SMC RMHF2 Air Gripper Unit for Collaborative Robots — Long Stroke Type
SMC
$2,270.00
The SMC RMHF2 is a pneumatic air gripper unit designed specifically for collaborative robots (cobots). Part of the RMH series, it features a 64 mm long stroke, 90 N gripping force, and a height approximately 35% lower than the standard RMHZ2 type. It connects to a cobot arm via a single air supply tube and a single electrical cable (24 VDC), with a built-in solenoid valve, integrated speed adjustment mechanism, and auto switch. Compatible with 13 cobot platforms including Universal Robots, FANUC, YASKAWA, ABB, KUKA, Mitsubishi Electric, DOOSAN Robotics, OMRON/Techman, SIASUN, JAKA, AUBO, HAN'S Robot, and DENSO WAVE. A built-in tool changer enables fast end-of-arm tool swaps in clamp, one-push, or auto variants.
Specifications
| Series | RMH — Long Stroke Type (F2) |
| Standards | Compliant with ISO 9409-1-50-4-M6 Robots with differing end effector standards require a dedicated mounting flange |
| Fluid | Air (non-lube) |
| Action | Double acting |
| Operating Pressure | 0.1 to 0.7 MPa |
| Ambient & Fluid Temperature | −10 to 50°C, no freezing Max 40°C for KUKA LBR-iiwa (robot code 061P) |
| Gripper Style | 2-Finger, Parallel |
| Opening / Closing Stroke | 64 mm (both sides) |
| External Gripping Force | 90 N At stroke center, 0.5 MPa, gripping point L = 20 mm |
| Internal Gripping Force | 90 N At stroke center, 0.5 MPa, gripping point L = 20 mm |
| Repeatability (gripper) | ±0.05 mm |
| Repeatability (with D-MP sensor) | 0.1 mm (at 25°C, one direction) |
| Max. Operating Frequency | 60 C.P.M. 50 C.P.M. for normally open / normally closed valve options |
| Height vs. Standard Type (RMHZ2) | 89.3 mm vs 138 mm — reduced by approx. 35% |
| Weight — Clamp Type | 945 g (960 g with D-MP sensor) Excludes protective cover and connector cable |
| Weight — One-push Type | 952 g (967 g with D-MP sensor) |
| Weight — Auto Type | 1,255 g (1,270 g with D-MP sensor) |
| Air Supply Port | M5×0.8; ø4 mm one-touch fitting |
| Connector Type | M8, 8-pin (Plug) |
| Power Supply Voltage | 24 VDC ±10% 24 VDC −15%/+20% for KUKA LBR-iiwa (061P) |
| Mounting Orientation | Unrestricted |
| Enclosure | Dust-protected |
| Lubrication | Non-lube (lubricated at factory; no further lubrication required) |
| TCP (Tool Center Point) | X = 0, Y = 0, Z = 89.3 mm Adjust Z when finger attachments are installed |
| Center of Gravity | X = −0.85 mm, Y = −0.31 mm, Z = 53.33 mm |
| Compatible Cobot Platforms | 13 brands — see robot code table below |
| Warranty | 1 year in service or 1.5 years from delivery, whichever is first |
Solenoid Valve Specifications
| Solenoid Valve Model | V114 (normally closed) / V124 (normally open) |
| Coil Rated Voltage | 24 VDC |
| Allowable Voltage Fluctuation | −10 to +10% (−15% to +20% for KUKA 061P) |
| Power Consumption | 0.4 W (0.55 W for KUKA 061P) |
| Surge Voltage Suppressor | Varistor |
| Manual Override | Non-locking push type |
Auto Switch Specifications
| Model | D-M9N (NPN) / D-M9P (PNP) |
| Power Supply Voltage | 24 VDC |
| Current Consumption | 10 mA or less |
| Load Voltage | 28 VDC or less (NPN) |
| Load Current | 40 mA or less |
| Internal Voltage Drop | 0.8 V or less at 10 mA; 2 V or less at 40 mA |
| Leakage Current | 100 µA or less at 24 VDC |
Actuator Position Sensor Specifications (Switch Code A — D-MP050)
| Power Supply Voltage | 15 to 30 VDC, ripple (p-p) 10% or less |
| Current Consumption | 48 mA or less (no load) |
| Analog Output Voltage | 0 to 10 V |
| Min. Load Resistance | 2 kΩ |
| Repeatability | 0.1 mm (at 25°C, one direction) |
| Resolution | 0.05 mm |
| Linearity | ±0.3 mm (at 25°C) |
| Factory Default — Fully Closed (0 mm) | 0 V output |
| Factory Default — Fully Open (64 mm) | 10 V output Use a 64 mm block gauge for exact calibration. Do not change factory settings unless necessary. |
