coval CVGL Series User manual

CVGL_CMSHDE_INSTRUCTIONS_COVAL_EN_2023_V01 (sans VX-V1)
PRIOR TO COMMISSIONING THIS PRODUCT,
PLEASE READ THIS MANUAL CAREFULLY AND FOLLOW
THE INSTRUCTIONS.
OPERATING INSTRUCTIONS
This manual is intended for users of CVGL series carbon vacuum grippers.
It contains all the information you need to integrate the grippers on cobots, as well as the instructions
for use and maintenance.
The operating instructions were originally drafted in French. The original version must be kept for any
future use.
Subject to technical changes, mistakes or printing errors.
For further information, please contact COVAL:
COVAL S.A.S
ZA Les Petits Champs
10 Allée Jean-Baptiste Venturi
26120 Montélier - France
Web : www.coval.com
INTERNATIONAL:
•E-mail: [email protected]
•Tel.: [phone]
USA:
•E-mail: [email protected]
•Tel.: [phone]
Retrouvez tous les documents en differentes langues sur le site COVAL : https://doc.coval.com/CVGL
All documents are available in multiple languages on the COVAL website: https://doc.coval.com/CVGL
Finden Sie alle Dokumente in verschiedenen Sprachen auf der COVAL-Homepage: https://doc.coval.com/CVGL
Tutti i documenti nelle differenti lingue sono presenti sul sito COVAL: https://doc.coval.com/CVGL
Podra encontrar todos los documentos en diferentes idiomas en la pagina web de COVAL:
https://doc.coval.com/CVGL

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Operating Instructions
CVGL Series Vacuum Grippers

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Operating Instructions
CVGL Series Vacuum Grippers
CONTENTS:
1. IMPORTANT INFORMATION
2. SAFETY INSTRUCTIONS
3. INSTRUCTIONS FOR USE
3.1 INSTALLING THE VACUUM GRIPPER
3.2 COMMISSIONING AND DECOMMISSIONING
3.3 OPERATING THE VACUUM GRIPPER
3.4 TRANSPORTING/STORING THE VACUUM GRIPPER
3.5 MAINTENANCE
3.6 DISPOSAL
4 NAMEPLATE
5 IDENTIFYING YOUR MODEL
6 TECHNOLOGIES USED
6.1 GRIPPING INTERFACE
6.2 FLOW CONTROL TECHNOLOGIES
7. OVERVIEW, DIMENSIONS, AND MOUNTING
7.1. OVERVIEW OF CVGL VACUUM GRIPPERS
7.2. DIMENSIONS AND MOUNTING OPTIONS
7.3. DIMENSIONS OF GRIPPING INTERFACES
8. INSTALLING THE VACUUM GRIPPER
8.1 PNEUMATIC SUPPLY
8.2 PNEUMATIC CONNECTION
8.2.1 CVGL, versions D1 and D2
8.2.2 CVGL, version D3
8.2.3 CVGL, version G0N
8.3 CONNECTING THE VACUUM SWITCH
8.4 ELECTRICAL CONNECTIONS
8.5 CVGL WITH VACUUM LEVEL DISPLAY (versions VA and VF)
9. MAIN FEATURES
10. OPERATING THE VACUUM GRIPPER
10.1 VERSION WITH FOAM GRIPPING INTERFACE
10.1.1 VERSION WITH FOAM AND FLOW CONTROL TECHNOLOGY USING VALVES
10.1.2 VERSION WITH FOAM AND FLOW CONTROL TECHNOLOGY USING FLOW CONTROL NOZZLE
10.2 VERSION WITH SUCTION CUP INTERFACE
10.3 VERSION WITH COVAL-flex INTERFACE
11. MAINTENANCE
11.1 FREQUENCY
11.2 ASSEMBLING/DISASSEMBLING GRIPPING INTERFACES
11.3 REPLACING THE GRIPPING FOAM
11.4 REPLACING SUCTION CUPS
11.5 DISASSEMBLING THE VACUUM GENERATOR
11.6 PERFORMING AIRTIGHTNESS TEST ON VACUUM GRIPPER
12. SPARE PARTS
12.1 FOAM GRIPPING INTERFACE
12.1.1 Complete spare foam gripping interface
12.1.2 Spare foam bases
12.2 SUCTION CUP GRIPPING INTERFACES
12.2.1 Complete spare suction cup gripping interface
12.2.2 Spare suction cups
12.3 CMSL Series multi-stage vacuum generator for CVGL -–D1, D2, or D3
12.4 Vacuum switch and vacuum gauge
12.5 Accessories
13. GLOSSARY
14. WARRANTY
15. RECYCLING
16. DECLARATION OF CONFORMITY

