Series
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Smooth Motion via Bearings
Internal Structure / Parts & Seals
■Standard
Key Features
Hand
(2-Jaw)
■High accuracy and smooth operation with cross roller
guide
Cross roller bearing used in the sliding material provides high
accuracy and smooth motion
■Compact body and high rigidity
Telescopic slides and bearing retainers to provide high moments
to size ratio
■Protective rubber cover (option) for use in dusty and
HK-40MS
harsh environments
Rubber cover for harsh environments to repels chips and other particulates such as dust
and mist from internal drive mechanism
■Oil-resistant sensors (option)
Oil-resistant sensors available (option) for HK-50AS1, 63AS1, and 80AS
３ ２ １３ ８ １４ １ ５ １２ １０ ７ ６
HK-32MS
Standard
Size
２２ ２０
Sensor
Quantity
HK - 32MS - ET3
Option
Size
Symbol
32MS
40MS
50AS1 *5
63AS1 *5
80AS *3
Option
S2 -
Sensor
Quantity
Symbol
Name
Name
Symbol
Name
Symbol
E25 *4 Contact 2-Lead
ET3 *1 Non-Contact
S1
1 Sensor
3-Lead
*4
*4 Non-Contact
E25L Contact 2-Lead
ET3L
S2
2 Sensors
3-Lead
E40 *4 Non-Contact
ET2 *1 Non-Contact
2-Lead
3-Lead
E40L *4 Non-Contact
ET2L *4 Non-Contact
2-Lead
3-Lead
E24 *4 Contact 2-Lead E41 *4 Non-Contact
2-Lead
For sensor detail
*4 Non-Contact
*4
277P
Contact 2-Lead E41L
E24L
2-Lead
Option
Symbol
Name
NO *2 Normally Open
*2
Normally Closed
NC
Rubber Cover
G
Oil (Fluororubber) Cover
GH
Heat (Silicon Rubber) Cover
GT
For option detail
36P
Specification
HK-32MS
For Layout Drawing
Working Pressure
Lubrication
Ambient Temperature （℃）
（㎜）
Total Jaw Stroke
（㎜）
Cylinder Diameter
（㎜）
Rod Diameter
Internal Volume [Reciprocation]（㎝3／time）
Repeatability
（㎜）
Weight
（㎏）
HK-40MS
120P For Layout Drawing
HK-50AS1
121P For Layout Drawing
HK-63AS1
122P For Layout Drawing
２６
■NC(Single Acting Normally Closed)
２０ ２１ ２３
２１
HK-32MS with Rubber
cover and 2 of ET3
non-contact reed
switches
G
*1 Bracket is required to mount this switch (except HK-50AS1, 63AS1, and 80AS)
*2 Except HK-80AS
*3 There is no 80AS1. HK-80AS is correct model number
*4 Available only for HK-50AS1, 63AS1, 80AS
*5 There is no 50AS and 63AS. HK-50AS1 and 63AS1 are correct model number
Model
１０
１７ １６ １９ １５ ４ １１ ２５ ９ １８
■NO(Single Acting Normally Open)
How To Order
117
Some of the model numbers have been changed from MS to AS1
Hand
(2-Jaw)
HK
Some of the model numbers have been changed from MS to AS1
HK-80AS
123P For Layout Drawing
Pneumatic: 0.1 to 0.7 MPa(0.3 to 0.7MPa for NO & NC types)
Not Required or Turbine Oil Class 1 (ISOVG32)
5 to 60
24
36
30
40
dia.32
dia.40
dia.50
dia.63
dia.16
dia.20
dia.28
dia.32
25.3
49.5
89.4
162.9
±0.01
1.36
1.95
4.2
5.4
124P
Pneumatic: 0.3 to 0.7MPa
２４
２４
■Parts List
No.
1
2
3
4
5
6
7
8
9
Name
Body
Cylinder
Cylinder Cover *
Piston
Arm
Master(Base) Jaw
Bearing Guide
Cushion
Side Cover
Material
Aluminum
Aluminum
Resin
Aluminum &
Stainless Steel
Carbon Steel
Carbon Steel
Carbon Steel
Resin
Stainless Steel
No.
10
11
12
13
14
15
16
17
18
Name
Retainer A
Fulcrum Shaft
Operating Shaft B
Piston Seal
Rod Seal
Cylinder Seal A
Cylinder Seal B
Snap Ring
Roller
No.
19
20
21
22
23
24
25
Stainless Steel 26
Material
Stainless Steel
Carbon Steel
Carbon Steel
Name
Magnet
NO & NC Cylinder
NO & NC Piston A
NO Spring
NC Spring
NO & NC Piston B
Operating Shaft A
Retainer B
Material
Aluminum
Stainless Steel
Stainless Steel Wire
Stainless Steel Wire
Aluminum
Carbon Steel
Stainless Steel
High-Carbon Chromium
Bearing Steel
*Aluminum for 50AS1 and 63AS1
60
dia.80
dia.16
354.5
10.6
■Seals List
No.