| Compatible Robots | Universal Robots, FANUC, DENSO WAVE only |
Auto Type Tool Changer Specifications
| Operating Pressure Range | 0.2 to 0.7 MPa |
| Withstand Pressure | 1.05 MPa |
| Repeatability (Position Reproducibility) | ±0.1 mm |
| Recommended Clearance Before Coupling | 1 mm |
| Allowable Positioning Error | ±2 mm |
| Allowable Inclination Angle | 1.5° |
| Allowable Rotation Angle | ±3° |
Part Number Structure
| RMHF2 | — | [Robot] | — | [Switch] | — | [Valve] | — | [Cable] | — | [Cover] | — | [Mount] |
| Base Model | 3-digit robot code | N / P / A | blank / O / C | blank / N | blank / D | E / F / E1 / F1 / E2 / F2 |
| Example | RMHF2-011P-NDE = Universal Robots · PNP auto switch · Basic valve · With cable · With cover · Clamp type with main plate |
Robot Platform Codes
| Code | Robot Brand | Compatible Models | Switch Output | Tool Changer Options |
|---|---|---|---|---|
| 011A | Universal Robots | UR3e, UR5e, UR10e, UR16e | Analog −COM | Clamp, One-push, Auto |
| 011P | Universal Robots | UR3e, UR5e, UR10e, UR16e | PNP −COM | Clamp, One-push, Auto |
| 021N | OMRON / Techman Robot | TMm, TMmS series | NPN +COM | Clamp, One-push, Auto Camera models: use extension flange RMH-A00-20 with tool holder |
| 031N/P | Mitsubishi Electric | MELFA-ASSISTA RV-5AS-D | NPN / PNP | Clamp, One-push only Requires dedicated flange JMHZ-A16-X7400-BRK-01 |
| 041N/P | YASKAWA Electric | MOTOMAN-HC10 | NPN / PNP | Clamp, One-push only Requires dedicated flange JMHZ-A16-X7400-BRK-02 |
| 042N/P | YASKAWA Electric | MOTOMAN-HC10DT | NPN / PNP | Clamp, One-push only Requires dedicated flange JMHZ-A16-X7400-BRK-03 |
| 043N/P | YASKAWA Electric | MOTOMAN-HC10(S)DTP, HC20(S)DTP | NPN / PNP | Clamp, One-push, Auto |
| 051A | FANUC | CRX-5iA, CRX-10iA(L), CRX-20iA, CRX-30iA | Analog −COM | Clamp, One-push, Auto |
| 051P | FANUC | CRX-5iA, CRX-10iA(L), CRX-20iA, CRX-30iA | PNP −COM | Clamp, One-push, Auto |
| 061P | KUKA | LBR-iiwa (I/O Pneumatic media flange only) | PNP −COM | Clamp, One-push only Max 40°C. 24 VDC −15%/+20%. No D-MP sensor option. |
| 071P | DOOSAN Robotics | H2017, H2515, M0609, M0617, M1013, M1509 | PNP −COM | Clamp, One-push only |
| 081P | SIASUN | SCR3, SCR5, GCR3-620, GCR5-910, GCR10-1300, GCR14-1400, GCR20-1100 | PNP −COM | Clamp, One-push only |
| 091N/P | JAKA | Zu3, Zu5, Zu7, Zu12 | NPN / PNP | Clamp, One-push only |
| 101N | AUBO | i3, i5, i10 | NPN +COM | Clamp, One-push only |
| 111P | HAN'S Robot | E03, E05, E10 | PNP −COM | Clamp, One-push only |
| 121P | ABB | Gofa | PNP −COM | Clamp, One-push only |
| 141A/N/P | DENSO WAVE | COBOTTA PRO 900, COBOTTA PRO 1300 | Analog / NPN / PNP | Clamp, One-push, Auto |
| Auto type (E2/F2) note: Auto type tool changer is only supported for Universal Robots, OMRON/Techman (021N), YASKAWA DTP series (043), FANUC, and DENSO WAVE. All other platforms are limited to Clamp and One-push types. |
Switch / Sensor Selection (Position 2)
| Code | Description | Use When |
|---|---|---|
| N | Auto Switch — NPN output (D-M9N) Switch (1) detects finger closing; Switch (2) detects finger opening |
Controller uses NPN (sinking) logic |
| P | Auto Switch — PNP output (D-M9P) | Controller uses PNP (sourcing) logic |
| A | Actuator Position Sensor — D-MP050 (0–10 V analog) Enables workpiece length measurement. UR, FANUC, DENSO WAVE only. |
Precise stroke position feedback required |
Valve Option (Position 3)
| Code | Description | Use When |
|---|---|---|
| (blank) | Basic Type — both solenoids N.C. Max frequency: 60 CPM |
Standard pick-and-place; state controlled by active air |
| O | Normally Open — SOL1 is N.O., SOL2 is N.C. Requires piping plate RMH-A00-06. Max frequency: 50 CPM. |
Gripper must default OPEN on power loss |
| C | Normally Closed — SOL1 is N.C., SOL2 is N.O. Requires piping plate RMH-A00-06. Max frequency: 50 CPM. |
Gripper must retain grip on power loss |
