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Doc. no. TQ1230001-OM106-B
PRODUCT NAME
Vacuum Gripper
MODEL / Series / Product Number
ZXP7
-
-X1
-KA
The outward appearance showed on this manual is an example of the vacuum gripper with suction
cups which is indicated by the product number: ZXP7A-ZPB25JS-X1-KA. 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 X1 KA Series
Summary of Contents for SMC Networks ZXP7 X1 KA Series
- Page 1 Doc. no. TQ1230001-OM106-B PRODUCT NAME Vacuum Gripper MODEL / Series / Product Number ZXP7 The outward appearance showed on this manual is an example of the vacuum gripper with suction cups which is indicated by the product number: ZXP7A-ZPB25JS-X1-KA. 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 Sy mb 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.
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Page 7: Parts Included In The Package
1. Parts included in the package Tie band 1 pc. Used for tying and fixing the Φ4 tube and switch cable. Φ4 tube is connected to release pressure supply port (PD) when release Robot mounting flange 1 pc. pressure is supplied to this product. Suction cup with adapter: 4 pcs. -
Page 8: Names Of Parts Of The Product
2. Names of Parts of the Product Parallel pin Robot mounting flange (Conforming to “ISO 9409-1-31.5-4-M5”) Air supply port Digital pressure switch Parallel pin O-ring (25.6x20.8x2.4) Cup mounting flange (With mesh) (Conforming to “ISO 9409-1-50-4-M6”) Cups with adapter No. TQ1230001-OM106-B... -
Page 9: Specifications
3. Specifications 3.1. Specifications ■Product specifications Standards Conforming to ISO 9409-1-31.5-4-M5 Applicable fluid 5 to 50 Operating temperature range [°C] ZXP7N-X1-KA ZXP7A-X1-KA Weight [g] Common Example) 712 note1) ZXP7A-ZPB25JS-X1-KA Max. work load [kg] Note2) 150 / 30 Impact / Vibration resistance [m/s ] Note3) Air supply port (P) One-touch fitting (Φ4) Side... -
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). 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 Suction cup part 1 Refer to the table blow for the applicable cups. How to order ZXP 7 - - X1 - KA Model For Kawasaki Heavy Industries,Ltd. ①... -
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. (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. 3) Align the parallel pin of the robot tool flange with the robot mounting flange, and assemble them with bolts included in the accessories. -
Page 14: Wiring
4.2. Wiring For wiring between vacuum gripper and the sensor harness from duAro arm, refer to duAro's instruction manual. ■Pressure switch cable specifications Conductor cross section [mm 0.15 (AWG26) O.D. [mm] Insulator Color Brown, Blue, Black (3-core) Sheath Finished O.D. Φ3.4 Lead wire length 2m (Tip loose wire) -
Page 15: Piping
4.3. Piping For piping of the vacuum gripper and the air tube from duAro arm, refer to duAro's instruction manual. ■Tubing Connect a tube (applicable tube O.D. Φ4) to the air pressure supply port (P). (Refer to P.24 “ 2) installation of tubing.”) When you remove the tube, push the release button and pull out the tube. -
Page 16: Dimensions
5. Dimensions 5.1. Vacuum Gripper 60(Operating range 50 to 70) * Cup distance is changeable. -15- No. TQ1230001-OM106-B... -
Page 17: Center Of Gravity
5.2. Center of gravity (ZXP7A-ZPB25JN-X1-KA) (Unit: mm) Center of gravity -1.77 -1.18 52.07 -16- No. TQ1230001-OM106-B... -
Page 18: 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. Model：ZPGU-7A-X2 Model：ZPGC-7A-X2 (Suction cup form：Flat type) (Suction cup form：Flat type with ribs) Dimensions Dimensions Model Model ZPG10U-7A-X2 ZPG10C-7A-X2 17.5 17.5 ZPG13U-7A-X2... - Page 19 Model：ZPG16J-7A-X2 Model：ZPG(B25,B30)J-7A-X2 (Suction cup form：Multistage bellows type 2.5-Stage) (Suction cup form：Multistage bellows type 3.5-Stage) Note1) “D” and (st) indicate the reference value during gripping at vacuum pressure: -85[kPa]. -18- No. TQ1230001-OM106-B...
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Page 20: 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 with adapter (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 21: 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 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 22: Change To 2 Cups
6.3 Change to 2 cups 1. Disassemble the suction cups with adapter (1) Remove the suction cup with adapter from the 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 23: Maintenance
7.Maintenance ■ Implement the maintenance and check shown below in order to use the vacuum gripper safely and in an appropriate way for a long period of time. 7.1. Maintenance for vacuum gripper 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 24: 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 25: 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 vacuum gripper. 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 26 ■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 27: Suction Cup Precautions
■Exhaust noise When vacuum ejector generates vacuum, noise can be heard from the exhaust port when the standard supply pressure is close to the pressure that generates peak vacuum pressure making vacuum pressure unstable. If the vacuum pressure range is adequate for gripping, there should not be a problem. If the noise causes a problem or affects the setting of the pressure switch, change the supply pressure slightly to avoid the pressure range of the noise. - Page 28 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 generally be avoided.） ■Gripping This product has 4 pneumatically connected cups per ejector. If one cup fails to operate, all other cups cannot grip the object.
- Page 29 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 30: Troubleshooting
9.Troubleshooting 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 31 Revision history Rev. A: Completely revised Rev. B: Add caution and troubleshooting, apply for UKCA 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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