SMC ZXP7–X1-ASSISTA Vacuum Gripper User Manual

SMC ZXP7–X1-ASSISTA Vacuum Gripper

Note: The outward appearance shown in the manual is an example of the vacuum gripper with suction cups and the product number is ZXP7A- ZPB25JS-X1-ASSISTA. Refer to the suction cup catalog for details on other applicable suction cups.

Safety Instructions

The safety instructions are intended to prevent hazardous situations and equipment damage. These instructions indicate the level of potential hazard with the labels of Caution, Warning or Danger.

• Caution: Indicates a hazard with a low level of risk which, if not avoided, could result in minor or moderate injury.
• Warning: Indicates a hazard with a medium level of risk which, if not avoided, could result in death or serious injury.
• Danger: Indicates a hazard with a high level of risk which, if not avoided, will result in death or serious injury.

The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.

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)*1) , and other safety regulations.

• ISO 4414: Pneumatic fluid power — General rules relating to systems.
• ISO 4413: Hydraulic fluid power — General rules relating to systems.
• IEC 60204-1: Safety of machinery — Electrical equipment of machines .(Part 1: General requirements)
• ISO 10218: Manipulating industrial robots -Safety. etc.

Warning

1. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications. Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results.
   The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product.
   This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment.

2. Only personnel with appropriate training should operate machinery and equipment. The product specified here may become unsafe if handled incorrectly.
   The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.

3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.

4. The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed.

5. When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.

6. Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.

7. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.

8. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight.

9. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.

10. An application which could have negative effects on people, property, or animals requiring special safety analysis.

11. Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a mechanical protective function, and periodical checks to confirm proper operation.

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.

Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance Requirements”. Read and accept them before using the product.

Limited warranty and Disclaimer

1. The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,whichever is first.
   Also, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch.

2. For any failure or damage reported within the warranty period which is clearly our responsibility, a replacement product or necessary parts will be provided. This limited warranty applies only to our product independently, and not to any other damage incurred due to the failure of the product.

3. Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products.

4. Suction cups are excluded from this 1 year warranty. A suction cup is a consumable part, so it is warranted for a year after it is delivered. Also, even within the warranty period, the wear of a product due to the use of the suction cup or failure due to the deterioration of rubber material are not covered by the limited warranty.

Compliance Requirements

1. The use of SMC products with production equipment for the manufacture of weapons of mass destruction(WMD) or any other weapon is strictly prohibited.
2. The exports of SMC products or technology from one country to another are governed by the relevant security laws and regulation of the countries involved in the transaction. Prior to the shipment of a SMC product to another country, assure that all local rules governing that export are known and followed.

Caution SMC products are not intended for use as instruments for legal metrology. Measurement instruments that SMC manufactures or sells have not been qualified by type approval tests relevant to the metrology (measurement) laws of each country. Therefore, SMC products cannot be used for business or certification ordained by the metrology (measurement) laws of each country.

Explanation of Symbols

Operator

1. This Operation Manual is intended for those who have knowledge of machinery using pneumatic equipment, and have sufficient knowledge of assembly, operation and maintenance of such equipment. Only those persons are allowed to perform assembly, operation and maintenance.
2. Read and understand this Operation Manual carefully before assembling, operating or providing maintenance to the product.

Safety Instructions

Warning

Disassembly prohibited| Do not disassemble, modify (including the replacement of board) or repair other than instructed in this manual.

Otherwise, an injury or failure can result.

Do not| Do not operate the product outside of the specifications.

Do not use for flammable or harmful fluids.

Fire, malfunction, or damage to the product can result.

Please check the specifications before use.

Do not| Do not use in an atmosphere containing flammable or explosive gases.

Fire or an explosion can result.

The product is not designed to be explosion proof.

Do not| Do not use the product in a place where static electricity is a problem.

Otherwise failure or malfunction of the system can result.

Do not| Do not cut off the power and compressed air supplied to this product while it is operating. Otherwise it can cause injury due to dropping of workpieces or damage to the system.
Instruction| If using the product in an interlocking circuit

–  Provide a double interlocking system, for example a mechanical system.