| Drop prevention warning: When using N.O. or N.C. valve options, a customer-supplied check valve must be installed on the air supply to prevent exhausting when power is cut. Gripping force gradually decreases after power loss — move workpiece to a safe position immediately. Do not continue transferring workpieces without air supply. |
Connector Cable, Protective Cover & Mounting Interface
| Position | Code | Description |
|---|---|---|
| Cable (pos. 4) | (blank) | With connector cable — standard for most installations. Always disconnect power before connecting/disconnecting. |
| N | Without connector cable — required for Auto type (E2/F2). Use when existing cable is in place. | |
| Cover (pos. 5) | (blank) | Without protective cover — clean or controlled environments. |
| D | With split protective cover — dusty, chip-generating, or weld-spatter environments. Split design allows maintenance without full disassembly. Replacement: RMH-A32-08 (standard) / RMH-A32-08-B (with D-MP sensor) |
|
| Mount (pos. 6) | E | Clamp type — With main plate. Standard manual change using 2 clamper bolts (M5×0.8). Most common selection. |
| F | Clamp type — Without main plate. Main plate already on robot arm. | |
| E1 | One-push type — With main plate. Push-button release, no tools required. | |
| F1 | One-push type — Without main plate. | |
| E2 | Auto type — With main plate. Automated tool changing. Limited robot compatibility — see table above. | |
| F2 | Auto type — Without main plate. |
M8 8-Pin Connector Pin Layout
Pin assignments vary by robot platform. Always disconnect power before connecting or disconnecting the cable.
| Analog Switch Variants (011A, 051A, 141A) — Universal Robots · FANUC · DENSO WAVE | |||
|---|---|---|---|
| Pin | Function | Pin | Function |
| 1 | Position sensor analog output (0–10 V) | 5 | +24 V |
| 2 | — (not connected) | 6 | Solenoid valve (2) ON/OFF |
| 3 | — (not connected) | 7 | Solenoid valve (1) ON/OFF |
| 4 | — (not connected) | 8 | GND |
| PNP/NPN Auto Switch Variants (011P, 043N/P, 051P, 141N/P) — UR · YASKAWA DTP · FANUC · DENSO WAVE | |||
|---|---|---|---|
| Pin | Function | Pin | Function |
| 1 | — (not connected) | 5 | +24 V |
| 2 | — (not connected) | 6 | Solenoid valve (2) ON/OFF |
| 3 | Auto switch — finger closing direction | 7 | Solenoid valve (1) ON/OFF |
| 4 | Auto switch — finger opening direction | 8 | GND |
| ⚠ OMRON / Techman Robot (021N) — DIFFERENT PIN MAPPING — do not swap cables with other robots | |||
|---|---|---|---|
| Pin | Function | Pin | Function |
| 1 | +24 V | 5 | Solenoid valve (1) ON/OFF |
| 2 | Auto switch — finger opening direction | 6 | Solenoid valve (2) ON/OFF |
| 3 | Auto switch — finger closing direction | 7 | — (not connected) |
| 4 | — (not connected) | 8 | GND |
| Wiring caution: OMRON/Techman (021N) places +24V on Pin 1 and valve signals on Pins 5 and 6 — opposite to all other platforms. Never use a cable intended for another robot on an OMRON/Techman installation. |
Connector Cable Part Numbers by Robot
| Robot Code | Robot Manufacturer | Robot-Side Connector | Cable Part No. |
|---|---|---|---|
| 011P, 011A | Universal Robots | M8 8-pin (Socket) | RMH-A00-11-A |
| 021N | OMRON / Techman Robot | M8 8-pin (Plug) | RMH-A00-11-B |
| 031N, 031P | Mitsubishi Electric | M12 8-pin (Plug) | RMH-A00-11-C |
| 041N/P, 042N/P | YASKAWA (HC10, HC10DT) | MOLEX 51227-0800 | MH-7400-ADP-D-01 |
| 043N, 043P | YASKAWA (HC DTP series) | M8 8-pin (Socket) | RMH-A00-11-A |
| 051P, 051A | FANUC | M8 8-pin (Socket) | RMH-A00-11-A |
| 061P | KUKA | M8 8-pin (Plug) | RMH-A00-11-B |
| 071P | DOOSAN Robotics | M8 8-pin (Socket) | RMH-A00-11-B |
| 081P | SIASUN | M8 8-pin (Socket) | RMH-A00-11-A |
| 091N, 091P | JAKA | M8 8-pin (Plug) | RMH-A00-11-B |
| 101N, 101P | AUBO | M8 8-pin (Socket) | RMH-A00-11-A |
| 111P | HAN'S Robot | M12 12-pin (Plug) | RMH-A00-11-D |
| 121P | ABB | M8 3-pin + M8 4-pin (Plug) | RMH-A00-11-E |
