
56
53

A' B'
40

30

54
4-ø10.4×28 depth
66 ø6.2 thru 27

Vacuum Gripper
80 50

4-M6×1.0×10 depth
66±0.02

2-ø5H7×8 depth

A/ A': Gripper open

38

A' B' B/ B': Gripper close

16

19

S: External vents
Sensor Switch

( ) for high gripping force

48
2-M5×0.8
66
Caution

77
 MCHS-OS Dimensions 125
PARALLEL GRIPPER (2-Finger)

Centering sleeve
8 24±0.02 42.3 0
ø9 -0.02
ø6

1.9
2
12
Centering M6×1.0
sleeve

4-ø10.4×40 depth
C detail
ø6.8 thru

12 (6) 125 12 (6)

31 60±0.02 M5×0.8
60
2-M5×0.8×10 depth 20 M5×0.8 15.5 20 2-ø6H7×8 depth
C
1
17.5

4×
S
93

B A
74

74
67.5

60±0.02
60

56

A' B'
30

30

2-G1/8 62
82 4-ø13.5×34 depth 26
100 ø8.4 thru 60

82±0.02 4-M8×1.25×15 depth

2-ø6H7×8 depth

A/ A': Gripper open

45

A' B' B/ B': Gripper close

22.5
18

S: External vents
( ) for high gripping force
60
82 2-M5×0.8

78
 Gripper
Automatic Tool Changer
180° Rotation Gripper
Deburring Tool
Sensor Switch

Connect with

ELECTRIC ACTUATOR
Connect gripper with electric actuator to achieve
Caution

workpiece displacement.

79
 MCHG2 series
PARALLEL GRIPPER (3-Finger)

Features
● Through holes in body enable simple mounting.
● Body manufactured from high tensile, anodised aluminum giving
good resistance to corrosion.
● Available with sensors.
● Magnetic as standard.

Order example
MCHG2 ─ 16 M ─ □
MODEL TUBE I.D. M: Magnet PORT THREAD
16, 20, 25, 32, 40, * Magnetic as Blank: M thread
50, 63, 80, 100, 125 standard. (only for ø16~ø63)
Blank: Rc thread
G: G thread
NPT: NPT thread
(only for ø80~ø125)
Specification
Model MCHG2
Acting type Double acting
Tube I.D. (mm) 16 (*2) 20 25 32 40 50 63 (*2) 80 100 125
Stroke (mm) 4 4 6 8 8 12 16 20 24 32
Port size M3×0.5 M5×0.8 Rc1/8 Rc1/4 Rc3/8
Medium Air
Operating pressure (MPa) 0.2~0.6 0.1~0.6
Ambient temperature -10~+60°C (No freezing)
Max. operating frequency (c.p.m) 120 60 30
Lubrication Not required
Effective gripping External 14(3.1) 25(5.6) 42(9.4) 74(16.6) 118(26.5) 187(42) 335(75) 500(112) 750(169) 1270(285)
force N at
(0.5 MPa) (*1) Internal 16(3.6) 28(6.3) 47(10.6) 82(18.4) 130(29) 204(46) 359(81) 525(118) 780(175) 1320(297)
2 wire RDFE(V): Non-contact (Please refer to page 149)
Sensor switch
3 wire RNFE(V): NPN, RPFE(V): PNP
Weight (g) 80 110 150 240 400 540 1020 1880 3300 6200
*1. Values for ø16~ø25 are with gripping length(L) = 20 mm, for ø32~ø63 with gripping length(L) = 30 mm, and for ø80~ø125 with gripping length(L) = 50 mm.
*2. ø16, ø63 are available with 2- finger type (Made to order). Please contact us if other size is needed.

Model MM UU×UA Bolt

Installation MCHG2-16 3.4 M3×0.5×4.5 M3×0.5
MCHG2-20 3.4 M3×0.5×6 M3×0.5
MCHG2-25 4.5 M4×0.7×6 M4×0.7
MCHG2-32 4.5 M4×0.7×6 M4×0.7
3-UU×UA depth
(mounting thread) MCHG2-40 5.5 M5×0.8×7.5 M5×0.8
3-øMM thru
(body MCHG2-50 5.5 M5×0.8×10 M5×0.8
mounting
hole) MCHG2-63 6.6 M6×1.0×9 M6×1.0
MCHG2-80 6.6 M6×1.0×12 M6×1.0
MCHG2-100 9 M8×1.25×16 M8×1.25
MCHG2-125 11 M10×1.5×20 M10×1.5

80
MCHG2 Inside structure & Parts list / Mounting precautions

Gripper
PARALLEL GRIPPER (3-Finger)

1 6 2 11 8 10 3

Automatic Tool Changer

Bolt

180° Rotation Gripper

3-QQ×QA depth
(mounting thread)

Attachment
9 4 7 12 14 5 13

Material Mounting precautions

Repair kits
No. Part name Material The tightening torque of slider mounting bolt, please refer to the
(inclusion)
table below.
1 Body Aluminum alloy

Deburring Tool
2 Lever Carbon steel Max. tightening
Model QQ×QA Bolt torque (N.m)
3 Slider Carbon steel MCHG2-16 M3×0.5×5 M3×0.5 0.59
4 Piston Aluminum alloy MCHG2-20 M3×0.5×6 M3×0.5 0.59
5 Piston-R Aluminum alloy MCHG2-25 M3×0.5×6 M3×0.5 0.59
6 Magnet ring Magnet material MCHG2-32 M4×0.7×8 M4×0.7 1.4
7 O-ring NBR MCHG2-40 M4×0.7×8 M4×0.7 1.4
8 Piston bolt Carbon steel MCHG2-50 M5×0.8×8 M5×0.8 2.8
9 Piston packing NBR

Vacuum Gripper
MCHG2-63 M5×0.8×8 M5×0.8 2.8
10 Rod packing NBR MCHG2-80 M6×1.0×12 M6×1.0 4.8
11 Table Stainless steel MCHG2-100 M8×1.25×16 M8×1.25 12
12 End plate Aluminum alloy MCHG2-125 M10×1.5×20 M10×1.5 24
13 O-ring NBR
14 Snap ring Carbon steel

Order example of repair kits

Sensor Switch

Tube I.D. Repair kits Tube I.D. Repair kits

ø16 PS-MCHG2-16 ø63 PS-MCHG2-63
ø20 PS-MCHG2-20 ø80 PS-MCHG2-80
ø25 PS-MCHG2-25 ø100 PS-MCHG2-100
ø32 PS-MCHG2-32 ø125 PS-MCHG2-125
ø40 PS-MCHG2-40
ø50 PS-MCHG2-50
Caution

81
 MCHG2 Capacity ø16~ø125
PARALLEL GRIPPER (3-Finger)

Effective gripping force External gripping force

* Finger selection please refer to page 8.
MCHG2-16 MCHG2-50
Indication of effective gripping force. P=pressure P=pressure
The effective gripping force shown in the graphs to the right is 25 300

Holding force (N)

Holding force (N)

expressed as F, which is the thrust of one finger, when three P=0.6MPa
20 250
fingers and attachments are in full contact with the workpiece P=0.6MPa
200
as shown in the figure below. 15 0.5MPa 0.5MPa
0.4MPa 150 0.4MPa
10
0.3MPa 100 0.3MPa
5 0.2MPa
50 0.1MPa
1N=0.102 kgf 0.2MPa
0 0
1MPa=10.2 kgf/cm2 0 5 10 15 20 25 30 0 10 20 30 40 50 60 70
Holding postion L(mm) Holding postion L(mm)

MCHG2-20 MCHG2-63
F F P=pressure
500
P=pressure
35
P=0.6MPa P=0.6MPa
Holding force (N)

Holding force (N)

30 400
0.5MPa 0.5MPa
25 300
0.4MPa 0.4MPa
20
200
0.3MPa 0.3MPa
15
0.2MPa 100 0.2MPa
10
0.1MPa
0 0
0 5 10 15 20 25 30 35 0 20 40 60 80 100
Holding postion L(mm) Holding postion L(mm)
L
F
MCHG2-25 MCHG2-80
P=pressure P=pressure
700
External grip 60
P=0.6MPa 600
P=0.6MPa
Holding force (N)

Holding force (N)

50 0.5MPa
500
40 0.5MPa 400 0.4MPa
30 0.4MPa 300
0.3MPa
20 0.3MPa 200
0.2MPa 0.2MPa
10 100
0.1MPa
0 0
0 10 20 30 40 50 0 20 40 60 80 100
Holding postion L(mm) Holding postion L(mm)

MCHG2-32 MCHG2-100
P=pressure P=pressure
1000
100 P=0.6MPa
Holding force (N)

Holding force (N)

P=0.6MPa 800
80 0.5MPa
0.5MPa 600
60 0.4MPa 0.4MPa
0.3MPa 400
40 0.3MPa
0.2MPa 200 0.2MPa
20
0.1MPa 0.1MPa
0 0
0 10 20 30 40 50 0 20 40 60 80 100
Holding postion L(mm) Holding postion L(mm)

MCHG2-40 MCHG2-125
P=pressure P=pressure
1800
200 1600 P=0.6MPa
Holding force (N)

Holding force (N)

160 P=0.6MPa 1400

1200 0.5MPa
120 0.5MPa 1000 0.4MPa
0.4MPa 800
80 0.3MPa
0.3MPa 600
0.2MPa
40 0.2MPa 400
200 0.1MPa
0.1MPa
0 0
0 10 20 30 40 50 0 20 40 60 80 100 120
Holding postion L(mm)

82
MCHG2 Capacity ø16~ø125

Gripper
PARALLEL GRIPPER (3-Finger)

Effective gripping force Internal gripping force

Automatic Tool Changer

* Finger selection please refer to page 8.
MCHG2-16 MCHG2-50
Indication of effective gripping force. P=pressure P=pressure
The effective gripping force shown in the graphs to the right is 25 300

Holding force (N)

expressed as F, which is the thrust of one finger, when three

Holding force (N)

P=0.6MPa P=0.6MPa
20 250
fingers and attachments are in full contact with the workpiece 0.5MPa 0.5MPa
200
as shown in the figure below. 15
0.4MPa 150 0.4MPa
10 0.3MPa
100 0.3MPa
5 0.2MPa
50 0.1MPa
1N=0.102 kgf 0.2MPa
0 0
1MPa=10.2 kgf/cm2 0 5 10 15 20 25 30 0 10 20 30 40 50 60 70
Holding postion L(mm) Holding postion L(mm)

180° Rotation Gripper

MCHG2-20 MCHG2-63
P=pressure P=pressure
F F 40
500
P=0.6MPa P=0.6MPa
Holding force (N)

Holding force (N)

35 400
30 0.5MPa 0.5MPa
25 0.4MPa 300
0.4MPa
20
0.3MPa 200
15 0.3MPa
10 100 0.2MPa
5 0.2MPa 0.1MPa
0 0
0 5 10 15 20 25 30 35 0 20 40 60 80 100
Holding postion L(mm) Holding postion L(mm)

Deburring Tool
F L

MCHG2-25 MCHG2-80
P=pressure P=pressure
70 700
Internal grip 60 600
P=0.6MPa
Holding force (N)

Holding force (N)

P=0.6MPa
50 500 0.5MPa
0.5MPa
40 400 0.4MPa
0.4MPa
30 300 0.3MPa
0.3MPa
20 200 0.2MPa
0.2MPa
10 100 0.1MPa

Vacuum Gripper
0 0
0 10 20 30 40 50 0 20 40 60 80 100
Holding postion L(mm) Holding postion L(mm)

MCHG2-32 MCHG2-100
P=pressure P=pressure
120 1000
P=0.6MPa
P=0.6MPa
Holding force (N)

Holding force (N)

100 800
0.5MPa
80 0.5MPa
600
0.4MPa
60 0.4MPa
0.3MPa 400
40 0.3MPa
0.2MPa 0.2MPa
20 200
Sensor Switch

0.1MPa 0.1MPa
0 0
0 10 20 30 40 50 0 20 40 60 80 100
Holding postion L(mm) Holding postion L(mm)

MCHG2-40 MCHG2-125
P=pressure P=pressure
1800
200 1600 P=0.6MPa
Holding force (N)

P=0.6MPa
Holding force (N)

160 1400
0.5MPa 1200 0.5MPa
120 1000 0.4MPa
0.4MPa 800
80 0.3MPa
0.3MPa 600
0.2MPa
40 0.2MPa 400
Caution

0.1MPa 200 0.1MPa

0 0
0 10 20 30 40 50 0 20 40 60 80 100 120
Holding postion L(mm) Holding postion L(mm)

83
MCHG2 Dimensions ø16~ø25
PARALLEL GRIPPER (3-Finger)

N1 N2

TT
33° (Finger opening port)

°
54

TT
(Finger closing port)

6-QQ×QA depth B 22.5°

Thread for mounting attachment D C 20° 20°
øYY×YA depth øZZ×ZA depth
F (Closed)
FF (Open)

øA

X
PP (Open)
P (Closed)
J

th
dep
V

×XA
I

XX
L

3-øMM H E S R
Z

øMA×MB depth G 3-UU×UA depth

P.C.DøMR P.C.D øMR

Code
Tube I.D. A B C D E F FF G H I J K L MA MB MM MR N1 N2 P PP QA QQ R S TT
16 30 35 32 3 2 5 7 8 5h9 +0
-0.030 6 2 4 2H9 +0.025
-0 6.5 8 3.4 25 11 7 15 17 5 M3×0.5 25 4 M3×0.5

20 36 38 35 3 2 6 8 10 6h9 +0
-0.030 7 2.5 5 2H9 +0.025
-0 6.5 9.5 3.4 29 13 7 18 20 6 M3×0.5 27 5 M5×0.8

25 42 40 37 3 2 7 10 12 6h9 +0
-0.030 8 3 6 2H9 +0.025
-0 8 10 4.5 34 15 7 21 24 6 M3×0.5 28 5 M5×0.8

Code
Tube I.D. UA UU V X XA XX Y YA YY Z ZA ZZ
16 4.5 M3×0.5 10 12.5 2 2H9 +0.025
-0 11 2 2H9 +0.025
-0 3 1.5 17H9 +0.043
-0

20 6 M3×0.5 12 14.5 2 2H9 +0.025

-0 13 2 2H9 +0.025
-0 3 1.5 21H9 +0.052
-0

25 6 M4×0.7 14 17 3 3H9 +0.025

-0 14.5 3 3H9 +0.025
-0 5 1.5 26H9 +0.052
-0

84
 MCHG2 Dimensions ø32~ø125

Gripper
PARALLEL GRIPPER (3-Finger)

N1 N2

Automatic Tool Changer

TT
(Finger opening port)
10°

10°
40
°

°
40

180° Rotation Gripper

TT
(Finger closing port)
B 22.5°
6-QQ×QA depth D C 20° 20°
Thread for mounting attachment
øYY×YA depth øZZ×ZA depth
F (Closed)
FF (Open)

øA

X
J
PP (Open)
P (Closed)

Deburring Tool
K

h
ept
V

Ad
Y
I

3-øMM ×X
XX
L

øMA×MB depth
Z

P.C.D MR H E
3-UU×UA depth
G S R P.C.D øMR

Vacuum Gripper
Code
Tube I.D. A B C D E F FF G H I J K L MA MB MM MR N1 N2 P PP QA QQ
32 52 44 41 3 2 8 12 14 8h9 +0
-0.036 11 4.5 9 2H9 +0.025
-0 8 9 4.5 44 16 8 28 32 8 M4×0.7
40 62 47 44 3 2 10 14 16 8h9 +0
-0.036 12 4.5 9 3H9 +0.025
-0 9.5 9 5.5 53 17 9 31 35 8 M4×0.7
50 70 55 52 3 2 11 17 18 10h9 +0
-0.036 14 5 10 4H9 +0.030
-0 9.5 12 5.5 62 20 9 35 41 10 M5×0.8
63 86 66 62 4 3 15 23 24 12h9 +0
-0.043 17 5.5 11 6H9 +0.030
-0 11 14 6.6 76 22 12 43 51 10 M5×0.8
80 106 82 77 5 4 21.5 31.5 28 14h9 +0
-0.043 20 6 12 8H9 +0.036
-0 11 19 6.6 95 27 13.5 53.5 63.5 12 M6×1.0
100 134 96 90 6 4 28 40 34 18h9 +0
-0.043 23 7.5 15 8H9 +0.036
-0 14 21 9 118 30.6 18 66 78 16 M8×1.25
125 166 122 114 8 6 30 46 40 22h9 +0 31 10.5 21 10H9 +0.036 17.5 34 11 148 38 23.5 82 98 20 M10×1.5
Sensor Switch

-0.052 -0

Code
Tube I.D. R S TT UU UA V X XA XX Y YY YA Z ZA ZZ
32 30.5 6 M5×0.8 M4×0.7 6 20 22 3 3H9 +0.025
-0 19.5 3H9 +0.025
-0 3 5 2 34H9 +0.062
-0

40 32 7 M5×0.8 M5×0.8 7.5 21 26.5 4 4H9 +0.030

-0 23.5 4H9 +0.030
-0 4 6 2 42H9 +0.062
-0

50 37.5 9 M5×0.8 M5×0.8 10 24 31 4 4H9 +0.030

-0 28 4H9 +0.030
-0 4 6 2 52H9 +0.074
-0

63 44 11 M5×0.8 M6×1.0 9 28 38 5 5H9 +0.030

-0 34.5 5H9 +0.030
-0 5 7 2.5 65H9 +0.074
-0

80 56 12 Rc1/8 M6×1.0 12 32 47.5 6 6H9 +0.030

-0 43.5 6H9 +0.030
-0 6 8 3 82H9 +0.087
-0

100 63 15 Rc1/4 M8×1.25 16 38 59 6 8H9 +0.036

-0 54 8H9 +0.036
-0 6 10 4 102H9 +0.087
-0

125 84 18 Rc3/8 M10×1.5 20 52 74 8 10H9 +0.036

-0 68 10H9 +0.036
-0 8 12 6 130H9 +0.100
-0
Caution

85
MCHJ series
PARALLEL GRIPPER (3-Finger)

Features
● Compact design to ensure minimum interference while
operating; robust T rail design, ensure accurate gripping.
● Can reach maximum torque suitable for long jaws design.
● Circular piston-driven design ensure maximum clamping force.
● Hose-free direct connection: Air supply channel can connect
directly without piping or through thread to assure the flexibility
of supplying compressed air on any kind of automation system.
● Assembling with a dust-proof module can prevent foreign
matters (>0.5mm) entering the gripper.
● Magnetic as standard.
Dust-proof module
● For dusty environment usage.
● When installing soft-jaws, the length of jaws are measured from
the the body surface.
● Heat resistance type of modules are also available. Please
contact our sales department.
Pressure piece
Order example ● A special design for the gripper to eject the workpiece after
gripper opens.
MCHJ ─ 50 ─ SD
Specification
ACCESSORIES (Options) Model MCHJ
MODEL SIZE P (*1) SD (*2) PSD (*1) Acting type Double acting
50, 66, 80, Pressure Dust-proof P+SD Size 50 66 80 100 125 160
100, 125, 160 piece Module
Stroke per-jaw (mm) 4 6 8 10 12 16
Effective external
gripping force (N) (*1)
95 177 297 527 917 1756

*1. Only for size 50~80. Close/Open time (1/s) 0.025 0.03 0.05 0.1 0.2 0.25
*2. When the size 50 is assembled with the dust-proof
module, the proximity sensor cannot be used. Medium Air
Operating pressure range 0.2~0.8 MPa
Accessories Compressed air
9.2 21.5 47 100 195 485
consumption (cm3)
SD ─ MCHJ ─ 50 Ambient temperature +5°C~ +80°C
Lubrication Not required
SD: Dust-proof module 2 wire *2 RDFE(V): Non-contact
SIZE Senso
P : Pressuer piece
50 ~ 160* switch (*3) 3 wire *2 RNFE(V): NPN, RPFE(V): PNP
* Pressure piece (P) only for size 50~80.
Proximity sensor – RJY (Please refer to page 155)
Mounting block, Accessory kits
Installation of sensor switch & Accessories

0.22 0.5 0.85 1.6 2.8 5.2

speed controller Weight (kg)
*1. Under the condition of clamping length 40mm and operation pressure
M3×0.5 0.6 MPa.
Tightening torque Mounting block *2. Size 50 uses RDGV sensor switch.
5 kgf·cm *3. R*FE(V), RDGV specification, please refer to page 149, 150.