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Operating Instructions
CVGL Series Vacuum Grippers
1. IMPORTANT INFORMATION
This document contains important instructions and information regarding various stages in the life cycle of the
product:
•Transporting, storing, commissioning, and decommissioning
•Operating and servicing
The operating instructions correspond to the product actually delivered.
This document is part of the product and the instructions below must be followed:
•Read this document carefully and observe the instructions to ensure safe installation, optimal operation
of the product and to avoid any malfunction.
•Keep the document within reach of the product so that the staff can easily access it.
Important:
•Failure to observe the instructions specified in this document may lead to injury or even death!
•COVAL will not be held liable for any damage or breakdown as a consequence of failure to observe
instructions.
For any additional information, please contact COVAL:
NOTE:
This document provides detailed operating instructions for the standard models
referenced in chapter 5.
For custom models, the information herein must be adapted to the specific features of the
product.
Custom versions are products that have been tailored to meet the constraints of a specific
application.
The following are examples of such custom models:
. Different product lengths
. Multi-zone
. Different suction cups
. Different accessories
INTERNATIONAL:
•E-mail: [email protected]
•Tel.: [phone]
USA:
•E-mail: [email protected]
•Tel.: [phone]

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Operating Instructions
CVGL Series Vacuum Grippers
2. SAFETY INSTRUCTIONS
Only qualified personnel is authorized to use the components. Such personnel must be trained in the following
areas:
. Installing pressure and electrical equipment
. Applicable safety rules and requirements for using components and installing them in devices, machines, and
machine lines
. Appropriate handling of components and their respective products
. Proper use with the operating materials and supplies
. The latest applicable EC directives, legislations, decrees, and standards, as well as the current state of the
technology for its intended use
. Taking any special measures to meet above said requirements, as well as the current state of the technology
. Installation in a secure environment
The improper use of components with other operating materials and supplies than those defined, other
voltages, and under other environmental conditions can lead to failure, damage, and injury.
This list must be considered as an overview and does not claim to be exhaustive. It can be
further expanded by users according to their particular needs.
HAZARD AREAS
Notes for the manufacturer of the final machinery and for the end user
Standing or walking in the operating area of the vacuum gripper is strictly prohibited. In the event of a
power or pneumatic supply failure, the load handled by the gripper will be released.
Never look inside and/or introduce hands into cavities, holes, or openings (e.g. air exhausts,
openings/holes under the suction cups, etc.).
The vacuum gripper described in this manual is designed for implementation in industrial systems. In
other words, it must not be used under any other conditions than those specified.
Once the vacuum gripper is installed, the manufacturer of the final machinery is responsible for the final
assessment of safety systems applied prior to putting the facility into operation. It is the responsibility of
the manufacturer of the final machinery to specify the PPE required for operators standing in the vicinity
as well as for those who have access to the operating area. Furthermore, the said manufacturer must
certify final commissioning in accordance with applicable local rules and regulations.
The vacuum gripper is solely intended for use in automated applications and in secure areas.
Area where there is a risk of
crushing
Area where there is a risk
of air ejection