13
14
15
16
HK-32MS
PSD-32
MYA-16
P-26
S-29
HK-40MS
PSD-40
MYA-20
G-35
S-36
HK-50AS1
PSD-50
PNY-28
G-45
S-46
HK-63AS1
PSD-63
PNY-32
G-60
S-60
HK-80AS
PSD-80
MYA-16
G-75
118
Series
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Smooth Motion via Bearings
Internal Structure / Parts & Seals
■Standard
Key Features
Hand
(2-Jaw)
■High accuracy and smooth operation with cross roller
guide
Cross roller bearing used in the sliding material provides high
accuracy and smooth motion
■Compact body and high rigidity
Telescopic slides and bearing retainers to provide high moments
to size ratio
■Protective rubber cover (option) for use in dusty and
HK-40MS
harsh environments
Rubber cover for harsh environments to repels chips and other particulates such as dust
and mist from internal drive mechanism
■Oil-resistant sensors (option)
Oil-resistant sensors available (option) for HK-50AS1, 63AS1, and 80AS
３ ２ １３ ８ １４ １ ５ １２ １０ ７ ６
HK-32MS
Standard
Size
２２ ２０
Sensor
Quantity
HK - 32MS - ET3
Option
Size
Symbol
32MS
40MS
50AS1 *5
63AS1 *5
80AS *3
Option
S2 -
Sensor
Quantity
Symbol
Name
Name
Symbol
Name
Symbol
E25 *4 Contact 2-Lead
ET3 *1 Non-Contact
S1
1 Sensor
3-Lead
*4
*4 Non-Contact
E25L Contact 2-Lead
ET3L
S2
2 Sensors
3-Lead
E40 *4 Non-Contact
ET2 *1 Non-Contact
2-Lead
3-Lead
E40L *4 Non-Contact
ET2L *4 Non-Contact
2-Lead
3-Lead
E24 *4 Contact 2-Lead E41 *4 Non-Contact
2-Lead
For sensor detail
*4 Non-Contact
*4
277P
Contact 2-Lead E41L
E24L
2-Lead
Option
Symbol
Name
NO *2 Normally Open
*2
Normally Closed
NC
Rubber Cover
G
Oil (Fluororubber) Cover
GH
Heat (Silicon Rubber) Cover
GT
For option detail
36P
Specification
HK-32MS
For Layout Drawing
Working Pressure
Lubrication
Ambient Temperature （℃）
（㎜）
Total Jaw Stroke
（㎜）
Cylinder Diameter
（㎜）
Rod Diameter
Internal Volume [Reciprocation]（㎝3／time）
Repeatability
（㎜）
Weight
（㎏）
HK-40MS
120P For Layout Drawing
HK-50AS1
121P For Layout Drawing
HK-63AS1
122P For Layout Drawing
２６
■NC(Single Acting Normally Closed)
２０ ２１ ２３
２１
HK-32MS with Rubber
cover and 2 of ET3
non-contact reed
switches
G
*1 Bracket is required to mount this switch (except HK-50AS1, 63AS1, and 80AS)
*2 Except HK-80AS
*3 There is no 80AS1. HK-80AS is correct model number
*4 Available only for HK-50AS1, 63AS1, 80AS
*5 There is no 50AS and 63AS. HK-50AS1 and 63AS1 are correct model number
Model
１０
１７ １６ １９ １５ ４ １１ ２５ ９ １８
■NO(Single Acting Normally Open)
How To Order
117
Some of the model numbers have been changed from MS to AS1
Hand
(2-Jaw)
HK
Some of the model numbers have been changed from MS to AS1
HK-80AS
123P For Layout Drawing
Pneumatic: 0.1 to 0.7 MPa(0.3 to 0.7MPa for NO & NC types)
Not Required or Turbine Oil Class 1 (ISOVG32)
5 to 60
24
36
30
40
dia.32
dia.40
dia.50
dia.63
dia.16
dia.20
dia.28
dia.32
25.3
49.5
89.4
162.9
±0.01
1.36
1.95
4.2
5.4
124P
Pneumatic: 0.3 to 0.7MPa
２４
２４
■Parts List
No.
1
2
3
4
5
6
7
8
9
Name
Body
Cylinder
Cylinder Cover *
Piston
Arm
Master(Base) Jaw
Bearing Guide
Cushion
Side Cover
Material
Aluminum
Aluminum
Resin
Aluminum &
Stainless Steel
Carbon Steel
Carbon Steel
Carbon Steel
Resin
Stainless Steel
No.
