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Doc. no. TQ1230001-OM101-A
PRODUCT NAME
Vacuum gripper unit
MODEL / Series / Product Number
ZXP7
01-
-X1
The outward appearance showed on this manual is an example of the vacuum gripper unit with
suction cups which is indicated by the product number: ZXP7A01-ZPB25JS-X1. Refer to the suction
cup catalog for the detail of other applicable suction cups.
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Table of Contents
Related Manuals for SMC Networks ZXP7 Series
Summary of Contents for SMC Networks ZXP7 Series
- Page 1 Doc. no. TQ1230001-OM101-A PRODUCT NAME Vacuum gripper unit MODEL / Series / Product Number ZXP7 The outward appearance showed on this manual is an example of the vacuum gripper unit with suction cups which is indicated by the product number: ZXP7A01-ZPB25JS-X1. Refer to the suction cup catalog for the detail of other applicable suction cups.
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Page 2: Table Of Contents
Contents Safety instructions…………………………………………………………………………………………………..2 1. Parts included in the package ....................... 7 2. Names of Parts of the Product ......................8 3. Specifications ............................9 3.1. Specifications ..........................9 3.2. Flow rate / Exhaust characteristics ..................10 3.3. How to calculate theoretical lifting force .................. 11 3.4. -
Page 3: Safety Instructions
Safety Instructions These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.” They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC) , and other safety regulations. - Page 4 Safety Instructions Caution The product is provided for use in manufacturing industries. The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary. If anything is unclear, contact your nearest sales branch.
- Page 5 Caution SMC products are not intended for use as instruments for legal metrology. Measurement instruments that SMC manufactures or sells have not been qualified by type approval tests relevant to the metrology (measurement) laws of each country. Therefore, SMC products cannot be used for business or certification ordained by the metrology (measurement) laws of each country.
- Page 6 ■Safety Instructions Warning Do not disassemble, modify (including the replacement of board) or repair other than instructed in this manual. Otherwise, an injury or failure can result. Disassembly prohibited Do not operate the product outside of the specifications. Do not use for flammable or harmful fluids. Fire, malfunction, or damage to the product can result.
- Page 7 Caution Do not touch the terminals and connectors while the power is on. Otherwise electric shock, malfunction or damage to the switch can result. Do not touch Perform sufficient trial run. Otherwise, injury or damage to the system can result due to suction failure depending on the conditions of the suction of the workpiece or the pressure switch settings.
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Page 8: Parts Included In The Package
1. Parts included in the package Robot mounting flange 1 pc. Parallel pin (6x10): 1 pc. Hexagon socket head cap screw (M6x10): 8 pcs. Plug: 4 pcs. （When “cup mounting flange shape” is selected.） Used for decreasing the number of Vacuum gripper unit: 1 pc. -
Page 9: Names Of Parts Of The Product
2. Names of Parts of the Product Parallel pin (6x10) Robot mounting flange （Compliant with “ISO9409-1-50-4-M6”） Hexagon socket head cap screw (M6x10) Air pressure supply port Applicable tubing O.D.: Φ6 Cover M8 Connector cable Hexagon socket head cap screw (M6x10) Parallel pin (6x10) O-ring Cup mounting flange... -
Page 10: Specifications
3. Specifications 3.1. Specifications ■Product specifications Mounting Compliant with “ISO9409-1-50-4-M6” Fluid 5 to 50 Operating temperature range[°C] 840 (612) Mass [g] note1) Common Max. workload [kg] Note2) Impact / Vibration resistance [m/s 150 / 30 Note3) Air supply port(P) One touch fitting (Φ6) DC24 Power supply voltage ±... -
Page 11: Flow Rate / Exhaust Characteristics
