FINGER CHANGER

AFC

AFC

FINGER CHANGER

FINGER CHANGERR

FINGER CHANGERAFC Series

INDEX★
Overview ････････････････････････････････････････････806
Explanation, Example of Use, Installation Method ･･･807
Model Code No. ･････････････････････････････････････808
Speciﬁcations, Guide to be used, Product Mass ････809
Spare Parts Code, Change of the Piping Potision ･･･810
Structure and Principal Components････････････････811
Operating Principle and Separating Port Air Pressure Setting ･･･812
Pneumatic Circuit ･･･････････････････････････････････813
Alignment and Tool Stand (Example)････････････････814
Note for Safe Use ･･････････････････････････････････815
Connecting/Separating Method ･･･････････････816, 817
Limit Range of the Gripping Point, Gripping force ･･･818
Allowable Moment, Connecting Axial force ･･････････819
Accuracy ･･･････････････････････････････････････････820
Attachment of Design ･･････････････････････････････821
Attachment, Load Mounting Bolt, Body Mounting Bolt ･･･822, 823
Dimensions･･･････････････････････････････････824〜829
Switch Setting Method ･････････････････････････････830
Switch Installation ･･････････････････････････････････831
Custom Made ･･･････････････････････････････････････832

805

FINGER CHANGERAFC

FINGER CHANGERAFC Sreise

The tool changer function is installed in Air-chuck.
Automatic attaching/detaching and exchange of
the ﬁnger plate alone is possible.
Linear GuideHigh Accuracy, High Rigidity
Linear Guide is built-in.
Highly Free Mounting Direction
Mountable in axial, longitudinalor lateral direction

Positioning Pin Holes areprovided on Four Surfaces
Repeatability of mounting/dismounting

Non-contact Switch for Checking
Attaching Detaching
Provision of a non-contact switch
for checking attaching/detachingof the ﬁnger plate is possible.

Fail-safe Mechanism
Finger .plate will not come oﬀ
even when pneumaticpressure drops.

Switch for Checking Opening/
Closing of the Fingers
Provision of a switch for checking
opening/closing of the ﬁngers is
possible.

Highly Free Piping Arrangement
Selectable from the front andtwo sides.

Secure and Swift Separation
The ﬁnger plate will be separated
securely from the changer properby ejecting operation of the locking
pistons.

Large Opening/Closing Stroke
AFC10 ••••••10mm
AFC16 ••••••10mm
AFC20 ••••••14mm

806

High-precision and High-rigidity Linear Guide
Finger plate is provided with a highprecision and high-rigidity linear guide.
Repeatability: ±0.01mm

AFC

FINGER CHANGER

Combination of a conventional toolchanger and a pneumatic chuck
Tool Changer(Master Side)

Tool Changer(Tool Side)

FINGER CHANGER

AFC

Summary of The FINGER CHANGER
As for automatic exchange of robot hand tools, a system to exchange the tools by means of pneumatic
hands mounted on a tool changer has been generally adopted. However, this system inherently involved
such disadvantages as complicated pneumatic piping/switches, shorter life of electric contacts andreduced load-carrying capacity of the robot due to larger and heavier construction of the system as awhole. What was created under a completely new development concept of incorporating the function ofa tool changer into a pneumatic chuck is this ﬁnger changer. This new ﬁnger changer allows exchangeof only the essential module, namely the ﬁnger plate mounted on the tip of the robot hand. This new
principle makes it possible to realize a tool changer not larger than conventional pneumatic hands,
resulting in a drastic reduction both in weight and size. Other features of this ﬁnger changer include ahigh-precision and high-rigidity linear guide provided in the ﬁnger plate, switches for checking
attaching/detaching of the ﬁnger plate and opening/closing of the ﬁngers provided as optional devices,
positioning pin holes provided on four surfaces and piping ports on three surfaces and so forth.

Finger changer: AFC series

Piping Ports

Body

Electric
Contacts

Finger Plate

Pneumatic Chuck●Lightweight and compact
construction●Reduced cost

■Application Examples : FINGER CHANGER
Application
Automatic exchange of hand tools for
odd-shaped parts placing device
Exchange of ﬁxtures for setup change

807

Custom Made
Grease Converted Product832 PageThin Type High Accurate Air Gripper
PST Sreies
Page 781

AFCS-SD10-FPRX-RB42LA

FINGER CHANGER

AFC

Model Code Example●Cable Length

Series Name●No Code

1m

ＬＡ

3m

●Number of Switches●Bore Size

Magnet●

1

1

2

2

No Code

None

10

φ10

S

With Magnet

16

φ16

●Switch (for checking opening/closing)A magnet is required
when RB (RC) mounting
switches.

20

φ20

No CodeRB4

Supporting Type●
SD

Basic

Straight

RC4

Angle

RB5

Straight

RC5

Angle

None
With
DC12〜24V
2 Wires Solid Indicator
Light
State Switch
With
DC5〜24V
3 Wires Solid Indicator
Light
State Switch

Direction of Cable Outlet
RB････
Straight Outlet Cable

RC････
Angle Outlet Cable

For details

Page 1066, 1067

●Switch (for checking attaching/detaching)
HB

No CodeWithout Switch

RX

Proximity Switch(DC12-24V)

With End Boss Adapter

Can be used for the ﬁnger changer without magnet as well.
For details
Page 1069●Finger Plate Assembly
No CodeWithout Finger Plate AssemblyFP

With Finger Plate Assembly

Model Code Example

FPA-AFC10●Finger Plate Assembly as a Single Unit

●Bore Size

808

10

φ10

16

φ16

20

φ20

AFC

FINGER CHANGER

Bore Size

φ10㎜

φ16㎜

φ20㎜

Opening/closing Storke

10㎜

10㎜

14㎜

10.5N

33N

51N

Note: Holding Force in Closing Dir.
(Eﬀective Value)