Proximity sensor
RJY Speed controller
JSC series

Speed controller
JSS series
Sensor switch
RDFEV

Sensor switch * Each gripper needs at least two speed control valves to control speed.
RDFE * Speed controller specification, please refer to Mindman website.

86
MCHJ Inside structure & Parts list

Gripper
PARALLEL GRIPPER (3-Finger)

50

Automatic Tool Changer

22

A A 23
10
18

180° Rotation Gripper

66~160

7 2 3 6 17

8
12 1 21
19 11
22 9
13
15
14 19
4
20 10
16
5 18

Deburring Tool
A-A

Order example
Material of repair kits
Size Repair kits Model Repair kits
No. 50 66 80 100 125 160 Q'y
Part name (inclusion)
MCHJ-50 PS-MCHJ-50
1 Body Aluminum alloy 1
MCHJ-66 PS-MCHJ-66
2 Finger Carbon steel 3
MCHJ-80 PS-MCHJ-80

Vacuum Gripper
3 Rod Carbon steel 1
MCHJ-100 PS-MCHJ-100
4 Piston Aluminum alloy 1
MCHJ-125 PS-MCHJ-125
5 End cover Stainless steel 1
MCHJ-160 PS-MCHJ-160
6 Plate cover Stainless steel 1
7 Centering sleeve Stainless steel *4 Order example
8 Thread insert – Brass 3 of accessory kits
9 Sensor adj block – Aluminum alloy 2 Model Accessory kits
10 Magnet holder *1 Resina 2 MCHJ-50 AK-MCHJ-50
11 Magnet Magnet material 1*2 MCHJ-66 AK-MCHJ-66
Sensor Switch

12 Spring – SWP 2 MCHJ-80 AK-MCHJ-80

13 Rod packing NBR 1 MCHJ-100 AK-MCHJ-100
14 Piston packing NBR 1 MCHJ-125 AK-MCHJ-125
15 O-ring NBR 1 MCHJ-160 AK-MCHJ-160
16 O-ring NBR 1
17 Screw Alloy steel 3
18 Bolt *3 Stainless steel 4
O-ring (×2) Iron plug (×2)
19 Hex bolt – Stainless steel 2 Material: NBR Stainless steel + NBR
20 Bolt Alloy steel 1
21 Hex screw – Stainless steel 4
Caution

22 Hex screw *3 Stainless steel 3

PIN (×2) Centering sleeve (×6)
23 Adjust socket SUS – 2 Bearing steel Stainless steel

*1. Aluminum alloy *2. Size 125 Q'y: 2 pcs *3. Alloy steel *4. Included in accessory kits

87
MCHJ Capacity 50~160
PARALLEL GRIPPER (3-Finger)

Effective gripping force External gripping force

* Finger selection please refer to page 8.
Indication of effective gripping force. MCHJ-50 MCHJ-100
The effective gripping force shown in the graphs to the right is P=pressure P=pressure
200 1000
expressed as F, which is the thrust of one finger, when three

Holding force (N)

Holding force (N)

160 800
fingers and attachments are in full contact with the workpiece
P=0.8MPa P=0.8MPa
as shown in the figure below. 120 600
0.7MPa 0.7MPa
0.6MPa 0.6MPa
80 400
0.5MPa 0.5MPa
0.4MPa 0.4MPa
40 200
0.3MPa
0.2MPa 0.3MPa 0.2MPa
0 0
0 25 50 75 100 125 0 40 80 120 160 200 240
1N=0.102 kgf
1MPa=10.2 kgf/cm2 Holding position L(mm) Holding position L(mm)

MCHJ-66 MCHJ-125
P=pressure P=pressure
350 1500
Holding force (N)

Holding force (N)

300
1200
250
P=0.8MPa P=0.8MPa
200 900 0.7MPa
0.7MPa
L

150 0.6MPa 0.6MPa

600
0.5MPa 0.5MPa
100 0.4MPa
0.4MPa
50 300
0.3MPa 0.2MPa 0.3MPa 0.2MPa
0 0
0 25 50 75 100 125 150 0 40 80 120 160 200 240
F F
Holding position L(mm) Holding position L(mm)

MCHJ-80 MCHJ-160
P=pressure P=pressure
600 3000
Holding force (N)

Holding force (N)

500 2500
400 P=0.8MPa 2000 P=0.8MPa
300 0.7MPa 1500 0.7MPa
0.6MPa 0.6MPa
0.5MPa 1000 0.5MPa
F 200
0.4MPa 0.4MPa
100 500
0.3MPa 0.2MPa 0.3MPa 0.2MPa
External grip 0
0 25 50 75 100 125 150
0
0 50 100 150 200 250 300
Holding position L(mm) Holding position L(mm)

Mz

Fz Code Mx max. My max. Mz max. Fz max.

My Model (Nm) (Nm) (Nm) (N)
MCHJ-50 15 15 8 700

MCHJ-66 50 45 35 1200

MCHJ-80 80 60 50 1800

Mx MCHJ-100 100 90 75 2500

MCHJ-125 120 120 100 3200

MCHJ-160 160 180 140 5000

88
MCHJ Capacity

Gripper
50~160
PARALLEL GRIPPER (3-Finger)

Effective gripping force Internal gripping force

Automatic Tool Changer

* Finger selection please refer to page 8.
Indication of effective gripping force. MCHJ-50 MCHJ-100
The effective gripping force shown in the graphs to the right is P=pressure P=pressure
200 1000
expressed as F, which is the thrust of one finger, when three

Holding force (N)

Holding force (N)

160 800
fingers and attachments are in full contact with the workpiece
P=0.8MPa P=0.8MPa
as shown in the figure below. 120
0.7MPa 600
0.7MPa
0.6MPa 0.6MPa
80 400
0.5MPa 0.5MPa
0.4MPa 0.4MPa
40 0.3MPa 200
0.2MPa 0.3MPa 0.2MPa
0 0
0 25 50 75 100 125 0 30 60 90 120 150 180
1N=0.102 kgf
1MPa=10.2 kgf/cm2 Holding position L(mm) Holding position L(mm)

180° Rotation Gripper

MCHJ-66 MCHJ-125
P=pressure P=pressure
350 1500
Holding force (N)

Holding force (N)

300
1200
250 P=0.8MPa
P=0.8MPa 900
200 0.7MPa
0.7MPa
0.6MPa
L

150 0.6MPa 600

0.5MPa 0.5MPa
100 0.4MPa
0.4MPa 300
50
0.3MPa 0.2MPa 0.3MPa 0.2MPa
0 0

Deburring Tool
0 25 50 75 100 125 150 0 40 80 120 160 200 240
F F
Holding position L(mm) Holding position L(mm)

MCHJ-80 MCHJ-160
P=pressure P=pressure
600 3000
Holding force (N)

Holding force (N)

500 2500
400 2000 P=0.8MPa
P=0.8MPa
300 0.7MPa 1500 0.7MPa
0.6MPa 0.6MPa

Vacuum Gripper
200 1000 0.5MPa
F 0.5MPa
0.4MPa 0.4MPa
100 500
0.3MPa 0.2MPa 0.3MPa 0.2MPa
Internal grip 0
0 25 50 75 100 125 150
0
0 50 100 150 200 250 300
Holding position L(mm) Holding position L(mm)

Sensor Switch
Caution

89
 MCHJ Internal structure & Application examples
PARALLEL GRIPPER (3-Finger)

Internal structure & Movement description

Compressed air will push or press the circular piston.
By tilting the working surface, the wedge hook will transfer the movement to
side movement, and initiate the action of the three base jaws simultaneously.

1 1 Material
Anodized high rigid aluminum alloy to reduce weight.

2 Rail
Bearing rails load the base jaw,which ensure the minimal
4 vibration of long jaw.
5
2 3 Sensor system
1 Sensor switch or proximity sensor are available.

6 4 Base jaw
Jaws connected to work piece.
3
5 Wedge hook
High power transmission center jaws.

6 Large circular piston

Generate larger structural strength.

7 Air purge connection (External vents)

The air purge is used in order to make it more difficult for dirt
and dust to penetrate into the product and the guiding areas.
* The air purge is effective only when the gripper is opened.
* Install a valve to control the air purge.
7

Application examples Hose-free direct connection

Code
Size Q RX RZ Y
50 M3 3 5 0.7

66 M5 5 8 1.2
Mounting
Y

flange 80 M5 5 8 1.2

100 M5 5 8 1.2

øRX 125 M5 5 8 1.2

O-ring øRZ 160 M5 5 8 1.2

2-Q

B A A hole: Gripper close

B hole: Gripper open

90
 MCHJ Dimensions 50~160

Gripper
PARALLEL GRIPPER (3-Finger)

MCHJ-125,160
G G

Automatic Tool Changer

G1 G1
E

C±0.02

E
C±0.02
D

G2

G2
D
C±0.02
A/ A' hole: Gripper close
B/ B' hole: Gripper open

180° Rotation Gripper

S hole: External vents
3-M

O
3-M
U

S Centering sleeve
BB

A MCHJ-50~100
BC
BF

BD

0
B 6-X1-0.02
B1

A1

6-X2
T×TA depth
AB 2-P (air port) 6-M3

Deburring Tool
V
W
L±0.02
AC Centering
2-Q sleeve
øR

0
MCHJ-125,160 6-X1-0.02
B' A'
H1

2-S 6-X2
K

T×TA depth

W
V

Vacuum Gripper
H2

3-N

Code
Size A1 AB AC B1 BB BC BD BF C D E G G1 G2 H1 H2 K L
50 5 12 12 5 35 26 23 23 8 16 4 12 6.5 31 26 27 19 45
66 11.5 12 18 5 43 32 27 27 12 22 5 17 10 41 33 35 25 56
80 8 26 18 8 50 36 31 31 15 26.7 6 22 12 51.5 40.5 43.5 32 70
Sensor Switch

100 13.5 24 24 10 60 41 38 34 18 34.2 10 26 14 64 51 54 42 90

125 17 30 30 10 68 49 42.5 37 12.5 42.3 10 31 15.5 79 64 67 53 112
160 20 44 38 10.5 80 55 48 45 18 54.8 10 39 20 102 81 86 67.5 146

Code
Size M N O P Q R S T TA U V W X1 X2
50 ø7.3×4.1dp, ø4.3 thru, P.C.D.ø45 M5×0.8×8dp M3 M5×0.8 M3 57 ø4H7×5 6-M3×0.5 7 1 2 3.9 ø5 ø3
66 ø9×5.1dp, ø5.1 thru, P.C.D.ø56 M6×1.0×10dp M5 M5×0.8 M5 74 ø4H7×8 6-M4×0.7 8 1 2 3.9 ø6 ø4
80 ø10.2×6.1dp, ø6.8 thru, P.C.D.ø70 M8×1.25×12dp M5 G1/8 M5 92 ø5H7×8 6-M6×1.0 10 1 2 3.9 ø8 ø6
100 ø10.5×6.5dp, ø6.8 thru, P.C.D.ø90 M8×1.25×12dp M5 G1/8 M5 114 ø5H7×8 6-M6×1.0 12 1 2 3.9 ø10 ø6
125 ø13.5×8.1dp, ø8.6 thru, P.C.D.ø112 M10×1.5×15dp M5 G1/8 M5 139 ø6H7×10 9-M6×1.0 14 1 2 3.9 ø10 ø6
160 ø13.5×8.1dp, ø8.6 thru, P.C.D.ø146 M10×1.5×24dp M5 G1/8 M5 179 ø6H7×10 9-M8×1.25 14 1 2 3.9 ø12 ø8
Caution

91
MCHJ Accessories 50~160
PARALLEL GRIPPER (3-Finger)

Inside structure & Parts list / Dimensions

Dust cover 50~160
5
8
3
7

A
12

B
0°
1
6
2
CB
9 D Body surface
4

F
H
Material

G
Q'y
No. Part name Material
50 66~160 K
1 Dust cover Aluminum alloy 1 1
2 Mounting block Aluminum alloy 3 3
Code Weight
3 Bolt Alloy steel 3 3 Size A B CB D E F G H K (g)
4 Bolt Alloy steel 5 6 50 43 30 13 17 4.5 5 16 35.5 17 105
5 Bolt Alloy steel 6 6 66 51 41 16.2 24 4.5 5 19.5 45.5 24 179
6 O-ring NBR 3 3 80 67.5 52.4 18.1 38 4.5 5 19 48 30 381
7 Slider Carbon steel 3 3 100 80 61 22 37 4.5 5 11.5 41 37 417
8 Centering sleeve Stainless steel 6 6 125 95 72 22 50 4.5 5 14.5 47.5 37 603
9 Hexagon screw Alloy steel 0 2 160 121 93 25 60 4.5 6 13 55 50 1019

Pressure piece 50~80

6
F

3
E
5
C
S (stroke)

4
A

Material
B

No. Part name Material Q'y 3-D

1 Top plate Carbon steel 1
Ejection force (kgf)
2 Spring pressure column Carbon steel 3
Code Weight Retracted Extended
3 Nut Carbon steel 3 Spec. A B C D E F S (g) Min. Max.
4 Fixed column Carbon steel 3 50 55.5 5 2 M4×0.7 8 30 6 63 1 3.9
5 Spring Stainless steel 3 66 60.9 5.6 2 M5×0.8 10 35 5 93 2 3.8
6 Bolt Alloy steel 3 80 66.9 5.6 4 M6×1.0 12 40 5 149 1.5 2.4

92
 Gripper
Automatic Tool Changer
180° Rotation Gripper
Deburring Tool
Sensor Switch

GRIPPER
Gripper play an important
role in automation systems.
Caution

Mindman provides various

kinds of stable gripper for
different applications.

93
 Connect with

AIR CYLINDER
Connect gripper with cylinder to achieve regular
workpiece gripping.

94
MCHA series

Gripper
30° ANGULAR GRIPPER

Features

Automatic Tool Changer

● Hardened gripping fingers for longer service life.
● Simple structure with high stability.
● Magnetic as standard.

Specification
Model MCHA
Acting type Double acting / Single acting (N.O.)
Tube I.D. (mm) 12 16 20 25 32
Port size M3×0.5 M5×0.8
Air

180° Rotation Gripper

Medium
Operating Double acting 0.15~0.7 MPa
pressure
range Single acting 0.3~0.7 0.2~0.7 MPa
Ambient temperature -5~+60°C (No freezing)
Max. operating frequency (c.p.m) 180 (*1)
Cylinder Not required
Lubrication
Lever Grease (Joint parts)
Max. arm length (L) (*2) 30 40 60 70 85
Clamp / Release angle -10~+30°

Deburring Tool
Sensor switch (*3) RDE, RDE-D: Non-contact
Weight (g) 53 103 193 327 525
Order example
□
*1. Use tube I.D. 12 at max operating frequency will affect the service life.
*2. L: Arm length (mm)
MCHA ─ 20 ─ *3. RDE, RDE-D specification, please refer to page 148.

MODEL TUBE I.D. ACTING TYPE

12 Blank: Double acting
Installation of sensor switch
16 S: Single acting (Normally open)

Vacuum Gripper
20
25
32
Sensor switch
RDE,RDE-D

Set screw Watchmakers

screw driver
Sensor Switch
Caution

95
MCHA Inside structure & Parts list
30° ANGULAR GRIPPER

Double acting Single acting Normally Open

16 16
2 1 7 14 13 6 3 4 5 15 1 2 10 14 8 12 3 4 5

15 11 10 8 12 9 17 11 7 6 13 9

Order example
Material of repair kits
Repair kits Tube I.D. Repair kits
No. Part name Material Q'y
(inclusion)
ø12 PS-MCHA-12
1 Body Aluminum alloy 1
ø16 PS-MCHA-16
2 Head cover Aluminum alloy 1
ø20 PS-MCHA-20
3 Grip rivet Carbon steel 2
ø25 PS-MCHA-25
4 Spindle rivet Bearing steel 1
ø32 PS-MCHA-32
5 Y-finger Medium carbon steel 2
6 Piston-R Aluminum alloy 1
7 Piston-H Aluminum alloy 1
8 Gasket NBR 1
9 Piston rod Stainless steel 1
10 Screw Stainless steel 1
11 Cover ring NBR 1
12 Rod packing NBR 1
13 Piston packing NBR 1
14 Magnet ring Magnet material 1
15 Stop ring Spring steel 1
16 Screw SCM 4
17 Spring SWB-P 1

96
MCHA Capability ø12~ø32

Gripper
30° ANGULAR GRIPPER

Effective gripping force Double acting Single acting (Normally open)

Automatic Tool Changer

Indication of effective force. MCHA-12 MCHA-12-S
The effective gripping force shown in the graphs to the right P=pressure P=pressure
is expressed as F, which is the thrust of one finger, when both 30 30
P=0.7MPa

Holding force (N)

Holding force (N)

fingers and attachments are in full contact with the workpiece 25 25
P=0.7MPa
as shown in the figure below. 20 0.5MPa 20
15 15
0.3MPa 0.5MPa
10 10
5 5 0.3MPa
0 0
0 10 20 30 40 0 10 20 30 40
Holding postion L (mm) Holding postion L (mm)

180° Rotation Gripper

MCHA-16 MCHA-16-S
P=pressure P=pressure
60 60
P=0.7MPa
Holding force (N)

Holding force (N)

50 P=0.7MPa 50
0.5MPa
40 40 0.5MPa
L

30 30
F F 20
0.3MPa
20 0.3MPa
10 10
0 0
0 10 20 30 40 0 10 20 30 40
Holding postion L (mm) Holding postion L (mm)

Deburring Tool
1N=0.102 kgf MCHA-20 MCHA-20-S
1MPa=10.2 kgf/cm2 P=pressure P=pressure
80 80
70 70 P=0.7MPa
Holding force (N)

Holding force (N)

P=0.7MPa
60 0.5MPa 60
50 50
40 0.3MPa 40 0.5MPa
30 30
20 20 0.3MPa
10 10
0 0
0 10 20 30 40 50 60 0 10 20 30 40 50 60

Vacuum Gripper
Holding postion L (mm) Holding postion L (mm)

MCHA-25 MCHA-25-S
P=pressure P=pressure
160 160
140 P=0.7MPa 140 P=0.7MPa
Holding force (N)

Holding force (N)

120 0.5MPa 120

100 100
80 0.3MPa 80 0.5MPa
60 60
40 40 0.3MPa
20 20
0 0
Sensor Switch

0 10 20 30 40 50 60 70 80 0 10 20 30 40 50 60 70 80
Holding postion L (mm) Holding postion L (mm)

MCHA-32 MCHA-32-S
P=pressure P=pressure
225 225
200 P=0.7MPa 200 P=0.7MPa
Holding force (N)

Holding force (N)

175 175
0.5MPa
150 150
0.5MPa
125 125
100 0.3MPa 100
75 75 0.3MPa
50 50
25 25
Caution

0 0
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100
Holding postion L (mm) Holding postion L (mm)

97
MCHA Dimensions ø12~ø32
30° ANGULAR GRIPPER

A 2-WW
2-XX (port)
H
B C
D

I
Sensor groove
J (RDE, RDE-D) U1±0.02 U

U2±0.02
30° +3°
-5°

(E) *

10° +3°
-5°

(F) *

T
SS
Z

L R 2-UU
ZZ

M S

N 2-VV
O

2-YY P
Q

* Reference value.

