SMC RMHS3 Air Gripper Unit for Collaborative Robots - 3-Finger Type
SMC
$1,945.00
The SMC RMHS3 is a pneumatic 3-finger air gripper designed specifically for collaborative robots (cobots). Part of the RMH series, it features 8 mm stroke (diameter), 118 N external / 130 N internal gripping force per finger, and is ideally suited for axial gripping of cylindrical workpieces such as test tubes, round bar stock, bottles, and circular components. Like all RMH series grippers, it connects via a single air supply tube and a single 24 VDC electrical cable, with a built-in solenoid valve, 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.
Specifications
| Series | RMH — 3-Finger Type (S3) |
| 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 |
| Number of Fingers | 3 |
| Operating Pressure | 0.1 to 0.6 MPa Note: maximum is 0.6 MPa — lower than the RMHF2 and RMHZ2 (0.7 MPa) |
| Ambient & Fluid Temperature | −10 to 50°C, no freezing Max 40°C for KUKA LBR-iiwa (robot code 061P) |
| Opening / Closing Stroke | 8 mm (diameter, both sides) Finger opens/closes radially — gripping point L measured from finger tip centerline |
| External Gripping Force (per finger) | 118 N At stroke center, 0.5 MPa, gripping point L = 30 mm |
| Internal Gripping Force (per finger) | 130 N At stroke center, 0.5 MPa, gripping point L = 30 mm |
| Repeatability | ±0.01 mm |
| Max. Operating Frequency | 60 C.P.M. 50 C.P.M. for normally open / normally closed valve options |
| Weight — Clamp Type | 776 g Excludes protective cover and connector cable |
| Weight — One-push Type | 783 g |
| Weight — Auto Type | 1,086 g |
| 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 (based on gripper mounting orientation) |
| Enclosure | Dust-protected |
| Lubrication | Non-lube (lubricated at factory; no further lubrication required) |
| Position Sensor Option | Not available — NPN and PNP auto switches only For analog position feedback, see RMHF2 with switch code A |
| 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 |
Auto Type Tool Changer Specifications
| Operating Pressure Range | 0.4 to 0.7 MPa |
| Withstand Pressure | 1.05 MPa |
| Repeatability (Position Reproducibility) | ±0.01 mm |
| Recommended Clearance Before Coupling | 1 mm |
Part Number Structure
| RMHS3 | — | 40D | — | [Robot] | — | [Switch] | — | [Valve] | — | [Cable] | — | [Cover] | — | [Mount] |
| Base Model | Size / 3-finger | 3-digit robot code | N / P | blank / O / C | blank / N | blank / D | E / F / E1 / F1 / E2 / F2 |
| Example | RMHS3-40D-011P-NDE = Universal Robots · PNP switch · Basic valve · Without cable · With cover · Clamp type with main plate |
Robot Platform Codes
| Code | Robot Brand | Compatible Models | Switch Output | Tool Changer Options |
|---|---|---|---|---|
| 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 |
| 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%. |
| 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 |
| 141N/P | DENSO WAVE | COBOTTA PRO 900, COBOTTA PRO 1300 | NPN / PNP | Clamp, One-push, Auto |
| Auto type (E2/F2) note: Auto type tool changer is supported for Universal Robots, OMRON/Techman (021N), YASKAWA DTP series (043), FANUC, and DENSO WAVE only. |
| No analog sensor option: The RMHS3 does not support switch code A (D-MP analog position sensor). Only NPN (N) and PNP (P) auto switches are available. For analog stroke position feedback, see the RMHF2 with switch code A. |
Switch 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 |
Valve Option (Position 3)
| Code | Description | Use When |
|---|---|---|
| (blank) | Basic Type — both solenoids N.C. Max frequency: 60 CPM |
Standard pick-and-place |
| 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. 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. |
| N | Without connector cable — required for Auto type (E2/F2). Use when existing cable infrastructure 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. Replacement: RMH-A26-08 |
|
| Mount (pos. 6) | E | Clamp type — With main plate. Standard manual change with 2 clamper bolts (M5×0.8). |
| F | Clamp type — Without main plate. | |
| 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. |
Connector Cable Part Numbers by Robot
| Robot Code | Robot Manufacturer | Robot-Side Connector | Cable Part No. |
|---|---|---|---|
| 011P | 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 | 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 | 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 | DENSO WAVE | M8 8-pin (Socket) | RMH-A00-11-A |
Installation