M5×0.8

Guide machanism

Linear Guide

Type of Operation

Double Acting

Fluid

Air

Maximum Operating Pressure

0.7MPaMinimum Operating Pressure

0.2MPa0.1MPaProof Pressure

1.05MPa

Operating Temperature

5〜60℃

Maximum Frequency of Operation

90c.p.mLubrication

Not required

Bore Size
Attaching/detaching Area

FINGER CHANGER

Holding Area

Pipe BoreAFC

Speciﬁcation

φ10㎜×2

φ16㎜×2

φ12㎜×2

Pipe Bore

M5×0.8Type of Operation

Double Acting

Fluid
Maximum Connecting Side
OperatingPressure Separating Side
Minimum Connecting Side
OperatingPressure Separating SideAir
0.7 MPa
0.6 MPa
0.3 MPa
0.25MPa

Proof Pressure

1.05MPa

Operating Temperature

5〜60℃

Lubrication

Not required

Note: Values in the table are those when pressure is O.5MPa {5kgf/cm2} and the span of holding points L=30mm.

Guide Employed in the Finger Plate (Linear Guide)
Model

Type

AFC10

Rail Size 7

AFC16Rail Size 9AFC20Rail Size 12
Pre-load:Zero or slightly pre-loaded

Mass

Unit：ｇ

Model

Body

AFC10

145

65

3

AFC16

225

110

6

60

AFC20

380

210

7

115

Finger Plate Assy Additional Mass to be added Additional Mass of End Boss Adopter

Unit：ｇSwitch TypeMass

RB4, RC4, RB5, RC5

15

RB4LA, RC4LA, RB5LA, RC5LA

35

RX

30

35

METHOD TO CALCULATE THE MASS
Ex. AFCS−HB10−FPRX−RC42LA
Body Mass････････････････････････ 145g
Additional Mass with Magnet･････････ 3g
Additional Mass with End Boss Adopter････ 5g
Mass of Finger Plate Assy･･････････ 65g
Mass of RX Switch･････････････････ 30g
Mass of RC4LA Switch･････ 35×2＝70g
145＋3＋35＋65＋30＋35×2＝348g

809

AFC

OPTIONAL PARTS CODES
Plug

Name

Plug

PARTS CODE

BS−M5

BR−M5

Note

with gasket

Coat BR-M5 withseal tapes orsealing liquid whenusing it.

PARTS CODE
Note

FINGER CHANGEREnd Boss Adopter Proximity Switch RX Switch Fixture
HB（AFC□）
Fill in □ as bore
size.

RX（AFC）
SUNX

GX3S

BD（AFCRX）
Sim, Screw

Content

with Bolt●RB, RC Switch
Conventional
RG1,RG2
switches
can be replaced
to RB,RC switch

Switch Fixture

Solid State Switch（2 Wires, with Indicator Light）
Straight Outlet Cable Angle Outlet Cable

with Bolt

Solid State Switch（3 Wires, with Indicator Light）
Straight Outlet Cable Angle Outlet Cable

BE（AFC）

RB4（AFC）

RC4（AFC）

RB5（AFC）

RC5（AFC）

Screw, Nut

Cable Length:1mCable Length:1mCable Length:1mCable Length:1m

RB4LA（AFC）

RC4LA（AFC）

RB5LA（AFC）

RC5LA（AFC）

Cable Length:3mCable Length:3mCable Length:3mCable Length:3mwith ﬁxture

with ﬁxture

with ﬁxture

with ﬁxture

CHANGE OF THE PIPING POSITION
When the ﬁnger changer is delivered, the blank plugs BS-M5 are provided on both sides (four pieces
on each side: eight pieces in total) out of three surfaces provided with ports.
Since the blank plug BS-M5 is provided with gasket on its seating surface, mounting/dismountingof this plug can be conducted easily with a ﬂat-tip screwdriver or a wrench.
Use blank plugs BR-M5 (hexagonal socket set screw) sold separately when protrusion of plugs
from the body is not permissible. In this case, apply seal tape or sealant on the screw.
Blank Plug
BS−M5

810

Blank Plug
BS−M5

AFC

FINGER CHANGER

FINGER CHANGERAFCSTRUCTURE AND PRINCIPAL COMPONENTS

A

A
Section A-A

These components cannot be disassembled.

CautionConventional function will belost if disassembled.

PRINCIPAL COMPONENTS
No.

Name

Material

Remarks1

Body

Aluminum Alloy

Alumite Treatment

No.

Name

2

Piston Rod

Stainless Steel

19

Plug

Resin

3

Locking Piston

Stainless Steel

20

MagnetMagnetic Substance4

SpringStainless Steel

21

C-ringSteel

5

End Cover

Resin

22

Finger Plate

Carbon Steel6

End Cover

Resin

AFC20 only: Aluminum Alloy 23

Linear Guide

Stainless SteelHeat Treatment

7

Rod Seal Holder

Aluminum Alloy

Alumite Treatment

24

Action Pin

SteelElectroless Nickel Plating

8

Action Lever

Steel

Nitriding

9

Guide Plate

Steel

10

Spacer Collar

Aluminum Alloy

11

Plate

Steel

12

Rotation Prevention Pin

Steel

13

Connecting Pin

Steel

14

Fulcrum Pin

15

18 Hexagonal Socket Set Screw

Material

Remarks

Steel

Nickel Plating

Electroless Nickel Plating

25

C-ringSteel

Nickel Plating

Electroless Nickel Plating 26

C-ringSteel

Nickel Plating

27

C-ringSteel

Nickel Plating

Electroless Nickel Plating 28

Piston Seal

NBR

Heat Treatment

29

Piston Seal

NBR

Heat Treatment

30

Rod Seal

NBR

Steel

Heat Treatment

31

Rod Seal

NBR

Driving Pin

SteelHeat Treatment32

Ｏ-ringNBR

16

Positioning Pin

SteelHeat Treatment

33

Ｏ-ringNBR

17Lever Pin

SteelHeat Treatment

Alumite Treatment

811

AFC

OPERATION PRINCIPLE OF A FINGER CHANGER
Separation

Connection

Holding

FINGER CHANGER

Spring
Locking Piston

Connecting Pin

Connecting
GrooveFinger Plate Assy

Move the locking pistons to pushing-downside by supplying the air to the separating
port. Then, the holding by means of theholding grooves and the holding pins will
be canceled. By this procedure, thelocking pistons will be moved downward,
pushing the ﬁnger plate downward andseparating it from the body.