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Operating Instructions
CVGL Series Vacuum Grippers
3.INSTRUCTIONS FOR USE
3.1 INSTALLING THE VACUUM GRIPPER
In order to ensure flawless installation and operation, the following rules must also be observed:
. Vacuum grippers must be carefully removed from their packaging.
. Vacuum grippers must be protected against any and all damage.
. During installation and maintenance work, the vacuum generator must be de-energized and secured against
any unauthorized activation.
. Any attempt to alter the vacuum gripper is strictly prohibited.
. The area surrounding the vacuum gripper and the location where it is used must be kept clean (no outdoor
use).
. Only the fittings/connectors provided may be used.
. During installation, only flexible tubes and tubes that are suitable for the specific operating material may be
used (tubes that come loose or electrical connection lines constitute a major safety hazard—including risk of
death!).
. Conductive and live cable lines must be insulated, of an adequate size, and properly installed.
. Pneumatic and electric lines must be connected to the component in a stable and safe manner.
. Ensure that any physical contact with electric parts is prevented (protect electrical contacts).
. Only available fastening means described in this document maybe used and tightening torques must be used
accordingly.
. The possibility of power or pneumatic supply interruption must be taken into consideration to ensure people
and systems are protected at all times.
. Emergency stops should be accounted for when designing the system.
3.2 COMMISSIONING AND DECOMMISSIONING THE VACUUM GRIPPER
Commissioning:
. Ensure the flexible tubes for compressed air and power supply are connected correctly
using the appropriate connectors.
Decommissioning (prior to any disassembly or maintenance work)
. Ensure the gripper is not holding any objects to be handled (load may drop).
3.3 OPERATING THE VACUUM GRIPPER
Intended use
The vacuum gripper is solely intended for use in automated applications and in secure areas.
Use cases depend on the gripping interfaces used => see chapter 6
Unintended use
The vacuum gripper may not be used for the following:
- Manual applications
- Uses other than those established by the manufacturer or specified in this manual
- In direct contact with hazardous materials (molten masses, radioactive products), water, steam, or
in environments where dripping or splashing water, oil, etc. may occur
- In explosive, acidic, alkaline, or saline atmospheres
- In environments subject to strong vibrations and/or shocks

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Operating Instructions
CVGL Series Vacuum Grippers
3.4 TRANSPORTING/STORING THE VACUUM GRIPPER
When handling the vacuum gripper, only use equipment that is suitable for its dimensions and weight.
For proper storage of the system and its spare parts, we recommend the following:
•Do not store in outdoor areas or areas exposed to bad weather, escessive moisture or direct sunlight
•In a reasonably clean environment, place the system in such a way that it rests on a stable support
base, and ensure that the device cannot tip over
•Store the gripper with an uncompressed gripping interface
3.5 MAINTENANCE
Maintenance must be performed in accordance with the instructions in this manual. Prior to performing any
maintenance work, follow the instrutions provided in section 3.2.
3.6 DISPOSAL
When disposing of the system or any of its constituent parts that are no longer functional, follow the
procedure below:
Waste electrical and electronic equipment (WEEE) must not be disposed of in urban waste collection
bins but given to the appropriate recycling organization (see chapter on RECYCLING).
4. NAMEPLATE
The nameplate is affixed to the vacuum gripper in such a way that it is
legible at all times.
It includes the following information:
. Part number
. Serial number
. Weight
. CE marking
Always provide the part and serial numbers of the product when you contact our services.
Failure to observe the above safety instructions may lead to failure, damage, and
injury—even risk of death.
The components of the device that are no longer in working order must be recycled in
an environmentally-friendly manner!
Sample nameplate

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Operating Instructions
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5. IDENTIFYING YOUR MODEL