Code
Tube I.D.
A B C D E F G H I J K L M N O P Q R S SS T
12 15.4 3 6 7 26.3 9 20 7.5 10.2 23 28 20 32.9 21.5 10.2 16 39 10 16 Ø14H9 +0.043
0 ×1.5 depth 22

16 17.5 3 8 9 31.1 14 24 7.5 12 22 34 22.5 35 25 14 18 42.5 14 22 Ø18H9 +0.043

0 ×1.5 depth 26

20 22 4 10 12 40.1 18 30 8.0 13 25 45 25 39.5 32.5 16 19 50 16 26 Ø22H9 +0.052

0 ×1.5 depth 35

25 26 5 12 14 47.9 21 36 8.5 18 28 52 28.5 45.5 38.5 20 21.5 58 20 32 Ø27H9 +0.052

0 ×2 depth 40

32 30 6 14 18 55.1 24 44 10.5 24 34 60 37.5 54 44 26 30 68 26 40 Ø34H9 +0.062

0 ×2.5 depth 46

Code
Tube I.D.
U U1 U2 UU VV WW XX YY Z ZZ
12 Ø2H9+0.025
0 ×3 depth 5 11 M3×0.5×5 depth M3×0.5×5 depth M3×0.5×8 depth M3×0.5×5 depth M3×0.5 5 2.5

16 Ø3H9 +0.025
0 ×3 depth 7 13 M4×0.7×7 depth M4×0.7×7 depth M4×0.7×11 depth M5×0.8×5 depth M3×0.5 6 3

20 Ø4H9+0.03
0 ×4 depth 8 17.5 M5×0.8×8 depth M5×0.8×8 depth M5×0.8×12 depth M5×0.8×5 depth M4×0.7 7 3.5

25 Ø4H9+0.03
0 ×4 depth 10 20 M6×1.0×10 depth M6×1.0×8 depth M6×1.0×16 depth M5×0.8×5 depth M5×0.8 9 4

32 Ø5H9+0.03
0 ×5 depth 13 23 M6×1.0×10 depth M6×1.0×8 depth M6×1.0×20 depth M5×0.8×5 depth M6×1.0 10 5

98
 Connect with

AUTOMATIC ASSEMBLY MACHINE

Connect gripper with cylinder to achieve regular workpiece
gripping.

99
MCHY series
180° ANGULAR GRIPPER - CAM STYLE

Features
● Compact design and lightweight construction.
● High gripping forces achieved via internal cams. Reduced
required offset while moving gripper. (Fig1).
● Reference points on gripping fingers are standard.
● Sensors can be mounted in any one of four positions.
● Rod seal prevents foreign objects to enter piston.
● Magnetic as standard.

Specification
Model MCHY
Acting Type Double acting
Tube I.D. (mm) 10 16 20 25
Medium Air
Operating pressure range 0.2~0.6 MPa
Ambient temperature -10~+60°C (No freezing)
Repeatability ±0.2 mm
Max. operating frequency (c.p.m) 60 (*1)
Order example Lubrication (*2) Not required

MCHY ─ 16 D 1 Effective force (Nm) at (0.5 MPa) 0.16 0.54 1.1 2.28

Operating angle Opened side 180°~182°

(both sides) Closed side -3°
MODEL TUBE I.D. D: Double FINGER OPTION Sensor switch 2 wire RDFE(V): Non-contact
10 acting Standard tap (*3) 3 wire RNFE(V): NPN, RPFE(V): PNP
16 mounting
20 Weight (g) 80 150 320 600
25 ─ *1. Speed controllers are required.
*2. Sliding area of jaws need scheduled relubrication.
*3. R*FE(V) specification, please refer to page 149.

Opening / closing
direction through
hole.
1 Installation of sensor switch &
speed controller
Speed controller Speed controller
JSS series JSC series

Fig1. Reduced required offset while moving gripper

MCHA MCHY

Sensor switch
RDFEV

Work 180° Sensor switch

piece RDFE
30° Reduced offset
15~29.5mm
Z
Horizontal
movement * Each gripper needs at least two speed control valves to operate.
X
* Speed controller specification, please refer to Mindman website.

100
 MCHY Capability ø10~ø25

Gripper
180° ANGULAR GRIPPER - CAM STYLE

Effective gripping force

Automatic Tool Changer

Indication of effective force. Gripping force Moment of inertia
The effective gripping force shown in the graphs to the
right is expressed as F, which is the thrust of one finger,
when both fingers and attachments are in full contact MCHY-10 MCHY-10
with the workpiece as shown in the figure below. P=pressure
10
1.2

Moment-4 of inertia
P=0.6MPa

Holding force (N)

8 0.5 1.0

(× 10 kg·m )
2
6 0.4 0.8
0.3 0.6
4
0.2 0.4
2 0.2

180° Rotation Gripper

0 0
0 20 30 40 50 60 0 0.1 0.2 0.3 0.4 0.5
Holding postion L (mm) Operating time (s/90°)

MCHY-16 MCHY-16
P=pressure
35 3.0

Moment-4 of inertia
30
Holding force (N)

P=0.6MPa 2.5
0.5

(× 10 kg·m )
25

2
L

0.4 2.0
20
0.3 1.5
15
0.2 1.0
F F 10
0.5

Deburring Tool
5
0 0
0 20 30 40 50 60 70 0 0.1 0.2 0.3 0.4 0.5

1N=0.102 kgf Holding postion L (mm) Operating time (s/90°)

1MPa=10.2 kgf/cm2

MCHY-20 MCHY-20
P=pressure
50 6
Confirmation of gripping point
Moment-4 of inertia
Holding force (N)

P=0.6MPa 5
40 0.5
(× 10 kg·m )
2

4
● The air gripper should be operated so that the workpiece 30 0.4
gripping point "L" and the amount of overhang "H" stay 3

Vacuum Gripper
20 0.3
within the range shown for each operating pressure 0.2 2
given in the graphs to the right. 10 1
● If the workpiece gripping point goes beyond the range 0 0
0 30 40 50 60 70 80 0 0.2 0.4 0.6 0.8
limits, this will have an adverse effect on the life the air
gripper. Holding postion L (mm) Operating time (s/90°)

L MCHY-25 MCHY-25
P=pressure
100 20
Moment-4 of inertia
Holding force (N)

P=0.6MPa
80 0.5
(× 10 kg·m )

15
2

Sensor Switch

60 0.4
10
H

0.3
40
0.2
20 5

Gripping point 0 0
0 30 40 50 60 70 80 90 0 0.2 0.4 0.6 0.8 1.0
Holding postion L (mm) Operating time (s/90°)
30 ø25
Overhang H (mm)

ø20
25
ø16
20
ø10
15
10
5
Caution

0
0 0.2 0.3 0.4 0.5 0.6
Pressure (MPa)

101
MCHY Inside structure & Parts list
180° ANGULAR GRIPPER - CAM STYLE

ø10 ø16~ø25

23

6
6 1 9 22 21 7 4
1 9 7 4

5
18
5 18
20 17
20
19
19

14 13 10 15 12 3 16 2 8 15 14 13 10 12 3 16 2 11 8

Material
Tube I.D. Repair kits Tube I.D. Repair kits
No. 10 16 20 25 Q'y No. 10 16 20 25 Q'y
Part name (inclusion) Part name (inclusion)
1 Body Aluminum alloy 1 17 Screw Stainless steel 2
2 Piston rod Stainless steel 1 18 Rod cover Aluminum alloy 1
3 Bushing Brass 1 19 O-ring NBR 1
4 Head cover Stainless steel 1 20 Snap ring *2 Stainless steel 1
5 Lever Stainless steel 1 21 O-ring – NBR 1
6 Gripper Stainless steel 2 22 Hexagon Bolt – Stainless steel 1
7 Grip rivet Carbon steel 2 23 Scew Stainless steel 4
8 Pin Carbon steel 2 *1. Stainless steel *2. Carbon steel
9 Piston *1 Aluminum alloy 1
10 Magnet holder Stainless steel 1 Order example
11 Pin bushing – SCM 2 of repair kits
12 Cushion pad NBR PU 1 Tube I.D. Repair kits
13 Magnet ring Magnet material 1 ø10 PS-MCHY-10
14 Piston packing NBR 1 ø16 PS-MCHY-16
15 Wear ring Resin 1 ø20 PS-MCHY-20
16 Rod packing NBR 1 ø25 PS-MCHY-25

102
MCHY Dimensions ø10~ø25

Gripper
180° ANGULAR GRIPPER - CAM STYLE

2-UU×UA depth

Automatic Tool Changer

Pin hole postioning

EB

ED
X
P EE×EA depth
Q 4-QQ thru P/2
Z2

(thread for mounting

attachment) 4-XX×XA depth
(mounting thread)
Z1
R

2-MM×MA depth
2-øYY

180° Rotation Gripper

(mounting thread)
(mounting hole)
mounting attachment (*)
Limited area for

A
I
O

L øZZ×ZA depth

D
C G

Deburring Tool
B W
Opening / Closing direction
BB
through hole type

Q 4-øQH thru TT (finger closing port)

Z2

(hole for
mounting
attachment)
Auto switch mounting
Z1
R

groove position
for mounting attachment (*)

TT (finger
N1 N2 opening port)

Vacuum Gripper
ø4.3
Limited area

3.1
K

* Do not extend the attachment from limited area for mounting

Sensor Switch

to avoid interference with the attachment or main body.

Code
Tube I.D. A B BB C D EE EA EB ED F G H I J K L M MA MM N1 N2 O P Q QH QQ
10 30 58 71 47.5 35 3H9 +0.025
-0 3 4 9 2 9 24 24 3 13 18 22 6 M3×0.5 23 7 23.5 4 6 -0.005
-0.025 3.4 M3×0.5

16 38 69 84 55.5 41 3H9 +0.025

-0 3 4 15 2.5 12 30 30 8 18 20 28 8 M4×0.7 25 7 28.5 5 8 -0.005
-0.025 3.4 M3×0.5

20 48 86 106 69 50 4H9 +0.030

-0 4 5 19 3 16 36 38 12 20 25 36 10 M5×0.8 32 8 37 8 10 -0.005
-0.025 4.5 M4×0.7

25 58 107 131 86 60 4H9 +0.030

-0 4 5 23 3 18 42 46 14 24 30 45 12 M6×1 42 8 45 10 12 -0.005
-0.025 5.5 M5×0.8
Code
Tube I.D. R TT UA UU W X XA XX Y YY ZA ZZ Z1 Z2
10 12 M5×0.8 4 M3×0.5 15 30 6 M3×0.5 9 3.4 1.5 11H9 +0.043
-0 6 3

16 14 M5×0.8 5 M4×0.7 20 33 8 M4×0.7 12 4.5 1.5 17H9 +0.043

7 4
Caution

-0

20 18 M5×0.8 8 M5×0.8 26 42 10 M5×0.8 14 5.5 1.5 21H9 +0.052

-0 9 5

25 22.5 M5×0.8 10 M6×1 30 50 12 M6×1 16 6.6 1.5 26H9 +0.052

-0 12 6

103
 TMPlug&Play
CERTIFIED

Compact Tool Attach

All-in-One

GRIPPER for
TM ROBOT

S80
J66

All-in-One
Module design with
embedded solenoid valves
and sensor switches.

Plug & Play

Only one I/O signal cable
and one air tube is required.

High Reliability
High reliability and simple
operation compare with
electirc grippers.

104
 Modular Conventional
System layout

Modular
ALL-IN-ONE Pneumatic gripper
Solenoid valve and position sensor switch
aremodularized.
Required only one air tube and I/O signal.
Plug and Play, simple installation.

Air compressor

Robot

Control host

Pneumatic gripper
Conventional

Solenoid valve Sensor switch

Air compressor

105
MCTA series
ALL-IN-ONE PNEUMATIC GRIPPER

Features
● All-In-One module design with embedded solenoid valves and
sensor switches.
● Only one I/O signal cable and one air tube is required. Plug and
play.
● High reliability and simple operation compare with electric
grippers.
● Integrated wires with power-off protection.
● Easy mounting design with threads and bolts.
● Magnetic as standard.

Specification
Model MCTA-J66 MCTA-S80
Acting type Double acting
Size 66 80
Stroke per-jaw (mm) 6 8
Effective external gripping force(N) *1 188 285
Effective internal gripping force (N) *1 194 290
Close/Open time (s) 0.03 0.04
Order example of pneumatic gripper
Medium Air
MCTA ─ J66 ─ TM Operating pressure range 0.2~0.8 MPa 0.3~0.8 MPa
Ambient temperature +5~+80°C
Lubrication Not required
1 2
MODEL Sensor switch *2 RDFE: Non-contact
GRIPPER ARM
MODULE SPEC. Accessories Accessory kits
1
Weight (kg) ≈1.3
Gripper module Model Description
Recom. work piece weight (kg) *3 3.8 2.6
J66 MCHJ-66 3 finger
*1. Under the condition of clamping length 40mm and operation pressure 0.6
S80 MCHS-80 2 finger MPa.
*2. RDFE specification, please refer to page 149.
2 *3. The weight limit of gripping workpiece depends on the load limit of robot arm
and usage parameters.
Arm spec. Brand
TM TM Robot (TM5/12/14) Holding force
* Operating pressure 0.6 MPa.
MCTA-J66
External gripping force (N)

240
Order example of accessory kits
180
Model Accessory kits & Q’y
120
No. Order example MCTA-J66 MCTA-S80
L

Part name AK-MCTA-J66-TM AK-MCTA-S80-TM 60

F F
1 Hex bolt (M5) 4 4 0
0 20 40 60 80 100
2 Hex bolt (M6) 4 4 Holding position L(mm)
3 PIN 4 4
MCTA-S80
Centering
4 6 4
External gripping force (N)

sleeve 400

300

200
L

100
Hex bolt (M5) Hex bolt (M6) PIN Centering sleeve F F
0
0 20 40 60 80 100
Holding position L(mm)
106
 MCTA Dimensions

Gripper
ALL-IN-ONE PNEUMATIC GRIPPER

MCTA-S80-TM
Connecting board

Automatic Tool Changer

3.9 4-ø11×6.4 depth
4-M5×0.8×12 L ø7 thru, P.C.D. ø50
2 8 M6×1.0
4-M6×1×10 L

2-ø6×11.6 L
P.C.Dø50
4-ø6
- 0.02
4-ø8 +0

ø90

180° Rotation Gripper

ø90

+0.012
POC4-M5M Fitting 2-ø6H7 0 ×7 depth
with ø4 air tube 9 Connecting board

9
4-M4×0.7×20 L 18
35.5 25±0.03 43
60 4-M5×0.8 thru

A
80
129 P.C.Dø81

14±0.03

Deburring Tool
MCTA-J66-TM

A
3.9 2-ø6H7
+0.012
×7 depth
0

45°
2 6 M4×0.7

4×90°
- 0.02

6-ø4
+0
6-ø6

4
6.
ø7

Vacuum Gripper
ø1

POC4-M5M Fitting
A-A
1

43
with ø4 air tube
3-M5×0.8×33 L

M8 (8Pin), female M8 (8Pin), male

(If the lead wire is required, M8
female connector cable is optional,
please refer to Mindman website.
Built-in solenoid valve
PIN Define and sensor switch
Sensor Switch

8-PIN digital I/O connector of robot

8 PIN
PIN Color * Directions Function
Define
1 Brown +24V 24V Output ─ Solenoid valve
2 Red DI_0 Digital Input0 Sensor switch (close) +
Sensor switch
3 Orange DI_1 Digital Input1 Sensor switch (open)

4 Yellow DI_2 Digital Input2 ─ 6 5 4

5 Green DO_0 Digital output0 Solenoid valve (open) 7 8 3
1 2
6 Blue DO_1 Digital output1 Solenoid valve (close)
Caution

7 Violet DO_2 Digital output2 ─

F F
8 Black 0v 0v ─
* Color for lead wire of M8 female connecter.

107
 Connect with

ROBOT ARM
High rigidity, high location accuracy,
high repeat accuracy.
Great production flexibility, save
wiring time and lower labor cost.

108
AUTOMATIC VMG series
TOOL Built-in large flow vacuum
generator. Suitable for irregular/
rough surfaces. Lifting objects

CHANGER with partial suction is capable.

Gripper
MCTC seires: One Base-plate (R)
can match multiple Tool-plates
(T). Tool-plates can be installed Magnet Gripper
with gripper, pneumatic tool or Attracting and holding

Automatic Tool Changer

vacuum pad etc... workpieces with magnet.
Attraction force adjustable
through the nuts.

MCHJ series

180° Rotation Gripper

Parallel gripper with RLZ
series linear position sensor.
Gripping storke can be
measured.

Base-plate (R)

Tool-plate (T)

MCTA series

Deburring Tool
All-in-One pneumatic gripper.
Solenoid valves and sensor
switches embedded. Only one I/O
signal cable and air tube required.

Sensor Switch
MEHC2 series
Electric gripper. Gripping force
and stroke programmable.
Less power consumption and
more eco-sustainable.
Caution

MVVA series
Vacuum generator with MP41
series pressure sensor and
vacuum pad.

109
 MCTC series
AUTOMATIC TOOL CHANGER

Features
TAIWAN ● High rigidity locating pins with special treatment for good service life.
EXCELLENCE 2022
● Tapered locating stud for high locating accuracy.
● Repeat accuracy ±0.015mm
● Ejection mechanism for releasing base plate (R) and tool plate (T).
● Self-locking mechanism for preventing plates from ejecting when
pneumatic source was accidently removed.
● Accurate connection change with electric module to avoid manual
operation mistakes.
● ISO flange for easy-mounting on most of the robot arms.

Specification
Model MCTC
Size 20 41
Recommended Tool (*2) (kg) 3.5 18
handing weight
(*1) Workpiece (kg) 21.5 32
Locking force (*3) (N) 2300 4500
Repeat accuracy (mm) ±0.015
Total handing weight Size 20 : 25 kg Size 41 : 50 kg Max. permissible XY-axis offset (mm) ±1 ±2
Max. permissible angular offset (˚) ±2
Order example of automatic tool changer Operating pressure (MPa) 0.45~0.7
Ambient temperature (°C) +5 ~ +60
MCTC ─ 20 R ─SIP Proximity sensor RJY (Please refer to page 155)
Base plate (R) (kg) 0.47 1.3
Weight
Tool plate (T) (kg) 0.37 0.87
PROXIMITY
MODEL SIZE *1. Tool and workpiece please refer to Applications.
SENSOR TYPE
*2. With tool plate (T).
20 Blank: Standard
*3. Under locking condition.
41 SIP: proximity sensor type
* (R) Base plate only *4. Spring, tapered locating stud, and locating pin are consumables.
HOUSING TYPE Please consider to replace when performing below expectations.
Blank: Base + tool R: Base plate T: Tool plate
SIP
SIP
Electric feed-through module
Model K19-MCTC-*
Housing type Base plate (R) Tool plate (T)
Electric feed-through module Size 20 41 20 41

K19 ─ MCTC ─ 20 R Min. ambient temp. (°C) 5

Max. ambient temp. (°C) 60
Number of pin contacts 19
ELECTRIC Nominal current (A) 3/pin
SIZE Housing type
FEED-THROUGH Nominal voltage (V DC) 50
20 R: Base plate
MODULE 41 T: Tool plate Bayonet lock Bayonet lock
Electrical connection
connector (male) socket (female)
Cable * Size 20 and 41 use the same cable. Weight (g) 85 118 91 119

KBL □ ─ MCTC ─ 20 R ─ 5M
Blank: Straight cable (*1) Housing type Cable
V: Vertical cable 5M: 5000mm
R: Base plate
10M: 10000mm
*1. Base plate (R) not
suitable for straight 1M: 1000mm
T: Tool plate
cable. 3M: 3000mm

110
MCTC Allowable moment & Applications

Gripper
AUTOMATIC TOOL CHANGER

Max. allowable moment Max. distance when locking

Automatic Tool Changer

øD Base plate (R)

distance
1±0.5
ZR

Max.
Tool plate (T)
ZT

180° Rotation Gripper

My
Mx

Mz

Mx max. My max. Mz max.

Size øD ZR ZT
(Nm) (Nm) (Nm)
20 90 18.7 23.7 161 161 209

41 130 32.3 27 447 447 616

Deburring Tool
* Only for locking state.

Applications
1. MCTC can be used on any type of robot arm.
2. The main feature is the quick tool exchange with good repeat accuracy.
3. MCTC can be used for various applications within max. 50 kg (Size 41) total load as shown below.

Vacuum Gripper
Robot arm

Base plate (R)

Tool plate (T)
Sensor Switch

Tool

Workpiece

With With With With

grinder ejector vacuum pad gripper
Caution

111
 MCTC Inside structure & Parts list
AUTOMATIC TOOL CHANGER

Base plate
R type R-SIP type
A

12
5
8
7 14
11 10
2

3
9
2
13
4 6

1
A A-A A-A
Tool plate

Material – Base plate (R)

Q'y / Size Repair kits
No. Part name Material
20 41 (inclusion)
B B
1 Body Aluminum alloy 1
2 Cover Aluminum alloy 1
3 Locator Composite material 1
4 O-ring NBR 12 10
5 O-ring NBR 1
17 16
6 O-ring NBR 1
7 Bolt Stainless steel 4
8 Bolt Stainless steel 4
9 Pin Carbon steel 1
10 O-ring NBR 1
11 O-ring NBR 1
12 Spring Spring steel 6
13 Detection shaft Stainless steel 1*
B-B
15 18
14 Packing NBR 1*
* Only for base plate ‒ proximity sensor type (R-SIP).