–  Check the product for proper operation.

Otherwise malfunction can result, causing an accident.

Instruction| The following instructions must be followed during maintenance

–  Turn off the power supply

– Stop the air supply, exhaust the residual pressure in piping and verify that the air is released before performing maintenance work.

It may cause an injury.

| Caution
---|---
Do not touch| Do not touch the terminals and connectors while the power is on.

Otherwise electric shock, malfunction or damage to the switch can result.

Instruction| 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.

Perform sufficient verification before using this product.

Instruction| After maintenance is complete, perform appropriate functional inspections and leak test. Stop operation if the equipment does not function properly or there is leakage of fluid. If there is leakage from parts other than the piping, the product might be broken.

Cut off the power supply and stop the fluid supply. Do not supply fluid if there is leakage.

Safety cannot be assured in the case of an unexpected malfunction.

Precautions for Handling
Follow the instructions given below for selecting and handling of the vacuum gripper.

• Product specifications
  • It is recommended to use compressed air which purity class is 2:6:3 of ISO8573-1:2010.
  • The applicable fluid is air. Do not use a fluid containing chemicals, synthetic oils including organic solvent, salt and corrosive gases. Otherwise, damage to the vacuum gripper and malfunction can result.
  • Use the specified operating pressure.
  • Reserve a space for maintenance. Design the system allowing the required space for maintenance.
  • Use the specified voltage. Otherwise failure or malfunction can result.
  • Do not exceed the specified maximum allowable load. Otherwise it can cause damage or shorten the life of the product.
  • Design the product to prevent reverse current when the circuit is opened or the product is forced to operate for operational check. Reverse current can cause malfunction or damage the product.
• Operating environment
  • Do not use in an environment where corrosive gases, chemicals, sea water, water or steam are present.
  • Do not use the product in a place where the product could be splashed by oil or chemicals. If the product is to be used in an environment containing oils or chemicals such as coolant or cleaning solvent, even for a short time, the solenoid valve or pressure switch may be adversely affected (damage, malfunction, or hardening of the cable and lead wires).
  • Do not use in an area where surges are generated. When there are machines or equipment that generate large surge near the pressure switch (magnetic type lifter, high frequency inductive furnace, motor, etc.), this can result in deterioration and damage of the internal elements. Take measures against the surge sources, and prevent the lines from coming into close contact.
  • Do not use a load which generates surge voltage. When a surge-generating load such as a relay or solenoid is directly driven, use the product with a surge absorbing element built-in.
  • Mount the product in a location that is not affected by vibration or impact. It will cause failure or malfunction.
  • Do not use the product in an environment that is exposed to temperature cycle. Heat cycles other than ordinary changes in temperature can adversely affect the inside of the product.
  • Do not expose the product to direct sunlight. If using in a location directly exposed to sunlight, protect the product from the sunlight.
  • Keep within the specified operating fluid and ambient temperature range. Operation under low temperature may lead to damage or operation failure due to frozen moisture in the fluid or air. Protection against freezing is necessary. Mounting of an air dryer is recommended for elimination of drainage and water. Avoid abrupt temperature changes even within the specified temperature range.
  • Do not use in a location where the product is exposed to radiant heat from surrounding heat sources. Insufficient air quality may cause operation failure.

Usage Instructions

1. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications.
2. Only personnel with appropriate training should operate machinery and equipment.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
4. The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed.
5. When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.
6. Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
7. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions:
   • Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight.
   • Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.