Move the body by means of robot and so on
with air supplied to the separating port andmake the ends of the locking pistons contact
with the ﬁnger plate. Keep moving the bodythereafter to press the body against theﬁnger plate. By means of this procedure,locking pistons are pushed back to bring theﬁnger plate into close contact with the body.

Move the locking pistons to retracting
side by supplying air to the connecting
port. Then, the connecting pins will bepressed onto the connecting grooves
and hold the ﬁnger plate. Holding
strength is determined by pneumaticpressure supplied to the connecting
port.

SETTING OF PNEUMATIC PRESSURE AT THE SEPARATING PORT
Body pressing force by the robot and the like at the time of connection needs to be larger than theforce to push back the two locking pistons. Pushing-back force (minimum pressing force of body:F4) of the locking piston is determined by the pneumatic pressure at the separating port. Do not
set the pressure larger than necessary to avoid adverse eﬀect to performance, life and so on.
Pushing-back force F3 ＞Cylinder thrust F1−Spring force F2

Min. Body Pressing ForceF4 N

Body pressing force F5＞F4＝2×F3
AFC20

Spring150

Spring force atlocking piston: F2
100

AFC16

Cylinder thrust at
locking piston：F1

AFC10
50

Pushing-back force at f
locking piston：F3
ﬁnger Plate Assy
0

0.25

0.4

0.6

Pneumatic Pressure at the Separating Port
MPa

812

Body pressing force bya robot and so on：F5
Locking Piston

AFC

FINGER CHANGERAFC

PNEUMATIC CIRCUIT■In the case of automatic exchange
Applications: automatic exchange of hand tool by a robot or the like, etc.

FINGER CHANGER

Finger Opening/closing Valve(three-position exhaust center)

Finger Closing Port
Finger Opening Port
Regulator
0.25〜0.6MPa

Separating Port

Finger Plate
Attaching/detaching Valve

Connecting port
●Be sure to use a three-position exhaust center for the ﬁnger opening/closing valve.
If a twoposition valve, a closed center or a three-position valve of pressured center type is used, airfrom the ﬁnger opening/closing cylinders cannot be discharged at both sides, resulting in improper
attaching/detaching of the ﬁnger plate.

●To the separating port side, supply air whose pressure is reduced to a proper level by regulator.
If regulator Is not used, attaching/detaching of the ﬁnger plate may become impossible.
Air Pressure Setting
Page 812

Warning●Be sure to supply Air to the connecting port
Drop of pneumatic pressure at the connecting port to below the speciﬁed level may cause coming oﬀ
of the ﬁnger plate. Take safety measures against this. One example of these measures is to design
the system so that the system will stop when the pressure drops. Take another measures so thatdamages may not be given to human bodies/facilities even if the ﬁnger plate comes oﬀ.

■In the case of manual exchange
Applications: such as attachment exchange at the time of setup changes
Finger Opening/closing Valve

Finger Closing Port
Finger Opening Port
Regulator
0.25〜0.6MPa

Separating Port

Finger Plate
Attaching/detaching Valve

Connecting port
●For supplying air to the separating port side, reducing the pressure to an appropriate level using a regulator is recommended.
For manual change, the separating port does not necessarily require a regulator. However, use of aregulator is recommended when the ﬁnger plate assembly is diﬃcult to mount.
Air Pressure Setting
page 812

Warning●Be sure to supply Air to the connecting port
Drop of pneumatic pressure at the connecting port to below the speciﬁed level may cause coming oﬀ
of the ﬁnger plate. Take safety measures against this. One example of these measures is to design
the system so that the system will stop when the pressure drops. Take another measures so thatdamages may not be given to human bodies/facilities even if the ﬁnger plate comes oﬀ.

813

AFC

ALIGNMENT AT THE TIME OF CONNECTION
Alignment at the following two places are necessary when the body and the ﬁnger plate are
to be connected.
Body

FINGER CHANGER①Alignment between the body and the ﬁnger plate
Align the two positioning pins of the bodywith the positioning holes of the ﬁnger plate.

②Alignment between the action levers and the action pins
Align the lever pins of the action lever withthe groove of the action pins. Connect the
body and the ﬁnger plate with the action
lever open to its maximum and setting thepitch of the ﬁnger pins as shown below.
Failure to follow this procedure may cause
connection failure/improper engagement of
the groove of action pins with the lever pins,
resulting in malfunction of the ﬁngers.

Lever Pin
Connecting
Positioning Pinsurface

Action Lever
Action Pin

GrooveParallelism between the connecting surfacesof the body and the ﬁnger plate is to be set at
5/1OOmm or better.
Accuracy of the center position of the bodyand the ﬁnger plate is to be set at 5/1OOmm
or better.

Positioning pinof the ﬁxture

L

FingerPositioning Hole

Finger Plate Assy

TOOL STAND FOR AUTOMATIC CHANGE (EXAMPLE)
The ﬁgure shows an example ofautomatic change using a robot, etc.
For actual use, give suﬃcientconsideration in view of the operating
conditions and other factors.
Ensure that the pitch between
the attachment positioning pins
is as shown in the table below.
Model

L(㎜)

AFC10

18

AFC16

20±0.05

AFC20

25±0.05

Attachment Positioning Pin＊Workpiece Gripping
Attachment＊Positioning Plate±0.05＊Positioning Pin＊Tool Stand

L

814

AFC

FINGER CHANGER

Actuator Precaution

Warning

Power Source Failure and Supply Pressure Drop
If any power source such as electricity and air pressure fails
or the supply pressure abnormally increases or decreases
due to trouble, etc., the gripping force of the ﬁngers and theconnecting axial force of the ﬁnger plate also vary.
For that reason, the workpiece may be damaged due to theincreased gripping force, the workpiece may fall due todecreased gripping force or connecting axial force or theﬁnger plate may fall oﬀ. Take measures for preventing injury
or damage to human body or equipment even if suchsituations occur.