| 141N, 141P, 141A | DENSO WAVE | M8 8-pin (Socket) | RMH-A00-11-A |
Solenoid Valve ON/OFF State & Gripper Action
Solenoid valve (1) controls finger opening; solenoid valve (2) controls finger closing. Two exhaust throttle valves (with silencer) provide independent speed adjustment for each direction.
| Solenoid (1) | Solenoid (2) | Basic Type | Normally Open | Normally Closed |
|---|---|---|---|---|
| OFF | OFF | No pressure — fingers moveable by hand, zero grip force | Finger opening | Finger closing |
| ON | OFF | Finger opening | No pressure applied | Pressure to both sides |
| OFF | ON | Finger closing | Pressure to both sides | No pressure applied |
| ON | ON | Pressure both sides — small opening force due to internal construction | Finger closing | Finger opening |
Installation
Main Plate Installation Torques
| Fastener | Tightening Torque |
|---|---|
| Connector to main plate (M2.5×20) | 0.36±0.03 N·m |
| Main plate to robot flange (M6×18) | 5.2±0.5 N·m |
| Extension flange bolt (M6×15) — OMRON/Techman with camera | 5.2±0.5 N·m |
| Finger attachment bolt (M4×0.7) | 1.5±0.15 N·m |
| Protective cover bolt (M3×0.5) | 0.63±0.06 N·m |
| Body tapped holes — lateral/bottom (M5×0.8) | 2.7 to 3.3 N·m, max screw-in depth 5.5 mm |
| Auto switch screw | 0.05 to 0.15 N·m |
| Gripper ASSY screws (M4×8) | 1.5±0.15 N·m |
Main Plate Installation Steps
| Step | Action |
|---|---|
| 1 | Insert positioning pins (2×4) into the main plate. |
| 2 | Attach the connector to the main plate using M2.5×20 screw. Torque: 0.36±0.03 N·m. |
| 3 | Insert positioning pin (6×10) into the pin hole on the robot tool flange. |
| 4 | Attach the main plate while aligning the positioning pins. |
| 5 | Secure with M6×18 bolt. Torque: 5.2±0.5 N·m. |
| OMRON/Techman with camera only: Install extension flange RMH-A00-20 between robot and main plate. Flange bolt (M6×15): 5.2±0.5 N·m. Then attach main plate with M6×18 at 5.2±0.5 N·m. |
Finger Speed Adjustment
| Step | Action |
|---|---|
| 1 | Locate the two metering valves on the gripper body — one controls opening speed, one controls closing speed. |
| 2 | Use a flat blade screwdriver, blade width 0.7 mm, to adjust the opening of each exhaust restrictor. |
| 3 | Set both restrictors to approximately the same opening level. Large differences between the two will cause unstable operation. |
Auto Type Tool Changer — Connection & Release Procedure
| To Connect (from released state) | |
|---|---|
| 1 | Supply air to A port (this releases the lock mechanism). |
| 2 | Move the main plate to above the tool plate. |
| 3 | Lower the main plate to within 1 mm of the tool plate. Align within: ±2 mm lateral, 1.5° inclination, ±3° rotation. |
| 4 | Supply air to B port. Steel ball locks — connection complete. |
| To Release (from connected state) | |
| 1 | Supply air to A port. |
| 2 | Pull the main plate upward by 10 mm or more. |
| ⚠ Critical — read before operating: Never apply air to the B port before the A port when connecting from the released state. Doing so causes the protruded steel ball to collide with the tool plate and risks product breakage. The changer has a mechanical retention mechanism that holds the connection when air is cut — this is for emergency drop prevention only. Do not transfer workpieces without air supply. |
Air Supply Requirements
| Requirement | Detail |
|---|---|
| Filtration | Install air filter upstream of valve. Filtration degree: 5 µm or finer. |
| Moisture | Install air dryer or water separator upstream. Drain condensate regularly. Auto drain recommended if bowl is difficult to check. |
| Air Quality | Clean, dry compressed air only. Do not use air containing chemicals, synthetic oils (including organic solvents), salt, or corrosive gases. |
| Freeze Risk | If fluid temperature falls below 5°C, moisture in the circuit may freeze. Take appropriate anti-freeze measures. |
