Schmalz CobotPump ECBPi User manual

ECBPi CobotPump
Operating Instructions
WWW.SCHMALZ.COM EN-US · 30.30.01.01866 · 00 · 11/18

Note
The operating instructions were originally written in German and have been translated into English. Store
in a safe place for future reference. Subject to technical changes without notice. No responsibility is taken
for printing or other types of errors.
Published by
© J.SchmalzGmbH, 11/18
This document is protected by copyright. J.SchmalzGmbH retains the rights established thereby. Repro-
duction of the contents, in full or in part, is only permitted within the limits of the legal provisions of
copyright law. Any modifications to or abridgments of the document are prohibited without explicit writ-
ten agreement from J.SchmalzGmbH.
Contact
J. Schmalz GmbH
Johannes-Schmalz-Str. 1
72293 Glatten, Germany
T: [phone]
[email protected]
www.schmalz.com
Contact information for Schmalz companies and trade partners worldwide can be found at:
www.schmalz.com/salesnetwork
2 / 30 EN-US · 30.30.01.01866 · 00 · 11/18

Contents
EN-US · 30.30.01.01866 · 00 · 11/18 3 / 30
Contents
1 Important information ...................................................................................................................................5
1.1 Note on using these operating instructions ......................................................................................... 5
1.2 The technical documentation is part of the product ........................................................................... 5
1.3 Warnings in this document.................................................................................................................... 5
1.4 Symbol..................................................................................................................................................... 5
2 Fundamental Safety Instructions...................................................................................................................6
2.1 Standards of Technology ....................................................................................................................... 6
2.2 Intended Use........................................................................................................................................... 6
2.3 Safety Instructions .................................................................................................................................. 6
2.4 Changes to the Vacuum Generator....................................................................................................... 7
2.5 Personnel Qualification.......................................................................................................................... 7
2.6 Personal Protective Equipment ............................................................................................................. 7
3 Product description.........................................................................................................................................8
3.1 Design of the CobotPump ..................................................................................................................... 8
3.2 Description of Functions ........................................................................................................................ 8
3.2.1 Lifting the Workpiece ................................................................................................................. 8
3.2.2 Depositing the Workpiece ..........................................................................................................9
3.2.3 Control Scheme............................................................................................................................9
4 Technical Data ...............................................................................................................................................10
4.1 Electrical Parameters ............................................................................................................................ 10
4.2 Mechanical Data................................................................................................................................... 10
4.2.1 General Parameters ................................................................................................................... 10
4.2.2 Mechanical Performance Data..................................................................................................10
4.2.3 Maximum Torque ......................................................................................................................11
4.2.4 Dimensions................................................................................................................................. 11
5 Description of Functions...............................................................................................................................13
5.1 Automatic Operation ........................................................................................................................... 13
5.2 Monitoring the System Vacuum and Defining Limit Values ............................................................. 13
5.3 Control Function................................................................................................................................... 13

Contents
4 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
5.4 Production Setup Profiles .................................................................................................................... 14
6 Transport and storage ..................................................................................................................................15
6.1 Checking the Delivery .......................................................................................................................... 15
7 Installation.....................................................................................................................................................16
7.1 Installation Instructions........................................................................................................................ 16
7.2 Mechanical Attachment....................................................................................................................... 16
7.3 Electrical Connection............................................................................................................................ 17
7.3.1 Description of the Electrical Connection.................................................................................. 17
7.3.2 Description of the Connection Cable ....................................................................................... 18
7.3.3 Mounting the Connection Cable .............................................................................................. 19
7.4 Start of Operations............................................................................................................................... 20
8 Operation ......................................................................................................................................................21
8.1 Preparations.......................................................................................................................................... 21
9 Maintenance..................................................................................................................................................22
9.1 Safety .................................................................................................................................................... 22
9.2 Cleaning the Device ............................................................................................................................. 22
9.3 Cleaning the Sieve Insert ..................................................................................................................... 22
10 Warranty........................................................................................................................................................23
11 Spare and Wearing Parts, Accessories.........................................................................................................24
11.1 Spare and Wearing Parts ..................................................................................................................... 24
11.2 Accessories ............................................................................................................................................ 24
12 Troubleshooting............................................................................................................................................25
13 Decommissioning and recycling ..................................................................................................................26
13.1 Disposing of the Device ....................................................................................................................... 26
14 Appendix .......................................................................................................................................................27
14.1 Factory Settings .................................................................................................................................... 27
14.2 ECBPi_CE_30.30.01.01452-02_DE-EN-FR-ES-IT-NL.pdf ........................................................................ 28