Gripping Force
Refer to the page on eﬀective gripping force and select amodel with a margin taken into consideration.

Gripping Point
Use beyond the limit range of the gripping point may increase
the moment load applied to the ﬁnger, causing failure.

Secure Gripping
Ensure that workpiece is gripped at a point close to thecenter of gravity of the workpiece securely and stably. Grip
the workpiece near the midpoint of the opening/closing
stroke as much as possible.

Attachment
When the attachment for workpiece gripping is long and large
or the mass is large, the inertial force from opening/closing
operation and the moment load generated in the ﬁngers may
become large, possibly aﬀecting the performance.

Opening/Closing Stroke
Ensure that the design takes into account variation in theworkpiece dimensions and gripping position. If no margin isprovided, inadequate gripping of the workpiece, falling, etc.
may result. When using a switch, consider the
opening/closing stroke with the hysteresis of the switch
taken into account. Set the opening/closing stroke as large
as possible. Setting a small stroke may cause inadequate
lubrication of the ﬁngers and cylinder sliding part, leading tomalfunction. If it is not possible to set a large
opening/closing stroke, operate with a large stroke
periodically in order to maintain good lubrication.

Opening/Closing Operation
Do not operate the action lever without the ﬁnger
plate. It may cause failure.

Rolling Feel in Linear Guide
When the ﬁngers are moved by hand, rolling of balls in the linear
guide may cause slight feel of operation discontinuity or diﬀerencein the rolling resistance between products. This is due to preloadof the linear guide and does not aﬀect the performance.

page 1055

Adjustment of Finger Opening/Closing Speed
Large impact by gripping the workpiece may increase themoment generated in the ﬁngers, causing failure. Use a speed
controller to ensure that the workpiece is gripped as softly as
possible. During commissioning, operate the product manuallyor at a low speed by reducing the supply pressure to makesure that no impact is applied to the ﬁngers.

Removal of Product
When removing the device from the equipment for purposessuch as remodeling and maintenance, make sure that noworkpiece is gripped, shut oﬀ the supply of compressed air
and discharge the residual pressure.

FINGER CHANGER

Safety Cover
It is dangerous to bring the hand, ﬁnger, face, etc. close to
moving parts such as the ﬁngers and attachments. Provide
a safety cover if there is any possibility of injury during
operation of the equipment or the chuck.

AFC

PRECAUTIONS FOR DESIGN AND USE

During Operation
Inadvertently bringing the ﬁnger, hand, tool, etc. in any
moving part of the equipment or device while the device isin operation or the power source is not cut oﬀ may lead to
accidents.

Provision of CoverIf any dust, water, oil, machining oil, iron powder, spatter, etc.
is attached to the rod, sliding part or ﬁnger linear guide, thebearing or packing may be damaged, causing air leakage or
malfunction. Provide a cover to prevent attachment.

Periodical Greasing
The linear guide of the ﬁngers has lubricating oil applied
initially but regrease regularly.

Mounting and Adjustment
When mounting an attachment on the ﬁngers, tighten themounting screws while supporting the attachment by using
a spanner, etc. to prevent any load or impact from being
applied to the guide. Ensure that no force other than theworkpiece gripping is applied to the ﬁngers. Provide
clearance to prevent any hitting of workpiece or attachment
in ﬁnger opening/closing operation or at the stroke end of
air chuck movement, which may cause load or impact to be
applied to the ﬁngers.

Mitigation of Impact of Stopping
When a robot or other actuator is used for movement of the
body of the product such as straight and revolving
movements, the workpiece may project or fall or the ﬁnger
plate may fall oﬀ. Ensure that the design takes into account
impact absorption by a cushion, absorber, etc.

Lock Piston
The spring in the lock piston is intended for preventing theﬁnger plate assembly from falling oﬀ due to air pressure drop.
For ordinary use, be sure to supply compressed air to thereturn side (connecting port side) for holding it. Otherwise,
the ﬁnger plate assembly may fall oﬀ from the body.

Positioning Pin Hole in Body
Press-ﬁtting a pin into a positioning pin hole may cause
failure due to deformation of or damage to the press-ﬁtting
part or excessive load applied during press-ﬁtting.
Ensure that the ﬁt allows for a clearance between the holeand the pin (clearance ﬁt: tolerance class position g max.).

815

Step 1FINGER CHANGERAFCCONNECTING PROCEDURES
Step 2

Step 3●lnitial state (separation)●To open the levers●To get the levers ready

Supply air to the separating
port to push the locking piston
downward. This procedure frees
the connecting pins.

Supply air to the ﬁnger opening
port to open the action levers
to their maximum.

Discharge the air inside the cylinders
for ﬁnger opening/closing.
This procedure discharges the air at
both sides of the pistons.

Supply air to the
Locking Piston
separating port S.
S

Supply air to the
opening port 0.
S

O

Connecting
Pin

C

J

Discharge the air from theopening port 0.

O

S

O

J

C

C

J

1.5㎜
Open the action levers

Port Name
State of the
Air Supply

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

×

×

×

●

●････････Air Supply
×････････Exhaust

Port Name
State of the
Air Supply

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

●

Step 4

×

×

●

S

O
C

O

J

C

Supply air to theconnecting port J.