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Operating Instructions
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Operating Instructions
CVGL Series Vacuum Grippers
6. TECHNOLOGIES USED
6.1 Gripping Interface
With CVGL, COVAL gives you a choice of 3 complementary gripping interface technologies: vacuum grippers
with foam, suction cup grippers, and grippers with a COVAL-flex interface.
In order to optimize the performance of the CVGL series for different applications, the vacuum grippers are
available in different gripping patterns, hole diameters, and cup sizes.
=> A broad range which meets all application requirements.
Standard Hole/Cup Patterns
In order to optimize the performance of the CVGL series for different applications, the vacuum grippers are
available in different gripping patterns, hole diameters, and cup sizes.
Vacuum Gripping Force
* Indicative force for a vacuum gripper 100% covered by the load,
without safety factor, on a rigid and airtight surface.

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CVGL Series Vacuum Grippers
6.2 Flow Control Technologies
COVAL offers 3 flow control technologies to optimize your vacuum gripper and perfectly respond to the
constraints of your application. The COVAL vacuum management team will assist you in the selection
and configuration of your CVGL vacuum gripper.
7. OVERVIEW, DIMENSIONS, AND MOUNTING
7.1. OVERVIEW OF CVGL VACUUM GRIPPERS
Flow control nozzles
. Limits the leakage rate of
uncovered zones.
. Economical solution.
. Customizable calibration.
. Horizontal and vertical
handling.
Airtight valves (COVAL patent)
. Isolates uncovered zones.
. Provides energy savings.
. Meets specific needs.
. Instant gripping.
. Quick release to blow-off.
. Horizontal handling.
Check valves (COVAL patent)
. Limits the leakage rate of
uncovered zones.
. Instant gripping.
. High versatility of applications.
. Quick release to blow-off.
. Horizontal handling.

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7.2. DIMENSIONS AND MOUNTING OPTIONS
COVAL CVGL series vacuum grippers (with external vacuum generator) can be
mounted on all types of automated or robotic systems, using M8 spacers that
slide in the grooves of the aluminum profile.
Permissible tightening torque on gibs: 20 Nm max.
Version G0 (with external vacuum generator)
VERSIONS D1 OR D2, without control (1 integrated CMS HDE series vacuum generator)
. CVGL 424 and 624: 4 x M8 spacers.
. CVGL 824: 8 x M8 spacers.
Permissible tightening torques:
. Spacers: 20 Nm
. CVGL 424 and 624: 4 x M8 spacers
. CVGL 824: 8 x M8 spacers
Permissible tightening torques:
. Spacers: 20 Nm
. G3/8'' pressure connection: 10 Nm

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Operating Instructions
CVGL Series Vacuum Grippers
VERSIONS D1 OR D2, with control (1 integrated CMS HDE series vacuum generator)
VERSION D3 (2 integrated CMS HDE series vacuum generators)
. CVGL 824: 6 x M8 spacers
Permissible tightening torques:
. Spacers: 20 Nm
. 2 x G3/8'' pressure connection: 10 Nm
. CVGL 424 and 624: 4 x M8 spacers
. CVGL 824: 8 x M8 spacers
Permissible tightening torques:
. Spacers: 20 Nm
. G3/8'' pressure connection: 10 Nm

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7.3. GRIPPING INTERFACE DIMENSIONS
Suction Cup Gripping Interface
Foam Gripping Interface
COVAL-flex Gripping Interface
Option: HMI mounted on the vacuum
generator
Option: quick installation of the interface