10
11
12
13
14
15
16
17
18
Name
Retainer A
Fulcrum Shaft
Operating Shaft B
Piston Seal
Rod Seal
Cylinder Seal A
Cylinder Seal B
Snap Ring
Roller
No.
19
20
21
22
23
24
25
Stainless Steel 26
Material
Stainless Steel
Carbon Steel
Carbon Steel
Name
Magnet
NO & NC Cylinder
NO & NC Piston A
NO Spring
NC Spring
NO & NC Piston B
Operating Shaft A
Retainer B
Material
Aluminum
Stainless Steel
Stainless Steel Wire
Stainless Steel Wire
Aluminum
Carbon Steel
Stainless Steel
High-Carbon Chromium
Bearing Steel
*Aluminum for 50AS1 and 63AS1
60
dia.80
dia.16
354.5
10.6
■Seals List
No.
13
14
15
16
HK-32MS
PSD-32
MYA-16
P-26
S-29
HK-40MS
PSD-40
MYA-20
G-35
S-36
HK-50AS1
PSD-50
PNY-28
G-45
S-46
HK-63AS1
PSD-63
PNY-32
G-60
S-60
HK-80AS
PSD-80
MYA-16
G-75
118
HK
Some of the model numbers have been changed from MS to AS1
Series
Some of the model numbers have been changed from MS to AS1
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Layout Drawing
Performance Data
■Grip Force
The graph shows grip force in
opening and closing with effective
external finger lengths
from
gripper cover surface under
different air pressure (MPa)
For CAD data, please go to
518P
■HK-32MS （Optimal Grip Force 200N to 350N）
HK-32MS Standard・NO・NC
*Values inside (
) are for NO (Normally Open) and NC (Normally Closed) type
depth 12
Mount Hole
Open
Closed
■HK-40MS
0.5MPa Closed
320
160
0.3MPa Open
0.3MPa Closed
0
2
4
6
8
10
External Finger Length (cm)
0.7MPa Open 0.7MPa Closed
800
600
0.5MPa Open
0.5MPa Closed
400
200
0
0.3MPa Open
0.3MPa Closed
2
4
6
8
10
External Finger Length (cm)
■HK-63AS1
0.7MPa Open
1600
0.7MPa Closed
1200
0.5MPa Open
0.5MPa Closed
800
400
0
0.7MPa Open
2500
Grip Force (N)
480
■HK-50AS1
2000
Grip Force (N)
0.7MPa Closed
0.5MPa Open
640
1000
Grip Force (N)
Grip Force (N)
Hand
(2-Jaw)
0.7MPa Open
0.3MPa Closed 0.3MPa Open
4
8
12
16
20
External Finger Length (cm)
0.7MPa Closed
2000
0.5MPa Open
1500
0.5MPa Closed
1000
500
0
Hand
(2-Jaw)
■HK-32MS
800
depth 12
Mount Hole
0.3MPa Open
0.3MPa Closed
4
8
12
16
20
External Finger Length (cm)
■HK-80AS
0.7MPa Open
Grip Force (N)
4000
0.5MPa Open
3000
dia.
Mount Hole
0.7MPa Closed
0.5MPa Closed
0.3MPa Open
2000
1000
0
0.3MPa Closed
8
12
16
20
24
External Finger Length (cm)
air port (Open)
HK-32MS-E□S□
119
depth 12
depth 2
air port (Close)
HK-32MS-G
120
HK
Some of the model numbers have been changed from MS to AS1
Series
Some of the model numbers have been changed from MS to AS1
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Layout Drawing
Performance Data
■Grip Force
The graph shows grip force in
opening and closing with effective
external finger lengths
from
gripper cover surface under
different air pressure (MPa)
For CAD data, please go to
518P
■HK-32MS （Optimal Grip Force 200N to 350N）
HK-32MS Standard・NO・NC
*Values inside (
) are for NO (Normally Open) and NC (Normally Closed) type
depth 12
Mount Hole
Open
Closed
■HK-40MS
0.5MPa Closed
320
160
0.3MPa Open
0.3MPa Closed
0
2
4
6
8
10
External Finger Length (cm)
0.7MPa Open 0.7MPa Closed
800
600
0.5MPa Open
0.5MPa Closed
400
200
0
0.3MPa Open
0.3MPa Closed
2
4
6
8
10
External Finger Length (cm)
■HK-63AS1
0.7MPa Open
1600
0.7MPa Closed
1200
0.5MPa Open
0.5MPa Closed
800
400
0
0.7MPa Open
2500
Grip Force (N)
480
■HK-50AS1
2000
Grip Force (N)
0.7MPa Closed
0.5MPa Open
640
1000
Grip Force (N)
Grip Force (N)
Hand
(2-Jaw)
0.7MPa Open
0.3MPa Closed 0.3MPa Open
4
8
12
16
20
External Finger Length (cm)
0.7MPa Closed
2000
0.5MPa Open
1500
0.5MPa Closed
1000
500
0
Hand
(2-Jaw)
■HK-32MS
800
depth 12
Mount Hole
0.3MPa Open
0.3MPa Closed
4
8
12
16
20
External Finger Length (cm)
■HK-80AS
0.7MPa Open
Grip Force (N)
4000
0.5MPa Open
3000
dia.