Port Name
State of the
Air Supply

816

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

×

×

×

×

×

●

Code for Piping Ports●Holding

Move the body downward till the
Supply air to the connecting
tips of the locking pistons touch
port to hold the ﬁnger plate.
the ﬁnger plate by means of therobot and the like. After the bodytouches the ﬁnger plate, continue
moving the body so that the locking
pistons are pushed back to bring the
S

State of the
Air Supply

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

Step 5●Connection

Supply air to theseparating port S. J

Port Name×●Port Name
State of the
Air Supply

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

×

×

×

●

O：Finger opening port (Open)
C：Finger closing port (Close)
J ：Finger plate connecting port
(Joint)
S：Finger plate separating port
(Separate)

AFC

FINGER CHANGER

Step 1

Step 2

Step 3●To open the ﬁngers●To get the ﬁngers ready●To cancel connection

Supply air to the ﬁnger opening
port to open the ﬁngers to theirmaximum.

Discharge the air inside the cylinders
for ﬁnger opening/closing.
This procedure discharges the air at
both sides of the pistons.

Supply air to the separating port topush the locking pistons downward.
This procedure frees the connecting
pins.

Supply air to the
opening port 0.

Supply air to the
Locking Piston
separating port S.

Discharge the air from theopening port 0.

S

O

S

J

C

J

S

O
C

O
C

J

Connecting
Pin

FINGER CHANGERAFCSEPARATING PROCEDURES

Open the Fingers

Port Name
State of the
Air Supply

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

●

×

●

×

Port Name
State of the
Air Supply

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

×

×

●

×

Port Name
State of the
Air Supply

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

×

×

×

●

Step 4

Code for Piping Ports●Separation
Move the body by 15mm MIN.
by means of robot and so on withthe locking piston pressed.
Move
Supply air to theseparating port S.
SOJPort Name
State of the
Air Supply

O：Finger opening port (Open)
C：Finger closing port (Close)
J ：Finger plate connecting port
(Joint)
S：Finger plate separating port
(Separate)

C

Finger Area Altaching/detaching Area
Opening Closing Connecting Separating
Port
Port
Port
Port

×

×

×

●

817

AFC1660

60

Pa

Overhang H (㎜)

Pa
Pa

3M

Overhang H (㎜)

2M

0.

7M

10

20
0.

0

4M

Pa

10

40
0.

4M

Pa

3M

20

0.

Pa

0.

Pa

20

30

60

Pa

10

0.5MPa0.5MPa

40

7M

0

50

0.

10

0.6MPa0.6MPa

0.

20

a
P

30

80

2M

40

AFC20

0.

50

M
.3
0

Overhang H (㎜)

AFC10

a
P
M
a
.4
P
0
M
a
.5 MP
0
.6
a
0
P
M
.7
0

FINGER CHANGERAFC

LIMIT RANGE OF GRIPPING POINT

30

40

50

Gripping Point

60

L（㎜）

20

30

40

Gripping Point

50

60

20

0

L（㎜）

40

60

Gripping Point

80

L（㎜）

Caution●Attachment
Ensure that the distance of the gripping point L and overhang H,
which show the position of workpiece gripping by the attachments,
are within the ranges shown in the graphs.
Exceeding the limit range may cause excessive moment to be
Attachment
applied to the guide, which may generate looseness of theWork
ﬁngers or otherwise adversely aﬀect the service life.
Attachments should be as small and lightweight as possible
Heven within the limit range.
Long and heavy attachments increase the inertial force from
opening/closing, which may adversely aﬀect the ﬁngers.

L

CLOSING DIRECTION EFFECTIVE GRIPPING FORCE
AFC16

AFC20

0.7MPa15

0.6MPa0.5MPa100.4MPa50.3MPa0.7MPa0.6MPa40

0.5MPa30

0.4MPa20

0.3MPa100.2MPa00.1MPa50 60

0.2MPa
0

10

20

30

Gripping Point

40

50

L（㎜）

10

20

30

40

Gripping Point

Warning●Selection of Model according to Work Mass
The mass of the workpiece to be gripped should be
5 to 10% of the eﬀective gripping force as a roughguide, although it depends on the material, shape,surface condition, etc. of the workpiece or
attachments.
When large acceleration or impact is applied due tohigh-speed movement by a robot, etc. while theworkpiece is gripped, allow for a larger margin.

818

0.7MPa70

50

Gripping Force (N)Gripping Force (N)

20

L（㎜）

Gripping Force (N)AFC10

0.6MPa60

0.5MPa50
400.4MPa30

0.3MPa200.2MPa100.1MPa0

20

40Gripping Point

60

L（㎜）

80

AFC

FINGER CHANGERAFCALLOWABLE MOMENT AND CONNECTING AXIAL FORCE
Warning■Allowable Moment●Moment due to inertial force from high-speed
movement by a robot, etc.
●Contact with attack or workpiece during
equipment assembly or commissioning.
●Displacement of the workpiece gripping position
from the gripping position of the attachments.
●Generation of moment due to insertion,press-ﬁtting, assembly, etc.

Body
FINGER CHANGER

In cases as shown below, the ﬁnger plateassembly may fall oﬀ if the ﬁngers and theﬁnger plate assembly are subjected tomoment above the allowable value.
Ensure that moment above the allowablevalue is not applied.

Pitching
Mp

Finger Plate Assy

Attachment
YawingMy

Allowable Moment Ｎ・m

Model

Mp

My

Mr

AFC10

0.35

0.4

0.6

AFC16

0.8

1

0.7

AFC20

1.6

2

1
Rolling
Mr■Connecting Axial Force

Connecting Axial Force N

200

AFC20

150

AFC16

100
AFC10
50

0.1

0.3

0.5

0.7

Connecting Port Air Pressure
MPa●Connecting axial force is the force in axial direction
applied by the lock piston in the body to hold theﬁnger plate assembly by pressing the connecting
pin against the connecting groove.
The holding force depends on the air pressure
supplied to the connecting port.
●The spring in the lock piston is intended forpreventing the ﬁnger plate assembly from falling oﬀ
due to air pressure drop while the ﬁnger changer isstationary.
For ordinary use, be sure to supply air to theconnecting port.
●If the air pressure supplied to the connecting port
is low, the ﬁnger plate assembly may fall oﬀ duringuse.
Supply as high pressure as possible to theconnecting port.