Material – Tool plate (T) Order example of repair kits

Repair kits Base plate (R) ‒
No. Part name Material Q'y
(inclusion) Size Base plate (R) proximity sensor Tool plate (T)
15 Body Aluminum alloy 1 type (R-SIP)
16 Locating pin Alloy steel 2 20 PS-MCTC-20R PS-MCTC-20R-SIP PS-MCTC-20T
17 Tapered locating stud Stainless steel 1 41 PS-MCTC-41R PS-MCTC-41R-SIP PS-MCTC-41T
18 Bolt Stainless steel 2

112
MCTC Mechanism

Gripper
AUTOMATIC TOOL CHANGER

Automatic Tool Changer

Base plate (R)
Locking mechanism
High accurate curved plate
Thread (×2) fitting for smooth combining
and releasing.
For inductive proximity sensor.

Self-locking
Ejection Mechanism

180° Rotation Gripper

mechanism
Eject the plates with piston Prevent the plates from
force smoothly without releasing with high tension
interference. springs when the pneumatic
source is accidently removed.

Tool plate (T)

Unlock (U)

Tapered locating
stud

Deburring Tool
Tapered locating stud for
high locating accuracy.

Lock (L)

Locating pin (×2)

Tempered locating pin for
good non-rotating accuracy.

Vacuum Gripper
Air inlet
Without interfering
contours due to
the integration
into the housing. (R) side
Also suitable for port
Sensor Switch

vacuum.

* Ports with
identification (T) side
number for port
piping.
Caution

113
 MCTC Dimensions 20
AUTOMATIC TOOL CHANGER

R Base plate

ø4H7 +0.012
0 ×7 depth

A
26.5±0.02

26.5±
ø4.5

0.02
33
41

10.2
7
ø4H7 +0.012
0 ×7 depth
15°
+0.012
ø4H7 0
4

+0.1
23 +0.05
2-M3×0.5 thru
30 A view
43

0
ø60h7 -0.03 ø90
6.2

A
18.7

11.7

M5×0.8 6-M5×0.8 M5×0.8 6-M5×0.8

3

Lock (L) Port for tool plate (T) Unlock (U) Port for tool plate (T)

MCTC-20R-SIP
for proximity sensor
4×ø4.3 thru
0
ø60h7 -0.03 Countersink ø9.2×90°

2-M5×0.5
Opposite the same
17.6

P.C.D.ø53
For flange mounting
6.2

45°

4×90°

114
MCTC Dimensions

Gripper
20
AUTOMATIC TOOL CHANGER

T Tool plate

Automatic Tool Changer

3 +0.01 ×6 depth
4

+0.03

180° Rotation Gripper

A view

ø3 +0.03
+0.01 ×6 depth
4.3

Deburring Tool
9

41.3

15.1
16.7

A
23.7

8.9

6-M5×0.8 30 6-M5×0.8
Port for base plate (R) Port for base plate (R)
4-M3×0.5×7 depth 33.3

ø90

+0.1
40 +0.05
31.5±0.02

Vacuum Gripper
+0.025
ø40H7 0 ×6 depth

+0.012
ø6H7 ×10 depth
33

4-M6×1.0×10 depth

P.C.D. ø63
For flange mounting
Sensor Switch

45°

4×90°
Caution

115
 MCTC Dimensions 41
AUTOMATIC TOOL CHANGER

R Base plate

ø6.5
10°

ø6.5
B
B
C C
23.2

ø6H7 +0.012
20

57.6

9.2
6
ø6H7 +0.012
0
32.5±0 C-C
B-B .02
32.5±0.02

0
ø79h7 -0.03 ø130
3.2

13.5
18
32.3

A
20
15

3-G3/8 ø4 +0.03 50 4-M4×0.7×7 depth 3-G3/8

+0.01 ×5 depth
Port for tool plate (T) Port for tool plate (T)
2-G1/8
2-G1/8 Port for tool plate (T)
Port for tool plate (T)

×5 depth
6-ø5.5 thru 5
Countersink ø11.5×90°
+0.03
+0.01
4

P.C.D.ø65
For flange mounting

MCTC-41R-SIP A view
6×
60
for proximity sensor °
0
ø79h7 -0.03

2-M5×0.5
Opposite the same
15
25
3.2

G1/8 G1/8
Lock (L) Unlock (U)

116
 MCTC Dimensions

Gripper
41
AUTOMATIC TOOL CHANGER

T Tool plate

Automatic Tool Changer

+0.01 ×5 depth
5

4 +0.03

180° Rotation Gripper

A view

ø4 +0.03
+0.01 ×5 depth
9
50.5
13.5

Deburring Tool
13.5
27

9
18

3-G3/8 50 3-G3/8
Port for base plate (R) 4-M4×0.7×7 depth ø130 Port for base plate (R)
2-G1/8
2-G1/8 Port for base plate (R)
Port for base plate (R)
40±0.02

ø50H7 +0.025
0 ×6 depth
57.6

ø8H7 +0.015
0 ×8 depth

Vacuum Gripper
6-M8×1.25×8 depth
P.C.D.ø80
For flange mounting

6×
60
°
Sensor Switch
Caution

117
 Proximity sensors

Electric feed-
Cable
through module

Proximity Sensors
● Proximity sensors can be installed on the Base-plate.
● The proximity sensors can check the position of the product for easy
remote trouble-shooting.

Electric Signal Module

● Main features
Sensor signal feedback.
Prevent signal error from frequent connection/disconnection.
Reduce failure chance from manual configuration.
● Precise military connector
● IP65 (When base-plate and tool-plate are connected)

118
MCTC Dimensions – Electric feed - through module

Gripper
AUTOMATIC TOOL CHANGER

K19-MCTC-20R Base plate

Automatic Tool Changer

49.3 39.8

36.8 28.6
2-M3×0.5×25L
Hexagon bolt

31.6

180° Rotation Gripper

K19-MCTC-20T Tool plate
30.6

4-M3×0.5×30L

Deburring Tool
Hexagon bolt
0.5

36.8 28.6

49.3 39.8

K19-MCTC-41R Base plate 60

55.5 41

43 28.6

Vacuum Gripper
33

4-M4×0.7×14L
Hexagon bolt

K19-MCTC-41T Tool plate

Sensor Switch

4-M4×0.7×14L
Hexagon bolt
33

43 28.6
Caution

55.5 41

60

119
MCTC Dimensions – Cable
AUTOMATIC TOOL CHANGER

KBL-MCTC-20T Straight
Size 20 and 41 use the same cable
Min. bending radius
Tool plate (T): 12.5
ø30

200

41.2 Tool plate (T) 1M: 1000 / 3M: 3000

KBLV-MCTC-20R/T Vertical
Size 20 and 41 use the same cable

A
Position of terminal A

ø29.7
52.1

200

36.2 Base plate (R) 5M: 5000 / 10M: 10000

Tool plate (T) 1M: 1000 / 3M: 3000

19 Pin layout
Electric Way Color Cable
A <----< <----< White A

B <----< <----< Brown B

Base plate (R) C <----< <----< Green C Base plate (R)

Bayonet lock D <----< <----< Yellow D (Female)
connector (Male)
E <----< <----< Gray E
M A
B
F <----< <----< Pink F B A M
L N P C P N L
C
K U V R G <----< <----< Blue G D R V U K
D E S T J
J
<----< <----<
T S E
H Red H F G H
H G F

J <----< <----< Black J

K <----< <----< Violet K

Tool plate (T) L <----< <----< Gray/Pink L
Tool plate (T)
Bayonet lock socket (Male)
(Female) M <----< <----< Red/Blue M

N <----< <----< White/Green N

M A
B A M B
P <----< <----< Brown/Green P L N P
C
C P N L
K U V R
D R V U K R <----< <----< White/Yellow R J T S E
D

E S T J
H
<----< <----<
G F
F G H S Yellow/Brown S

T <----< <----< White/Gray T

U <----< <----< Gray/Brown U

V <----< <----< White/Pink V

120
MCTC Dimensions – ISO adapter board

Gripper
20
AUTOMATIC TOOL CHANGER

Accessory kits of ISO adapter board Mounting

* for base plate (R) methods Robot arm

Automatic Tool Changer

AK ─ MCTC ─ 20R ─ SIP ─ A50 ISO Adapter board

PROXIMITY ADAPTER
SENSOR TYPE BOARD P.C.D Base plate (R)
Blank: Standard type 4-M6×1.0
SIP: Proximity sensor type

SIP ø4

180° Rotation Gripper

ø6 4-M4×0.7
or M6 M4
ISO Adapter board Pin (each 1) Bolt (×4) Bolt (×4)

A50 SIP-A50
Proximity sensor type
0°
4×9 4×90°
67
.5°

45°

Deburring Tool
A
×6.5 depth
64

A
22.5°

6H7 +0.012

7
0

25 25

ø64
ø90
A view 0
ø31.5h7 -0.025

Vacuum Gripper
0
3

ø31.5h7 -0.025
3

22.4
17

P.C.D ø50
B
Sensor Switch
C

B
C

P.C.D ø50

6
ø6.
.6
ø6
12.
5

Caution

ø11
12

1
ø1

B-B C-C

121
MCTC Dimensions – ISO adapter board 41
AUTOMATIC TOOL CHANGER

Accessory kits of ISO adapter board Mounting

* for base plate (R) methods Robot arm

AK ─ MCTC ─ 41R ─ SIP ─ A80 ISO Adapter board

PROXIMITY ADAPTER
SENSOR TYPE BOARD P.C.D
6-M8×1.25 Base plate (R)
Blank: Standard type
SIP: Proximity sensor type

SIP ø6

or ø8 M8 M5
6-M5×0.8
ISO Adapter board Pin (ø6×2, ø8×1) Bolt (×6) Bolt (×6)

A80 SIP-A80
Proximity sensor type

6× 6×
60 60
° °
×10 depth
30°

30°
8H7 +0.015

A 9
40
0

A view
A

40 20.5°
ø98
ø105 ø50 -0.01
-0.03
3

ø50 -0.01
-0.03
3

26.7
18

B
P.C.D ø80 P.C.D ø80 C

B
C

11.8 11.6
ø8.5
ø13.5
ø15

ø9

B-B C-C

122
 Gripper
Automatic Tool Changer
MCRT-S

180° Rotation Gripper

MCRT-G

Deburring Tool
MCRT-J
Sensor Switch

Connect with

ROBOT ARM
Caution

Modular rotation and gripping

system for automation applications.

123
MCRT series
180° ROTATION GRIPPER

Features
● Hollow shaft design for easy sensor wiring.
● Various grippers are available for exchange.
● Hose-free direct connection: Air supply tunnel can connect
directly without piping to assure the flexible when rotating.
● Modular rotation and gripping system for automation
applications.
● Water repellent design for environment with cutter fluid.
● Magnetic as standard. Can be used with embedded sensors.

Specification – Rotation gripper

Model MCRT
Tube I.D. (mm) 20 25
Order example Port size
Rotary actuator piping: Rc1/8
Gripper piping: M5×0.8
MCRT ─ 20 ─ J66 Rotary angle 180°
Medium Air
Operating pressure range (MPa) 0.45~0.7
MODEL TUBE I.D. Ambient temperature +5~+60°C (No freezing)
20 Lubrication Not required
25
Sensor switch *1 RDFE(V)
GRIPPER MODULE
Cushion Shock absorber *2
Code Model Size Tube I.D. Description
Max. allowable kinetic energy (J) *3 1.21 1.82
S50 50
S66 MCHS 66 20 Rotary cylinder torque (N.m) 3 5.5

S80 80 2 finger *1. RDFE(V) specification, please refer to page 149.

*2. The shock absorber is expendable. Replace when damping
S100 100 performance decrease.
25
S125 125 *3. Excluding gripper module.

J50 50
MCHJ 20
J66 66 Specification – Gripper
J80 80
25 Model MCHS MCHJ MCHG2
J100 100
Operating 0.2~0.6
G16 16 (MPa) 0.3~0.8 0.2~0.8
pressure range (0.1~0.6) *
G20 20 3 finger Sensor switch RDFEV (Please refer to page 149)
MCHG2
G25 (*)
25 20
* ( ) for gripper module G32~G63.
G32 32
G40 40 MCHS size S50 S66 S80 S100 S125
G50 50 Effective (N) 69 122 225 315 505
25
G63 63 gripping force
at 0.6 MPa (mm) 40 (clamping length)
* The MCHG2 on MCRT series is modified.
* MCHS series specification, please refer to page 64.
Please contact us if you need to replace it.

Weight Unit: kg
MCHJ size J50 J66 J80 J100
Effective (N) 95 177 297 527
Rotary actuator + gripper module×2 gripping force
Size MCHS MCHJ Size MCHG2 at 0.6 MPa (mm) 40 (clamping length)
50 3.5 3.8 16 3.4 * MCHJ series specification, please refer to page 86.
66 3.8 4.2 20 3.5
80 4.2 7.0 25 3.6 MCHG2 size G16 G20 G25 G32 G40 G50 G63
100 7.1 8.8 32 3.7 Effective (N) 15 26 42 69 110 180 301
gripping force
125 8.8 – 40 4.1
(mm) *1 20 30
at 0.5 MPa
50 6.4
*1. Clamping length
63 7.4 *2. MCHG2 series specification, please refer to page 80.

124
 MCRT Inside structure & Parts list

Gripper
18 15 17 4 19 23 12 25 1 21 8 13 6 16 5 26 20 40

Automatic Tool Changer

35

34

A-A
48

45 43 46 44 14 41 36 42 22 24
2

180° Rotation Gripper

A

32
10
39
30
27 33
11
9
38

D view
D

Deburring Tool
28 29 31 47 3 37 7
A

Material
No. Part name Material Q'y No. Part name Material Q'y
1 Body Aluminum alloy 1 25 Piston Seal NBR 4
2 Base Aluminum alloy 1 26 Ball Stainless steel 6
3 Gripper fixed seat Aluminum alloy 1 27 Bolt Stainless steel 2

Vacuum Gripper
4 Cover Aluminum alloy 1 28 Bolt Stainless steel 4
5 End cover Aluminum alloy 1 29 Pin Steel 2
6 Pinion Alloy steel 1 30 Pin Steel 1
7 Bearing retainer Aluminum alloy 1 31 Pin Steel 4
8 Piston Stainless steel 2 32 Piston Seal NBR 5
9 Ball bearing Bearing steel 1 33 Screw Stainless steel 1
10 Ball bearing Bearing steel 1 34 Plug Copper 4
11 Snap ring Spring steel 1 35 O-ring NBR 4
12 Piston Aluminum alloy 4 36 O-ring NBR 4
Sensor Switch

13 Wear ring Resin 4 37 Piston Seal NBR 1

14 Bolt Carbon steel 4 38 O-ring NBR 1
15 Nut Stainless steel 2 39 O-ring NBR 1
16 O-ring NBR 2 40 Ball Stainless steel 4
17 Seal washer NBR+Carbon steel 2 41 Fixing plate Carbon steel 1
18 Adjust screw Stainless steel 2 42 Bolt Stainless steel 2
19 Cushion pad NBR 2 43 Cushion mount Aluminum alloy 1
20 Bolt Stainless steel 8 44 Fixing nut Stainless steel 2
21 Magnet Magnet material 2 45 Shock absorber – 2
Caution

22 Fixed Copper 2 46 Bolt Stainless steel 2

23 Piston packing NBR 2 47 O-ring NBR 4
24 O-ring NBR 2 48 Pin Steel 2

125
MCRT Install parts S50~S125
180° ROTATION GRIPPER

6 5 4 3 2 1

7 8 9

Material
with gripper MCHS series Q'y
MCRT-20 MCRT-25
No. Part name Material
S50~S80 S100, S125
1 Connecting board Aluminum alloy 2 2
2 Ball Stainless steel 4 4
3 Bolt Carbon steel 8 8
4 O-ring NBR 4 4
5 Pin Steel 4 4
6 MCHS Gripper – 2 2
7 Bolt Carbon steel 8 8
8 Plug Copper 4 4
9 O-ring NBR 4 4

126
MCRT Install parts

Gripper
J50~J100
180° ROTATION GRIPPER

Automatic Tool Changer

7 6 9 8 5 3 4 1 2

180° Rotation Gripper

Deburring Tool
Vacuum Gripper
Material
with gripper MCHJ series Q'y
MCRT-20 MCRT-25
No. Part name Material
J50 J66 J80 J100
1 Connecting board Aluminum alloy 2 2 2 2
2 Ball Stainless steel – 4 – 4
Sensor Switch

3 Bolt Carbon steel 8 8 8 8

4 O-ring NBR 4 4 4 4
5 Pin Steel 4 4 4 4
6 MCHJ Gripper – 2 2 2 2
7 Bolt Carbon steel 6 6 6 6
8 Plug Copper 4 4 4 4
9 O-ring NBR 4 4 4 4
Caution

127
MCRT Install parts G16~G63
180° ROTATION GRIPPER

7 6 9 8 4 3 5 1 2

Material
with gripper MCHG2 series Q'y
MCRT-20 MCRT-25
No. Part name Material
G16 G20~G40 G50 G63
1 Connecting board Aluminum alloy 2 2 2 2
2 Ball Stainless steel 4 4 – 4
3 Bolt Carbon steel 8 8 8 8
4 O-ring NBR 4 4 4 4
5 Pin Steel 4 4 4 4
6 MCHG2 Gripper – 2 2 2 2
7 Bolt Carbon steel 6 6 6 6
Screw Stainless steel 4 – – –
8
Plug Copper – 4 4 4
9 O-ring NBR – 4 4 4

128
MCRT Dimensions

Gripper
180° ROTATION GRIPPER

4-M6×1×7.5 depth

Automatic Tool Changer

2-ø6 +0.02
0 ×5 depth
2-Rc1/8 Supply port
(Rotary actuator)

60±0.02

60

180° Rotation Gripper

27.5 27.5

47.7±0.02
E

G
B
60
A C
4-M6×1×7.5 depth
60±0.02
D 4-M5×0.8 (Both sides)
Supply port (Gripper)

Deburring Tool
47.7±0.02

27.5
D

27.5
C

2-H
B

2-ø6 +0.02
0 ×5 depth

Vacuum Gripper
The corresponding
Gripper 2
position of Gripper
1 and 2 when
A

the Fixing Plate

rotates to this view.

Gripper 1 Sensor Switch

Supply port (Gripper)

Gripper Gripper Gripper open Gripper close
MCHS MCHJ MCHG2 1 2 1
Code Code Code
Tube I.D. / Size A B Tube I.D. / Size A B Tube I.D. / Size A B 2 4 3
S50 41 166.3 J50 45 170.3 G16 45 170.3 Code
20 Tube I.D. C D E F G H
20 S66 49 174.3 J66 53 178.3 G20 48 173.3
20 125.3 88.4 107 90 70 MDSC-1008-3-N
S80 59 184.3 J80 60 211 20 G25 50 175.3
25 25 151 94 135 110 80 MDSC-1412-3-N
S100 65 216 J100 70 221 G32 54 179.3
25
S125 74 225 G40 57 182.3
Caution

G50 65 216
25
G63 76 227

129
 COMPLIANT DEBURRING TOOL
FOR ROBOT ( RADIAL / ANGULAR )

Model TRG20 TRG30 TRF20 TAF20

Compliant type Radial Radial Radial Angular

Applications Curved edge Curved edge Curved edge Straight edge

Burr size S, M L S S

Tool Milling cutter Milling cutter Round file File

Workpiece type Plastic, die-casting Plastic, die-casting Die-casting Die-casting

Suggested circuit diagram Compliant type

Prepare a suitable air source as illustrated below. For different application requirements, there are
two types of floats to choose from.
F.R.Unit Lubricator
MAFRF401 MAL302 Angular
series series Floating in an angular direction. Allow lateral
for tool
Air source tolerance and position change. Suitable for
>0.6 MPa straight line or plane deburring.
>300LPM for Compliant
force Deburring
tool Radial
Precision regulator
MAIR100 series Floating in a radial direction. Allow radial
tolerance or position change. Suitable for
complex contour deburring.