| Lubrication | Non-lube type — no lubrication required. If lubrication is already used in the system, use turbine oil Class 1 (no additive, ISO VG32). Once applied, lubrication must be continued — stopping causes malfunction. |
| Dry Air | Ultra-dry air may degrade lubrication properties inside the unit. Consult SMC before using dry air. |
| Before Piping | Flush all lines with air before connecting to remove cutting chips, oil residue, and dust. |
Operating Environment
| Prohibited Environments | Corrosive gases, chemicals, sea water, water spray, steam, direct sunlight, vibration, impact, radiant heat |
| Corrosion Note | Finger guide rail uses martensitic stainless steel — corrosion resistance is inferior to austenitic stainless. Rust may form where condensation collects. Use protective cover (option D) in humid or wet environments. |
| Inertial Force Caution | Finite orbit type guide is used in the finger part. When the robot generates inertial forces through movement or rotation, operate the finger to full stroke to reset the guide. Failure to do so causes accuracy degradation over time. |
| Intended Use | Workpiece transportation only. Do not use for positioning or clamping applications without consulting SMC. |
RMH Series Model Comparison
| Model | Type | Fingers | Stroke | Ext. Force | Int. Force | Weight (Clamp) | Air Reduction* |
|---|---|---|---|---|---|---|---|
| RMHF2 ← this product | Pneumatic Long Stroke | 2 | 64 mm | 90 N | 90 N | 945 g | Up to 30% |
| RMHZ2 | Pneumatic Standard | 2 | 14 mm | 54.2 N | 72.2 N | 638 g | Up to 80% |
| RMHS3 | Pneumatic 3-Finger | 3 | 8 mm (dia.) | 118 N | 130 N | 776 g | Up to 60% |
| RMH Electric | Electric | 2 | — | — | — | — | N/A |
| RMH Vacuum | Vacuum / Suction | — | — | — | — | — | N/A |
| RMH Magnet | Magnetic | — | — | — | — | — | N/A |
*Air reduction vs. separate valve installation. Conditions: piping I.D. ø2.5 mm, piping length 2 m, 2 pipes, supply pressure 0.5 MPa.
Gripping Force Selection Guide
| Condition | Recommended Gripping Force Margin |
|---|---|
| Standard cobot operation (≤1,000 mm/s², ≤250 mm/s), friction coefficient µ = 0.2 | At least 5× workpiece weight |
| Standard cobot operation, friction coefficient µ = 0.1 (smooth surfaces) | At least 10× workpiece weight |
| High acceleration or impact loads | Increase margin beyond 5× as appropriate |
| Small finger-to-workpiece contact area | Use rubber-tipped fingers to increase friction; target 10× |
| Max Allowable Loads — RMHF2-16 | |||
|---|---|---|---|
| Vertical Load (Fvmax) | Pitch Moment (Mpmax) | Yaw Moment (Mymax) | Roll Moment (Mrmax) |
| 176 N | 1.4 N·m | 1.4 N·m | 2.8 N·m |
| Combined load check: Fv/176 + Mp/1.4 + My/1.4 + Mr/2.8 ≤ 1.0. If this sum exceeds 1.0, reduce load or gripping point distance. |
When to Choose the RMHF2
| ✓ Good Fit — Choose the RMHF2 when: | → Consider Alternatives When: |
|---|---|
|
|
Application Examples
| Industry | Application | Why the RMHF2 |
|---|---|---|
| Automotive | Small Part Assembly & Kitting | 64 mm stroke handles variation in part geometry across a model family without reconfiguring the gripper between runs. |
| Electronics Mfg. | PCB & Component Handling | D-MP analog position sensor enables workpiece length discrimination directly from the gripper stroke — no separate vision system required for simple size checks. |
| Food & Beverage | Carton & Pouch Pick-and-Place | Normally-closed valve option (C) retains grip if air pressure drops, preventing product drops during e-stops. |
| Machine Tending | CNC & Lathe Loading | Protective cover option (D) shields internal components from metal chips and coolant mist. |
| Logistics | Bin Picking & Sortation | Wide stroke range reduces need for custom fingers across part families in high-mix environments. |
| Medical Devices | Assembly & Inspection Transfer | Single-wire electrical connection and unrestricted mounting orientation simplify integration into compact, safety-rated cobot cells. |