819

■Bearing Accuracy
Switch RailFINGER CHANGER

AFC

Accuracy

Datum Plane Mark

Positioning Pin

E
F（

Distance to Positioning Pin
on Datum Plane Side

）

A

B

C

D

G

Unit：㎜

Model

AFC10

AFC16

Mutual Between Sides A and B
Diﬀerence Between Sides C and D

0.015

Tolerance of Dimension E±0.1

Tolerance of Dimension F±0.025Tolerance of Dimension G

0
−0.03

820

AFC20

0.02

CautionThe datum plane mark is always on theswitch rail side of the body.

AFC

FINGER CHANGER●Positioning in Opening/Closing Direction
Positioning in the opening/closing direction can be achieved by providing the attachment with aslotted hole for the positioning pin in the perpendicular direction and putting it around the ﬁnger
positioning pin.

FINGER CHANGER

Positioning the attachments only by the ﬁnger positioning pin is not suﬃcient for correct
positioning because the attachment rotates around the ﬁnger positioning pin.
Even if it is positioned correctly by adjustment, it may be displaced by inertial force or vibration
during operation.
In addition, a mutual diﬀerence between the left and right ﬁngers may be generated within therange of tolerance of dimension E (see p. 820).
Accordingly, consider the mutual diﬀerence and tolerance of dimension E when positioning theattachments. For high-accuracy attachment positioning or high mounting repeatability, position
the attachment at two points, or positioning pin and ﬁnger side, which is described below.

AFC

DESIGN OF ATTACHMENT●Positioning in Perpendicular Direction
Positioning in the perpendicular direction can be achieved by providing a projection on one sideof the attachment and pressing it against the side of the ﬁnger on the datum plane side.
If displacement during operation causes a problem, provide a projection on each side of theattachment and ﬁt it on the ﬁnger.
Finger Mutual Diﬀerence and Tolerance
page 820

Datum Plane Mark

FingerAbutting
Surface

Perpendicular Direction

Fixing Bolt
Positioning Pin

Opening/Closing Direction

Through Hole for Securing Bolt

Positioning in Opening/Closing Direction
Slotted Hole

Positioning in Perpendicular Direction

Attachment

821

Attachment Mounting

Side Mounting Type（tapped holes on body）

L

FINGER CHANGERAFCMOUNTING OF FIXTURE AND WORK

H

L

Note: Do not use these tapped holes for ﬁxing the ﬁnger changer
proper.

φD
Model

L

Bolt Size Screw Depth Fastening Torque Pin Holes for PositioningL(mm)φD×H(mm)
N･m

Model

Bolt Size

Screw Depth
L(mm)Fastening TorqueN･m

AFC10 M3×0.5

4.5

１.1

0
φ2.5−0.03
length2

AFC10

M3×0.53

1.1

AFC16 M4×0.7

6

2.5

0
φ3.5−0.03
length3

AFC16

M3×0.54

1.1

AFC20 M5×0.8

8

5.1

0
φ4.5−0.03
length3

AFC20

M3×0.55

1.1

Side Mounting Type（through holes on body）
L

L

Note: As for AFC 16 and 20, two tapped holes are provided oneach surface, therefore, a total of four tapped holes areprovided, while as for AFC 10, one hole on one surface,a total of three holes.
Do not use thses tapped holes for ﬁxing the ﬁnger changer
proper.

Screw Depth Fastening Torque
N･m
L(mm)

Model

Bolt Size

AFC10

M3×0.5

4

１.1

AFC16

M3×0.5

5

1.1

AFC20

M3×0.5

5

1.1

822

AFC

FINGER CHANGER

Axial Mounting Type（tapped holes on body）

Vertical Mounting Type（tapped holes on body）

Use this spigot for positioning.
Detailed dimensions
Refer to the page showing
the drawing of countor dimensions

φD

AFC

MAIN BODY MOUNTING PROCEDURES

L
FINGER CHANGER

H

φD

L

H

Oblong HoleRound HoleH
End Boss Adapter (option)
Refer to the page showing
the drawing of contour dimensions.

Model

Bolt Size Screw Depth Fastening Torque Pin Holes for Positioning
L(mm)
N･m
φD×H(mm)

Note: In the case of this vertical mounting, the depth of theoblong hole is small. Therefore, use a pin with smaller
chamfering for this hole.

Model

Bolt Size Screw Depth Fastening Torque Pin Holes for Positioning
L(mm)
N･m
φD×H(mm)

AFC10 M4×0.7

5

2.5

φ3 ＋0.04
depth30

AFC10 M4×0.7

5.5

2.5

φ3＋0.04
0 depth1.2（2）

AFC16 M5×0.8

7

5.1

φ4 ＋0.04
depth40

AFC16 M5×0.8

75.1

φ4＋0.04
0 depth1.5
（3）

8.6

φ5 ＋0.04
depth4.5
0AFC20 M6×1

98.6

φ5＋0.04（3.5）
0 depth1.5

AFC20 M6×1

9

Depth of pin hole shows that of the oblong hole.
The ﬁgure in ( ) shows round hole depth.

Side Mounting Type（tapped holes on body）

L

Side Mounting Type（through holes on body）

L

L
H

φD

φD

H

Plain Washer
Note: Use plain washers for ﬁxing.