Application of workpiece
1 The contact force to the edge of the workpiece can
be set. (Please refer to the manual for details)
TRG20, TRF20
2 Improve work efficiency and workpiece quality.

TAF20
TAF20

TRG20, TRF20
TRF20

TRG30

< Die-casting workpiece >

130
 TRG20 series

Gripper
RADIAL COMPLIANT DEBURRING TOOL FOR ROBOT

Feature

Automatic Tool Changer

● Used to remove the smallest burrs on curved edges.
● Suitable for plastic, die-casting and machined workpieces.

Specification
Model TRG20
Compliant angle (°) 3.5 (radial)
Compliant force (N) 2-10
Nominal operating Compliant force: 0.1-0.5
(MPa)
pressure Spindle: 0.6

180° Rotation Gripper

> 0.6 MPa, clean, dry,
Air source requirement
filtered ≤ 5μm
Compliant force: neglectable
Air consumption (LPM)
Spindle: 150
(drops/ 1-2 (for the spindle only, do not
Oil consumption
min) lubricate the compliant part)
Spindle type Vane motor
(Milling cutter is not attached) Spindle idle speed (RPM) 65000
Cutter shank diameter (mm) 3
Ambient temperature (°C) +5~+35
Order example

Deburring Tool
Ambient moisture (%) < 95
TRG20 Weight (kg) 1.2
* Please contact our sales department when the product requires to be
repaired and replacement of consumables. Unauthorized disassembly
will void the warranty.
MODEL

189.4
66 62.8
4.7

Vacuum Gripper
95

6mm tube
L: 50±5 mm
ø30.7

ø17.6

ø84
23

10
8

40 22.8 (10.6) 80
Sensor Switch

7 3 2 1 4 6 5
20±0.1
6H7 +0.012 ×8 dp
4-M6×1.0×10 dp 0

No. Part Q'y Note

22.5 (Mounting hole depth)
1

1 Housing 1 –

2 Spindle holder 1 –
40±0.1
70±0.1

3 Spindle 1 Consumable

4 Installation plate 1 –

5 Spindle air source 1 6 mm tube

6 Compliant air source 1 4 mm fitting

Caution

12±0.1 ø6H7 +0.012

0 ×8 dp
24±0.1 7 Milling cutter 0 Extra purchase

131
TRG30 series
RADIAL COMPLIANT DEBURRING TOOL FOR ROBOT

Feature
● Used to remove the thicker burrs on curved edges.
● Suitable for plastic, die-casting and machined workpieces.

Specification
Model TRG30
Compliant angle (°) 3.5 (radial)
Compliant force (N) 6-30
Nominal operating Compliant force: 0.1-0.5
(MPa)
pressure Spindle: 0.6
> 0.6 MPa, clean, dry,
Air source requirement
filtered ≤ 5μm
Compliant force: neglectable
Air consumption (LPM)
Spindle: 350
(drops/ 1-2 (for the spindle only, do not
Oil consumption
min) lubricate the compliant part)
Spindle type Vane motor
(Milling cutter is not attached) Spindle idle speed (RPM) 25000
Cutter shank diameter (mm) 6
Ambient temperature (°C) +5~+35
Order example
Ambient moisture (%) < 95
TRG30 Weight (kg) 2.9
* Please contact our sales department when the product requires to be
repaired and replacement of consumables. Unauthorized disassembly
will void the warranty.
MODEL
169 (10.9)
22.1 44 66.8
5
4
0.
14
ø52.1
ø34.8

ø130
ø16

38.7

6
10
8

40 26.8 (9.6) 80
7 3 2 1 4
20±0.1
6H7 +0.012
0 ×8 dp
No. Part Q'y Note
4-M6×1.0×10 dp
1 Housing 1 –
34 (Mounting hole depth)
2 Spindle holder 1 –
1

3 Spindle 1 Consumable
40±0.1
70±0.1

4 Installation plate 1 –

5 Spindle air source 1 8 mm fitting

6 Compliant air source 1 4 mm fitting

7 Milling cutter 0 Extra purchase

12±0.1 ø6H7 +0.012
0 ×8 dp
24±0.1

132
TRF20 series

Gripper
RADIAL COMPLIANT DEBURRING TOOL FOR ROBOT

Feature

Automatic Tool Changer

● Used to remove the smallest burrs on curved edges.
● Suitable for die-casting and machined workpieces.

Specification
Model TRF20
Compliant angle (°) 3.5 (radial)
Compliant force (N) 5-30
Nominal operating Compliant force: 0.1-0.5
(MPa)
pressure Pneumatic file: 0.6

180° Rotation Gripper

Air source > 0.6 MPa, clean, dry,
requirement filtered ≤ 5μm
Compliant force: neglectable
Air consumption (LPM)
Pneumatic file: 170
1-2 (for the pneumatic file only, do
Oil consumption (drops/min)
not lubricate the compliant part)
File idle frequency (BPM) 9000
(Round file is not attached) File stroke (mm) 10
File shank diameter (mm) 5
Ambient temperature (°C) +5~+35
Order example

Deburring Tool
Ambient moisture (%) < 95
TRF20 Weight (kg) 2.9
* Please contact our sales department when the product requires to be
repaired and replacement of consumables. Unauthorized disassembly
will void the warranty.
MODEL
196 (22)
41 66.8 36.2
5.1
4
0.
14

Vacuum Gripper
ø52.1
ø35.8

ø130
38.7

10
8

40 26.8 (9.6) 80
Sensor Switch

7 3 2 1 4 6 5
20±0.1
6H7 +0.012
0 ×8 dp
No. Part Q'y Note
4-M6×1.0×10 dp 1 Housing 1 –

2 Spindle holder 1 –

3 Spindle 1 Consumable
1

40±0.1
70±0.1

4 Installsion plate 1 –

5 Spindle air source 1 8 mm fitting

43.8
6 Compliant air source 1 4 mm fitting
Mounting hole depth
Caution

when file retracted. 7 Round file 0 Extra purchase

12±0.1 ø6H7+0.012
0 ×8 dp
24±0.1

133
 TAF20 series
ANGULAR COMPLIANT DEBURRING TOOL FOR ROBOT

Feature
● Used to remove the smallest burrs on straight edges.
● Suitable for die-casting workpieces.
Specification
Model TAF20
Compliant angle (°) ±5.5 (planary)
Compliant force (N) 4-20
Nominal operating Compliant force: 0.1-0.5
(MPa)
pressure Pneumatic file: 0.6
Air source > 0.6 MPa, clean, dry,
requirement filtered ≤ 5μm
Compliant force: neglectable
Air consumption (LPM)
Pneumatic file: 170
1-2 (for the pneumatic file only, do
Oil consumption (drops/min)
not lubricate the compliant part)
File idle frequency (BPM) 9000
File stroke (mm) 10
(File is not attached) File shank diameter (mm) 5
Ambient temperature (°C) +5~+35
Ambient moisture (%) <95
Order example
Weight (kg) 1.7
TAF20 * Please contact our sales department when the product requires to be
repaired and replacement of consumables. Unauthorized disassembly
will void the warranty.
No. Part Q'y Note

MODEL 1 Housing 1 –
2 Pneumatic file 1 Consumable
3 File air source 1 8 mm fitting
196 (21.8)
8 38 68
4 Compliant air source 1 4 mm fitting
(42.8) 5 File 0 Extra purchase
+0.01
ø5H7 0 ×6 dp
31.8

35±0.1
ø35.8

ø39

35±0.1

4-M5×0.8×10 dp
2

+0.01
Opposite the same 5H7 0 ×6 dp
12.5±0.1
5 2 1 19±0.1 4 3
25±0.1

100

4-M5×0.8×14 dp
Opposite the same
134

43.8
Mounting hole depth
when file retracted.

31.5
134
VRG / VMG / VLG series Feature

Gripper
VACUUM GRIPPER FOR LARGE OBJECTS
Vacuum Gripper suitable for conveyance of large work-piece.

Automatic Tool Changer

Suitable for adsorption and
handling of large objects.

180° Rotation Gripper

760 ℓ/min P.C.D VP
Max. 5 kinds Variety of
suction flow specifications arrangements

Deburring Tool
Rectangler ring VRG

1512.7 N
Max. theoretical suction force

Vacuum Gripper
Sensor Switch

General purpose VMG General purpose VLG

Bellows cups Sealing foam pad Bellows cups Sealing foam pad

2369.5 N 1546.4 N 118.1 N 31.5 N

Caution

Max. theoretical suction force Max. theoretical suction force Max. theoretical suction force Max. theoretical suction force

135
 VRG / VMG / VLG series Feature
VACUUM GRIPPER FOR LARGE OBJECTS

2 Slide the vacuum jig onto

Features / Ring VRG and general purpose VMG the mounting plate to set up.
1 Install the mounting
● Vacuum Gripper suitable for conveyance of large work-piece. plate on the robot arm.
● There are three types of adsorption surface: sponge (Rectangler ring, full sponge) and bellows cups. P.C.D 31.5
● Multi-stage venturi generates suction flow 760 L/min which enables to lift breathable or crumpled P.C.D 40
objects. * The value of the three vacuum generators included creates.
P.C.D 56
● Vacuum pump compatible type is available. P.C.D 80
● Can be easily installed by sliding it in to the flange mounting plate that is fixed to the robot. Improved P.C.D 100
operability and safety.

Ring shaped VRG General purpose VMG

Ring sponge Arranged Surface sponge
vacuum pad
Max. theoretical Max. theoretical
suction force: suction force:
1512.7 N (*1) Max. theoretical 1546.4 N (*1)
Type suction force:
2369.5 N (*1)

Sacks and Box cartons, bags, Wooden boards,

shrink wrapped objects vary in exterior wall,
Recom-
bottles. dimensions and objects with rough/
mended heights. uneven surfaces.
work- Thanks to the
piece elastic yield of
foam rubber, it
will grip irregular/
rough surfaces.

The foam rubber with the frame can be Vacuum pad series with pad thread can be installed It can be replaced by replacing the VMG
Replace replaced. (Symbol for pad connection: select from M6) (*2) sponge board.
the pad
VMG general purpose plate for easy replacement of suction cups and sponges.
Gasket (included) Fixing hole or coupling type fixing hole (optional) Fixing hole (optional)

By changing the height of the adjustment

By setting an orifice and restricting the flow rate,
plate inside the vacuum pad, the stroke can
it is possible to suppress a decrease in vacuum
Acces- be adjusted according to the workpiece.
degree caused by leakage at a non-suction point.
sories 4 suction strokes: 10, 15, 20, 25 mm
The vacuum pad of the coupling type fixed hole is
(Default: 25 mm). Can be changed in 5 mm
easy to install and disassemble.
increments.
Since the sleeve has a built-in stop mechanism,
* 8, 13, 18, 23 mm for VRG1515.
unwanted vacuum pads can be removed. Unadsorbed part - Removable
(Default: 23 mm)

*1. Safety factor 1/4 (horizontal).

*2. Standard bellow vacuum pads, if you want to install other pads, Video
please select "no vacuum pad". (vacuum pad sold separately)
Vacuum gripper adsorption video
https://www.pisco.co.jp/product/r/r06/#product-video

General purpose VLG

Features / General purpose VLG
Arranged Surface
● 2 types of grippers are available: whole surface sponge type and arranged vacuum sponge
vacuum pads type.
pad*
● Body width (50, 100mm) and length (200~600mm, 5 types) are optional.

Single type Double type Type

(width 50mm) (Width 100mm)

l)
ption
al) iona
m (o (opt
00m 0mm
0~6 ~ 60
th 20 200
Leng gth
Len
Recommended Wooden boards, exterior wall,
Cardboard and bags
● Mounting plate available for connection to robots with P.C.D. 31.5 (sold separately). workpiece objects with rough/ uneven surfaces
● Built-in large flow vacuum generator. Max. suction flow rate: 890 L/min (*). Optional Fall prevention valves Check valve
* Values for 4 built-in ejectors specification.
● Capable of lifting even if there are non-absorbed area if fall prevention valves or * Standard bellow vacuum pads, if you want to install other pads,
check valves are attached. please select "no vacuum pad". (vacuum pad sold separately)

136
VRG series

Gripper
VACUUM GRIPPER FOR LARGE OBJECTS
Vacuum Gripper suitable for conveyance of large work-piece.

Order example / Components

Automatic Tool Changer

V RG 2817 ─ 4 0 ─ SS 0 5 ─ 1 6 3 ─ V 4 N
1 2 3 4 5 6

1 Rectangular ring – Vacuum gripper X X

2 Foam lip dimensions x x
Code 1515 2817 4730 Sponge
Sponge
width
External (mm) X:150, Y:150 X:280, Y:170 X:470, Y:300 width

180° Rotation Gripper

Y
y
Inside (mm) x:110, y:110 x:200, y:90 x:390, y:220

Y
y
Width (mm) 25

VRG1515
3 Foam lip thickness VRG2817, 4730
Code 20 40
Thickness (mm) 20 40
Foam lip code 1515 2817, 4730

4 Foam rubber material and durometer

Code SS05 SS10
Material,
Silicon, Shore E: 5° Silicon, Shore E: 10°
Durometer

Deburring Tool
5 Vacuum generator type
Number of Suction flow Air Vacuum Nozzle size 6 Sensor switch
Code consumption
Nozzle (ℓ/min) (ℓ/min) (kPa) (mm)
Code Description
161 1 290 110
Digital pressure sensor NPN SW 2-point display
162 2 550 220 -94 ø1.6 V4N
+ analog output
163 3 760 330 Digital pressure sensor PNP SW 2-point display
V4P
P Without vacuum generator (vacuum pump compatible type) + analog output
* Value at rated supply pressure (0.5 MPa).

Vacuum Gripper
Order example / Vacuum pad only (Ring sponge)
Vacuum pad mounting plate
V RG ─ V P ─ 2 8 1 7 ─ 4 0 ─ S S 0 5
1 2 3 4 5

Sponge
1 Rectangular ring – Vacuum gripper
Sensor Switch

2 Vacuum pad mounting plate X X

3 Foam lip dimensions x x

Sponge
Code 1515 2817 4730 Sponge
width
width
External (mm) X:150, Y:150 X:280, Y:170 X:470, Y:300
Y
y

Y
y

Inside (mm) x:110, y:110 x:200, y:90 x:390, y:220

Width (mm) 25
VRG1515
VRG2817, 4730
4 Foam lip thickness 5 Foam rubber material and durometer
Code 20 40 Code SS05 SS10
Thickness (mm) 20 40 Material,
Caution

Silicon, Shore E: 5° Silicon, Shore E: 10°

Foam lip code 1515 2817, 4730 Durometer

137
VRG series
VACUUM GRIPPER FOR LARGE OBJECTS

Specification
Model VRG
Type Ring sponge
Size 1515 2817 4730
Adsorption surface size 150×150 280×170 470×300
Fluid Air, Vacuum *1
Operating pressure range 0.3~0.7 MPa
Vacuum
Rated supply pressure 0.5 MPa
Generator
Noise 75dB(A)
Vacuum pump Vacuum pressure -100~0 kPa
Operating temp. range 5~50°C (No freezing)
Theoretical Safety factor 1/4 (Horizontal) 235.8N 326.2N 1512.7N
suction force*2,3 Safety factor 1/8 (Vertical) 117.9N 163.1N 756.4N

*1."Fluid medium: Vacuum" is only for vacuum pump compatible types.

*2. Theoretical suction force at a vacuum of -80 kPa.
*3. Do not exceed the maximum load capacity of 980N of the main body mounting section,
including the weight of the gripper body and inertia forces during transport.

Pad Pad width Sponge Replacement sponge

Shape dimensions and thickness material Model (VRG sponge
(mm) (mm) (Durometer) mounting plate)

VRG
VRG1515-20-SS05-161- 6
VRG1515-20-SS05-162- 6
Silicon (5°) VRG-VP-1515-20-SS05
Ring VRG1515-20-SS05-163- 6
sharped Width 20 VRG1515-20-SS05-P- 6
150×150
Thickness 25 VRG1515-20-SS10-161- 6
VRG1515-20-SS10-162- 6
Silicon (10°) VRG-VP-1515-20-SS10
VRG1515-20-SS10-163- 6
VRG1515-20-SS10-P- 6
VRG2817-40-SS05-161- 6
VRG2817-40-SS05-162- 6
Silicon (5°) VRG-VP-2817-40-SS05
VRG2817-40-SS05-163- 6
Width 40 VRG2817-40-SS05-P- 6
280×170
Thickness 25 VRG2817-40-SS10-161- 6
VRG2817-40-SS10-162- 6
Silicon (10°) VRG-VP-2817-40-SS10
VRG2817-40-SS10-163- 6
VRG2817-40-SS10-P- 6
VRG4730-40-SS05-161- 6
VRG4730-40-SS05-162- 6
Silicon (5°) VRG-VP-4730-40-SS05
VRG4730-40-SS05-163- 6
Width 40 VRG4730-40-SS05-P- 6
470×300
Thickness 25 VRG4730-40-SS10-161- 6
VRG4730-40-SS10-162- 6
Silicon (10°) VRG-VP-4730-40-SS10
VRG4730-40-SS10-163- 6
VRG4730-40-SS10-P- 6

* Order model 6 sensor switch specifications of VRG series, please refer to P.131 for order number.

138
VRG / VMG series

Gripper
Repair parts
VACUUM GRIPPER FOR LARGE OBJECTS

Repair parts Robot arm

Automatic Tool Changer

VRG, VMG flange mounting Sound-absorbing
general purpose plate screws sponge
mounting plate Order number Order number
VMG-M5x10-SET VMG-B04
Packing: 4pcs/set

Nozzle set
Order number
VLMH16-NS

180° Rotation Gripper

Exhaust components set
Order number
VMG-B01-SET

Injector filter element

Order number
VMG-B03

Plug for pump

Deburring Tool
specifications
Order number
VMG-D
Plug for changing the Packing: 3pcs/set
number of injectors
Order number
VMG-DP

Parts for VRG Parts for VMG

Vacuum Gripper
Fixing hole
Gasket Coupling type
Order number fixing hole
ECV03-R (plug) Filter element
Packing: 10pcs/bag Order number
VMG-B-CPPE7-FM6
fixed nut Packing: 10pcs/bag
Filter element
Sensor Switch

Adjustment plate Order number

ECV03-E
Packing: 10pcs/bag

Adjustment plate screw

Order number
Operating Instructions for Vacuum gripper
M5×8 https://www.pisco.co.jp/manual/manual_r08.zip
countersunk head screw
Packing: 4pcs/set
Caution

139
VMG series
VACUUM GRIPPER FOR LARGE OBJECTS
Vacuum generator built-in type and vacuum pump compatible type are available.

Order example / Components

VM G 26 1 8 ─ SE5 L ─ EP2 0 S ─ K0 . 8 ─ 1 6 3 ─ V 4 N
1 2 3 4 5 6 7

1 General purpose – Vacuum gripper X

2 Mounting plate dimensions
Code 2618 3725 5738
Dimensions X 260 370 570

Y
(mm) Y 180 250 380

3 Number of pad rows

Hole diameter Pitch Number Mounting plate dimensions
Code Type Row
(shape) (mm) of pad 2618 3725 5738
P5L ø40 5 64 18
Arranged ø20 7 36 44
P7L vacuum
pad ø40 7 64 39
P11L ø40 11 64 94
SE5L ø30 quite oval hole 5 64 18
S7L Surface ø20 round hole 7 36 44
SE7L sponge ø30 quite oval hole 7 64 39
SE11L ø30 quite oval hole 11 64 94

Arranged Surface
4 Specification of sponge pad
vacuum pad sponge
Code Type Specification Material Number of pad rows
− No pad − P5L, P7L, P11L
-20BN Arranged ø20 mm Nitrile rubber
P7L (2618 only)
-20BS vacuum Bellows pad Silicone
-40BN pad Nitrile rubber
ø40 mm
P5L, P7L, P11L
-40BS Bellows pad Silicone
Surface 20mm
-EP20S EPDM SE5L, S7L, SE7L, SE11L
sponge thick sponge

5 Mounting brackets
Code Specification Hole diameter Pad specification
− No hole − All
-0.5 ø0.5
-0.8 ø0.8 Arranged vacuum pad
Coupling type fixing hole *
-1.5 ø1.5
-2.0 ø2.0
-K0.5 ø0.5
-K0.8 ø0.8 All
Fixing hole
-K1.5 ø1.5
-K2.0 ø2.0
* When choosing coupling type fixing holes, please check the precautions on the PISCO website.

