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SMC Networks ZXP7 11 X1 Series Operation Manual

Vacuum gripper
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Doc. no. TQ1230001-OM104-C
PRODUCT NAME
Vacuum gripper
MODEL / Series / Product Number
ZXP7
11-
-X1
∗
∗∗∗∗∗
∗
ZXP7
12-
-X1
∗
∗∗∗∗∗
∗
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(11,12)-ZPB25JS-X1∗. Refer to the suction
cup catalog for the detail of other applicable suction cups.

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  • Page 1 Doc. no. TQ1230001-OM104-C PRODUCT NAME Vacuum gripper MODEL / Series / Product Number ZXP7 ∗ ∗∗∗∗∗ ∗ 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(11,12)-ZPB25JS-X1∗. Refer to the suction cup catalog for the detail of other applicable suction cups.

  • Page 2: Table Of Contents

    Contents Safety instructions…………………………………………………………………………………………………..2 1. Parts included in the package ........................ 6 1.1. In case of ZXP7∗11 ......................... 6 1.2. In case of ZXP7∗12 ......................... 7 2. Names of Parts of the Product ....................... 8 2.1. In case of ZXP7∗11 ......................... 8 2.2.

  • 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 Sym bo 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.

  • Page 7: Parts Included In The Package

    1. Parts included in the package 1.1. In case of ZXP7∗11 Hexagon socket head cap Robot mounting flange 1 screw (M6x10): 8 pcs. Parallel pin (6x10): 1 pc. Vacuum gripper: 1 pc. Plug: 4 pcs. Part No. M-3P （When “cup mounting flange shape” is selected.） Suction cup with adapter: 4 pcs.

  • Page 8: In Case Of Zxp7∗12

    1.2. In case of ZXP7∗12 Robot mounting flange 1 pc. Polyurethane Tube: 2m Vacuum gripper: 1 pc. Part No. TU0604BU Plug: 4 pcs. Part No. M-3P （When “cup mounting flange shape” is selected.） Used for decreasing the number of suction cups. Reducer elbow (KQ2L06-08A) 1 pc.

  • Page 9: Names Of Parts Of The Product

    2. Names of Parts of the Product 2.1. In case of ZXP7∗11 Details of internal parts Air supply port Robot connector Parallel pin Robot mounting flange Digital pressure switch O-ring Parallel pin Cup mounting flange (With mesh) (Conforming to ISO 9409-1-50-4-M6) Cups with adapter No.

  • Page 10: In Case Of Zxp7∗12

    2.2. In case of ZXP7∗12 No. TQ1230001-OM104-C...

  • Page 11: Specifications

    3. Specifications 3.1. Specifications ■Product specifications Applicable part number ZXP7∗11 ZXP7∗12 Conforming to Standards ISO 9409-1-50-4-M6 Applicable fluid 5 to 50 Operating temperature range [°C] M8 8-pin connector MOLEX 51227-0800 Connector type (Socket) Common ZXP7N∗-X1∗ ZXP7A∗-X1∗ Weight [g] Example) 948 note1) 863 note1) ZXP7A*-ZPB25JS-X1 Max.

  • Page 12: 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 13: 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 14: How To Order

    3.4. How to order ■Vacuum Gripper Suction cup part ∗1 How to order *1 Refer to the table below for the applicable cups. ZXP 7 ∗ ∗ - ∗ ∗ ∗ ∗ ∗ - X1 ∗ Model For models with cups, 4 cups with adapters are Included in the package.

  • Page 15: 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 16 Robot tool flange (Example. In case of HC10DTP) Robot mounting flange Pin hole Vacuum gripper Parallel pin Hexagon socket head cap screw (M6x10 8 pcs.) Suction cups with adapter In case of ZXP7∗12 -15- No. TQ1230001-OM104-C...

  • Page 17: Wiring

    4.2. Wiring ■Mount the connector cable 4.2.1. In case of ZXP7∗11 After mounting Robot mounting flange, (After “4.1.3)”), certainly connect both robot side connector being out from the hole of the robot tool flange and the vacuum gripper side connector until you hear a click.

