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-

13

-

 

               

                                       

No.  TQ1230001-OM104-C

 

･

See the table below for the suction cup part combination.

 

･

Refer to the catalog of suction cup on the SMC website for the detail of suction cup.

 

ZXP7(A,N)(11,12)

-

(4)

(5)

(6)

(7)

(8)

-X1

Aplicable cups

Cup part numbers

N

（

NBR

）

S/SF

(Silicone

）

U

(Urethan

）

F

(FKM

）

ZP

08

U

∗

ZPT08U

∗

-A6

4

4

4

4

ZP08U

∗

ZP

08

B

∗

ZPT08B

∗

-A6

4

4

4

4

ZP08B

∗

ZP

10

UT

∗

ZPT10UT

∗

-A6

4

4

4

4

ZP10UT

∗

ZP

13

UT

∗

ZPT13UT

∗

-A6

4

4

4

4

ZP13UT

∗

ZP

16

UT

∗

ZPT16UT

∗

-A6

4

4

4

4

ZP16UT

∗

ZP

10

U

∗

ZPG10U

∗

-7A-X2

7

7

7

7

ZP10U

∗

ZP

13

U

∗

ZPG13U

∗

-7A-X2

7

7

7

8

ZP13U

∗

ZP

16

U

∗

ZPG16U

∗

-7A-X2

7

7

7

8

ZP16U

∗

ZP

20

U

∗

ZPG20U

∗

-7A-X2

9

10

10

10

ZP20U

∗

ZP

25

U

∗

ZPG25U

∗

-7A-X2

10

10

10

11

ZP25U

∗

ZP

32

U

∗

ZPG32U

∗

-7A-X2

10

11

11

12

ZP32U

∗

ZP

10

C

∗

ZPG10C

∗

-7A-X2

7

7

7

7

ZP10C

∗

ZP

13

C

∗

ZPG13C

∗

-7A-X2

7

7

7

7

ZP13C

∗

ZP

16

C

∗

ZPG16C

∗

-7A-X2

7

7

7

8

ZP16C

∗

ZP

20

C

∗

ZPG20C

∗

-7A-X2

9

10

10

11

ZP20C

∗

ZP

25

C

∗

ZPG25C

∗

-7A-X2

10

10

10

11

ZP25C

∗

ZP

32

C

∗

ZPG32C

∗

-7A-X2

10

11

11

12

ZP32C

∗

ZP

10

B

∗

ZPG10B

∗

-7A-X2

7

7

7

8

ZP10B

∗

ZP

13

B

∗

ZPG13B

∗

-7A-X2

7

8

8

8

ZP13B

∗

ZP

16

B

∗

ZPG16B

∗

-7A-X2

8

8

8

9

ZP16B

∗

ZP

20

B

∗

ZPG20B

∗

-7A-X2

11

11

11

13

ZP20B

∗

ZP

25

B

∗

ZPG25B

∗

-7A-X2

11

12

12

14

ZP25B

∗

ZP

32

B

∗

ZPG32B

∗

-7A-X2

14

15

15

18

ZP32B

∗

ZP

20

UT

∗

ZPG20UT

∗

-7A-X2

4

4

4

4

ZPT1-A6

ZP2-20UT

∗

ZP

16

J

∗

ZPG16J

∗

-7A-X2

8

8

8

9

ZPT2-7A-X2

ZP2-16J

∗

ZP

B25

J

∗

ZPGB25J

∗

-7A-X2

14

15

15

18

ZP2-B25J

∗

ZP

B30

J

∗

ZPGB30J

∗

-7A-X2

18

19

19

25

ZP2-B30J

∗

ZP3P

20

JT2

SF

ZP3PG20JT2SF-7A-X2

-

21

-

-

ZP3P-20JT2SF-W

ZP3P

20

JT2

SF

M

ZP3PG20JT2SF-M-7A-X2

-

21

-

-

ZP3P-20JT2SF-WM

ZP3P

32

JT2

SF

ZP3PG32JT2SF-7A-X2

-

48

-

-

ZP3P-32JT2SF-W

ZP3P

32

JT2

SF

M

ZP3PG32JT2SF-M-7A-X2

-

48

-

-

ZP3P-32JT2SF-WM

ZP3P

20

JT5

SF

ZP3PG20JT5SF-7A-X2

-

23

-

-

ZP3P-20JT5SF-WG

ZP3P

25

JT5

SF

ZP3PG25JT5SF-7A-X2

-

25

-

-

ZP3P-25JT5SF-WG

ZP3P

32

JT5

SF

ZP3PG32JT5SF-7A-X2

-

54

-

-

ZP3PA-T2JT-7A-X2 ZP3P-32JT5SF-WG

Input the material symbol (“N,” “S,” “U,” or “F”) into the * in the part number.