6 Vacuum generator 7 Sensor switch

Number of Suction flow Air Nozzle size Code Description
Code consumption Vacuum (kPa)
Nozzle (ℓ/min) (ℓ/min) (mm) Digital pressure sensor NPN SW 2-point display
V4N
161 1 290 110 + analog output
162 2 550 220 -94 ø1.6 Digital pressure sensor PNP SW 2-point display
V4P
163 3 760 330 + analog output
P Without vacuum generator (vacuum pump compatible type)
* Value at rated supply pressure (0.5 MPa).

140
VMG series

Gripper
VACUUM GRIPPER FOR LARGE OBJECTS

Order example / General purpose mounting plate

Automatic Tool Changer

V M G ─ E X P ─ 2 6 1 8 ─ SE 5 L ─ E P 2 0 S ─ K0 . 8
1 2 3 4 5 6

1 General purpose – Vacuum gripper 2 General purpose mounting plate X

3 Mounting plate dimensions

Code 2618 3725 5738

Y
X 260 370 570

180° Rotation Gripper

Dimensions
(mm) Y 180 250 380

4 Number of pad rows 6 Mounting brackets

Hole diameter Pitch Number Mounting plate dimensions Code Specification Hole diameter Pad specification
Code Type Row
(shape) (mm) of pad 2618 3725 5738 − No hole − All
P5L ø40 5 64 18 -0.5 ø0.5
Arranged Arranged
ø20 7 36 44 -0.8 Coupling type ø0.8
P7L vacuum vacuum pad
ø40 7 64 39 -1.5 fixing hole * ø1.5
pad
P11L ø40 11 64 94 -2.0 ø2.0
SE5L ø30 quite oval hole 5 64 18 -K0.5 ø0.5
S7L ø20 round hole 7 36 44 -K0.8 ø0.8 All

Deburring Tool
Surface
Fixing hole
SE7L sponge ø30 quite oval hole 7 64 39 -K1.5 ø1.5
SE11L ø30 quite oval hole 11 64 94 -K2.0 ø2.0
* When choosing coupling type fixing holes, please check the
5 Specification of sponge pad precautions on the PISCO website.

Code Type Specification Material Number of pad rows Vacuum unit

− No pad − P5L, P7L, P11L VMG
-20BN ø20 mm Nitrile rubber motherboard
Arranged P7L (2618 only)
-20BS vacuum Bellows pad Silicone
-40BN pad Nitrile rubber
ø40 mm
P5L, P7L, P11L

Vacuum Gripper
-40BS Bellows pad Silicone
Surface 20mm
-EP20S EPDM SE5L, S7L, SE7L, SE11L
sponge thick sponge
VMG general purpose
mounting plate Surface
Arranged
sponge
vacuum pad

VMG series sponge pad specification replacement

Sensor Switch

Pad (sponge) specifications can be easily changed by replacing the VMG general purpose mounting plate.
* Different mounting plate sizes are not interchangeable.

Example: In the case of mounting plate size 2618

Change pad diameter and number of rwos Number of pad rows (P5L) Replace the pad with a sponge
VMG general purpose VMG general purpose
mounting plate mounting plate

Replaceable Replaceable
Caution

Arranged vacuum pad (P7L) Surface sponge (SE5L)

141
VMG series
VACUUM GRIPPER FOR LARGE OBJECTS

Order example / Vacuum pad only (Surface sponge)

Vacuum
VM G ─ VP ─ 2 6 1 8 ─ SE 5 L ─ S E P 2 0 S unit

VMG
1 2 3 4 5 motherboard

1 General purpose – Vacuum gripper VMG

X
2 General purpose mounting plate general purpose
mounting plate
3 Mounting plate dimensions
Code 2618 3725 5738
Y

Dimensions X 260 370 570

(mm) Y 180 250 380
VMG sponge
4 Number of pad rows mounting plate
Hole diameter Pitch Number Mounting plate dimensions
Code
(shape)
Row
(mm) of pad
Sponge
2618 3725 5738
SE5L ø30 quite oval hole 5 64 18
S7L ø20 round hole 7 36 44 5 Specification of sponge
SE7L ø30 quite oval hole 7 64 39 Code Specification Material
SE11L ø30 quite oval hole 11 64 94 SEP20S 20mm thick sponge EPDM

VMG vacuum pad unit

Pad connection code: A kit with M6 pad threads can be installed. Please refer to the vacuum pad-thread kit set for detailed specifications.

Order example / Coupling type fixing hole Order example / Fixing hole parts
VMG ─ CPPE7 ─ FM6 ─ 0.8 VMG ─ VPEM6 S ─ K0.8
1 2 3 1 2 3 4

1 General purpose – 3 Orifice diameter 1 General purpose – Vacuum gripper

Vacuum gripper Code Orifice diameter 2 Fixing hole parts 4 Orifice diameter
2 Coupling type 0.5 ø0.5 3 Specification Code Orifice diameter
plug suitable 0.8 ø0.8
Code Part Specifications K0.5 ø0.5
1.5 ø1.5
P Arranged vacuum pad K0.8 ø0.8
2.0 ø2.0
S Surface sponge K1.5 ø1.5

Order example / Coupling type fixing hole (sleeve) K2.0 ø2.0

VMG ─ CPSE7 ─ M6
1 General purpose – Vacuum gripper
1 2 2 Suitable for coupling type sleeve

VMG fixed hole parts composition

Arranged vacuum pad Surface sponge
Coupling type VMG general purpose
fixing hole (sleeve)
VMG general mounting plate
Order number
purpose VMG-CPSE7-M6 Fixing hole
mounting plate Order number
Coupling type VMG-VPEM6S-K0.5
Fixing hole fixing hole (plug) VMG-VPEM6S-K0.8
Order number Order number VMG-VPEM6S-K1.5
VMG-VPEM6P-K0.5 VMG-CPPE7-FM6-0.5 VMG-VPEM6S-K2.0
VMG-VPEM6P-K0.8 VMG-CPPE7-FM6-0.8
VMG-VPEM6P-K1.5 VMG-CPPE7-FM6-1.5 VMG Sponge
VMG-VPEM6P-K2.0
Pad VMG-CPPE7-FM6-2.0
mounting plate
Sponge
142
VMG series

Gripper
VACUUM GRIPPER FOR LARGE OBJECTS

Specification
Model VMG
*1. "Fluid medium:
Type Arranged vacuum pads Surface sponge

Automatic Tool Changer

Vacuum" is only
Specifitions 2618-P5L 2618-P7L 3725-P7L 5738-P11L 2618-SE5L 2618-S7L 3725-SE7L 5738-SE11L for vacuum pump
Adsorption area 260×180 370×250 570×380 260×180 370×250 570×380 compatible types.
Number of rows of holes 5 rows 7 rows 7 rows 11 rows 5 rows 7 rows 7 rows 11 rows *2. Theoretical suction
1 force at a vacuum of
Fluid medium Air, Vacuum *
-80 kPa.
Operating pressure range 0.3~0.7 MPa
Vacuum *3. Do not exceed the
Rated supply pressure 0.5 MPa maximum load
generator
Noise 75dB(A) capacity of 980N
of the main body
Vacuum pump Operating vacuum pressure -100~0 kPa
mounting section,
Operating temp. range 5~50°C (No freezing) including the weight
of the gripper body
Theoretical *2,3 Safety factor 1/4 (Horizontal) 453.7N 277.3N 983.1N 2369.5N 296.1N 277.3N 641.6N 1546.4N

180° Rotation Gripper

and inertia forces
suction force Safety factor 1/8 (Vertical) 226.9N 138.6N 491.5N 1184.7N 148.1N 138.6N 320.8N 773.2N during transport.

Adsorption Number of hole Pad VMG general purpose

Shape Order number
area (mm) and pad rows (mm) material mounting plate (with pad)

VMG
VMG2618-P5L-40BN 5 -161- 7
VMG2618-P5L-40BN 5 -162- 7
Nitrile rubber VMG-EXP-2618-P5L-40BN 5
Arranged vacuum pad VMG2618-P5L-40BN 5 -163- 7
VMG2618-P5L-40BN 5 -P- 7
260×180 ø40, 5 rows
VMG2618-P5L-40BS 5 -161- 7
VMG2618-P5L-40BS 5 -162- 7
Silicone VMG-EXP-2618-P5L-40BS 5
VMG2618-P5L-40BS 5 -163- 7
VMG2618-P5L-40BS 5 -P- 7
VMG2618-P7L-20BN 5 -161- 7

Deburring Tool
VMG2618-P7L-20BN 5 -162- 7
Nitrile rubber VMG-EXP-2618-P7L-20BN 5
VMG2618-P7L-20BN 5 -163- 7
VMG2618-P7L-20BN 5 -P- 7
260×180 ø20, 7 rows
VMG2618-P7L-20BS 5 -161- 7
VMG2618-P7L-20BS 5 -162- 7
Silicone VMG-EXP-2618-P7L-20BN 5
VMG2618-P7L-20BS 5 -163- 7
VMG2618-P7L-20BS 5 -P- 7
VMG3725-P7L-40BN 5 -161- 7
VMG3725-P7L-40BN 5 -162- 7
Nitrile rubber VMG-EXP-3725-P7L-40BN 5
VMG3725-P7L-40BN 5 -163- 7
VMG3725-P7L-40BN 5 -P- 7
370×250 ø40, 7 rows
VMG3725-P7L-40BS 5 -161- 7
VMG3725-P7L-40BS 5 -162- 7

Vacuum Gripper
Silicone VMG-EXP-3725-P7L-40BS 5
VMG3725-P7L-40BS 5 -163- 7
VMG3725-P7L-40BS 5 -P- 7
VMG5738-P11L-40BN 5 -161- 7
VMG5738-P11L-40BN 5 -162- 7
Nitrile rubber VMG-EXP-5738-P11L-40BN 5
VMG5738-P11L-40BN 5 -163- 7
VMG5738-P11L-40BN 5 -P- 7
570×380 ø40, 11 rows
VMG5738-P11L-40BS 5 -161- 7
VMG5738-P11L-40BS 5 -162- 7
Silicone VMG-EXP-5738-P11L-40BS 5
VMG5738-P11L-40BS 5 -163- 7
VMG5738-P11L-40BS 5 -P- 7

Adsorption hole diameter, Sponge VMG general purpose mounting Replacement sponge
Sharp Order number
area (mm) sharp, row (mm) material plate (With sponge mounting plate set) (VMG sponge mounting plate set)
Sensor Switch

VMG
VMG2618-SE5L-EP20S 5 -161- 7
ø30 quite oval VMG2618-SE5L-EP20S 5 -162- 7
EPDM VMG-EXP-2618-SE5L-EP20S 5 VMG-VP-2618-SE5L-EP20S
Surface sponge 5 rows VMG2618-SE5L-EP20S 5 -163- 7
VMG2618-SE5L-EP20S 5 -P- 7
260×180
VMG2618-S7L-EP20S 5 -161- 7
ø20 quite round VMG2618-S7L-EP20S 5 -162- 7
EPDM VMG-EXP-2618-S7L-EP20S 5 VMG-VP-2618-S7L-EP20S
7 rows VMG2618-S7L-EP20S 5 -163- 7
VMG2618-S7L-EP20S 5 -P- 7
VMG3725-SE7L-EP20S 5 -161- 7
ø30 quite oval VMG3725-SE7L-EP20S 5 -162- 7
370×250 EPDM VMG-EXP-3725-SE7L-EP20S 5 VMG-VP-3725-SE7L-EP20S
7 rows VMG3725-SE7L-EP20S 5 -163- 7
VMG3725-SE7L-EP20S 5 -P- 7
VMG5738-SE11L-EP20S 5 -161- 7
ø30 quite oval VMG5738-SE11L-EP20S 5 -162- 7
570×380 EPDM VMG-EXP-5738-SE11L-EP20S 5 VMG-VP-5738-SE11L-EP20S
11 rows
Caution

VMG5738-SE11L-EP20S 5 -163- 7
VMG5738-SE11L-EP20S 5 -P- 7

* For VMG series 5 mounting bracket specifications and 7 sensor switch specifications, please refer to page 134 for order number.
* VMG series can choose "no pad". Please refer to page 134 for order number.

143
VLG series
VACUUM GRIPPER FOR LARGE OBJECTS
Vacuum Gripper suitable for conveyance of large work-piece.

Order example / Components

VL G 30S ─ S 2 L ─ EP2 0 S ─ C V ─ 1 6 1 ─ V 4 N
1 2 3 4 5 6 7

1 General purpose – Vacuum gripper

2 Dimensions
Single (W:50mm) 20S 30S 40S 50S 60S
Code
Double (W:100mm) 20D 30D 40D 50D 60D
L(mm) 200 300 400 500 600

3 Number of pad rows

Single type
Number of pad (hole)
Hole diameter Pitch
Code Type Row 200 300 400 500 600
(shape) (mm)
(mm) (mm) (mm) (mm) (mm) Arranged Surface
ø15 2 20 20 30 40 50 60 vacuum pad sponge
P2L Arranged ø20 2 25 16 24 32 40 48
vacuum ø25 2 30 12 19 25 32 39
pad ø30 1 40 5 7 10 12 15
P1L
ø40 1 50 4 6 8 10 12
S2L Surface sponge ø10 roung hole 2 20 20 30 40 50 60

Double type
Number of pad (hole)
Hole diameter Pitch
Code Type Row 200 300 400 500 600
(shape) (mm)
(mm) (mm) (mm) (mm) (mm)
ø15 4 20 40 60 80 100 120
P4L Arranged ø20 4 25 32 48 64 80 96
vacuum ø25 4 30 24 38 50 64 78
pad ø30 2 40 10 14 20 24 30
P2L
ø40 2 50 8 12 16 20 24
S4L Surface sponge ø10 roung hole 4 20 40 60 80 100 120

4 Specification of sponge pad 5 Mounting brackets

Code Type Specification Material Code Specification Pad specification
15 ø15, pitch 20mm − − No hole All
20 No ø20, pitch 25mm − -ECV Fall prevention valves Arranged vacuum pad
pad
25 ø25, pitch 30mm −
*1 -CV Check valve Surface sponge
30 *2 ø30, pitch 40mm −
40 ø40, pitch 50mm −
15BN ø15 mm Nitrile rubber
Bellows pad
6 Vacuum generator
15BS Arranged Silicone
20BN vacuum ø20 mm Nitrile rubber Number of Suction flow Air Vacuum Nozzle Corresponding size
pad Code consumption
20BS Bellows pad Silicone Nozzle (ℓ/min) (ℓ/min) (kPa) size (mm) Single Double
25BN ø25 mm Nitrile rubber 161 1 290 110 20S~40S −
25BS Bellows pad Silicone
162 2 550 220 -94 ø1.6 50S~ 20D~40D
30BN ø30 mm Nitrile rubber
164 4 890 440 − 50D~
30BS Bellows pad Silicone
40BN ø40 mm Nitrile rubber * Value at rated supply pressure (0.5 MPa).
40BS Bellows pad Silicone
EP20S Surface sponge 20mm thick sponge EPDM
*1. If there is no pad, enter the symbol of the pad diameter to specify the pitch. 7 Sensor switch
*2. Mounting thread size without pad.
Code Description
Code Mounting thread size − No sensor switch
15 M4×0.7 (Pad connection mark: Kit with M4 pad thread can be installed) -V4N Digital pressure sensor NPN SW 2-point display + analog output
20,25,30,40 M6×1.0 (Pad connection mark: Kit with M6 pad thread can be installed) -V4P Digital pressure sensor PNP SW 2-point display + analog output
Please refer to the vacuum pad-thread kit set for detailed specifications.

144
VLG series

Gripper
VACUUM GRIPPER FOR LARGE OBJECTS

Order example / Vacuum pad only (Surface sponge)

Automatic Tool Changer

V L G ─ V P ─ 3 0 S ─ S2 L ─ E P 2 0 S
1 2 3 4 5

1 General purpose – Vacuum gripper

2 Sponge
3 Dimensions 4 Specification of sponge
Single (W:50mm) 20S 30S 40S 50S 60S Code Specifications Material
Code

180° Rotation Gripper

Double (W:100mm) 20D 30D 40D 50D 60D EP20S 20mm thick sponge EPDM
L(mm) 200 300 400 500 600 * When double type, use 2 single type sponges per
set.
4 Number of pad rows
Single type
Number of pad (hole)
Hole diameter Pitch
Code Row 200 300 400 500 600
(shape) (mm)
(mm) (mm) (mm) (mm) (mm)
S2L ø10 roung hole 2 20 20 30 40 50 60

Double type
Number of pad (hole)
Hole diameter Pitch
Code Row 200 300 400 500 600

Deburring Tool
(shape) (mm)
(mm) (mm) (mm) (mm) (mm)
S4L ø10 roung hole 4 20 40 60 80 100 120

Order example / Fall prevention valves Robot arm end flange plate
ECV M4 ─ FM4 * Only applicable to
Arranged vacuum pad. VLG ─ RFP ─ S
1 2 3 1 2 3

Vacuum Gripper
1 Fall prevention valves 1 General purpose – Vacuum gripper
2 Vacuum unit side male thread dimensions 2 Robot arm end flange mounting plate
3 Pad side female thread dimensions 3 Dimensions
Code M4-FM4 M6-FM6 Code S D
Vacuum unit side male thread dimensions M4×0.7 M6×1.0 Dimensions (mm) Single type (W: 50mm) Double type (W: 100mm)
Pad side female thread dimensions M4×0.7 M6×1.0 * Robot arm end flange mounting plate does not support the length 500,
Pad diameter (mm) ø15 ø20, 25, 30, 40 600mm type. (Dimensions code: 50S, 50D, 60S, 60D)
Sensor Switch

Specification (Single type, length 200mm)

Model VLG
Type Arranged vacuum pads Surface sponge
Pad hole diameter ø15 ø20 ø25 ø30 ø40 ø10
Number of rows of holes 2 rows 2 rows 2 rows 1 row 1 row 2 row
Fluid medium Air
Operating pressure range 0.3~0.7 MPa
Rated supply pressure 0.5 MPa
Noise 1 or 2 nozzles: 76dB(A), 4 nozzles: 80dB(A)
Operating temp. range 5~50°C (No freezing)
Theoretical Safety factor 1/4 (Horizontal) 70.9N 100.8N 118.1N 70.9N 100.8N 31.5N
Caution

suction force*1,2 Safety factor 1/8 (Vertical) 35.4N 50.4N 59.1N 35.4N 50.4N 15.8N

*1. Theoretical suction force at a vacuum of -80 kPa.

*2. Double type × 2 times. Calculate other length×length ratios (Ex. single type 300mm×1.5 times).