Model

Screw Depth Fastening Torque Pin Holes for Positioning
Bolt Size
L(mm)N･mφD×H(mm)Model

Fastening Torque Pin Holes for Positioning
Bolt Size Thru Hole Length
N･m
φD×H(mm)L(mm)AFC10 M4×0.7

10

2.5

φ3

depth3

AFC10

M3

24

1.1

φ3 ＋0.04
depth30

AFC16 M5×0.8

12

5.1

φ4 ＋0.04
depth4
0

AFC16

M4

30

2.5

φ4 ＋0.04
depth40

AFC20 M6×1

14

8.6

φ5 ＋0.04
depth5
0

AFC20

M5

36

5.1

φ5 ＋0.04
depth5
0

＋0.04
0

823

AFC10AFC（S）−SD
HB10−FP

φ11

＋0.04
0

depth1.5

with Finger Plate Assy

2.5

Bore Size

φ4（for RX switch）
32.2

depth3
6.3

＋0.04

16

FINGER CHANGER

Type
SD･･･Standard
HB･･･with End Boss Adapter

3 0

AFC

DIMENSIONS(mm)

4.3
15

＋0.04

φ3 0

depth328

2−M4×0.7depth5

34
Ｍ5（Closing Port）

Ｍ5（Separating Port）

Ｍ5（Opening Port）

2−M4×0.7depth5.5 Ｍ5（Connecting Port）

24（Body Thickness）

Ｍ5（Separating Port）

16

Ｍ5（Connecting Port）

15

53
−0.4

Closed 8−1.6＋0.4
Opened18 0

3−Ｍ3×0.5depth3

152−Ｍ4×0.7depth1015depth2

25

.5

0

-C

2

16.6

33.5

8.5

2

2−Ｍ3×0.5depth4

7±0.025

＋0.04
0

32.5

16.5

7

7
Separating
Position

5 7.5
1.5

0
−0.03

13

16.5

9.5
14

20
49.5

10.5

17

16.5

depth1.2

62

＋0.04

φ3

Ｍ5（Closing Port）

14
3 0

φ2.5

Ｍ5（Opening Port）

35

42（Finger Plate Thickness）.50C
Note: The switch for checking the closing position projects from the body.
Mount so as to avoid the projection. Projection
page 831

824

0.5

14

3.5

5

0.5
2−Ｍ3×0.5depth4.5

AFC

FINGER CHANGER

FINGER CHANGER

φ16

41.4

0
φ14−0.04

AFC

15
9

23.4

20

With End Boss Adapter
Ｍ5（Connecting Port）

Ｍ5（Closing Port）

Ｍ5（Separating Port） Ｍ5（Opening Port）

2.6

42（Body width）

Blank Plug
BS−M5

16

17.5

15

4

3

depth1.2＋0.04
0depth3

32.2

7
20

32.5

33.5

53

2.5

8.5

13

16

33.3

17.5

10.5
16.5

9.5
14

17

4

3

＋0.04
0

2.6

13

2−Ｍ4×0.7depth5.5

M4

Ｍ3×0.5depth4（For RX Switch Fixing）＋0.04

φ3 0 depth2
6.8

15

15

11.4
2−Ｍ4×0.7depth10
φ3 0 depth3
＋0.04

（8.1）

3−Ｍ3×0.5depth3

7

Front View of Blank Plug BS-MS
Note: If projection of the blank plug BS-M5 is not permitted, use BR-M5 separately oﬀered.

page 810

825

AFC16

AFC（S）−SD
HB16−FP
＋0.04

φ17 0

with Finger Plate Assy

Type
SD･･･Standard
HB･･･with End Boss Adapter

φ4（for RX switch）
37.5

4 0

＋0.04

20

FINGER CHANGER

depth1.5

2.5

Bore Size

depth4AFC

DIMENSIONS(mm)

6.3

4.3

＋0.04

φ4 0

16.8

depth433

2−Ｍ5×0.8depth7

40
Ｍ5（Separating Port）
2−Ｍ5×0.8depth7 Ｍ5（Connecting Port）

30（Body Thickness）
20

Ｍ5（Separating Port）
Ｍ5（Connecting Port）

17
＋0.04

15

12

7

7

depth1.5

16

20

59

55
70

16

16

20

15

12

Ｍ5（Closing Port）

16.5
4 0

20

Ｍ5（Opening Port）

42

8

Separating
Position72−Ｍ3×0.5depth5

9

17

2
.5

0

-C

31

2

φ4 0 depth3

3−Ｍ3×0.5depth4−0.4Closed 10 −1.6
＋0.4
Opened20 0±0.025

19.6
＋0.04

3

0

φ3.5−0.03

37.5

Ｍ5（Opening Port）

34

Ｍ5（Closing Port）

17

2−Ｍ5×0.8depth1250（Finger Plate Thickness）

1

C
Note: The switch for checking the closing position projects from the body.
Mount so as to avoid the projection. Projection
page 831

826

0.5

18

4.5

6

0.5
2−Ｍ4×0.7depth6

AFC

FINGER CHANGER

FINGER CHANGER

φ20

49.4

0
φ16 −0.04

AFC

20
10

29.4

25

With End Boss Adapter
Ｍ5（Connecting Port）
Ｍ5（Closing Port）
Ｍ5（Separating Port）

50（Body width）

2.6

Ｍ5（Opening Port）

Blank Plug
BS−M5

20

15

17

＋0.04

4

4 0 depth4

depth1.5

37.5

7

34

20
37.5

59

17.5

16

38.5

20

15

12

2.5

8.5

13.2

16

20

4

4

＋0.04
0

2.6

42

2−Ｍ5×0.8depth7

Ｍ4（For RX Switch Fixing）＋0.04

φ4 0 depth3
8.5

17

16.8

2−Ｍ5×0.8depth12

17

＋0.04

φ4 0 depth4
2−Ｍ3×0.5depth5（8.1）

3−Ｍ3×0.5depth4

7

Front View of Blank Plug BS-MS
Note: If projection of the blank plug BS-M5 is not permitted, use BR-M5 separately oﬀered.