3.2. Flow rate / Exhaust characteristics ■Flow rate / Exhaust characteristics. The flow rate characteristics correspond to the standard supply pressure (0.5MPa). Air consumption Supply pressure [MPa] Suction flow [L/min(ANR)] Exhaust characteristics Flow rate characteristics * The actual suction flow at the point of suction varies depending on the piping conditions to the vacuum port. ■How to read flow rate characteristics Graph Flow rate characteristics are expressed in ejector vacuum pressure and suction flow. -
Page 12: How To Calculate Theoretical Lifting Force
3.3. How to calculate theoretical lifting force This manual shows how to calculate theoretical lifting force only. Refer to the catalog of suction cups for further detail of suction cup selection method. ■How to calculate theoretical lifting force The theoretical lifting force of a cup can be found by calculation or from the theoretical lifting force table. Calculation W: Lifting force [N] P: Vacuum pressure [kPa]... -
Page 13: How To Order
3.4. How to order ■Vacuum Gripper unit Suction cup part 1 01 － ＺＰ Ｕ Ｎ － Vacuum gripper unit 2) Cup mounting flange 1) Unit size 3 ) Applicable manufacturer 4) Suction cup series 5) Cup diameter 6) Cup form 7) Material 8) Attachment *3 shape... -
Page 14: Mounting
4. Mounting 4.1. Mounting ■Mounting procedure 1) Confirm the gasket seal on the adapter, then mount 4 cups with adapter to the vacuum gripper unit. (Tightening torque: 1N・m or tighten for 45 degrees using a spanner after tightening by hand) 2) Mount parallel pin to the robot tool flange pin hole. - Page 15 Caution Vacuum gripper direction can be changed in 90-degree increments when attached to a robot. At that time, install it in the direction of the lower figure where the slack of the M8 connector cable is the smallest. (the M8 tool I/O connector of the robot comes to the opposite side of the electrical entry of the vacuum gripper unit) If the cable is loose, it may be caught by peripheral equipment, workpiece, human body, etc.
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Page 16: Wiring
4.2. Wiring ■Mount the M8 connector cable Mount the M8 connector cable to the M8 connector (male) of the robot tool flange. *Do not energize while securing the connector. *Check that the connector is not loose M8 connector cable Tool I/O connector (Male) Tool flange ■M8 Connector pin White... -
Page 17: Piping
4.3. Piping ■Tubing Connect a tube (applicable tube O.D. Ø6) to the air pressure supply (P) port. To remove the tube, push the release button and pull out the tube. Release Button Air pressure supply (P) port Applicable tubing O.D.: Φ6 Release valve ... -
Page 18: Urcap
4.4. URCap Installation and basic setting 1. Installation of URCap (1) Tap the "URCap" menu from the robot settings screen. (2) Insert the USB memory with a copy of the downloaded file into the teaching pad and tap the "+" button. - Page 19 (4) Tap the "Restart" button to restart the robot. Before you make a change to the basic settings after the software installation, set the Tool Output Voltage to "24V" in the "Tool IO" setting from the "General" menu on the "Installation" tab. Set "Digital Output 0"...
- Page 20 (2) Select “Disable” when the output port is not used. Different signals cannot be assigned to the same port. -19- No. TQ1230001-OM101-A...
- Page 21 Program setting Operation program can be set from the “Program” tab. (1)：“Select operation” 3 types of operation NODEs are available. 1：“ADSORB ONLY NODE” starts adsorption. This does not monitor the pressure sensor signal. 2：“ADSORB AND CHECK VACUUM LEVEL NODE” starts adsorption. In this case, after checking the pressure sensor signal and confirming the adsorption, the transition of the operation occurs.
- Page 22 Manual operation From the UR+ icon in the upper right corner of the screen, the manual operation of the vacuum gripper unit can be checked. The vacuum gripper unit operation (adsorb or release) and the vacuum pressure can be checked by tapping the “Adsorb” / “Release” button. -21- No.
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Page 23: Dimensions
5. Dimensions 5.1. Vacuum gripper unit Robot mounting flange (Compliant with ISO 9409-1-50-4-M6) * Cup distance is changeable. -22- No. TQ1230001-OM101-A... -
Page 24: Suction Cup With Adapter
5.2. Suction cup with adapter -23- No. TQ1230001-OM101-A... - Page 25 Note1) “D” and (st) indicate the reference value during adsorption at vacuum pressure: -85[kPa]. -24- No. TQ1230001-OM101-A...