145
VLG series
VACUUM GRIPPER FOR LARGE OBJECTS

Shape
Length
(mm)
Row
Pad diameter
(mm)
Material Order number VLG
Robot Flange

VLG
Nitrile rubber VLG20S-P2L-15BN -161
5 7 Mounting Plate
ø15 For Single Type
Silicone VLG20S-P2L-15BS 5 -161 7
Single Type Nitrile rubber VLG20S-P2L-20BN 5 -161 7
2 rows ø20
(Arranged vacuum pad) Silicone VLG20S-P2L-20BS 5 -161 7
Nitrile rubber VLG20S-P2L-25BN 5 -161 7
200 ø25
Silicone VLG20S-P2L-25BS 5 -161 7
Nitrile rubber VLG20S-P1L-30BN 5 -161 7
ø30
Silicone VLG20S-P1L-30BS 5 -161 7
1 row
Nitrile rubber VLG20S-P1L-40BN 5 -161 7 Order number
ø40
Silicone VLG20S-P1L-40BS 5 -161 7 VLG-RFP-S
Nitrile rubber VLG30S-P2L-15BN 5 -161 7 * Robot arm flange mounting
ø15
Silicone VLG30S-P2L-15BS 5 -161 7 plate does not support
Nitrile rubber VLG30S-P2L-20BN 5 -161 7 lengths of 500, 600 mm
2 rows ø20 (Dimensions code: 50S,
Silicone VLG30S-P2L-20BS 5 -161 7
Nitrile rubber VLG30S-P2L-25BN 5 -161 7 60S).
300 ø25
Silicone VLG30S-P2L-25BS 5 -161 7

1 row
ø30
Nitrile rubber
Silicone
VLG30S-P1L-30BN 5 -161 7
VLG30S-P1L-30BS 5 -161 7
ECV
Fall
Nitrile rubber VLG30S-P1L-40BN 5 -161 7 Prevention
ø40
Silicone VLG30S-P1L-40BS 5 -161 7 Valve M
Nitrile rubber VLG40S-P2L-15BN 5 -161 7
ø15
Silicone VLG40S-P2L-15BS 5 -161 7
Nitrile rubber VLG40S-P2L-20BN 5 -161 7
2 rows ø20
Silicone VLG40S-P2L-20BS 5 -161 7
Nitrile rubber VLG40S-P2L-25BN 5 -161 7
400 ø25
Silicone VLG40S-P2L-25BS 5 -161 7 FM
Nitrile rubber VLG40S-P1L-30BN 5 -161 7
ø30 Order number
Silicone VLG40S-P1L-30BS 5 -161 7
1 row ECVM4-FM4
Nitrile rubber VLG40S-P1L-40BN 5 -161 7
ø40 ECVM6-FM6
Silicone VLG40S-P1L-40BS 5 -161 7
Nitrile rubber VLG50S-P2L-15BN 5 -162 7
ø15
Silicone VLG50S-P2L-15BS 5 -162 7
Nitrile rubber VLG50S-P2L-20BN 5 -162 7
2 rows ø20
Silicone VLG50S-P2L-20BS 5 -162 7
Nitrile rubber VLG50S-P2L-25BN 5 -162 7
500 ø25
Silicone VLG50S-P2L-25BS 5 -162 7
Nitrile rubber VLG50S-P1L-30BN 5 -162 7
ø30
Silicone VLG50S-P1L-30BS 5 -162 7
1 row
Nitrile rubber VLG50S-P1L-40BN 5 -162 7
ø40
Silicone VLG50S-P1L-40BS 5 -162 7
Nitrile rubber VLG60S-P2L-15BN 5 -162 7
ø15
Silicone VLG60S-P2L-15BS 5 -162 7
Nitrile rubber VLG60S-P2L-20BN 5 -162 7
2 rows ø20
Silicone VLG60S-P2L-20BS 5 -162 7
Nitrile rubber VLG60S-P2L-25BN 5 -162 7
600 ø25
Silicone VLG60S-P2L-25BS 5 -162 7
Nitrile rubber VLG60S-P1L-30BN 5 -162 7
ø30
Silicone VLG60S-P1L-30BS 5 -162 7
1 row
Nitrile rubber VLG60S-P1L-40BN 5 -162 7
ø40
Silicone VLG60S-P1L-40BS 5 -162 7

Length Pad diameter

Shape Row Material Order number Replacement Sponge
(mm) (mm)

VLG 200 VLG20S-S2L-EP20S 5 -161 7 VLG-VP-20S-S2L-EP20S

Single Type
300 VLG30S-S2L-EP20S 5 -161 7 VLG-VP-30S-S2L-EP20S
(Surface Sponge)

400 2 rows ø10 EPDM VLG40S-S2L-EP20S 5 -161 7 VLG-VP-40S-S2L-EP20S

500 VLG50S-S2L-EP20S 5 -162 7 VLG-VP-50S-S2L-EP20S

600 VLG60S-S2L-EP20S 5 -162 7 VLG-VP-60S-S2L-EP20S

* For VLG series 5 mounting bracket and sensor 7 switch specifications, please refer to page 138 for order number.
* VLG series can choose "no pad". Please refer to page 138 for order number.

146
VLG series

Gripper
VACUUM GRIPPER FOR LARGE OBJECTS

Shape
Length
(mm)
Row
Pad diameter
(mm)
Material Order number VLG

Automatic Tool Changer

Robot Flange

VLG
Nitrile rubber VLG20D-P4L-15BN -162
5 7 Mounting Plate
ø15 For Double Type
Silicone VLG20D-P4L-15BS 5 -162 7
Double Type Nitrile rubber VLG20D-P4L-20BN 5 -162 7
4 rows ø20
(Arranged vacuum pad) Silicone VLG20D-P4L-20BS 5 -162 7
Nitrile rubber VLG20D-P4L-25BN 5 -162 7
200 ø25
Silicone VLG20D-P4L-25BS 5 -162 7
Nitrile rubber VLG20D-P2L-30BN 5 -162 7
ø30
Silicone VLG20D-P2L-30BS 5 -162 7
2 rows
Nitrile rubber VLG20D-P2L-40BN 5 -162 7
ø40
Silicone VLG20D-P2L-40BS 5 -162 7 Order number
Nitrile rubber VLG30D-P4L-15BN 5 -162 7 VLG-RFP-D
ø15
Silicone VLG30D-P4L-15BS 5 -162 7 * Robot arm flange mounting
Nitrile rubber VLG30D-P4L-20BN 5 -162 7 plate does not support
4 rows ø20

180° Rotation Gripper

Silicone VLG30D-P4L-20BS 5 -162 7 lengths of 500, 600 mm
Nitrile rubber VLG30D-P4L-25BN 5 -162 7 (Dimensions code: 50D,
300 ø25 60D).
Silicone VLG30D-P4L-25BS 5 -162 7
Nitrile rubber VLG30D-P2L-30BN 5 -162 7
ø30
Silicone VLG30D-P2L-30BS 5 -162 7
2 rows
Nitrile rubber VLG30D-P2L-40BN 5 -162 7
ø40
Silicone VLG30D-P2L-40BS 5 -162 7
Nitrile rubber VLG40D-P4L-15BN 5 -162 7
ø15
Silicone VLG40D-P4L-15BS 5 -162 7
Nitrile rubber VLG40D-P4L-20BN 5 -162 7
4 rows ø20
Silicone VLG40D-P4L-20BS 5 -162 7
Nitrile rubber VLG40D-P4L-25BN 5 -162 7
400 ø25
Silicone VLG40D-P4L-25BS 5 -162 7
Nitrile rubber VLG40D-P2L-30BN 5 -162 7
ø30
Silicone VLG40D-P2L-30BS 5 -162 7

Deburring Tool
2 rows
Nitrile rubber VLG40D-P2L-40BN 5 -162 7
ø40
Silicone VLG40D-P2L-40BS 5 -162 7
Nitrile rubber VLG50D-P4L-15BN 5 -164 7
ø15
Silicone VLG50D-P4L-15BS 5 -164 7
Nitrile rubber VLG50D-P4L-20BN 5 -164 7
4 rows ø20
Silicone VLG50D-P4L-20BS 5 -164 7
Nitrile rubber VLG50D-P4L-25BN 5 -164 7
500 ø25
Silicone VLG50D-P4L-25BS 5 -164 7
Nitrile rubber VLG50D-P2L-30BN 5 -164 7
ø30
Silicone VLG50D-P2L-30BS 5 -164 7
2 rows
Nitrile rubber VLG50D-P2L-40BN 5 -164 7
ø40
Silicone VLG50D-P2L-40BS 5 -164 7
Nitrile rubber VLG60D-P4L-15BN 5 -164 7

Vacuum Gripper
ø15
Silicone VLG60D-P4L-15BS 5 -164 7
Nitrile rubber VLG60D-P4L-20BN 5 -164 7
4 rows ø20
Silicone VLG60D-P4L-20BS 5 -164 7
Nitrile rubber VLG60D-P4L-25BN 5 -164 7
600 ø25
Silicone VLG60D-P4L-25BS 5 -164 7
Nitrile rubber VLG60D-P2L-30BN 5 -164 7
ø30
Silicone VLG60D-P2L-30BS 5 -164 7
2 rows
Nitrile rubber VLG60D-P2L-40BN 5 -164 7
ø40
Silicone VLG60D-P2L-40BS 5 -164 7

Length Pad diameter

Shape Row Material Order number Replacement Sponge
(mm) (mm)

VLG 200 VLG20D-S4L-EP20S 5 -162 7 VLG-VP-20D-S4L-EP20S

Sensor Switch

Double Type
300 VLG30D-S4L-EP20S 5 -162 7 VLG-VP-30D-S4L-EP20S
(Surface Sponge)

400 4 rows ø10 EPDM VLG40D-S4L-EP20S 5 -162 7 VLG-VP-40D-S4L-EP20S

500 VLG50D-S4L-EP20S 5 -164 7 VLG-VP-50D-S4L-EP20S

600 VLG60D-S4L-EP20S 5 -164 7 VLG-VP-60D-S4L-EP20S

* For VLG series 5 mounting bracket and sensor 7 switch specifications, please refer to page 138 for order number.
* VLG series can choose "no pad". Please refer to page 138 for order number.
Caution

147
 RDE series
SENSOR SWITCH

Order example Assembling style

□
* Special order is available.

RCE ─ Gripper type Mounting clamp

MODEL WIRE LENGTH MCHA, MCHB,

RCE: Reed Switch 1M: L=1000mm MCHC
RDE: Non-contact 2M: L=2000mm
RDE-D: Non-contact, two indicators QD: M8, 3 Pin connector
RNE: NPN EQD: M8, 3 Pin connector
RNEE: NPN
RPE: PNP Wiring of the QD
RPEE: PNP
● 2 wire QD wiring ● 2 wire EQD wiring ● 3 wire QD wiring
Dimension LED Standard lead wire 1 1 1
Brown(+) Brown(+) Brown(+)

4 4
Blue(-) Black(Out)
L 2000±20
3 Blue(-) 3 Blue(-)
QD connector
Code
Model
H L P W
H

RCE 5 26 12.5 4
W P 150±10
RDE, RDE-D 5 24 6 4
Sensing point RNE, RPE 4.65 22 6 4.1
Specification RNEE, RPEE 5 22 6 4

Model RCE RDE RDE-D RNE RNEE RPE RPEE

Wiring method 2 wire 3 wire
Switching logic SPST N.O. Solid state output, normally open
Switch Type Reed switch Non-contact NPN current sinking PNP current sourcing
Operating voltage 5~220V DC/AC 10~28V DC 5~30V DC
Switching current 50mA max. 50mA max. 80mA max. 50mA max. 200mA max. 50mA max. 200mA max.
Switching rating(*1) 10W max. 1.5W max. 2W max. 1.5W max. 6W max. 1.5W max. 6W max.
Current consumption — 10 mA@24V DC max. 6 mA@24V DC max. 12 mA@24V DC max. 6 mA@24V DC max.
Voltage drop 3.5V max. 4V max. 0.5V max. 0.5V @200mA max. 1.5V max. 0.5V @200mA max.
Leakage current — 0.1mA max. 1mA max. 0.01mA max.
Indicator (LED) Red Red/Green Red Green
Cable ø2.8,2C,PUR ø2.8,2C,PUR ø3, 3C, PU
Temperature range -10~+70°C (No freezing)
Shock (*2) 30G 50G
Vibration (*3) 9G
Enclosure classification IEC 60529 IP67
Protection circuit (*4) 1 3,4 2,3,4 3,4
Weight 20 g (2m cable)
BRN BRN
Load + BRN + BRN + BRN BRN BRN
Load + + +
~ Rl +
Main circuit
Main circuit

Main circuit

Main circuit
Main circuit

Main circuit

BLK RL BLK Load BLK BLK

Connect diagram Power Power Power Power Power Power Power
BLU BLU − BLU − BLU BLU Load BLU Load
− − − −
~ BLU
−

*1. Warning: Never exceed rating (watt=voltage×amperage). Permanent damage to sensor will occur.
*2. Sin wave / X.Y.Z. 3 directions / 3 times each direction / 11ms each time.
*3. Double amplitude 1.5mm / 10Hz~55Hz~10Hz(Sweep 1min) / X.Y.Z. 3 directions / 1 hour each time.
*4. 1=None / 2=Short-circuit / 3=Power source reverse polarity / 4=Surge suppression
*5. Caution for safety please refer to page 158.

148
 RDFE series

Gripper
SENSOR SWITCH

Automatic Tool Changer

Order example Assembling style
□
* Special order is available.

RDFE V ─ Gripper type Mounting clamp

180° Rotation Gripper

MCHC-6, MCHD, MCHH,
MODEL AUTO SWITCH TYPE WIRE LENGTH MCHU, MCHS, MCHX,
MCHG2, MCHJ, MCHY,
RDFE: Non-contact Blank: Straight cable 1M: L=1000mm
RNFE: NPN V: Angle cable 2M: L=2000mm
MCRT
RPFE: PNP QD: M8, 3 Pin connector
EQD: M8, 3 Pin connector

Dimension
Straight cable Angle cable

Wiring of the QD
4.6
LED indicator QD connector

Deburring Tool
● 2 wire QD wiring ● 2 wire EQD wiring ● 3 wire QD wiring 3.9
2.8
4

2.8

1 1 1 14.2
Brown(+) Brown(+) Brown(+) 10 165 ±10

4
Blue(-)
4
Black(Out) Standard lead wire
2000±20
3 Blue(-) 3 Blue(-)
9.4
7

6 Sensing point
Sensing point
Specification
Model RDFE / RDFEV RNFE RNFEV RPFE RPFEV

Vacuum Gripper
Wiring method 2 wire 3 wire
Switching logic Solid state output, Normally open
Switch Type Non-contact NPN current sinking PNP current sourcing
Operating voltage 5~30V DC 5~30V DC 5~30V DC
Switching current 50mA max. 50mA max. 80mA max. 50mA max. 80mA max.
Contact rating(*1) 1.5W max. 1.5W max. 2.2W max. 1.5W max. 2.2W max.
Current consumption — 10mA @24V DC max. 6mA @24V DC max. 10mA @24V DC max. 6mA @24V DC max.
Voltage drop 3.5V max. 0.5V @ 50mA max.
Leakage current 0.1mA(40uA) max. 0.01mA max.
Indicator Red LED
ø2.6, 2C, PVC ø2.6, 3C, PVC
Sensor Switch

Cable
Operating Frequency 1000 Hz
Temperature range –10~+70°C (No freezing)
Shock (*2) 50G
Vibration (*3) 9G
Enclosure classification IEC 60529 IP67
Protection circuit (*4) 3, 4
Weight 12.8 g (1m cable) / 23.8 g (2m cable)
BRN
Load + BRN BRN
+ +
Main circuit

Main circuit
Main circuit

BLK Load BLK

Connect diagram Power Power Power
BLU BLU Load
BLU − −
−
Caution

*1. Warning: Never exceed rating (watt=voltage×amperage). Permanent damage to sensor will occur.
*2. Sin wave / X.Y.Z. 3 directions / 3 times each direction / 11ms each time.
*3. Double amplitude 1.5mm / 10Hz~55Hz~10Hz(Sweep 1min) / X.Y.Z. 3 directions / 1 hour each time.
*4. 1=None / 2=Short-circuit / 3=Power source reverse polarity / 4=Surge suppression
*5. Caution for safety please refer to page 158.

149
RDGV series
SENSOR SWITCH

Order example Specification

RDGV ─ □ Model
Wiring method
RDGV
2 wire
RNGV
3 wire
RPGV

Switching logic Solid state output, Normally open

Switch type Non-contact NPN current sinking PNP current sourcing
AUTO SWITCH TYPE WIRE LENGTH
V: Angle cable Operating voltage 10~28V DC 5~28V DC
1M: L=1000mm
SWITCH TYPE Switching current 4~20mA max. 50mA max.
2M: L=2000mm
D: Non-contact QD: M8, 3 Pin connector Contact rating (*1) 0.6W max. 1.5W max.
N: NPN EQD: M8, 3 Pin conncetor
P: PNP Current consumption — 10mA @24V DC max.
* Special order is available.
Voltage drop 3.5V max. 0.5V @ 50mA max.
Leakage current 0.8mA max. 0.01mA max.
Dimension Indicator Red LED

RDGV / RNGV / RPGV Cable ø2.6, 2C, PVC ø2.6, 3C, PVC
Operating Frequency 1000 Hz
Temperature range -10°C~+70°C (No freezing)
4

Shock (*2) 50G

2.85

Sensing point 16.6 2000±20 Vibration (*3) 9G

Enclosure classification IEC 60529 IP67
Protection circuit (*4) 4 3, 4
10

7±0.3
Weight 23 g (2m cable)
4.1 4.5 25±2
Load BRN(+) BRN(+)
BRN(+)
Load
circuit
circuit
circuit

BLK BLK
Main
Main
Main

Connect diagram POWER POWER POWER

RDGV-QD / RNGV-QD / RPGV-QD

Load
BLU(−) BLU(−)
BLU(−)

Sensing point 16.6 165±10 * 1. Warning: Never exceed rating (watt=voltage×amperage). Permanent damage to
sensor will occur.
* 2. Sin wave / X.Y.Z. 3 Directions / 3 Times each direction / 11ms each time.
* 3. Double amplitude 1.5mm / 10Hz~55Hz~10Hz(Sweep 1min) /X.Y.Z. 3 Directions / 1
10

Hour each time.

8

* 4. 1=None / 2=Short-circuit / 3=Power source reverse polarity / 4=Surge suppression.

4.1 4.5 * 5. Caution for safety please refer to page 158.

Assembling style
Wiring of the QD
Gripper type Mounting clamp
● 2 wire ● 2 wire ● 3 wire
QD wiring EQD wiring QD wiring
1 Brown(+) 1 1
Brown(+) Brown(+)
4
Blue(-)
4
Black(Out) MCHJ-50
3 3
Blue(-) Blue(-)

150
 RLG series

Gripper
MAGNETIC POSITION SENSOR

Specification

Automatic Tool Changer

Model RLG-3N RLG-3P
Measuring range (*1) 50 mm
Solid state output, normally open /
Switching logic
normally close switchable
Switch type 3 NPN current sinking 3 PNP current sourcing
Operating voltage 5 ~ 30 V DC
Switching current (*2) 150 mA max.
Power supply voltage (*2) 30 V DC
Contact rating (*2) 4.5 W max.
Order example Wiring of the QD
□
Current consumption 20 mA @ 24 V DC max.

180° Rotation Gripper

RLG ─ 3N ─
Voltage drop (*2) 1.5 V max. ( with resistive load )
● 5 wire QD wiring
Leakage current 0.01 mA max.
White 2 1 Brown (+) Repeatability ≤ 0.01 mm
(OUT2)
3N: 3 NPN 5 Orange (OUT3)
Indicator Yellow LED, Green LED, Red LED
MODEL 3P: 3 PNP WIRE Cable ø4 PVC - 26 AWG ( 0.15mm² ) - 5 cores
Blue (-) 3 4 Black (OUT1)
LENGTH Operating frequency 50 Hz
2M: L=2000mm Magnet requirement (*3) 40 ~ 1000 Gauss
QD: M12, 5 Pin connector
Temperature range -10 ~ 70 °C
* Special order is available.
Shock (*4) 50 G
Vibration (*5) 9G
Dimension Enclosure classification IEC 60529 IP69
Standard lead wire 2, 3, 4

Deburring Tool
Protection circuit (*6)
Sensing point
Weight 54 g
2.8

BRN DC(+) BRN DC(+)

1 2 3
4

BLK (OUT1)
Main circuit

Main circuit
BLK (OUT1)
4.6 7 Connect diagram WHT (OUT2)
36 ORG (OUT3) WHT (OUT2)

14.2 300 46 2000 BLU DC(-)

ORG (OUT3)
BLU DC(-)
ø2.9 ø4
QD connector *1. The difference of magnetism, environment, and interference of magnetic
Red indicator 3 : OUT3 field can cause the deviation of measurement.
Green indicator 2 : OUT2
*2. The standard is for each output.
*3. Measuring standard target: ø15.5 × ø8 × 5t ( Anisotropy rubber magnet )
1 2 3
13

*4. Sin wave / X , Y , Z 3 directions / 3 times each direction / 11 ms each time.

Yellow indicator 1 : OUT1 *5. Double amplitude 1.5 mm / 10 Hz ~ 55 Hz ~ 10 Hz ( Sweep 1 min ) / X , Y ,

Vacuum Gripper
7
Setting button 300 Z 3 directions / 1 hour each time.
*6. 1=None / 2=Short-circuit / 3=Power source reverse polarity / 4=Surge
suppression.