ZP3PA-T1JT-7A-X2

Cup unit

Part no.

Weight by cup material (g/cup) 

ZPT1-A6

ZPT2-7A-X2

ZPT3-7A-X2

Adapter unit

(Vacuum inlet:

Male thread

 M6x1

)

ZPT2-7A-X2

ZPT3-7A-X2

ZPT2-7A-X2

ZPT3-7A-X2

ZPT3-7A-X2

ZP3PA-T1JT-7A-X2

ZP3PA-T2JT-7A-X2

(4)

Cup

series

(5)

Cup

diameter

(6)

Cup

form

(7)

Cup

material

Cup with adapter

(8)

Attachment

3.4. How to order 

 

■

Vacuum Gripper

 

 
 
 
 
 

 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

∗

1

 

■

Suction Cup Part Numbers and Weight

 

 
 
 

 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

 
 

 

 

Suction cup part 

∗

1 

 

With Flange

 

Without Flange

 

(42） 

*1 Refer to the table below for the applicable cups.

 

For models with cups, 4 cups with adapters are

 

Included in the package. 

 

How to order

1) Body size

4) Cup series

6) Cup form

8) Attachment *3

Symbol

Size

Symbol

Cup series

Symbol

Cup form

Symbol

Attachment

7

75mm

ZP

Basic

U

Flat

Nil

With (guide) attachment

C

Flat with rib

M

With mesh attachment

2) Cup mounting flange shape 

B

Bellows

Symbol

Flange shape

Nil

Without cup

UT

Thin flat

A

With flange (42 ㎜ x 42 ㎜)

J

Multistage bellows

N

Without flange

5) Cup diameter

JT2

2.5-stage bellows

9)Pressure switch output specifications/Unit

Symbol

Cup diameter

JT5

5.5-stage bellows

Symbol

Output/Unit

3) Compatible robot manufacturer

08

Φ8

Nil

Without cup

Nil

NPN/With unit switching function *4

Symbol

Robot manufacturer

10

Φ10

A

NPN/SI unit only *5

13

Φ13

7) Cup material

16

Φ16

Symbol

Material

20

Φ20

N

NBR

C

PNP/With unit switching function *4

25

Φ25

S

Silicone rubber (White) *2

D

PNP/SI unit only *5

B25

Φ25

U

Urethane rubber

B30

Φ30

F

FKM

32

Φ32

SF

Silicone rubber (Blue) *2

Nil

Without cup

Nil

Without cup

Bellows type for film

packaging workpieces

ZP3P

NPN/With unit switching

function (Initial value psi) *4

B

PNP/With unit switching

function (Initial value psi) *4

E

11

YASKAWA Electric Corporation:

MOTOMAN-HC10DT

12

YASKAWA Electric Corporation:

MOTOMAN-HC10DTP

MOTOMAN-HC20DTP

MOTOMAN-HC20SDTP

Model

ZXP 7

∗

∗

-

∗ ∗ ∗ ∗ ∗

- X1

∗

① ② ③

④ ⑤ ⑥ ⑦ ⑧

⑨

Vacuum gripper

*2 The silicone material  is compliant with 

the FDA (U.S. Food and Drug     
Administration) regulation  21CFR

§

177.

*3 Only  applicable to the cup form“JT

□

.”

Note that“M”applies  only  to cup form:  JT2.

*4 Under the New Measurement  Act, switches with 

the unit switching  function  are not  permitted for 
use in Japan.

*5 Fixed unit:  kPa, MPa

Содержание ZXP7 11 X1 Series

Страница 1: ...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 t...