Frequently Asked Questions
| What is the difference between the RMHF2 and the RMHZ2? | |
| The RMHF2 is the long stroke variant: 64 mm stroke, 90 N force, 945 g (clamp type), 35% lower height than the RMHZ2. The RMHZ2 is the standard type: 14 mm stroke, 54.2/72.2 N force, 638 g. Choose the RMHF2 when workpiece size variation requires a wider stroke range. Choose the RMHZ2 when mass and height are priorities. | |
| Does the RMHF2 work with Universal Robots UR10e? | |
| Yes. The UR10e is supported under codes 011A (analog/D-MP sensor) and 011P (PNP switch), covering all e-Series: UR3e, UR5e, UR10e, UR16e. All three tool changer types supported. Connector cable: RMH-A00-11-A. | |
| Does the RMHF2 work with FANUC CRX cobots? | |
| Yes. FANUC CRX is supported under codes 051A (analog) and 051P (PNP), covering CRX-5iA, CRX-10iA, CRX-10iA(L), CRX-20iA, and CRX-30iA. All three tool changer types supported. Connector cable: RMH-A00-11-A. | |
| What is the operating pressure range? | |
| 0.1 to 0.7 MPa for gripper operation. Auto type tool changer requires 0.2 to 0.7 MPa. Gripping force spec (90 N) is measured at 0.5 MPa with gripping point L = 20 mm. | |
| What are the TCP coordinates for programming? | |
| TCP: X = 0, Y = 0, Z = 89.3 mm (measured from robot flange to finger tip with no attachment). Update Z when finger attachments are installed. Center of gravity: X = −0.85 mm, Y = −0.31 mm, Z = 53.33 mm. | |
| How do I adjust the finger opening and closing speed? | |
| Use a flat blade screwdriver (blade width 0.7 mm) on the two metering valves on the gripper body. One controls opening speed, one controls closing speed. Keep both at approximately the same opening — large differences cause unstable operation. | |
| Which robots support the D-MP actuator position sensor (switch code A)? | |
| Universal Robots (011A), FANUC CRX (051A), and DENSO WAVE COBOTTA PRO (141A) only. Not available for KUKA, YASKAWA, DOOSAN, SIASUN, JAKA, AUBO, HAN'S Robot, ABB, Mitsubishi Electric, or OMRON/Techman. | |
| What does the D-MP sensor output and how is it calibrated? | |
| 0 V = fully closed (0 mm); 10 V = fully open (64 mm). Resolution 0.05 mm. Ships with factory defaults set — do not change unless necessary. For exact calibration use a 64 mm block gauge (the actual full-open stroke is slightly larger than 64 mm). | |
| When should I select the normally closed valve option (code C)? | |
| Select code C when the gripper must retain grip on power loss. You must also install a customer-supplied check valve on the air supply. Gripping force gradually decreases after power loss — move the workpiece to safety immediately. N.C. option requires piping plate RMH-A00-06 and reduces max frequency to 50 CPM. | |
| Does the RMHF2 work with KUKA cobots? | |
| Yes, with constraints. Code 061P supports the KUKA LBR-iiwa, but only with the I/O Pneumatic media flange. Max temperature 40°C. Power supply range wider: 24 VDC −15%/+20%. Auto type tool changer not supported. D-MP sensor not available. Cable: RMH-A00-11-B. | |
| Is plug-in software available? | |
| Yes. URCap for Universal Robots, Plug and Play Kit for YASKAWA, TMComponent for OMRON/Techman, CRX Plug-in for FANUC, and Library for DENSO WAVE. Allows gripper programming from the teach pendant without custom code. | |
| Can I mount multiple grippers on one robot? | |
| Yes. SMC RMMA Series Multi Hand Adapter supports up to 3 grippers simultaneously. Mounting angles: 90°, 120°, or 180° (two 90° adapters). ISO 9409-1-50-4-M6 compliant. | |
| What is the warranty period? | |
| 1 year in service or 1.5 years from delivery, whichever comes first. Warranty applies to the product independently and does not cover consequential damage to other equipment. |
Replacement Parts & Order Numbers
| Description | Order Number | Notes |