Setting example Assembling style

State 1 Setting procedure example Cylinder type Mounting clamp
Gripper open for state 3
1. Press button once, then long
MCHC-6, MCHD*,
press until three indicators flash.
MCHH, MCHU, MCHS,
2. Keep press button till indicator MCHX, MCHG2, MCHJ,
Sensor Switch

3 flashes, then adjust gripper to

MCHY, MCRT
gripping position.
3. Long press button to finish.
RLG * Check manual for more details. * To ensure good repeatability MCHD require special specification orders, must
25 25
use single magnet specification,refer to order example of special cylinder when
Sensing range
ordering.
State 2 State 3
Gripper close Gripping
Order example of special cylinder
Standard model no. ─ XZ1
Caution

Suitable for RLG series

* Special cylinder, please contact us

151
RLZ series
LINEAR POSITION SENSOR

Features
● Repeatability ± 0.01 mm
● Analog output invertible (0~10V 10~0V)(4~20mA 20~4mA)
● Sampling time ≤ 0.3 ms
● Voltage / current output switchable
● Freely set measuring range

Specification
Model RLZ
Measuring range 40±1 mm

Order example Power supply voltage 15 ~ 30 V DC, Ripple ( P-P ) ≤ 10 %

Current consumption *8 ≤ 15 mA ( with no load )

RLZ – C040 – QD Displacement resolution *1 0.001 mm

Linearity error *1 ± 0.2 mm @ 25 °C
Repeatability *1,2 ± 0.01 mm @ 25 °C
GROOVE MEASURING WIRE Sampling time ≤ 0.3 ms
MODEL
TYPE RANGE LENGTH Voltage Output : 0 ~ 10 V
C: C type 040: 40mm 2M: L=2000mm Analog voltage Max. Load Resistance, Current Output : 2 KΩ
T: T type QD: M8, 3Pin male output *3 Linearity : ± 0.05 % F.S. @ 25 °C
connector Sensitivity : 0.25 mV/μm
Current Output : 4 ~ 20 mA
Analog current Min. Load Resistance, Voltage Input : 500 Ω
output *4 Linearity : ± 0.05 % F.S. @ 25 °C
Sensitivity : 0.4 μA/μm
Applicable Magnetic field strength*1,5 20 ~ 200 Gauss
For the measurement Enclosure IP69 IEC 60529
of dimensions. Ambient temp. Operation : 0 ~ 50 °C, Storage : -10 ~ 60 °C
Range ( No condensation or freezing )
Environment

Ambient humidity range Operation / Storage : 35 ~ 85 % RH ( No condensation)

Withstand voltage 1000 V AC in 1-min ( between case and lead wire )
Insulation resistance ≥ 50 MΩ ( at 500 V DC, between case and lead wire )
Shock *6 30 G
Vibration *7 10 G
Indicator Red, Green, Blue, White
Lead wire ø2.9 PUR - 26 AWG ( 0.15mm2 ) - 3 cores
Used to check Protection circuit Power source reverse polarity, Surge suppression
machined holes.
Weight (with 2M lead wire) Approx. 33 g (C type), Approx. 37 g (T type)
(Brown)
+
Main circuit

Connect diagram Analog output DC

(White) 15~30V

–
(Blue)

*1. Measuring standard target : Ø15.5 × Ø8 × 5t ( Anisotropy rubber magnet )

For long/short *2. Repeatability with magnet movement from one direction.
side detection. *3. If analog voltage output is selected, the analog current output cannot be
selected at the same time.
*4. If analog current output is selected, the analog voltage output cannot be
selected at the same time.
*5. The analog measured value can deviate according to different conditions.
*6. Sin wave / X , Y , Z 3 directions / 3 times each direction / 11 ms each time.
*7. Double amplitude 1.5 mm or 10 G / 10 Hz ~ 55 Hz ~ 10 Hz ( Sweep 1 min ) /
X, Y, Z 3 directions / 2 hours each time.
*8. It bases on conditions of voltage 24V DC, ambient temp. 25°C and cable 2M
length. Voltage drop increases in pace with cable length.
*9. Caution for safety please refer to page 158.

152
 RLZ Applicable cylinder

Gripper
LINEAR POSITION SENSOR

Caution
* The repeatibility of sensor will be affected by the operational condition and environment.
* Avoid piston and magnet of cylinder spin to cause inaccuracy.

Automatic Tool Changer

Standard cylinder
* To ensure good repeatability, models marked with require special specification orders. Special cylinder

Tube I.D.
Model Spec.
6 8 10 12 16 20 25 32 40 50 63 80 100 125 160 200 300
Short
MCHD
(C type) Medium *2
*1
Long
Gripper

MCHU (C type)
MCHS (C type)

180° Rotation Gripper

MCHX (C type)
MCHY (C type)

*1. MCHD must use single magnet specification.

*2. Please install the sensor in the middle of MCHD-8 medium stroke (as shown in Figure 2).
*3. The built-in magnets must be glued except *2.
*4. RLZ is also applicable to the models marked with in standard specification if good repeatability is not required. (except MCHD series)
*5. Please contact us if required models not found in the table.

Order example of special gripper Installation

Deburring Tool
Move the sensor to
Standard model no. ─ XZ1 the required position,
then tighten the screw
by hexagon wrench
2.0 mm with tightening
torque 0.2 ~ 0.4 Nm
Suitable for RLZ series
(as shown in Figure 1). Figure 1
* Special gripper, please contact us

Precautions (Read before installing)

Vacuum Gripper
● Be sure to tighten within the recommended tightening torque when mounting
the actuator position sensor.
● According to the installation condition, the cylinder may not operate even
1
when mounted appropriately. If the sensor doesn't work, try following
solutions:1. Restart the power. 2. Operate the cylinder for several times.
● Turn off power before connecting wiring. Wrong wiring or short circuit will
damage and / or cause malfunction. MCHD-8
Figure 2
medium storke Sensor Switch
Caution

153
RLZ Dimensions
LINEAR POSITION SENSOR

Wiring of the QD Analog output function Information indicator

● 3 wire QD wiring
● Analog voltage / current output can be switched. LED color description
● Analog output can be inverted.
Please ensure that the required measurement
4
range of the cylinder is within the measurement
range of RLZ.
20mA/10V
Default setting Resetting
R G R R N G N R
1 3
0 40mm 0 Point 1 Point 2 40mm
4mA/0V Setting range
1 Brown(+)
3 Blue(-) Point 1 Point 2
4 White (analog output) Description
4~20 mA / 0~10V
G (Green) Within the setting range
20~4 mA / 10~0V
Within the measuring range,
N (Non)
but outside the setting range.
R (Red) Outside the measuring range

Dimensions
RLZ-C
C type
Mode Information Setting button
indicator indicator
3±0.1

Standard lead wire 2.6±0.1

ø4.1±0.1
50
9.5 36 300
19.5

QD connector
6

2.8

RLZ-T
T type
Mode Information Setting button
indicator indicator
3.4±0.3

5.4±0.3
Standard lead wire

55.2

9.5 36 300
19.5

QD connector
6

4.8

154
RJY series

Gripper
PROXIMITY SENSOR

Specification

Automatic Tool Changer

Model RJY
Body thread M5 M8
Operating voltage 10~30V DC
Power ripple 20% peak to peak
Current consumption (mA) 10 max.
1.8~2.0 (steel)
Detection distance (mm) 1.0±0.2 (steel)
0.4~0.6 (aluminum)
Hysteresis 10﹪ of sensing distance max.
Response frequency (KHz) 2.5 min.

180° Rotation Gripper

Output type NPN, PNP
Order example Output logic N.O.

RJY ─ N ─ M8 ─ 3M
Output current (mA) 100 max. 150 max.
Residual voltage (V) 0.1 max.
Leakage current (mA) 0.8 max.
SWITCH Body thread Wire length Protection type Short circuit & polarity reversed protection
MODEL
TYPE M5 2M: 2000mm
Indicator (LED) Green White
N: NPN
M8 3M: 3000mm
P: PNP 3c/ø3
Cable
Gray cover, oil and shaking resistance

Deburring Tool
Maximum voltage resistance 2.5kv / 1 minute min.
Operating environment -20°C ~ +80°C, 35% ~ 85% RH
Dimension Protection class IP 67
øF B * Caution for safety please refer to page 158.
A C D E

Assembling style
Model Gripper type Mounting clamp

Vacuum Gripper
M

Code
Model
A B C D E F M RJY-*-M5 MCTC
RJY-*-M5 7 – 20 – – 8 M5×0.5
RJY-*-M8 12 39 21.5 8.5 9 15.5 M8×1.0

Connect diagram
MCHJ
Sensor Switch

Brown +10~30V DC RJY-*-M8

NPN MCHS
4.7K Load
Black

Output

Blue

PNP Brown +10~30V DC

Black Output
Caution

4.7K Load
Blue

155
Caution for safety
PLEASE READ BEFORE USING

B efore selecting model and servicing of the

product, read throughly this CAUTIONS for
SAFETY for the proper usage.
DANGER
Obviously dangerous, which may cause death or
serious injury of personnel, and damage or destruction
of property.

● The following cautions are for the purpose of Not immediately subject to danger, however not
WARNING
preventing your personnel from suffering injury, by avoiding the displayed danger when mishandling the
following the proper usage of the products. product may cause death or serious injury of personnel
and damage or destruction of property.
● Items are classified in three categories, DANGER,
Not immediately subject to danger, however not
WARNING, and CAUTION. All items are crucial CAUTION
avoiding the displayed danger when mishandling the
for the safety and need to be followed without product may cause injury of personnel and damage or
destruction of property.
exception.
For the correct handling, please read the instruction manual before
installing and servicing of the product.

DANGER
(Applies to all products on the catalogue) (Pneumatic Actuator)

1 Do not use any of our products for the purpose of maintenance 1 When starting operation, pay the full attention to the cylinder's
and care of human life or body. moving direction.
2 Do not use any product in the condition or the environment 2 Do not put hands where the cylinder moves.
other than stipulated in the specification or where the
3 Please use a speed control valve to adjust the piston speed
hazardous stuff exists.
within the limited value in our catalogue.
3 When installing a product, refer to the instruction manual for
4 The value of dividing operation time into cylinder stroke is the
mounting style and fix securely (including the work carrier).
average speed rather than max speed.
Otherwise products may topple, fall, and operates out of
control causing the injury of personnel. The max. speed of cushion pad type cylinders occur at the end
of the stroke.
4 Disassembling and reassembling of products should be made
by the personnel who has enough knowledge and experience. The max. speed of air cushion type cylinders occur at the start
poiont of cusioning structure.
5 Depressurize products before disassembling or reassembling.
5 The max. speed of cylinders usually uses the value of average
6 Do not remodel the products.
speed times 1.4~1.5.
6 When the load on cylinder is large, we suggest to use ourter
WARNING shock absorber - even the max speed is within the limited
value.
(Applies to all products on the catalogue)
7 Cords such as the sensor switch's lead wire should not be
1 When servicing, keep within the working pressure range and damaged. Damaging, forcing, twisting tugging, winding, putting
voltage. on a heavy object, and pinching will cause fire, electric shock
2 At a place where water or oil drops and where is much dust, abnormal operation by short circuit or circuit error.
cover the equipment. Otherwise damage and trouble will be
caused.
(Pneumatic Valve. Pneumatic Accessories. Sensor Switch)
3 Do not operate if the fluid or atmosphere contains the
substance which may cause corrosion. Otherwise damage and 1 Cords such as the pressure switch's lead wire, solenoid valve's
trouble will be caused. power supply cord should not be damaged. Damaging, forcing,
twisting, tugging, winding, putting heavy object on, and pinching
4 Do not touch the terminal part or switches, etc. when the will cause fire, electric shock, abnormal operation by short
product is energized. It may cause the inaccurate operation circuit or circuit error.
and the electric shock from the short circuit and the circuit
trouble. 2 Do not use filter or lubricator without a case guard.

5 Do not stand on, use as a footing, or put things on the product. 3 For filter and lubricator, do not use a flawed or stained case.
You may miss your step and fall, and the falling product
may cause the injury of personnel. Also the product may get
damaged causing the inaccurate operation and hazardous
moves out of control.

156
Caution for safety

Gripper
PLEASE READ BEFORE USING

CAUTION

Automatic Tool Changer

(Applies to all products on the catalogue) 9 It is difficult for a valve to control more than two cylinders
to act at the same time, because the friction coefficient of
1 If necessary, use protection glove, protection glasses, and
each pneumatic cylinder is different. Even if the pipes, joints,
safety shoes to secure the safety when operating products.
solenoid valves, and speed control valves have the same
2 For the easy maintenance, enough space around the product conditions , they can only approach the same movement, but
should be provided. cannot achieve absolute synchronization. So please avoid this
way of use as much as possible to avoid increasing the burden
3 When mounting, flush inside throughly to remove chips from
on the cylinder and shortening the life of the cylinder.
piping, and seal tape, rust and dusts, in order to prevent
troubles such as air leak. (Pneumatic Valve. Pneumatic Accessories. Sensor Switch)

180° Rotation Gripper

4 When screwing in the fittings, fasten with the tie torque of 1 Flaw or dent on the mounting part of the cylinder may make the
proper size to the connection size. uneven face.

5 Use clean air. Equip an air filter near the equipment to remove 2 Do not use solenoid valve, pressure switch, flow switch, on foot
drain, dusts and etc. Periodically remove drain from the filter. switch in the environment where the large electric current or
the strong magnetism exist.
6 Spindle oil and machine oil must not be used for lubrication, or
the swelled packings will cause operation troubles. 3 Products do not need lubrication. As for directional valve, check
in the instruction manual whether the lubrication is needed. If
7 Operation below the temperature 5°C must be paid the full
needed, use turbine oil first class ISO VG32 on the equivalent.
attention since it may cause the freezing of drain.
4 In the case of double solenoid valve, do not energize both
8 Magnetic products such as disk card, tape, and tester must be
solenoids.
kept away from the magnet-equipped cylinder and solenoid

Deburring Tool
valve's solenoid part. 5 Avoid the load over the switch's allowable maximum load.

9 When the product is no longer available for operation or 6 The setting range of the secondary pressure of the pressure
needed, discard in a proper way as an industrial waste. regulation valve use as 85% of primary pressure or below to
achieve better pressure setting and regulation.
10 Do not throw the product into fire. The product may explode or
the toxic gas may be generated. 7 The swing button of the pressure regulator must be pulled
before truning, increase pressure while turning in clockwise
direction and vice versa to decrease. Press in and secure the
(Pneumatic Actuator) swing button after operation. After turning to max value (either
positive or reverse )(with no pressure variation anymore), don't

Vacuum Gripper
1 Products should be mounted on the plane face. Mounting on turn by force or use tool to avoid damage.
the warped face causes poor accuracy, air leak and troubles.
2 Flaw or dent on the mounting part of the cylinder may make
(Sensor Switch)
the uneven face.
3 The chafing parts of piston rod and guide rod must be free
1 Do not drop, hit or allow excessive shock. Even if switch body
from flaw or dent. Otherwise packings got damaged and air will appears undamaged, internal components may be broken and
leak. can cause malfunction.

4 When the cylinder draws, be careful not to put yourself

2 This product is not explosion-proof rated. Do not use in
between the cylinder and the link bar at the top (Twin guide atmosphere containing flammable or explosive gases.
Sensor Switch

cylinder). 3 Wiring for pressure sensor should avoid power source line and
5 Products do not need lubrication since they are initially high voltage line. If use in the same circuit, noise may cause
lubricated. For lubrication, use turbine oil first class (ISO VG32) malfunction.
or the equivalent. 4 Sensors at end-of-life must be disposed of in accordance with
6 Sensor switch which senses the cylinder position must not be E-Waste regulations of the country/region, NOT disposed of
operated in the magnetically disturbed area. It will react to the with regular garbage.
magnetism and the sensing accuracy will be disturbed.
7 If the two switch-equipped cylinders are mounted close in
parallel, a switch may react to the another cylinder's moving
magnet, and effects on the sensing accuracy.
Caution

8 Avoid the load over the switch 's allowable maximum load.

157
Caution for safety
SENSOR SWITCH

Technical information

CAUTION
Do not exceed specification, permanent damage to the sensor may occur.

1. The 2-wire type magnetic sensor must be connected in series 4. An external protection circuit may be required if the magnetic
with load. Or the sensor may malfunction. sensor is used with inductive load, such as relay or solenoid.
For DC inductive load, attach an external diode parallel to the
2. For reed switch type sensors, polarity must also be observed load and use R-C circuit parallel with AC inductive load as
for the proper function of LED. Connect the brown wire in illustrated below.
series with load to positive (+) and the blue wire to negative
(-) of DC power soure. If the polarity is reversed, reed sensor DIODE
remain functional but LED will remain in "OFF" state. BRN
LOAD

Sensor
+
BLU
–
BRN
LOAD
+
BLU
– R C
BRN
Sensor

+ C = I2/10 [µF]
BLU – R = E/10 I(1+50/E) [Ω]
I
3. For solid-state type sensors, connect brown wire to the positive C: Capacitor I: Load current
(+) and the blue to the negative (-) of DC power source. For R: Resistance E: AC power
3-wire type, the black wire must be connected to the load only.
If the black wire is accidentally connected to the power source, 5. Keep sensors away form strong magnetic field to prevent
sensor may malfunction. malfunction.
6. Reed sensors are without protection circuit.
When a reed sensor is used with a capacitive load or with
2-wire type more than 5 meters lead wire, the life of the contact will be
shortened. (especially when the switch is always ON)
BRN
LOAD Note
Please install a surge suppressor within 1 meter or an inductor
Main circuit

+ (560~1000µH) in series of the sensor to prevent damage.

–
BLU

5M or more

3-wire type 560~1000 µH

Load
BRN As close as possible +
Main circuit

–
BK LOAD +
(NPN Output) –
BLU

BRN
Main circuit

BK +
(PNP Output) –
BLU LOAD

158
Caution for safety

Gripper
SENSOR SWITCH

Connection method

Automatic Tool Changer

2 wire sensor connection
General connection
Reed switch Solid-state type PLC
PLC PLC
BROWN BROWN BROWN
LOAD LOAD + +
+ +
Sensor

BROWN BLUE

circuit

Sensor

Sensor
Main
Xn Xn
– – BLUE
S/S S/S
BLUE BLUE
– –

Connection to NPN Connection to PNP

Series connection (AND)

180° Rotation Gripper

input module input module
BROWN Note
LOAD
Sensor BLUE 1. When connecting 2-wire sensors in series (AND), don't exceed
BROWN
+ more than two sensors due to the internal voltage drop (Typical V
– drop=2.5~4V per switch). Excessive Voltage drop will cause the load
Sensor BLUE fail to operate.

Parallel connection (OR)

Note
BROWN
LOAD 1. When connecting solid state 2-wire sensors in parallel (OR), current
Sensor BLUE leakage will increase and cause improper load operation.
+

Deburring Tool
BROWN 2. When connecting two magnetic sensors in parallel (OR), possible
–
Sensor concurrent operation will cause dim LED illumination due to lower
BLUE
current distribution.

3 wire NPN connection 3 wire PNP connection

Vacuum Gripper
General connection

BROWN BROWN
BLACK
LOAD + Sensor
+
Sensor BLACK
– LOAD –
BLUE BLUE

Series connection (AND)

BROWN BROWN
BLACK BLACK
Sensor Switch

Sensor LOAD Sensor

BLUE BLUE
BROWN
+ BROWN
+
BLACK
– BLACK
–
Sensor Sensor LOAD
BLUE BLUE

Parallel connection (OR)

BROWN BROWN
BLACK BLACK
Sensor LOAD Sensor
BLUE BLUE
BROWN
+ BROWN
+
BLACK
– BLACK
–
Sensor Sensor LOAD
BLUE BLUE
Caution

159
MEMO
NOTE

160
 company information

OVERSEAS DEPARTMENT
No.106, Sec. 3, Chengde Rd., Datong District,
Taipei City 103, Taiwan
TEL : 886-2-25914100
FAX : 886-2-25957633 . 886-2-25975522

OFFICE
No.106, Sec. 3, Chengde Rd., Datong District,
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TEL : 886-2-25913001 . 886-2-25976201
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www.mindman.com.tw [email protected]

News
New Product / Design Change Notice / Exhibition Information
 EOAT
End of Arm Tooling

CAT. NO: MD-DM2310-E