Mount Hole
0.7MPa Closed
0.5MPa Closed
0.3MPa Open
2000
1000
0
0.3MPa Closed
8
12
16
20
24
External Finger Length (cm)
air port (Open)
HK-32MS-E□S□
119
depth 12
depth 2
air port (Close)
HK-32MS-G
120
HK
Some of the model numbers have been changed from MS to AS1
Series
Some of the model numbers have been changed from MS to AS1
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Layout Drawing
For CAD data, please go to
■HK-40MS （Optimal Grip Force 350N to 600N）
■HK-50AS1 （Optimal Grip Force 500N to 800N）
HK-40MS Standard・NO・NC
HK-50AS1
*Values inside (
518P
Standard・NO・NC
) are for NO (Normally Open) and NC (Normally Closed) type
*Values inside (
) are for NO (Normally Open) and NC (Normally Closed) type
depth 15
Hand
(2-Jaw)
Hand
(2-Jaw)
Mount Hole
depth 12
Mount Hole
dia.
depth 2
depth 15
Mount Hole
dia.
depth 2.5
depth 12
Mount Hole
air port (Open)
air port (Open)
air port (Close)
air port (Close)
HK-40MS-E□S□
121
HK-40MS-G
HK-50AS1-E□S□
HK-50AS1-G
122
HK
Some of the model numbers have been changed from MS to AS1
Series
Some of the model numbers have been changed from MS to AS1
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Layout Drawing
For CAD data, please go to
■HK-40MS （Optimal Grip Force 350N to 600N）
■HK-50AS1 （Optimal Grip Force 500N to 800N）
HK-40MS Standard・NO・NC
HK-50AS1
*Values inside (
518P
Standard・NO・NC
) are for NO (Normally Open) and NC (Normally Closed) type
*Values inside (
) are for NO (Normally Open) and NC (Normally Closed) type
depth 15
Hand
(2-Jaw)
Hand
(2-Jaw)
Mount Hole
depth 12
Mount Hole
dia.
depth 2
depth 15
Mount Hole
dia.
depth 2.5
depth 12
Mount Hole
air port (Open)
air port (Open)
air port (Close)
air port (Close)
HK-40MS-E□S□
121
HK-40MS-G
HK-50AS1-E□S□
HK-50AS1-G
122
HK
Some of the model numbers have been changed from MS to AS1
Series
Some of the model numbers have been changed from MS to AS1
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Layout Drawing
For CAD data, please go to
■HK-63AS1 （Optimal Grip Force 800N to 1400N）
HK-63AS1 Standard・NO・NC
518P
■HK-80AS （Optimal Grip Force 2000N to 3000N）
HK-80AS Standard
*Values inside (
) are for NO (Normally Open) and NC (Normally Closed) type
depth 20
Hand
(2-Jaw)
Hand
(2-Jaw)
dia.
depth 5
depth 20 Mount Hole
dia.
depth 5
Locating Hole
depth 20
Mount Hole
depth 5
dia.
Locating Hole
air port (Open)
depth 20
Mount Hole
air port (Close)
air port (Open)
air port (Close)
HK-63AS1-E□S□
HK-63AS1-G
HK-80AS-E□S□
HK-80AS-G
depth 5
dia.
Locating Hole
depth 20
Mount Hole
123
124
HK
Some of the model numbers have been changed from MS to AS1
Series
Some of the model numbers have been changed from MS to AS1
Cross Roller Parallel Hand
HK-32MS/40MS/50AS1/63AS1/80AS
Layout Drawing
For CAD data, please go to
■HK-63AS1 （Optimal Grip Force 800N to 1400N）
HK-63AS1 Standard・NO・NC
518P
■HK-80AS （Optimal Grip Force 2000N to 3000N）
HK-80AS Standard
*Values inside (
) are for NO (Normally Open) and NC (Normally Closed) type
depth 20
Hand
(2-Jaw)
Hand
(2-Jaw)
dia.
depth 5
depth 20 Mount Hole
dia.
depth 5
Locating Hole
depth 20
Mount Hole
depth 5
dia.
Locating Hole
air port (Open)
depth 20
Mount Hole
air port (Close)
air port (Open)
air port (Close)
HK-63AS1-E□S□
HK-63AS1-G
HK-80AS-E□S□
HK-80AS-G
depth 5
dia.
Locating Hole
depth 20
Mount Hole
123
124