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Doc. no. TQ1230001-OM101-C
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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Summary of Contents for SMC Networks ZXP7 01 X1 Series
- Page 1 Doc. no. TQ1230001-OM101-C 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 ....................... 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 Robot mounting flange 1 pc. Parallel pin (6x10): 1 pc. Hexagon socket head cap screw (M6x10): 8 pcs. Plug: 4 pcs. Part No. M-3P （When “cup mounting flange shape” is selected.） Vacuum gripper unit: 1 pc. Used for decreasing the number of suction cups. -
Page 8: 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 9: Specifications
3. Specifications 3.1. Specifications ■Product specifications Mechanical interface standard Compliant with “ISO9409-1-50-4-M6” Fluid 5 to 50 Operating temperature range[°C] M8/8PIN (Female) Connector type ZXP7N01-X1 ZXP7A01-X1 Common Weight [g] Example) 850 note1) ZXP7A01-ZPB25JS-X1 Max. workload [kg] Note2) 150 / 30 Impact / Vibration resistance [m/s ] Note3) Air supply port(P) One touch fitting (Φ6) -
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 ■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 13: 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 14 Caution Install the vacuum gripper unit in the direction of the lower figure where the slack of the M8 connector cable is small. (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 15: 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 16: 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 -15- No. -
Page 17: 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 18 (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 19 (2) Select “Disable” when the output port is not used. Different signals cannot be assigned to the same port. -18- No. TQ1230001-OM101-C...
- Page 20 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 21 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. -20- No.
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Page 22: Dimensions
5. Dimensions 5.1. Vacuum gripper unit * Cup distance is changeable. -21- No. TQ1230001-OM101-C... -
Page 23: Center Of Gravity
5.2. Center of gravity (ZXP7A01-ZPB25JN-X1) Center of gravity 0.01 0.68 56.48 -22- No. TQ1230001-OM101-C... -
Page 24: 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. -23- No. TQ1230001-OM101-C... - Page 25 Note1) “D” and (st) indicate the reference value during gripping at vacuum pressure: -85[kPa]. -24- No. TQ1230001-OM101-C...
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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 suction 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) *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. Removal of the cup mounting flange (1) Loosen the bolt (M6x10), then remove the cup mounting flange. -
Page 28: Change To 2 Cups
6.3 Change to 2 cups 1. Removal of the cup (1) Remove the suction cup with adapter from the plateB 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 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 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 ■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 33: 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 34 ■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 35 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 36: 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 37 Revision history Rev. A: P.12 Correction of “How to order” and adding suction cup variation Rev. B: P.6,24～26 Add to part number,P.8 Add to specifications,P.10～12,14,27,30 Revise errors,P22,29 Add to caution. Rev. C: P. 15 Circuit modified. P. 21 Appearance dimension change P.
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