Parts included in the package

Names of Parts of the Product

Specifications

Product specifications

Common| Mechanical interface (Accessory bracket assembly)| Compliant with ISO 9409-1-31.5-4-M5
---|---|---
Applicable fluid| Air
Operating temperature range [°C]| 5 to 50
Connector type| M12 8 pin connector (Plug)
Weight [g]| ZXP7N-X1-ASSISTA| 793
ZXP7A-X1-ASSISTA| 1018
Example) ZXP7A-ZPB25JS-X1-ASSISTA| 1071 note1)
Max. work load [kg] Note2)| 7
Impact / Vibration resistance [m/s2] Note3)| 150 / 30
Air supply port(P)| One touch fitting (Φ6) Internal
Power supply voltage [V]| 24 VDC ± 10%
Vacuum ejector| Max. vacuum pressure [kPa] note4)| -84
Suction flow rate [L/min(ANR)] note4)| 17
Air consumption [L/min(ANR)] note4)| 57
Supply pressure range [MPa]| 0.3 to 0.55
Standard supply pressure [MPa] note5)| 0.5
Valve| Model| V114
Pressure switch| Model| ZSE20--*-M5-A1
Rated pressure range [kPa]| 0 to -101
Display accuracy [%]| ±2 F.S. ±1 digit (Ambient temperature of 25°C ±3°C)
Repeatability [%]| ±0.2 F.S. ±1 digit
Temperature characteristics [%]| ±2 F.S. (25°C conversion)
Applicable suction cups| Refer to “3.4. How to order”
Standard| CE/UKCA MARKED

1. The weight changes by the selected suction cup. Refer to “3.4 How to order”.

2. May be restricted depending on the cup diameter, mounting orientation, or workpiece. Please use within the max. work load. Suction and transfer exceeding the max. work load may result in reduced vacuum pressure due to air leakage.

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 500 Hz without energization. (Initial value)

4. Values are at the standard supply pressure and based on SMC’s measurement standards. They depend on atmospheric pressure (weather, altitude, etc.) and the measurement method.

5. This value indicates the pressure right before the air pressure supply pressure (P) port when vacuum is generated. The pressure right before the P port of the vacuum gripper when vacuum is generated may fall below 0.5 MPa due to the air supply capacity, piping size, and the amount of air being consumed by other devices being operated simultaneously.

Flow rate / Exhaust characteristics

• Flow rate / Exhaust characteristics.
  The flow rate characteristics correspond to the standard supply pressure (0.5MPa).

• How to read the flow rate characteristics Graph
  Flow rate characteristics are expressed in ejector vacuum pressure and suction flow. If suction flow changes, the vacuum pressure will also be changed. Normally this relationship is expressed in ejector standard operating pressure use. In the graph, Pmax is maximum vacuum pressure and Qmax is maximum suction flow. The values are specified according to catalog use. Changes in vacuum pressure are expressed in the below order.

1. When the ejector suction port is covered and made airtight, the suction flow becomes zero and vacuum pressure is at the maximum value (Pmax).
2. When the suction port is opened gradually, air can flow through, (air leakage), suction flow increases, but vacuum pressure decreases. (condition P1 and Q1)
3. When the suction port is opened further and fully opened, suction flow moves to the maximum value (Qmax), but vacuum pressure is near zero (atmospheric pressure). As described above, the vacuum pressure changes when the suction flow changes. In other words, when there is no leakage from the vacuum port, the vacuum pressure can reach its maximum, but as the amount of leakage increases, the vacuum pressure decreases. When the amount of leakage and the maximum suction flow become equal, the vacuum pressure becomes almost zero. In the case when a ventilative or leaky workpiece should be gripped, take note that vacuum pressure will not rise.

How to calculate theoretical lifting force
This manual shows how to calculate theoretical lifting force only. Refer to the catalog of suction cups for furtherdetail 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.

Cup diameter [mm]| Φ8| Φ10| Φ13| Φ16| Φ20| Φ25| Φ32
---|---|---|---|---|---|---|---
S: Cup area [cm2]| 0.50| 0.79| 1.33| 2.01| 3.14| 4.91| 8.04
Vacuum pressure [kPa]| -85| 4.2| 6.6| 11| 17| 26| 41| 68
-80| 4.0| 6.2| 10| 16| 25| 39| 64
-75| 3.7| 5.8| 10| 15| 23| 36| 60
-70| 3.5| 5.5| 9.3| 14| 22| 34| 56
-65| 3.2| 5.1| 8.6| 13| 20| 31| 52
-60| 3.0| 4.7| 8.0| 12| 18| 29| 48
-55| 2.7| 4.3| 7.3| 11| 17| 27| 44
-50| 2.5| 3.9| 6.7| 10| 15| 24| 40
-45| 2.2| 3.5| 6.0| 9.0| 14| 22| 36
-40| 2.0| 3.1| 5.3| 8.0| 12| 19| 32

How to order

• Vacuum Gripper
• Suction Cup Part Number and Weight

Mounting

Perform the mounting of the vacuum gripper 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.