Tightening Torques
| Fastener | Tightening Torque |
|---|---|
| Main plate to robot flange (M6×12) | Per dedicated flange instructions |
| Finger attachment bolt (M4×0.7) | 1.35 to 1.65 N·m |
| Protective cover bolt (M3×0.5) | Per protective cover instructions |
| Body tapped holes (M5×0.8) | 2.7 to 3.3 N·m, max screw-in depth 10 mm |
| Body through-holes (M4×0.7) | 1.35 to 1.65 N·m |
Attachment Mounting — 3-Finger Specific
| Step | Action |
|---|---|
| 1 | Mount the attachment using M4×0.7 bolts at 1.35 to 1.65 N·m. |
| 2 | Position the attachment from the reference plane of the finger and the mounting face. The 3-finger design self-centers round workpieces — ensure all 3 attachment faces are at equal radial distance from the axis. |
| 3 | Do not drop or bump the gripper when mounting — slight deformation causes inaccuracy or malfunction. |
| Inertial force caution: The 3-finger design uses a finite orbit type guide. When the robot generates inertial forces during movement or rotation, operate the fingers to full stroke to reset the guide. Failure to do so causes accuracy degradation over time. |
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. |
| Air Quality | Clean, dry compressed air only. No chemicals, synthetic oils, salt, or corrosive gases. |
| Max Pressure | 0.6 MPa maximum — lower than RMHF2/RMHZ2. Do not exceed. |
| Lubrication | Non-lube — no lubrication required. If system uses lubrication, use turbine oil Class 1 (ISO VG32, no additive). Once applied, must be continued. |
RMH Series Model Comparison
| Model | Type | Fingers | Stroke | Ext. Force | Int. Force | Max Pressure | Weight (Clamp) |
|---|---|---|---|---|---|---|---|
| RMHS3 ← this product | Pneumatic 3-Finger | 3 | 8 mm (dia.) | 118 N | 130 N | 0.6 MPa | 776 g |
| RMHZ2 | Pneumatic Standard | 2 | 14 mm | 54.2 N | 72.2 N | 0.7 MPa | 638 g |
| RMHF2 | Pneumatic Long Stroke | 2 | 64 mm | 90 N | 90 N | 0.7 MPa | 945 g |
| RMH Electric | Electric | 2 | — | — | — | N/A | — |
| RMH Vacuum | Vacuum / Suction | — | — | — | — | N/A | — |
| RMH Magnet | Magnetic | — | — | — | — | N/A | — |
Gripping Force Selection Guide
| Condition | Recommended Gripping Force Margin |
|---|---|
| Standard cobot operation (≤1,000 mm/s², ≤250 mm/s), µ = 0.2 | At least 5× workpiece weight |
| Standard cobot operation, µ = 0.1 (smooth surfaces) | At least 10× workpiece weight |
| High acceleration or impact loads | Increase margin beyond 5× |
| 3-finger gripping of round parts — all 3 fingers in contact | Follow SMC 5–10× guideline; the 3-finger contact distribution means total grip force exceeds single-finger spec |
| Gripping point note: For the RMHS3, the gripping point L is measured differently from 2-finger grippers — it is the radial distance from the finger pivot to the contact point with the workpiece. Keep L within the range shown in the gripping force graphs for your operating pressure. Gripping point range: 0 to 50 mm. Exceeding this range adversely affects product life. |
When to Choose the RMHS3
| ✓ Good Fit — Choose the RMHS3 when: | → Consider Alternatives When: |
|---|---|
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Application Examples
| Industry | Application | Why the RMHS3 |
|---|---|---|
| Life Sciences / Lab Automation | Test Tube & Vial Transfer | 3-finger design self-centers tubes and vials of varying diameters without tool changes. Used in automated sampling, capping, and centrifuge loading applications on collaborative robot platforms. |
| Automotive | Round Bar Stock & Shaft Handling | High internal gripping force (130 N per finger) securely holds shafts, pins, and round bar stock for lathe loading and grinding machine tending. 3-finger grip resists axial pull-off during transfer. |
| Food & Beverage | Bottle & Container Handling | Picks bottles, cans, and jars from conveyors for inspection, labeling, and case packing. The normally-closed valve option (C) retains grip on power loss during emergency stops. |
| Electronics / Hardware | Fastener & Threaded Insert Handling | Grips hex bolts, standoffs, and threaded inserts by their hex faces or shanks for precision placement into fixtures. 3-finger centering reduces placement error without vision correction. |
| Pharmaceutical | Syringe & Cartridge Assembly | Handles cylindrical syringe bodies and cartridges for filling and capping operations. Clean-room compatible with protective cover removed. Non-lube design avoids contamination risk. |