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8. INSTALLING THE VACUUM GRIPPER
8.1 Pneumatic Supply for Vacuum Grippers Equipped with One or More CMS HDE Vacuum
Generators (CVGL Version D1, D2, And D3)
(Note: For CVGL vacuum gripper without vacuum generator [version G0], see the section entitled “Connecting
an external vacuum source”).
Pneumatic supply characteristics
•Non-lubricated air, filtered to 5 microns, according to standard ISO 8573-1:2010 [3:4:4]
•Operating pressure: from 2 to 8 bar
•Optimal dynamic pressure:
−CMSHDE_NVO (for CVGL_G0N_ grippers) without control: 5.5 bar
−CMSHDE_S_/ CMSHDE_V_ with control (for CVGL_S/CVGL_V_ grippers): 6 bar
•1 power supply for D1 and D2 generators (pressure connection: G3/8”-F with removable 350 μm filter
screen)
•2 power supplies for D3 generators (pressure connection: G3/8”-F with removable 350 μm filter screen)
Technical data of the integrated CMS HDE series vacuum generators
Vacuum
generators
Version
Consumption
(Nl/min)
Flow rate
(Nl/min)
Max.
vacuum (%)
Sound level
(dBA)
CMSHDE_50_
CVGL _ _ _D1
220
700
80
59
CMSHDE_100_
CVGL _ _ _D2
420
1100
80
62
2xCMSHDE_100_
CVGL_ _ _ D3
840
2200
80
65
8.2 Pneumatic Connection
Lengths and diameters of compressed air supply tubes
Vacuum
generators
Version
Min. internal tube dia.
CMSHDE_50_
CVGL _ _ _D1
Ø6 mm –max. length 2 m
Ø8 mm –max. length 6 m
CMSHDE_100_
CVGL _ _ _D2
Ø6 mm –max. length 2 m
Ø8 mm –max. length 6 m
2xCMSHDE_100_
CVGL_ _ _ D3
Ø8 mm –max. length 6 m

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Operating Instructions
CVGL Series Vacuum Grippers
G1‘‘-F
8.2.1 CVGL Versions D1 and D2
Connect the compressed air to the G3/8" connection on the CMS HDE series multi-stage vacuum generator.
Permissible tightening torques:
. Pressure connection: 10 Nm
8.2.2 CVGL Version D3
Connect the compressed air to the two G3/8”fittings located on the CMS HDE series multi-stage vacuum
generators.
8.2.3 CVGL Version G0
Connecting an external vacuum source
To allow for an external vacuum source to be connected, version G0 of the CVGL vacuum gripper is equipped
with a G1'”-F threaded flange.
Note: Diameter of supply pipes must be suitable for the flow rate of the external vacuum generator.
Version CVGL_N:
Without vacuum generator control
Versions CVGL_S or V:
With vacuum generator control
Version CVGL_N:
Without vacuum generator control
G3/8‘‘-F
G3/8‘‘-F
G3/8‘‘-F
G3/8‘‘-F

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8.3 Connecting a Vacuum Switch
In order for an external vacuum switch to be connected, the CVGL vacuum
gripper is equipped with a G1/8''-F connection.
8.4 Electrical Connections
CVGL WITH VACUUM GENERATOR CONTROL (versions S and V)
When required, CVGL series vacuum grippers with integrated
vacuum generator (versions D1 and D2) can be equipped with a
vacuum and/or blow-off control valve to optimize the release of
gripped objects. This also enables cleaning of the vacuum
network, flow control nozzles, check valves, and airtight valves.
A vacuum switch or analog gauge is available as an option
should a visual display of the vacuum level in the system be
needed (see below).
Vacuum Control: 2 Solutions
Electrical Connections
CMS HDE vacuum pumps must be used with power supply units that provide Protective Extra Low Voltage
(PELV) and supply voltage isolation according to EN 60204.