page 810

827

AFC20AFC（S）−SD
HB20−FP＋0.05

φ21 0 depth1.5

with Finger Plate Assy

2.5

Bore Size

φ4（for RX switch）
48.5

depth4.5

＋0.04

41

Ｍ5（Separating Port）
2−Ｍ6×1depth936（Body Thickness）

Ｍ5（Connecting Port）

24

Ｍ5（Connecting Port）

Ｍ5（Separating Port）

21

Ｍ5（Opening Port）

52
＋0.04

5 0 depth1.5

Ｍ5（Closing Port）

20.5

17

22.5

65

60
80

24

22.5

12

14.5

7.5

7.5

20

14.5
17

22.5

2−Ｍ6×1depth9

50

41.5

Ｍ5（Opening Port）

5 0

6.3

4.3
18.5

φ5 0 depth4.5
Ｍ5（Closing Port）

＋0.04

24

FINGER CHANGER

Type
SD･･･Standard
HB･･･with End Boss Adapter

38

AFC

DIMENSIONS(mm)10 10Separating
Position

33

0

φ4.5 −0.03

2−Ｍ3×0.5depth5

24

.5

0

-C

37

2

26.6
＋0.04

φ5 0 depth3.5

24

2−Ｍ6×1depth14

62（Finger Plate Thickness）

63

2

C
Note: The switch for checking the closing position projects from the body.
Mount so as to avoid the projection. Projection
page 831

828

3−Ｍ3×0.5depth5−0.4Closed 11 −1.6
＋0.4
Opened25 0

12 ±0.025

1

22

1

5

8

2−Ｍ5×0.8depth8

AFC

FINGER CHANGER

FINGER CHANGER

61.4

φ27

0
φ25−0.05

AFC

25
11

35.4

30

With End Boss Adapter
Ｍ5（Connecting Port）
Ｍ5（Closing Port）
Ｍ5（Separating Port）
Ｍ5（Opening Port）

62（Body width）

2.6

24

Blank Plug
BS−M5

21

20

＋0.04

5 0 depth1.5

5 0 depth5

4

7.5

48.5

38

23
41.5

65

18.5

42

24

22.5

＋0.04

4

12

14.5

22.5

17

2.6

52

2.5

10

15

2−Ｍ6×1depth9

M4（For RX Switch Fixing）＋0.04

φ5 0 depth3.5
13

24

21.4

2−Ｍ6×1depth14

24

＋0.04

φ5 0 depth5
2−Ｍ3×0.5depth5（8.1）

3−Ｍ3×0.5depth5

7

Front View of Blank Plug BS-MS
Note: If projection of the blank plug BS-M5 is not permitted, use BR-M5 separately oﬀered.

page 810

829

AFC

PROCEDURES FOR SETTING THE SWITCH MOUNTING POSITION
To conﬁrm the return of the ﬁngers

To check the holding of a work

Step 1

Step 1

Step 2

Step 2

Step 3

Step 3

Align the ﬁngers with their holding positions.

FINGER CHANGER

Align the ﬁngers with their return positions(full open).

Insert the switch into the switch mounting groovein the arrowed direction and continue moving theswitch till the indicator lamp is turned on.

Continue moving the switch in the arrowed direction
further from the position where the indicator lamp
is turned on till the lamp is turned oﬀ.

Step 4

Move the switch in the opposite direction from theposition where the indicator lamp is turned oﬀ till
the indication lamp is turned on again.

Step 5

Continue moving the switch approx. 0.3mm in thearrowed direction from the position where theindicator lamp is turned on and ﬁx the switch atthis point.

830

Insert the switch into the switch mounting groovein the arrowed direction and continue moving theswitch till the indicator lamp is turned on.

Continue moving the switch approx. 0.3mm in thearrowed direction from the position where the indicator
lamp is turned on and ﬁx the switch at this point.

Note
Hold the work at around the middle of the opening/closing stroke
as far as possible. If the work is held near opening/closing stroke
end, switch detection may be restricted due to response
diﬀerence of switch and so on.

AFC

FINGER CHANGERAFCINSTALLATION OF SWITCH■Installation Method
Nut

Insert the switch into the groove.
After setting the position, fasten the screw bya screwdriver.
Fastening torgue of ﬁxing screw must be 0.1N・m.

Fixing Screw M2.5×6

SwitchSwitch (RX) for checking attaching/detachingof the ﬁnger plate
Urethane Shim
Hexagon Socket Set Screw

0.3〜0.5㎜

FINGER CHANGER

Switch (RB, RC4) for checking ﬁnger opening/closing

Insert the switch into the mounting hole.
Screw in the urethane shim and the hexagon
socket set screw. After setting the mounting
position, tighten the ﬁxing screw with a hexagon
socket driver of size 2.
Tightening torque is to be 0.3N・m {3kgf・cm}.

CautionUse urethane shim for ﬁxing the switch
without fail. If the switch is tightened without
providing the shim, switch may be damaged.

■Response Diﬀerence

Unit：㎜

Model

RB（RC）4, 5
Maximum Response Diﬀerence（ｃ）

AFC10

0.5

AFC16

0.8

AFC20

0.8

Response diﬀerence（c）

Actuation positionof the switch (ON)

Response Diﬀerence
Return position of
the switch (OFF)Response diﬀerence means the
distance between the position
where the switch is turned onafter the magnet starts. moving
and the position where theswitch is turned oﬀ after themagnet starts moving in the
opposite direction.

■Switch Protrusion DistanceL
Unit：㎜

Model
AFC10
AFC16
Note: The projections shown are those observed when the ﬁngers are mostclosed. Projection may not occur depending on the gripping position.

AFC20

FingerPositionProtrusion
Distance（L）

open
close

5

open
close

2

open
close

1

831

FINGER CHANGERAFCCUSTOM MADE
■To change grease●Change the grease of bearing part to the other grease.
●There is a case might not be handled depends on kind of grease or request.
●Cylinder part is lithium soap grease or ﬂuorine grease.
●Grease of purchased item can not be exchanged.

Please ask us for more detailed infomation.

832

■M E M O ■833

■M E M O ■834