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Doc. no. TQ1230001-OM105
PRODUCT NAME
Vacuum gripper unit
MODEL / Series / Product Number
ZXP7
-
-X1*-ASSISTA
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: ZXP7A-ZPB25JS-X1-ASSISTA. Refer to the
suction cup catalog for the detail of other applicable suction cups.
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Summary of Contents for SMC Networks ZXP7-X1-ASSISTA Series
- Page 1 Doc. no. TQ1230001-OM105 PRODUCT NAME Vacuum gripper unit MODEL / Series / Product Number ZXP7 -X1*-ASSISTA 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: ZXP7A-ZPB25JS-X1-ASSISTA. 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 ....................... 6 2. Names of Parts of the Product ......................7 3. Specifications ............................8 3.1. Specifications ..........................8 3.2. Flow rate / Exhaust characteristics .................... 9 3.3. How to calculate theoretical lifting force .................. 10 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 ■Explanation of Symbols S ym b o l Definition Things you must not do. Instructions are provided as a drawing or sentence next to the symbol. Things you must do Instructions are provided as a drawing or sentence next to the symbol. ■Operator 1.
- Page 6 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 7: Parts Included In The Package
1. Parts included in the package Hexagon socket head cap screw Parallel pin (5×10) 1 pc. (M5×10) 4 pcs. For mounting the connector For mounting the connector Connector storage flange 1 pc. storage flange storage flange Robot mounting flange 1 pc. Suction cup with adapter 4 pcs. -
Page 8: Names Of Parts Of The Product
2. Names of Parts of the Product Internal details Parallel pin Connector storage flange (Compliant with ISO 9409-1-31.5-4-M5) Bracket Ass’y Parallel pin Robot mounting flange (Compliant with ISO 9409-1-50-4-M6) Robot connector Air supply port Digital pressure switch Parallel pin Cup mounting flange O-ring (With mesh) (Compliant with ISO 9409-1-50-4-M6) -
Page 9: Specifications
3. Specifications 3.1. Specifications ■Product specifications Compliant with ISO 9409-1-31.5-4-M5 Mechanical interface (Accessory bracket assembly) Fluid 5 to 50 Operating temperature range[°C] M12 8 pin (Plug) Connector type ZXP7N-X1*-ASSISTA ZXP7A-X1*-ASSISTA 1018 Common Weight [g] Example) 1071 note1) ZXP7A-ZPB25JS-X1*-ASSISTA Max. workload [kg] Note2) 150 / 30 Impact / Vibration resistance [m/s ] Note3) -
Page 10: 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). 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 the flow rate characteristics Graph Flow rate characteristics are expressed in ejector vacuum pressure and suction flow. -
Page 11: 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 12: How To Order
3.4. How to order Suction cup part 1 Refer to “Applicable suction cup with adapter”. ■Vacuum Gripper unit How to order ZXP 7 * - * * * * * - X1 * - ASSISTA Model For Mitsubishi Electric Corporation collaborative robot MELFA ASSISTA ①... -
Page 13: Mounting
4. Mounting Perform the mounting of the vacuum gripper unit and accessories by following bellow. ① Connector storage Set the three connectors at the end of the robot arm according to the characters printed on the flange. The connection part of the connectors are set in the direction of the arrows. Force Sensor Force sensor connector LAN Connector... - Page 14 ③ Mounting the vacuum gripper unit Before mounting the product, adjust the position of the robot arm so that it is easy to mount the product. 1) Mount parallel pin (6x10) to connector storage flange mounted in ②, and mount robot mounting flange with the attached hexagon socket head cap screw(M6x10).
- Page 15 ④ Connector connection Mount M12 connector cable to electric hand connector as below figure. Refer to the table below about M12 connector pin assign. M12 connector cable Electric hand connector M12 Connector pin assign Wire Pin no. Function color Power supply voltage (GND) White Power supply voltage (24V) Brown...