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8.5 CVGL WITH VACUUM LEVEL DISPLAY (Versions VA and VF)
When required, CVGL series grippers can include a vacuum level display with an electronic vacuum switch or
vacuum gauge:
9. MAIN FEATURES
. Temperature: from 0 to 50 °C (32 to 122 °F)
. Gripper material: aluminum, PA 6.6 15% GF, brass, stainless steel, neoprene
. Foam gripping interface material: EPDM
. Suction cup gripping interface materials:
- "mini" type interface: silicone 30 Shore
- "medium" type interfaces: natural rubber 50 Shore
- "maxi" type interfaces: natural rubber 50 Shore or white silicone 35 Shore
Technical Specifications of Multi-stage Vacuum Pumps
. Supply: non-lubricated air, filtered to 5 microns, according to standard ISO 8573-1:2010 [3:4:4]
. Operating pressure: from 2 to 8 bar
. Optimal dynamic pressure:
− CMSHDE_NVO (for CVGL_G0N_ grippers) without control: 5.5 bar
− CMSHDE_S_/ CMSHDE_V_ with control (for CVGL_S/ CVGL_V_ grippers): 6 bar
. Pressure connection: G3/8”-F with removable 350 μm filter screen
. Max. vacuum: 80%
. Air suction flow rate: 695 to 2200 Nl/min
. Air consumption: 220 to 840 Nl/min
. Noise level:
. CMSHDE90X50__K: 59 dBA
. CMSHDE90X100__K: 62 dBA
. Degree of protection: IP65
. Max. operating frequency: 4 Hz
. Service life: 50 million cycles
. Materials: PA GF, brass, aluminum, steel, NBR, PU, FKM
. M12 connector (depending on version)

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Integrated Electronics
. 24 V DC power supply (regulated +/-10%)
. Inputs/outputs protected against reversed wiring and polarity
. Consumption: 170 mA max. (without load)
. Input/Output switching mode: PNP
. Digital inputs/outputs mode (SIO)
Indicator
Only on models CMSHDE__VOC15P__ installed on CVGL __S1/V1:
Status LED for control functions:
− Green LED: vacuum control
− Orange LED: blow-off control
Mass (in kg) depending on options
Average values shown
10. OPERATING THE VACUUM GRIPPER
10.1 VERSION WITH FOAM GRIPPING INTERFACE
Recommendation
•Operating temperature: from -40 to 120 °C (from -40 to 248 °F)
•Avoid protruding shapes
•Pay attention to the angle of attack and stroke of robot
•Cover 50% of the surface of the foam gripping interface
•Gripper position:
oAlways place the gripper in the center of the load to be handled
oCVGL vacuum grippers are designed to handle loads using a horizontal motion
•We advise against using the CVGL for vertical gripping as the foam could deteriorate quickly
oIn rare cases of vertical use, tests should be performed prior to commercial use
oCOVAL will not be held liable for any premature foam degradation

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10.1.1 VERSION WITH FOAM AND FLOW CONTROL TECHNOLOGY USING VALVES
Models CVGL_E (Airtight Valves) and CVGL_V (Check Valves)
A working cycle of a CVGL vacuum gripper includes the following steps:
1. Position the vacuum gripper above the object to be handled with the foam gripping interface
parallel to the object’s surface.
2. Bring the vacuum gripper into contact with the object and slightly compress the foam.
3. Activate the vacuum.
4. Handle the object.
5. Deposit the object by stopping the vacuum and blowing it off, if necessary.
Note: If you activate the vacuum before the vacuum gripper is in contact with the object, the object will
not be suctioned because the check valves will be closed and will not allow gripping.
•The CVGL vacuum gripper with valves is designed for horizontal use.
Admissible inclination: 45° max.
The use of the vacuum gripper at 180° or 90° is not allowed.
•Standing or walking in the the working area of the empty gripper is
strictly prohibited. In the event of a power or pneumatic supply failure,
the load handled by the gripper will be released.
•The maximum vertical acceleration allowed is 5 m/s² (16 ft/s²).
•Caution: When check valves or airtight valves are used in the vacuum
gripper, the vacuum value measured by the vacuum switch cannot be
used as a reliable indication of the grip on the object. The vacuum
switch indicates the vacuum level inside the gripper, and due to the
action of the valves (closing of valves), the vacuum level will be high
even when the object is not present.
Note: We recommend always performing preliminary tests with samples of the objects to be handled.
Contact the COVAL team to perform validation tests, if necessary.