SMC Networks ZXP7 4 Series Instruction Manual

ZXP74-TF2Z378EN-B
ORIGINAL INSTRUCTIONS
Instruction Manual
Vacuum Gripper
 
Series ZXP7 4
The intended use of vacuum gripper is to mount on a collaborative robot
and grip / release a workpiece.
1 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
*1)
to International Standards (ISO/IEC) , and other safety regulations.
*1) ISO 4414: Pneumatic fluid power — General rules and safety
requirements for systems and their components.
ISO 4413: Hydraulic fluid power — General rules and safety
requirements for systems and their components
IEC 60204-1: Safety of machinery - Electrical equipment of machines.
(Part 1: General requirements)
ISO 10218-1: Robotics — Safety requirements — Part 1: Industrial robots
• Refer to product catalogue, Operation Manual and Handling
Precautions for SMC Products for additional information.
• Keep this manual in a safe place for future reference.
Danger indicates a hazard with a high level of risk which, if
Danger
not avoided, will result in death or serious injury.
Warning indicates a hazard with a medium level of risk
Warning
which, if not avoided, could result in death or serious injury.
Caution indicates a hazard with a low level of risk which, if
Caution
not avoided, could result in minor or moderate injury.
Warning
• Always ensure compliance with relevant safety laws and
standards.
• All work must be carried out in a safe manner by a qualified person in
compliance with applicable national regulations.
2 Specifications
2.1 Common Specifications
Compliant with
Mechanical interface
"ISO 9409-1-50-4-M6"
Fluid Air
Operating temperature range [°C] 5 to 50
ZXP741-X1 810 (597)
Note1)
Weight [g]
ZXP742-X1 790 (577)
Note2)
7
Max. workload [kg]
Note3)
Impact / Vibration resistance [m/s 2 ] 150 / 30
Air supply port (P) One touch fitting (Φ6)
Power supply voltage [V] DC24 ± 10%
Note 1) The weight changes by the selected suction cup.
Note 2) Limited by the cup diameter, mounting orientation or workpiece. The weight
of the workpiece shall be maximum workload or less.
Gripping or transfer of workload exceeding the maximum workload leads to the
decrease of vacuum due to air leakage.
Note 3) Impact resistance: The characteristics are satisfied after tested one time
in each of the X, Y and Z directions without energization. (Initial value
)
Vibration resistance: The characteristics are satisfied after tested a one sweep in
each of the X, Y and Z directions at 10 to 500Hz without energization. (Initial value)
2 Specifications - continued
2.2 Ejector Specifications
Note4)
-84
Max. vacuum pressure [kPa]
Note4)
17
Max. suction flow [L/min(ANR)]
Note4)
Air consumption [L/min(ANR)] 57
Supply pressure range [MPa] 0.3 to 0.55
Standard supply pressure [MPa] Note5) 0.5
Note 4) Values at the standard supply pressure. Values are based on standard of
SMC measurements. They depend on atmospheric pressure (weather, altitude,
etc.) and measurement method.
Note 5) This shows the pressure just before the supply (P) port. The performance
such as vacuum pressure may reduce, depending on the supply air capacity, the
piping volume (piping length and diameter) and affection of air consumption of other
devices which operate at the same time.
2.3 Pressure Sensor Specifications
Model PSE541-R04
Rated pressure range [kPa] 0 to -101
Accuracy (Ambient temperature at ±2 F.S. (within rated pressure
25°C) range)
Linearity [%] ±0.4 F.S.
Repeatability [%] ±0.2 F.S.
Temperature characteristics [%] ± 2 F.S. (25°C reference)
2.4 Valve Specification
Model V114
3 Installation
• Do not install the product unless the safety instructions have been read
and understood.
3.1 Parts included in the package
•
Robot mounting flange: 1 pc.
•
Vacuum gripper: 1 pc.
• Suction cup with adapter: 4 pcs (When "suction cup series"
is selected)
3 Installation - continued
• Parallel pin (6x10): 1 pc. • Hexagon socket head cap
screw (M6x10): 8 pcs
• Plug: 4pcs. Part No. M-3P • Polyurethane tubing: 2m.
(when "cup mounting flange
Part number: TU0604BU.
shape" is selected". Used for
decreasing the number of suction
cups).
3.2 Mounting
Warning
Mounting procedure
• 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)
• Mount parallel pin to the robot flange pin hole.
• Align the parallel pin of the robot flange with the robot mounting flange
and assemble them with bolts included in the accessories (Tightening
torque: 5.2+/-0.5 Nm).
• Tighten the vacuum gripper to the robot mounting flange.
(Tightening torque: 5.2+/-0.5 Nm)
Removal procedure
Removal should be performed by following the mounting procedure in
reverse.
Adapter Oval hole
Gasket
seal
Parallel pin
Robot mounting flange
3）
2）
Vacuum gripper
Pin hole
4）
Hexagon socket head cap screw
(M6x10 8 pcs.)
1）
Suction cups with adapter
3 Installation - continued
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.
(90-degree between the camera module and the cover of the vacuum)
Camera module
cover
3.3 Wiring
● Mount the M8 connector cables
Mount the M8 connector cables to the M8 connectors (socket) of the
robot flange. The example of mounting for ZXP7A41-X1 is shown
below. Please connect two M8 connector cables to the specified
sockets on the robot. The ZXP7A42-X1 has only one M8 connector
cable and it should be mounted to the socket on the robot.
* Do not energize while securing the connectors.
* Check that the connectors are not loose
<Example of mounting>
M8/8PIN
M8/5PIN
Robot flange
M8 connector cables (Plug)
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