2. Mounting the connector storage flange
   Mounting a parallel pin to the end of the robot arm, and mount the connector storage flange with the attached hexagon socket head cap screw. (Tightening torque: 3.0 ± 0.3 N・m).

3. Mounting the vacuum gripper
   Before mounting the product, adjust the position of the robot arm so that it is easy to mount the product.

4. Mount parallel pin (6×10) to connector storage flange mounted in ②, and mount robot mounting flange with the attached hexagon socket head cap screw(M6x10). (Tightening torque：5.2±0.5N・m)

5. Mount vacuum gripper to robot mounting flange with hexagon socket head cap screw(M6x10) so that the protrusion of robot mounting flange and the notch of vacuum gripper match.

6. Connector connection
   Mount M12 connector cable (plug) to electric hand connector (socket) as below figure. Refer to the table below about M12 connector pin assign.

7. Mounting of piping joints and coil tubes

8. Remove secondary piping plug (No.1 to No.4) in one place and mount the attached One-touch fitting (KQ2L04-M3G1).

9. 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.

10. Remove truss screw (M4,4 places) on the base of the robot body and slowly remove the base cover. Depending on the posture of the robot body, it may be difficult to remove the base cover. Change the posture of the robot in advance by jog to make it easier to work.

11. Take out the Φ4 tube (No.1 to No.4) and Φ6 tube (white) from the opening.

12. Connect the Φ4 tube tubing No. should be the same as the airport No. to which the one-touch fitting is connected in step 1 above and white Φ6 tubing with a one-touch fitting. (KQ2H04-06A1)

Dimensions

Vacuum Gripper

Center of gravity (ZXP7A-ZPB25JN-X1-ASSISTA)

Suction cup with adapter
*It is shown here for representative model only. See the suction cup catalog for the other models.

How to change the number of cups

Change to 1 cup (with flange)

1. Disassemble the suction cups and pluging bolt with adapter.
2. Remove the suction cup with adapter from plate B using a spanner.
3. Loosen the pluging bolt (M6X8) in the center of plate A and remove the cup from plate A.
4. Mounting of the pluging bolt and suction cup with adapter.
5. Confirm the gasket seal in the attached pluging bolt, then mount the pluging bolt to plate A. (4 places)
6. Confirm the gasket seal in the adapter, then mount the suction cup with adapter removed in the process (1) to plate A. Reassemble the parts by reversing the disassembling process with specified tightening torque.

Caution
Tightening torque: 1Nm, (As reference, tighten by 45 degrees using a spanner after tightening by hand) If tightened excessively, thread portion may be damaged and gasket may be deformed. This will cause air leakage. Insufficient tightening may loosen the thread or cause air leakage.

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

2. (1) Loosen the bolt (M6x10), then remove the cup mounting flange. Be careful not to lose the O-ring.
   (2) Remove the parallel pin.

3. Mounting of the suction cup with adapter

4. Remove the suction cup with adapter from the flange with cup removed in the process 1 above.

5. Confirm the gasket seal in the adapter, then mount the suction cup with adapter removed in the process to the ejector unit.
   Reassemble the parts by reversing the disassembling process with specified tightening torque.

Caution Tightening torque: 1Nm, (As reference, tighten by 45 degrees using a spanner after tightening by hand) If tightened excessively, thread portion may be damaged and gasket may be deformed. This will cause air leakage. Insufficient tightening may loosen the thread or cause air leakage.

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
   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.

Caution
Tightening torque: 1N・m, (As reference, tighten by 45 degrees using a spanner after tightening by hand)) If tightened excessively, thread portion may be damaged and gasket may be deformed. This will cause air leakage. Insufficient tightening may loosen the thread or cause air leakage.