  • Page 18: In Case Of Zxp7∗12

    4.2.2. In case of ZXP7∗12 Caution Install the vacuum gripper in the direction of the lower figure where the slack of the M8 connector cable is small. If the cable is loose, it may be caught by peripheral equipment, workpiece, human body, etc. while the robot is running, causing unexpected accidents.

  • Page 19: Wiring Example To Robot Controller (Common To Npn/Pnp)

    4.2.3. Wiring example to robot controller (common to NPN/PNP) The table below shows wiring examples of I/O cables and general-purpose I/O terminal blocks. The connection of I/O cables to the general-purpose I/O terminal block should be done by the customer. Also, before wiring, be sure to confirm whether the robot controller specifications are NPN or PNP.

  • Page 20: Piping

    4.3. Piping ■Tubing Connect a tube (applicable tube O.D. Ø4) 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.:Φ4 In case of ZXP7∗11 Release Button Air pressure supply (P) port...

  • Page 21: Yaskawa Plug & Play Kit

    4.4. YASKAWA plug & play kit YASKAWA plug & play kit allows the vacuum gripper to be easily connected to and operated by the robot. 4.4.1. Installing YASKAWA plug & play kit YASKAWA plug & play kit are installed in YASKAWA Installation Packages. YASKAWA Installation Packages (.yip) files.
  • Page 22 Open the [Packages] tab and tap [+ Install] at the top of the screen. A pop-up dialog will appear indicating the packages available for installation. Select "SMC Vacuum Gripper" from the list of packages to install. After successful installation, packages, extensions, and tool presets are added to the appropriate lists. -21- No.
  • Page 23 On the package management screen, confirm that the installation has completed successfully. (1) Tap the [Packages] tab and verify that the SMC vacuum gripper has been added to the list. -22- No. TQ1230001-OM104-C...
  • Page 24 (2) Tap the [Extensions] tab and verify that the SMC vacuum gripper has been added to the list. -23- No. TQ1230001-OM104-C...
  • Page 25 (3) Tap the [Presets] tab and verify that the SMC vacuum gripper has been added to the list. -24- No. TQ1230001-OM104-C...

  • Page 26: Yaskawa Plug & Play Kit - Tool Presets

    4.4.2. YASKAWA plug & play kit - Tool Presets Selecting the SMC Vacuum Gripper from the list of installed tool presets will immediately copy the SMC Vacuum Gripper's tool property settings to the appropriate tool settings text field for the currently selected tool.

  • Page 27: Yaskawa Plug & Play Kit - Utility Window

    4.4.3. YASKAWA plug & play kit - Utility Window Select [MENU] in the upper left corner of the screen, tap [Utility] => [SMC Vacuum Gripper], or tap [Jog Operation] on the navigation bar in the Job Contents View screen, then tap the "Vacuum Gripper" icon in the lower right corner of the screen to open the Utility window.

  • Page 28: Yaskawa Plug & Play Kit - Vacuum Gripper Integration Window

    Utility Window Features (1) Test run Manual operation of the vacuum gripper can be checked. Tapping the GRIP/RELEASE button performs a vacuum gripping/vacuum release operation. Blow time at release Sets the time to supply vacuum release pressure when the RELEASE button is tapped. The default value is 0.1 sec and can be set in the range of 0 to 1 sec.
  • Page 29 2. Add Command Tab (1) Operation Selection Select the behavior of the gripping operation. A) Gripping only The gripping operation is performed. At this time, "Successful gripping " is assumed without checking the pressure switch signal, and the next operation is performed. B) Gripping and signal monitoring The gripping operation is performed.
  • Page 30 Basic Settings Tab ∗To change the setting, set the security access level to the administrative level. (1) Output status signal to digital output port Selects whether to output a status signal to the digital output port when "Success" or "Failure" of gripping is detected.
  • Page 31 Test run tab (1) Test run Manual operation of the vacuum gripper can be checked. Tapping the GRIP/RELEASE button performs a vacuum gripping /vacuum release operation. Blow time at release Sets the time to supply vacuum release pressure when the release button is tapped. The default value is 0.1 sec and can be set in the range of 0 to 1 sec.