Important information
EN-US · 30.30.01.01866 · 00 · 11/18 5 / 30
1Important information
1.1Note on using these operating instructions
The J.SchmalzGmbH is generally referred to as Schmalz in these operating instructions.
These operating instructions contain important notes and information about the different operating
phases of the product:
• Transport, storage, start of operations and decommissioning
• Safe operation, required maintenance, rectification of any faults
The operating instructions describe the product at the time of delivery by Schmalz.
1.2The technical documentation is part of the product
1. For problem-free and safe operation, follow the instructions in the documents.
2. Keep the technical documentation in close proximity to the product. The documentation must be ac-
cessible to personnel at all times.
3. Pass on the technical documentation to subsequent users.
ðSchmalz is not liable for damage or malfunctions that result from failure to heed these instructions.
If you still have questions after reading the technical documentation, contact the Customer Service Center
on:
www.schmalz.com/services
1.3Warnings in this document
Warnings warn against hazards that may occur when handling the product. There are four levels of dan-
ger that you can recognize by the signal word.
Signal word Meaning
DANGER Indicates a high-risk hazard which, if not avoided, will result in death or seri-
ous injury.
WARNING Indicates a medium-risk hazard which, if not avoided, could result in death or
serious injury.
CAUTION Indicates a low-risk hazard which, if not avoided, could result in minor or
moderate injury.
REFERENCE
NOTE
Indicates a danger that leads to property damage.
1.4Symbol
This sign indicates useful and important information.
üThis symbol represents a prerequisite that must be met before installation and maintenance work.
4This sign represents an action to be performed.
ðThis sign represents the result of an action.
Actions that consist of more than one step are numbered:
1. First action to be performed.
2. Second action to be performed.

Fundamental Safety Instructions
6 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
2Fundamental Safety Instructions
2.1Standards of Technology
The CobotPump is state of the art and operationally reliable as delivered. The operating instructions con-
tain important information on using the system.
NOTE
Damage to plants and systems
4Read the instructions closely and keep them for later use.
2.2Intended Use
The CobotPump is designed to generate a vacuum for gripping and transporting objects when used in
conjunction with suction cups.
It has been specially developed for use in collaborative robot systems.
Neutral gases in accordance with EN983 are approved as evacuation media. Neutral gases include air, ni-
trogen and inert gases (e.g. argon, xenon and neon).
The product is intended for industrial use.
Intended use includes the observance of the technical data and the installation and operating instructions
in this manual.
2.3Safety Instructions
DANGER
Risk of fire and explosion caused by sparks
Serious injury or death!
4Do not use the CobotPump in environments where there is a risk of explosion.
CAUTION
Vacuum close to the eye
Severe eye injury!
4Wear eye protection.
4Do not look into vacuum openings, e.g. suction cups.
WARNING
Extraction of hazardous media, liquids or bulk material
Personal injury or damage to property!
4Do not extract harmful media such as dust, oil mists, vapors, aerosols etc.
4Do not extract aggressive gases or media such as acids, acid fumes, bases, biocides, dis-
infectants or detergents.
4Do not extract liquids or bulk materials, e.g. granulates.

Fundamental Safety Instructions
EN-US · 30.30.01.01866 · 00 · 11/18 7 / 30
2.4Changes to the Vacuum Generator
Schmalz assumes no liability for consequences of modifications over which it has no control:
1. The vacuum generator must be operated only in its original condition as delivered.
2. Use only original spare parts from Schmalz.
3. The vacuum generator may be operated only in perfect condition.
2.5Personnel Qualification
Unqualified personnel cannot recognize dangers and are therefore exposed to higher risks!
1. Only instruct qualified personnel to perform the tasks described in this manual.
2. The product may only be operated by persons who have undergone appropriate training.
3. Electrical work and installations may only be carried out by qualified electrical specialists.
4. Assembly and maintenance work may only be carried out by qualified personnel.
The following target groups are addressed in this manual:
• Installers who are trained in handling the product and can operate and install it
• Technically trained service personnel performing the maintenance work
• Technically trained persons who work on electrical equipment
2.6Personal Protective Equipment
Always use suitable and appropriate protective equipment that suits the situation to avoid injury:
• Eye protection (class F)
• Hair net
• Closely fitting clothing