Страница 2: ...1 Installing YASKAWA plug play kit 20 4 4 2 YASKAWA plug play kit Tool Presets 25 4 4 3 YASKAWA plug play kit Utility Window 26 4 4 4 YASKAWA plug play kit Vacuum Gripper Integration Window 27 5 Dimen...

Страница 3: ...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 incorrectl...

Страница 4: ...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 2 Suction cups are exclud...

Страница 5: ...fications 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 flamm...

Страница 6: ...acuum gripper 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 splas...

Страница 7: ...ounting flange 1 pc Vacuum gripper 1 pc Suction cup with adapter 4 pcs When suction cup series is selected Parallel pin 6x10 1 pc Hexagon socket head cap screw M6x10 8 pcs Plug 4 pcs Part No M 3P When...

Страница 8: ...reasing the number of suction cups Suction cup with adapter 4 pcs When suction cup series is selected Vacuum gripper 1 pc Robot mounting flange 1 pc Polyurethane Tube 2m Part No TU0604BU Male elbow KQ...

Страница 9: ...Product 2 1 In case of ZXP7 11 Details of internal parts Robot connector Parallel pin Robot mounting flange Digital pressure switch O ring Parallel pin Cups with adapter Cup mounting flange With mesh...

Страница 10: ...9 No TQ1230001 OM104 C 2 2 In case of ZXP7 12...

Страница 11: ...ble suction cups Refer to 3 4 How to order Note 1 The weight changes by the selected suction cup Refer to 3 4 How to order Note 2 May be restricted depending on the cup diameter mounting orientation o...

Страница 12: ...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...

Страница 13: ...required lifting force can then be determined by dividing the theoretical lifting force by the safety factor t Lifting force Theoretical lifting force t Theoretical lifting force Theoretical lifting...

Страница 14: ...A6 ZPT2 7A X2 ZPT3 7A X2 Adapter unit Vacuum inlet Male thread M6x1 ZPT2 7A X2 ZPT3 7A X2 ZPT2 7A X2 ZPT3 7A X2 ZPT3 7A X2 ZP3PA T1JT 7A X2 ZP3PA T2JT 7A X2 4 Cup series 5 Cup diameter 6 Cup form 7 Cu...

Страница 15: ...semble them with bolts included in the accessories Tightening torque 5 2 0 5 Nm Connect the wiring after mount the robot mounting flange when the part number is ZXP7 11 Refer to 4 2 Wiring 4 Tighten t...

Страница 16: ...Q1230001 OM104 C Pin hole Parallel pin Robot tool flange Example In case of HC10DTP Robot mounting flange Vacuum gripper Suction cups with adapter Hexagon socket head cap screw M6x10 8 pcs In case of...

Страница 17: ...nnectors on both sides lightly and check that they do not through out Caution Do not lift up the vacuum gripper by holding this cable Otherwise it can cause open circuit Connector pin Connector pin as...

Страница 18: ...human body etc while the robot is running causing unexpected accidents M8 Connector pin M8 Connector pin layout Pin no Wire color Function 1 N C Non connection 2 N C Non connection 3 Green Pressure s...

Страница 19: ...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 t...

Страница 20: ...O D 4 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 4 In case of ZXP7 11 In case of...

Страница 21: ...e installed in YASKAWA Installation Packages YASKAWA Installation Packages yip files Please set the security access level to the management level 1 Download the YASKAWA Installation Packages SmcVacuum...

Страница 22: ...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 packa...

Страница 23: ...No TQ1230001 OM104 C 4 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 li...

Страница 24: ...23 No TQ1230001 OM104 C 2 Tap the Extensions tab and verify that the SMC vacuum gripper has been added to the list...

Страница 25: ...24 No TQ1230001 OM104 C 3 Tap the Presets tab and verify that the SMC vacuum gripper has been added to the list...

Страница 26: ...cuum 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 P...

Страница 27: ...ndow 1 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...

Страница 28: ...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 2 Sensor Signal Monitor The presence or absence...

Страница 29: ...ignal is turned on within the set time it is judged as gripping success if not it is judged as gripping failure C Release only Release operation and proceed to the next operation Blow time setting at...