| Machine Tending | CNC Lathe Loading — Round Parts | Loads and unloads turned round parts from CNC lathes. Internal grip (expanding into bore) allows positive engagement with hollow workpieces during high-speed transfer cycles. |
Frequently Asked Questions
| What is the SMC RMHS3 used for? | |
| The RMHS3 is designed for axial gripping of cylindrical workpieces — test tubes, vials, bottles, round bar stock, fasteners, and any part with a circular or hex cross-section. The 3-finger design self-centers round parts without requiring precise pre-positioning, reducing dependency on upstream fixturing or vision systems for simple pick-and-place tasks. | |
| What is the difference between the RMHS3 and the RMHF2? | |
| The RMHS3 has 3 fingers, 8 mm stroke (diameter), and 118/130 N gripping force — optimized for cylindrical parts. The RMHF2 has 2 fingers, 64 mm stroke, and 90 N force — optimized for format flexibility and wide workpiece range. Max pressure is 0.6 MPa for the RMHS3 vs 0.7 MPa for the RMHF2. The RMHS3 does not offer an analog position sensor; the RMHF2 does (for UR, FANUC, DENSO WAVE). | |
| Does the RMHS3 work with Universal Robots? | |
| Yes. Robot code 011P (PNP) supports UR3e, UR5e, UR10e, and UR16e. All three tool changer types are supported. Connector cable: RMH-A00-11-A. Note: unlike the RMHF2, there is no analog (D-MP) sensor option for the RMHS3. | |
| Does the RMHS3 work with FANUC CRX cobots? | |
| Yes. Robot code 051P (PNP) supports CRX-5iA, 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 0.6 MPa — note the 0.6 MPa maximum, which is lower than the RMHF2 and RMHZ2 (both 0.7 MPa). The auto type tool changer requires 0.4 to 0.7 MPa. Gripping force spec (118 N external, 130 N internal) is measured at 0.5 MPa with gripping point L = 30 mm. | |
| Does the RMHS3 have an analog position sensor option? | |
| No. The RMHS3 only supports NPN (N) and PNP (P) auto switches. There is no switch code A or D-MP sensor option. If analog stroke position feedback is needed, the RMHF2 with switch code A is the appropriate product (compatible with Universal Robots, FANUC, and DENSO WAVE). | |
| What gripping force does the RMHS3 deliver? | |
| 118 N external and 130 N internal gripping force per finger, measured at 0.5 MPa with gripping point L = 30 mm. With all 3 fingers in contact, the total grip force applied to a cylindrical workpiece is significantly higher than a 2-finger gripper of equivalent per-finger spec. SMC recommends gripping force at least 5 to 10 times the workpiece weight. | |
| Does the RMHS3 work with KUKA cobots? | |
| Yes, with constraints. Robot code 061P supports the KUKA LBR-iiwa with the I/O Pneumatic media flange only. Max temperature 40°C. Power supply tolerance: 24 VDC −15%/+20%. Auto type tool changer not supported. Connector cable: RMH-A00-11-B. | |
| Is plug-in software available for the RMHS3? | |
| 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. These allow gripper programming from the robot teach pendant without custom code. | |
| Can I mount multiple RMHS3 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? | |
| 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-A26-01 | Complete gripper unit |
| Protective Cover Assembly | RMH-A26-08 | Includes cover and mounting screws |
| 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 |
| 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 |
| Main Plate — One-push (most robots) | RMTM1-M1-X101 | UR, Mitsubishi, YASKAWA, FANUC, KUKA, OMRON, HAN'S, DENSO WAVE |
| Main Plate — One-push (DOOSAN, SIASUN, AUBO) | RMTM1-M1-X101B | For 071P, 081P, 101N |
| Main Plate — One-push (JAKA, ABB) | RMTM1-M1-X101C | For 091N/P, 121P |
| Main Plate — Auto type (UR, YASKAWA DTP, FANUC, DENSO WAVE) | RMTA1-10M1-C3 | For 011P, 043N/P, 051P, 141N/P |
| Main Plate — Auto type (OMRON/Techman) | RMTA1-10M1-C4 | For 021N |
| Piping Plate Assembly | RMH-A00-06 | Required for N.O. valve option. Includes plate, bolt, O-ring. |
| One-Touch Fitting | KQ2S04-M5N | ø4 mm |
| Exhaust Throttle Valve with Silencer | ASN2-M5-X937 | Speed adjustment mechanism |
| Dedicated Flange — Mitsubishi Electric (031N/P) | JMHZ-A16-X7400-BRK-01 | Required for Mitsubishi MELFA-ASSISTA |
| Dedicated Flange — YASKAWA HC10 (041N/P) | JMHZ-A16-X7400-BRK-02 | Required for MOTOMAN-HC10 |
| Dedicated Flange — YASKAWA HC10DT (042N/P) | JMHZ-A16-X7400-BRK-03 | Required for MOTOMAN-HC10DT |
| 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 RMHS3-40D base unit. Use the part number structure guide above to confirm your selection, or contact us for configurations not listed.