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.

Maintenance for vacuum gripper

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. Confirm that the air is released to atmosphere. When mounting the product after the maintenance work, supply compressed air, connect to the power, check if it functions properly and have a leakage inspection.

2. Maintenance should be performed according to the procedure indicated in the Operation Manual. Improper handling can cause damage and malfunction of equipment and machinery.

3. Maintenance work
   Compressed air can be dangerous when handled incorrectly. Therefore, in addition to observing the product specifications, replacement of silencer and other maintenance activities should be performed by personnel with sufficient knowledge and experience pertaining to pneumatic equipment.

4. Draining
   Remove condensate from air filters and mist separators regularly. If the collected drainage is drained to the downstream side, it can stick inside of the product, causing operation failure and failure to reach the specified vacuum pressure.

5. Replace the silencer built into the vacuum gripper regularly.
   It is recommended to replace the silencer when the pressure drop reaches 5kPa as a guideline. The replacement cycle varies depending on the operating conditions, operating environment and supply air quality. However, if there is a vacuum pressure drop and/or delay in the vacuum (gripping) response time which causes problem with the settings during operation, stop the operation of the product and replace the silencer regardless of the above mentioned replacement guideline.
   Part number for the silencer assembly for replacement: ZX1-HS1
   < Silencer Assembly Replacement Procedure >

   • Remove the cover.
   • Loosen the 2 cross-recessed pan head screws to remove the silencer assembly.
   • Assemble the new silencer assembly.
   • Mount the cover.

6. Do not disassemble or modify the product, other than the replacement parts specified in this manual.

Maintenance for suction cup

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.
   It is extremely difficult to provide advice on the frequency of suction cup replacement. This is because there are numerous factors at work, including surface roughness, operating environment (temperature, humidity, ozone, solvents, etc.), and operating conditions (vacuum pressure, workpiece weight, pressing force of the suction cups on the workpieces, presence or absence of a buffer, etc.).
   (The weakening of bent parts or the wear or sticking of rubber parts may occur with the bellows type cup.) Thus, the customer should decide when suction cups should be replaced, based on their condition at the time of initial use. The adapter screw point may become loose depending on the operating conditions and environment. Be sure to perform regular maintenance.
   < How to replace the suction cup>

   • Pull the lock ring upward, and, after lifting it up to the adapter, remove the old cup by pulling it downward.
   • While holding the lock ring in the raised position place a new cup onto the adapter.
   • Confirm that the cup is securely in place, and then return the lock ring to its original position.
   • The cup without lock ring is just inserted to the end of the adapter.

2. Mesh
   If it is used in such a way that foreign matter is absorbed from the air or the workpiece, the mesh may become clogged. If the mesh is clogged, it will cause a reduction in the ejector performance. Clean the mesh periodically as necessary by washing, air blow and so on. If mesh clogging cannot be improved by cleaning, replace plate B.

   • Part number for plate B for replacement : ZXP7-APL1-A-X1 Refer to “6.1 How to change to one cup (with flange)” for the replacement method.

Precautions

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. Refer to “SMC Air Preparation System” for further details on compressed air quality.

Vacuum gripper precautions

• Designing
  Warning If power or air supply is shutdown, vacuum pressure may decrease and this product may drop a workpiece during gripping. Please perform of safety measures by customer systems.

• Mounting
  Warning

1. Tighten to the specified tightening torque.  

If the tightening torque is exceeded, the body and the mounting screws may break. However, insufficient torque may cause displacement of the body and loosening of the mounting screws.

2. Hold the product itself when handling.  

Do not pull the M12 connector cable strongly or lift up the product by holding this cable. It can cause the malfunction of the product.

• Wiring
  Warning

1. Do not perform wiring while the power is on. Otherwise damage to the solenoid valve or the internal parts of the pressure switch can result, causing malfunction.
2. Never disassemble the M12 connector cable or make any modifications including additional machining. Doing so may cause human injury and/or an accident.  