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Page 26: How To Change The Number Of Cups
6. How to change the number of cups 6.1 Change to 1 cup (with flange) 1. Removal of the cup. (1) Remove the cup with adapter from plate B using a spanner. (2) Loosen the bolt (M4 x 8), then remove plate B from plate A. Be careful not to lose the O-ring. -
Page 27: Change To 1 Cup (Without Flange)
6.2 Change to 1 cup (without flange) 1. Removal of the cup mounting flange (1) Loosen the bolt (M6 x 12), then remove the cup mounting flange. Be careful not to lose the O-ring. (2) Remove the parallel pin. Completion drawing 2. -
Page 28: Change To 2 Cups
6.3 Change to 2 cups 1. Removal of the cup (1) Remove the cup with adapter from the adapter using a spanner. (2) Loosen the bolt (M4 x 8), then remove plate B from plate A. Be careful not to lose the O-ring. Completion drawing 2. -
Page 29: Maintenance
7.Maintenance ■ Implement the maintenance and check shown below in order to use the vacuum gripper unit safely and in an appropriate way for a long period of time. 7.1. Maintenance for vacuum gripper unit Caution 1） Check before and after the maintenance work When the product is to be removed, turn off the power supply, and be sure to cut off the supply pressure and exhaust the compressed air. -
Page 30: Maintenance For Suction Cup
7.2. Maintenance for suction cup Caution 1） Suction cups are disposable. Replace them on a regular basis. Continued use of suction cups will cause wear and tear on the adsorption surface, and the exterior dimensions will gradually get smaller and smaller. As the cups’ diameter gets smaller, their lifting force will decrease, though adsorption will still remain possible. -
Page 31: Precautions
8.Precautions 8.1 Air supply Warning ■Use clean air. It is recommended to use compressed air which purity class is 2:6:3 of ISO8573-1:2010. Supply air containing foreign matter, water, oil, condensate, etc., can cause malfunction of the supply valve and release valve. So, install air preparation equipment on the upstream side of the product (refer to the piping example below) and perform maintenance periodically to control the supply air properly. - Page 32 1, 2, 3, 5, 6. Do not cut the tubing with pliers, nippers, scissors, etc., otherwise the tubing will be deformed and problems may result. ・Grasp the tubing, and slowly push it straight (0 to 5°) into the one-touch fitting until it comes to a stop. ・Pull the tubing back gently to make sure it has a positive seal.
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Page 33: Suction Cup Precautions
■Exhaust from Ejector If the operating environment contains a lot of particles or mist, the sound absorbing material may be clogged. If the sound absorbing material is clogged, it will cause a reduction in the ejector performance. Replace the sound absorbing material in such case. - Page 34 5） When transporting flat shaped workpieces that have large surface areas using multiple cups, care must be taken in arranging the cups, so that the workpieces are evenly adsorbed. 6） Use caution since the workpiece could rotate during transfer. Use of more than one cup for each workpiece is recommended. Vertical lifting Horizontal lifting （This type of application should...
- Page 35 1 cup adsorption 2 cups adsorption 3 cups adsorption Supply pressure [MPa] Exhaust Characteristics by using the vacuum saving valves: ZP2V-B06-05 This data shows the data at the workpiece with no air leakage. <Reference> Theoretical lifting force of vacuum cup diameter 32mm with ZP2V-B06-05 at supply pressure 0.5 MPa Vacuum pressure Theoretical lifting force Horizontal lifting force...
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Page 36: Trouble Shooting
9.Trouble shooting Condition & Description of Contributing factor Countermeasure improvement Recheck the relationship between workpiece mass Adsorption area is small. and lifting force. (Lifting force is lower than the - Use a suction cup with a large adsorption area. workpiece mass.) - Increase the quantity of suction cups. - Page 37 Revision history Rev. A: P.12 Correction of “How to order” and adding suction cup variation 4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362 https://www.smcworld.com Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer. ©...
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