- Page 16 ⑤ Mounting of piping joints and coil tubes 1) Remove secondary piping plug (No.1 to No.4) in one place and mount the attached One-touch fitting (KQ2L04-M3G1). 2) Mount the attached plug-in reducer (KQ2R06-04A1) to One-touch fitting (KQ2L04-M3G1), and piping the coil tube (TCU0604B-1) to both plug-in reducer and vacuum gripper unit. Mount the plug-in reducer (KQ2R06-04A1) Air pressure supply (P) port...
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Page 17: Dimensions
5. Dimensions 5.1. Vacuum gripper unit Pilot valve for supply V114(N.C.) Digital pressure switch ZSE20-*-*-M5-A1 Supply valve Circuit diagram -16- No. TQ1230001-OM105... -
Page 18: Center Of Gravity
5.2. Center of gravity (ZXP7A-ZPB25JN-X1-ASSISTA) Center of gravity -2.5 -1.63 58.28 -17- No. TQ1230001-OM105... -
Page 19: Suction Cup With Adapter
5.3. Suction cup with adapter *It is shown here for representative model only. See the suction cup catalog for the other models. -18- No. TQ1230001-OM105... - Page 20 Note1) “D” and (st) indicate the reference value during gripping at vacuum pressure: -85[kPa]. -19- No. TQ1230001-OM105...
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Page 21: How To Change The Number Of Cups
6. How to change the number of cups 6.1 Change to 1 cup (with flange) 1. Disassemble the suction cups and pluging bolt with adapter. (1) Remove the suction cup with adapter from plate B using a spanner. (2) Loosen the pluging bolt (M6X8) in the center of plate A and remove the cup from plate A. -
Page 22: Change To 1 Cup (Without Flange)
6.2 Change to 1 cup (without flange) *No mesh in the vacuum (V) port. If the mesh is necessary in the vacuum (V) port, use the vacuum gripper unit with cup mounting flange. 1. Disassemble the cup mounting flange (1) Loosen the bolt (M6x10), then remove the cup mounting flange. Be careful not to lose the O-ring. -
Page 23: Change To 2 Cups
6.3 Change to 2 cups 1. Disassemble the suction cups with adapter Remove the suction cup with adapter from the plate B using a spanner. 2. Mounting of the pluging bolt Completion drawing Confirm the gasket seal in the pluging bolt, then mount the pluging bolt to plate B. Reassemble the parts by reversing the disassembling process with specified tightening torque. -
Page 24: 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 25: 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 gripping surface, and the exterior dimensions will gradually get smaller and smaller. As the cups’ diameter gets smaller, their lifting force will decrease, though gripping will still remain possible. -
Page 26: 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 27 ■Piping Caution 1) Preparation before piping Before piping, perform air blow (flushing) or cleaning to remove any cutting chips, cutting oil, dust, etc. from the piping. 2) Installation of tubing ・Cut the tubing perpendicularly, being careful not to damage the outside surface. Use an SMC tube cutter TK- 1,2,3.
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Page 28: Suction Cup Precautions
■Workpiece If water drops or dust are attached on the workpiece surface, they may go into the vacuum ejector and may cause the low vacuum performance. Also when workpieces are permeable, there is a case that sufficient lifting force cannot get. In such cases, it is necessary to perform a suction test to check the compatibility to your application before actual usage. - Page 29 ■Gripping This product has 4 pneumatically connected cups per ejector. If one cup fails to operate, all other cups cannot grip the object. Safety measures needs to be taken to prevent falling of workpiece during transfer of the object. When gripping with cups which do not grip object is required, connect the vacuum saving valve, ZP2V series (Applicable model: ZP2V-B6-05).
- Page 30 1 cup gripping 2 cups gripping 3 cups gripping 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 31: Trouble Shooting
9.Trouble shooting Condition & Description of Contributing factor Countermeasure improvement Recheck the relationship between workpiece mass Gripping area is small. and lifting force. (Lifting force is lower than the - Use a suction cup with a large gripping area. workpiece mass.) - Increase the quantity of suction cups. - Page 32 Revision history 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. © 2021 SMC Corporation All Rights Reserved -31- No.
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