Caution Avoid repeated bending, tensioning or external force to the M12 connector cable.

• 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. Do not cut the tubing with pliers, nippers, scissors, etc., otherwise the tubing will be deformed and problems may result.
  * Grasp the tubing, and slowly push it straight (0 to 5°) into the one-touch fitting until it comes to a stop.
  * Pull the tubing back gently to make sure it has a positive seal. Insufficient installation may cause air to leakor the tubing to release.
3.  **Removal of tubing**
  1. Push the release button flange evenly and sufficiently to release the tube. Do not push in the tubing before pressing the release button.
  2. Pull out the tubing while keeping the release button depressed. If the release button is not held down sufficiently, the tubing cannot be withdrawn.
  3. To release the tubing, remove the previously lodged portion of the tubing. If the lodged portion is left on without being removed, it may result in air leakage and make the removal of the tubing difficult.
4.  **When using tubing from a manufacturer other than SMC, be careful of the tolerance of the tubing O.D. and tubing material.**
  * Nylon tubing Within ±0.1mm
  * Soft nylon tubing Within ±0.1mm
  * Polyurethane tubing Within+0.15mm, Within -0.2mm  

Do not use tubing which does not satisfy the specified tubing O.D. accuracy. It may cause difficulty in connecting the tubing, leakage, disconnection of the tubing, or fitting damage.

5. Do not apply unnecessary forces, such as twisting, pulling moment loads, vibration, impact, etc., on fittings or tubing.
6. Tubing, with the exception of coiled tubing, requires stationary installation. Do not use standard tubing (non-coiled) din applications where tubing is required to travel inside the flexible protection tube. Tubing that travels may sustain abrasion, extension, or severance due to tensile force. The removal of tubing from the fitting may also occur. Use caution prior to use in an application.
  * Do not lift the product body with the tube after connecting the tube to the product. Otherwise,damage to the one-touch fittings may occur. For details, refer to the “Handling Precautions for SMC Products” on the SMC website:https://www.smcworld.com
7. Adjust the length of air tube following by the movement of the robot arm to avoid adding tension the tube.  

When adding the tension of tube repeatedly, it may result in air leakage. And the tube bending radius in the vicinity of the fitting should be at least the minimum bending radius of the tubing.

• Exhaust from Ejector
  If the operating environment contains a lot of particles or mist, the silencer may be clogged. If the silencer is clogged, it will cause a reduction in the ejector performance. Replace the silencer in such case. (Refer to “7.1. Maintenance for vacuum gripper”)

• 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.

• 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.

Suction cup precautions

• Design
  Warning

1. In cases where the workpieces are heavy or dangerous objects, etc., take measures to address a possible loss of gripping force (installation of a drop prevention guide, etc.). In the case of transportation by vacuum gripping using suction cups, the gripping force is lost when there is a drop in vacuum pressure. Furthermore, since vacuum pressure can also deteriorate due to the wear and cracking of cups, vacuum leakage from piping, etc., be certain to perform maintenance on vacuum equipment.

• Selection
  Caution

1. The cup materials which can be used differ depending upon the operating environment. An appropriate cup material should be selected. Furthermore, since suction cups are manufactured for use with industrial products, they should not come into direct contact with medicines, food products, etc.
2. Depending upon the weight and shape of the workpieces, the diameter, quantity, and shape of cups suitable for use will vary.  

Refer to “3.3. How to calculate theoretical lifting force” for the theoretical lifting force. Also, the selectable cups will differ based upon conditions other than the above, such as the condition of the workpiece surface (presence or absence of oil or water), the workpiece material, and its gas permeability. Confirmation is necessary by actually performing vacuum gripping on the subject workpieces.