| Part Number | Robot Platform | Switch | Valve | Cable | Cover | Mounting / Tool Changer |
|---|---|---|---|---|---|---|
| UNIVERSAL ROBOTS — UR3e / UR5e / UR10e / UR16e | ||||||
| RMHS3-40D-011P-DE | Universal Robots | PNP switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHS3-40D-011PC-DE | Universal Robots | PNP switch | Normally Closed | With cable | With cover | Clamp — with main plate |
| RMHS3-40D-011P-E | Universal Robots | PNP switch | Basic | With cable | Without cover | Clamp — with main plate |
| RMHS3-40D-011P-DE1 | Universal Robots | PNP switch | Basic | With cable | With cover | One-push — with main plate |
| RMHS3-40D-011P-NDF | Universal Robots | PNP switch | Basic | Without cable | With cover | Clamp — without main plate |
| OMRON / TECHMAN ROBOT — TMm / TMmS | ||||||
| RMHS3-40D-021N-DE | OMRON / Techman Robot | NPN switch | Basic | With cable | With cover | Clamp — with main plate |
| MITSUBISHI ELECTRIC — MELFA-ASSISTA RV-5AS-D | ||||||
| RMHS3-40D-031PC-DE | Mitsubishi Electric | PNP switch | Normally Closed | With cable | With cover | Clamp — with main plate |
| RMHS3-40D-031N-F2 | Mitsubishi Electric | NPN switch | Basic | With cable | Without cover | Auto — without main plate ⚠ verify compatibility |
| YASKAWA ELECTRIC — MOTOMAN | ||||||
| RMHS3-40D-042P-DE | YASKAWA HC10DT (042) | PNP switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHS3-40D-043P-DE | YASKAWA HC10(S)/HC20(S)DTP (043) | PNP switch | Basic | With cable | With cover | Clamp — with main plate |
| FANUC — CRX-5iA / CRX-10iA(L) / CRX-20iA / CRX-30iA | ||||||
| RMHS3-40D-051P-DE | FANUC CRX | PNP switch | Basic | With cable | With cover | Clamp — with main plate |
| RMHS3-40D-051P-E | FANUC CRX | PNP switch | Basic | With cable | Without cover | Clamp — with main plate |
| RMHS3-40D-051PC-DE | FANUC CRX | PNP switch | Normally Closed | With cable | With cover | Clamp — with main plate |
| RMHS3-40D-051PC-NDE | FANUC CRX | PNP switch | Normally Closed | Without cable | With cover | Clamp — with main plate |
| RMHS3-40D-051PO-DE | FANUC CRX | PNP switch | Normally Open | With cable | With cover | Clamp — with main plate |
| RMHS3-40D-051P-NDE | FANUC CRX | PNP switch | Basic | Without cable | With cover | Clamp — with main plate |
| RMHS3-40D-051P-NE | FANUC CRX | PNP switch | Basic | Without cable | Without cover | Clamp — with main plate |
| RMHS3-40D-051P-F2 | FANUC CRX | PNP switch | Basic | With cable | Without cover | Auto — without main plate |
| RMHS3-40D-051P-NDF2 | FANUC CRX | PNP switch | Basic | Without cable | With cover | Auto — without main plate |
| KUKA — LBR-iiwa (I/O Pneumatic media flange only · max 40°C) | ||||||
| RMHS3-40D-061PC-E | KUKA LBR-iiwa | PNP switch | Normally Closed | With cable | Without cover | Clamp — with main plate |
| RMHS3-40D-061PC-DF | KUKA LBR-iiwa | PNP switch | Normally Closed | With cable | With cover | Clamp — without main plate |
| DOOSAN ROBOTICS | ||||||
| RMHS3-40D-071PC-DE | DOOSAN Robotics | PNP switch | Normally Closed | With cable | With cover | Clamp — with main plate |
| SIASUN | ||||||
| RMHS3-40D-081P-E | SIASUN | PNP switch | Basic | With cable | Without cover | Clamp — with main plate |
| ABB — Gofa | ||||||
| RMHS3-40D-121P-DE | ABB Gofa | PNP switch | Basic | With cable | With cover | Clamp — with main plate |
| ⚠ Note on RMHS3-40D-031N-F2: This variant specifies Mitsubishi Electric with an Auto type (F2) tool changer. The catalog lists Mitsubishi Electric (031) as compatible with Clamp and One-push types only. Please verify this SKU with your SMC representative before ordering. |
| Don't see your configuration? 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 (includes RMHS3) | ES160-7 PDF — smcetech.com |
| RMHS3 Operation Manual | Search DOC number on smcworld.com |
| CAD Models (STEP, SOLIDWORKS, DWG, IGES) | Login required — smcusa.com |
| RoHS Certificate | Request from SMC — smcusa.com/contact |