Страница 30: ...or Failure of gripping is detected 4 I O Settings Tab To change the setting set the security access level to the administrative level 1 I O configuration for gripper operation The I O assignments are...

Страница 31: ...E 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...

Страница 32: ...31 No TQ1230001 OM104 C 5 Dimensions 5 1 Vacuum gripper 5 1 1 In case of ZXP7 11 Circuit diagram Digital pressure switch ZSE20 M5 A1 Release valve V114 N C Pilot valve for supply V114 N C Supply valve...

Страница 33: ...32 No TQ1230001 OM104 C 5 1 2 In case of ZXP7 12 Circuit diagram Digital pressure switch ZSE20 M5 A1 Release valve V114 N C Pilot valve for supply V114 N C Supply valve...

Страница 34: ...34 for the values when other suction cups with adapter are mounted 5 2 Center of gravity 5 2 1 In case of ZXP7 11 ZXP7A11 ZPB25JN X1 Center of gravity X Y Z 11 25 1 66 58 81 Tool Center Point TCP X Y...

Страница 35: ...C 154 9 ZP 32 C 155 4 ZP 10 B 156 9 ZP 13 B 159 4 ZP 16 B 160 9 ZP 20 B 164 4 ZP 25 B 164 9 ZP 32 B 169 9 ZP 20 UT 150 9 ZP 16 J 164 9 ZP B25 J 183 4 ZP B30 J 189 9 ZP3P 20 JT2 SF 169 1 ZP3P 20 JT2 S...

Страница 36: ...Refer to P 36 for the values when other suction cups with adapter are mounted 5 2 2 In case of ZXP7 12 ZXP7A12 ZPB25JN X1 Center of gravity X Y Z 0 92 0 29 56 32 Tool Center Point TCP X Y Z 0 0 153 4...

Страница 37: ...C 124 9 ZP 32 C 125 4 ZP 10 B 126 9 ZP 13 B 129 4 ZP 16 B 130 9 ZP 20 B 134 4 ZP 25 B 134 9 ZP 32 B 139 9 ZP 20 UT 120 9 ZP 16 J 134 9 ZP B25 J 153 4 ZP B30 J 159 9 ZP3P 20 JT2 SF 139 1 ZP3P 20 JT2 S...

Страница 38: ...Suction cup form Flat type with ribs Dimensions Model A B D E F Y ZPG10C 7A X2 10 12 1 7 ZPG13C 7A X2 13 15 1 8 ZPG16C 7A X2 16 18 18 22 5 1 2 ZPG20C 7A X2 20 23 1 7 ZPG25C 7A X2 25 28 1 8 ZPG32C 7A X...

Страница 39: ...odel ZPG16J 7A X2 Suction cup form Multistage bellows type 2 5 Stage Model ZP3PG 20 25 JT5SF 7A X2 Model ZP3PG32JT5SF 7A X2 Model ZPG B25 B30 J 7A X2 Suction cup form Multistage bellows type 3 5 Stage...

Страница 40: ...essory plug then mount the plugs to plate A 4 places 2 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 revers...

Страница 41: ...the flange with cup removed in the process 1 above 2 Confirm the gasket seal in the adapter then mount the suction cup with adapter removed in the process 1 to the product Reassemble the parts by reve...

Страница 42: ...he plug then mount the plugs to plate A Reassemble the parts by reversing the disassembling process with specified tightening torque Caution Tightening torque 1N m As reference tighten by 45 degrees u...

Страница 43: ...ve 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 rea...

Страница 44: ...tion 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 Pul...

Страница 45: ...s by customer systems Mounting Warning 1 Tighten to the specified tightening torque If the tightening torque is exceeded the product the mounting screws brackets and the pressure switch can be broken...

Страница 46: ...ube Within 0 15mm Within 0 2mm Do not use tube which do not meet these outside diameter tolerances It may not be possible to connect them or they may cause other trouble such as air leakage or the tub...

Страница 47: ...ow 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 surfa...

Страница 48: ...ing 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...

Страница 49: ...n 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 Env...

Страница 50: ...e 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...

Страница 51: ...ition 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 URL https www smcworld com Note Specif...

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