  • Page 32: Dimensions

    5. Dimensions 5.1. Vacuum gripper 5.1.1. In case of ZXP7∗11 Release valve V114(N.C.) Pilot valve for supply V114(N.C.) Digital pressure switch ZSE20-*-*-M5-A1 Supply valve Circuit diagram -31- No. TQ1230001-OM104-C...

  • Page 33: In Case Of Zxp7∗12

    5.1.2. In case of ZXP7∗12 Release valve V114(N.C.) Pilot valve for supply V114(N.C.) Digital pressure switch ZSE20-*-*-M5-A1 Supply valve Circuit diagram -32- No. TQ1230001-OM104-C...

  • Page 34: Center Of Gravity

    5.2. Center of gravity 5.2.1. In case of ZXP7∗11 (ZXP7A11-ZPB25JN-X1) (Unit: mm) Center of gravity -11.25 1.66 58.81 Tool Center Point (TCP) * 183.4 * Refer to P.34 for the values when other suction cups with adapter are mounted. -33- No.
  • Page 35 Tool Center Point (TCP) for each suction cup ZXP7A11 -X1 ∗ Model Unit ： [mm] Aplicable cup Tool Center Point(TCP) Series Form Material Attachment Diameter 150.9 ∗ 151.9 ∗ 150.9 ∗ 150.9 ∗ 150.9 ∗ 152.9 ∗ 152.9 ∗ 153.4 ∗...

  • Page 36: In Case Of Zxp7∗12 (Zxp7A12-Zpb25Jn-X1)

    5.2.2. In case of ZXP7∗12 (ZXP7A12-ZPB25JN-X1) (Unit: mm) Center of gravity 0.92 0.29 56.32 Tool Center Point (TCP) * 153.4 * Refer to P.36 for the values when other suction cups with adapter are mounted. - 35 - No. TQ1230001-OM104-C...
  • Page 37 Tool Center Point (TCP) for each suction cup ZXP7A12 -X1 ∗ Model Unit ： [mm] Aplicable cup Tool Center Point(TCP) Series Form Material Attachment Diameter 120.9 ∗ 121.9 ∗ 120.9 ∗ 120.9 ∗ 120.9 ∗ 122.9 ∗ 122.9 ∗ 123.4 ∗...

  • Page 38: 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 ： ZPG∗U∗-7A-X2 Model ： ZPG∗C∗-7A-X2 (Suction cup form ： Flat type) (Suction cup form ： Flat type with ribs) Dimensions Dimensions Model...
  • Page 39 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) Dimensions Model ZPGB25J∗-7A-X2 10.2 32.5 52.5 ZPGB30J∗-7A-X2 13.8 54.5 Model：ZP3PG32JT5SF-7A-X2 Model：ZP3PG(20,25)JT5SF-7A-X2 Note1) “D” and (st) indicate the reference value during gripping at vacuum pressure: -85[kPa]. -38- No.

  • Page 40: 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 41: 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. Removal of the cup mounting flange (1) Loosen the bolt (M6x10), then remove the cup mounting flange. Be careful not to lose the O-ring.

  • Page 42: Change To 2 Cups

    6.3 Change to 2 cups 1. Removal of the cup (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. Completion drawing 2.

  • Page 43: 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 44: 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 45: 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 46 ■Piping Caution 1) Flushing of the inside of the pipes Before piping is connected, it should be thoroughly blown out with air (flushing) or washed to remove chips, cutting oil, and other debris from inside the pipe. 2) Tube attachment ・...

  • Page 47: 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 48 ■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 49 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...

  • Page 50: 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 51 Revision history Rev.A : Add Tool Center Point Rev.B : Add applicable model Rev.C : Wiring changes and additions Software addition Correction of “Center of gravity” Caution added Trouble shooting added 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.

This manual is also suitable for:

Zxp7 12 x1 seriesZxp7a1-zpb25js-x1 seriesZxp7a12-zpb25js-x1 seriesZxp7a11-zpb25jn-x1Zxp7a12-zpb25jn-x1

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