3. Do not apply an impact or large force to a cup when gripping a workpiece. This will cause the deformation, cracking, and wear of the cup to be accelerated. The stiffening ribs, etc., should touch lightly, while staying within the cup skirt’s deformation range. Positioning should be performed accurately, especially in the case of small-diameter cups.
4. When transporting vertically, factors such as acceleration, wind pressure, and impact force must be considered in addition to the workpiece weight. Use caution particularly when lifting items such as glass plates and circuit boards because a large force will be applied by wind pressure. When a workpiece which is oriented vertically is transported horizontally, large forces are applied by acceleration when movement is started and stopped. Furthermore, in cases where the cup and workpiece can slip easily, accelerations and decelerations of horizontal movement should be kept to a minimum.
5. When transporting flat shaped workpieces that have large surface areas using multiple cups, care must be taken in arranging the cups, so that the workpieces are evenly gripped.
6. Use caution since the workpiece could rotate during transfer. Use of more than one cup for each workpiece is recommended.

• 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). The valve suppresses the decrease of the vacuum pressure and there is a case that the workpiece can be held. For the feasibility of workpiece and conditions of customer, operation check with the actual equipment is required.

• Storage
  Caution

1. It is recommended to store suction cups in the environment shown in the table below. Storing in an environment other than that recommended below may lead to changes in properties (deformation, discoloration, cracking, increased adhesiveness, etc.).

Recommended Storage Environment for Suction cups

Troubleshooting

between workpiece mass and lifting force.

–  Use a suction cup with a large gripping area.

–  Increase the quantity of suction cups.

Vacuum pressure is low. (Leakage from gripping surface) (Air permeable workpiece)| Eliminate (reduce) leakage from gripping surface.

–  Reconsider the shape of a suction cup.

Check the relationship between suction flow rate and arrival pressure of vacuum ejector.

–  Increase gripping area.

Inadequate supply pressure of vacuum ejector| Measure supply pressure in vacuum generation state.

–  Use standard supply pressure.

–  Reconsider compressed air circuit (line).

Clogging of vacuum ejector (Infiltration of foreign matter during piping)| Please contact SMC sales about foreign matter removal.
The pressure just before the supply (P) port is low.| Depending on the piping volume (piping length and diameter), if the pressure just before the supply (P) port falls below 0.5MPa, the performance such as vacuum pressure may reduce.

– Raise the upstream pressure,and the pressure just before the supply (P) port becomes 0.5MPa.

Late vacuum achieving time

(Shortening of response time)

| The set vacuum pressure for the suction verification is too high.| Set to suitable setting pressure.
Fluctuation in vacuum pressure| Fluctuation in supply pressure| Reconsider compressed air circuit (line). (Addition of a tank etc.)
Vacuum pressure may fluctuate under certain conditions due to ejector characteristics.| Lower or raise supply pressure a little at a time, and use in a supply pressure range where vacuum pressure does not fluctuate.
Occurrence of abnormal noise (intermittent noise) from exhaust of vacuum ejector| Intermittent noise may occur under certain conditions due to ejector characteristics.| Lower or raise supply pressure a little at a time, and use in a supply pressure range where the intermittent noise does not occur.
Gripping problem over time (Gripping is normal during trial operation.)| Clogging of the silencer| Replace the silencer.

Add a filter to supply (compressed) air circuit.

Clogging of the mesh| Clean the mesh periodically as necessary by washing, air blow and so on or replacing plate B.

Refer to “7.2 Maintenance for suction cup”.

Presence of foreign matter in the ejector.| Please contact SMC sales about foreign matter removal.

Add a filter to supply (compressed) air circuit.

Air leakage due to loosen the compressed air supply (P) port| If the fitting of the air supply (P) port is loose, tighten up it. Please refer to the catalog of one-touch fittings about tightening torque.
**** Cup (rubber) deterioration, cracking, etc.| Replace cups.

Check the compatibility of vacuum cup material and workpiece.

Workpiece is not released.

| The increase of stickiness due to the wearing of the cup (rubber).| Replace cups.

Check the compatibility of the cup material and workpiece.

Vacuum pressure is too high.| Set the vacuum pressure to the minimum value necessary.

4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN
Tel: + 81 3 5207 8249
Fax: +81 3 5298 5362
URL https://www.smcworld.com
Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
© 2022 SMC Corporation All Rights Reserved

References

• SMC株式会社
• SMC株式会社

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