|---|---|---|
| Gripper Assembly | RMH-A32-01 | Complete gripper unit |
| Protective Cover Assembly (standard) | RMH-A32-08 | Includes cover and mounting screws |
| Protective Cover Assembly (with D-MP sensor) | RMH-A32-08-B | For switch code A orders |
| Auto Switch Assembly — PNP | RMH-A00-05-P | 2 switches as one assembly — replace as unit; individual switches cannot be replaced |
| Auto Switch Assembly — NPN | RMH-A00-05-N | 2 switches as one assembly |
| Solenoid Valve — Normally Closed (basic) | V114-5MOU | SOL1 and SOL2 for basic type. Orient marked cable downward during installation. |
| Solenoid Valve — Normally Open | V124-5MOU | SOL1 for N.O. option; SOL2 for N.C. option |
| Solenoid Valve — N.C. (KUKA 061P only) | V114-5MOU-X647 | Special order, KUKA only |
| Solenoid Valve — N.O. (KUKA 061P only) | V124-5MOU-X647 | Special order, KUKA only |
| Main Plate Assembly — Clamp (most robots) | RMH-A00-09-A | UR, Mitsubishi, YASKAWA, FANUC, KUKA, OMRON, HAN'S, DENSO WAVE |
| Main Plate Assembly — Clamp (DOOSAN, SIASUN, AUBO) | RMH-A00-09-B | For 071P, 081P, 101N |
| Main Plate Assembly — Clamp (JAKA, ABB) | RMH-A00-09-C | For 091N/P, 121P |
| Piping Plate Assembly | RMH-A00-06 | Required for N.O. valve option. Includes plate, mounting bolt, O-ring. |
| One-Touch Fitting | KQ2S04-M5N | ø4 mm |
| Exhaust Throttle Valve with Silencer | ASN2-M5-X937 | Speed adjustment mechanism |
| Connector Probe Pin Set (1 pc.) | RMTA1-A0029-01 | Main plate side connector — field replaceable |
| Connector Probe Pin Set (6 pcs.) | RMTA1-A0029-06 | |
| Extension Flange — OMRON/Techman with camera | RMH-A00-20 | Prevents camera interference when using tool holder |
Available Configurations
All variants listed below are for the RMHF2 16D2 (Auto Type) base unit. Use the part number structure guide above to confirm your selection, or contact us to configure a variant not listed.
| Part Number | Robot Platform | Switch / Sensor | Valve | Cable | Cover | Mounting / Tool Changer |
|---|---|---|---|---|---|---|
| UNIVERSAL ROBOTS — UR3e / UR5e / UR10e / UR16e | ||||||
| RMHF2-16D2-011A-DE | Universal Robots | Analog / D-MP sensor | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-011AC-DE | Universal Robots | Analog / D-MP sensor | Normally Closed | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-011AO-E | Universal Robots | Analog / D-MP sensor | Normally Open | With cable | Without cover | Clamp — with main plate |
| RMHF2-16D2-011A-DE1 | Universal Robots | Analog / D-MP sensor | Basic | With cable | With cover | One-push — with main plate |
| RMHF2-16D2-011A-E1 | Universal Robots | Analog / D-MP sensor | Basic | With cable | Without cover | One-push — with main plate |
| RMHF2-16D2-011P-DE | Universal Robots | PNP auto switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-011P-E | Universal Robots | PNP auto switch | Basic | With cable | Without cover | Clamp — with main plate |
| RMHF2-16D2-011PO-E | Universal Robots | PNP auto switch | Normally Open | With cable | Without cover | Clamp — with main plate |
| OMRON / TECHMAN ROBOT — TMm / TMmS | ||||||
| RMHF2-16D2-021N-DE | OMRON / Techman Robot | NPN auto switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-021N-NDE | OMRON / Techman Robot | NPN auto switch | Basic | Without cable | With cover | Clamp — with main plate |
| RMHF2-16D2-021NC-DE | OMRON / Techman Robot | NPN auto switch | Normally Closed | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-021N-DE1 | OMRON / Techman Robot | NPN auto switch | Basic | With cable | With cover | One-push — with main plate |
| YASKAWA ELECTRIC — MOTOMAN | ||||||
| RMHF2-16D2-042P-DE | YASKAWA HC10DT (042) | PNP auto switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-043N-DE | YASKAWA HC10(S)/HC20(S)DTP (043) | NPN auto switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-043P-DE | YASKAWA HC10(S)/HC20(S)DTP (043) | PNP auto switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-043PC-DE | YASKAWA HC10(S)/HC20(S)DTP (043) | PNP auto switch | Normally Closed | With cable | With cover | Clamp — with main plate |
| FANUC — CRX-5iA / CRX-10iA(L) / CRX-20iA / CRX-30iA | ||||||
| RMHF2-16D2-051A-DE | FANUC CRX | Analog / D-MP sensor | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-051A-E | FANUC CRX | Analog / D-MP sensor | Basic | With cable | Without cover | Clamp — with main plate |
| RMHF2-16D2-051AC-E | FANUC CRX | Analog / D-MP sensor | Normally Closed | With cable | Without cover | Clamp — with main plate |
| RMHF2-16D2-051AO-DF | FANUC CRX | Analog / D-MP sensor | Normally Open | With cable | With cover | Clamp — without main plate |
| RMHF2-16D2-051AO-NDE | FANUC CRX | Analog / D-MP sensor | Normally Open | Without cable | With cover | Clamp — with main plate |
| RMHF2-16D2-051AO-NDF | FANUC CRX | Analog / D-MP sensor | Normally Open | Without cable | With cover | Clamp — without main plate |
| RMHF2-16D2-051A-DE1 | FANUC CRX | Analog / D-MP sensor | Basic | With cable | With cover | One-push — with main plate |
| RMHF2-16D2-051A-DF2 | FANUC CRX | Analog / D-MP sensor | Basic | With cable | With cover | Auto — without main plate |
| RMHF2-16D2-051A-F2 | FANUC CRX | Analog / D-MP sensor | Basic | With cable | Without cover | Auto — without main plate |
| RMHF2-16D2-051P-DE | FANUC CRX | PNP auto switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-051P-E | FANUC CRX | PNP auto switch | Basic | With cable | Without cover | Clamp — with main plate |
| RMHF2-16D2-051P-NDE | FANUC CRX | PNP auto switch | Basic | Without cable | With cover | Clamp — with main plate |
| RMHF2-16D2-051PO-DE | FANUC CRX | PNP auto switch | Normally Open | With cable | With cover | Clamp — with main plate |
| RMHF2-16D2-051PO-E | FANUC CRX | PNP auto switch | Normally Open | With cable | Without cover | Clamp — with main plate |
| RMHF2-16D2-051PO-NDE | FANUC CRX | PNP auto switch | Normally Open | Without cable | With cover | Clamp — with main plate |
| RMHF2-16D2-051PO-NDF | FANUC CRX | PNP auto switch | Normally Open | Without cable | With cover | Clamp — without main plate |
| RMHF2-16D2-051P-E1 | FANUC CRX | PNP auto switch | Basic | With cable | Without cover | One-push — with main plate |
| RMHF2-16D2-051P-F2 | FANUC CRX | PNP auto switch | Basic | With cable | Without cover | Auto — without main plate |
| RMHF2-16D2-051P-NDF2 | FANUC CRX | PNP auto switch | Basic | Without cable | With cover | Auto — without main plate |
| KUKA — LBR-iiwa (I/O Pneumatic media flange only) | ||||||
| RMHF2-16D2-061P-E | KUKA LBR-iiwa | PNP auto switch | Basic | With cable | Without cover | Clamp — with main plate |
| RMHF2-16D2-061PO-DE | KUKA LBR-iiwa | PNP auto switch | Normally Open | With cable | With cover | Clamp — with main plate |
| DOOSAN ROBOTICS | ||||||
| RMHF2-16D2-071PC-NE | DOOSAN Robotics | PNP auto switch | Normally Closed | Without cable | Without cover | Clamp — with main plate |
| AUBO — i3 / i5 / i10 | ||||||
| RMHF2-16D2-101NO-DE | AUBO | NPN auto switch | Normally Open | With cable | With cover | Clamp — with main plate |
| ABB — Gofa | ||||||
| RMHF2-16D2-121P-DE | ABB Gofa | PNP auto switch | Basic | With cable | With cover | Clamp — with main plate |
| Don't see your configuration? The RMHF2 supports additional robot platforms and option combinations beyond those listed here. Contact us with your robot model, switch preference, valve option, and mounting type — we can source or configure the correct variant. |
Downloads & Documentation
| Document | Link |
|---|---|
| RMH Series Catalog | ES160-7 PDF — smcetech.com |
| RMHF2 Operation Manual (Auto Type) | DOC1101600 PDF — smcworld.com |
| CAD Models (STEP, SOLIDWORKS, DWG, IGES) | Login required — smcusa.com |
| RoHS Certificate | Request from SMC — smcusa.com/contact |