Product description
8 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
3Product description
3.1Design of the CobotPump
1
2
34
2.1
5
6
7
1 Housing 2 Shock protection "bumper"
2.1 Cable duct prepared
3 Set screw (3x) for mounting the flange
plate [7], max. tightening torque 0.6Nm
4 Electrical connection, 5-pin M12 connec-
tor (ECBPi 48VDC M12-5)
5 Vacuum opening 6 Flange module (mechanical interface for
vacuum gripper)
7 Flange plate (mechanical interface for col-
laborative robots)
The flange plate (7) and the flange module (6) are electrically connected to each other with a low resis-
tance grounding.
3.2Description of Functions
3.2.1Lifting the Workpiece
The CobotPump is designed for vacuum handling of parts in combination with suction systems.
Process data is transferred via a CAN bus interface. According to this data, the electric pump is activated
or deactivated, for example.
An integrated sensor measures the vacuum generated by the pump.
The CobotPump has an integrated energy-saving feature. When the machine is in "Suction" operating
mode, it automatically controls the vacuum to keep it at the configured limit value H1.

Product description
EN-US · 30.30.01.01866 · 00 · 11/18 9 / 30
If the volume to be evacuated is small, then the set limit value H1 may be exceeded before the
vacuum is switched off. This system behavior does not constitute an error.
If leakage causes the system vacuum to drop about 10percent below the limit value H1, then the pump is
switched on again.
3.2.2Depositing the Workpiece
In Blowoff operating mode, the vacuum circuit of the CobotPump is vented toward the atmosphere. This
ensures that the vacuum drops immediately and the workpiece is deposited quickly. Blowoff operating
mode can be controlled by corresponding process data transferred via the CAN bus.
To allow error-free blowoff, the vent on the underside must not be covered or blocked.
3.2.3Control Scheme
The controls of the CobotPump are defined in such a way that, if both inputs are activated at the same
time, blowoff has priority over suction.

Technical Data
10 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
4Technical Data
4.1Electrical Parameters
Parameter Sym-
bol
Limit values Unit Note
min. typ. max.
Supply voltage Us38.9 48 51 V DC PELV1)
Rated current from USIS— 68 140 2) mA US = 48.0V
CAN bus data transfer rate — — 496 — kbit/s —
1) The power supply must correspond to the regulations in accordance with EN60204 (protected extra-low
voltage). The supply inputs are protected against reverse polarity.
2) For a short time (t <100ms), current pulses of max. 0.8A occur.
4.2Mechanical Data
4.2.1General Parameters
Parameter Symbol Limit values Unit Note
min. typ. max.
Temperatures of working
medium and environment
Tamb 0 –– 45° C ––
Storage temperature TSto -10 –– 60° C ––
Humidity Hrel 10 –– 90 % r.h. Free from con-
densation
Degree of protection –– –– –– IP40 –– ––
4.2.2Mechanical Performance Data
Type Max.
vacuum
Suction
rate
Sound level Weight Load limit
Horizontal instal-
lation1
Load limit
Vertical installa-
tion2 (l=100mm)
% l/min dBA kg N N
ECBPi 12
48VDC
M12-5
75 0–12 57 0.81 Max. 100 Max. 25
Note on the ECBPi load limits
These figures apply for static loads. The maximum load limits given here apply to the ECBPi only. For use
in connection with an HRC-capable robot, observe the maximum weight limits determined by the manu-
facturer of the robot.

Technical Data
EN-US · 30.30.01.01866 · 00 · 11/18 11 / 30
1 horizontal installation 2 vertical installation
Fmax. = 100 N
L = 100 mm
Fmax. = 25 N
4.2.3Maximum Torque
Connection Max. torque
Thread G1 1.3Nm
Attachment (3 set screws M5x16) 0.6Nm
4.2.4Dimensions
D D2 L Dmk1 G1 LG1
151.5 76 88.6 46 M4-IG 6

Technical Data
12 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
All dimensions given in millimeters [mm].

Description of Functions
EN-US · 30.30.01.01866 · 00 · 11/18 13 / 30
5Description of Functions
5.1Automatic Operation
Once the CobotPump is connected to the power supply, it is ready for operation and enters automatic op-
eration mode. This is the normal operating mode, in which the CobotPump is operated by the system con-
troller.
5.2Monitoring the System Vacuum and Defining Limit Values
The CobotPump has an integrated vacuum sensor for monitoring the current system vacuum.
Limit values and hysteresis are set based on various profiles within the process data transferred via CAN
bus.
The corresponding limit values are used by the controller function to control the pump cycle speed.
Overview of the vacuum limit values:
Limit value Description
H1 Control value
H1 – 10% Lower control value
H2 Activation value of "Parts control"
h2 Hysteresis of "Parts control"
H2-h2 Deactivation value of "Parts control"
5.3Control Function
This function of the CobotPump allows you to save energy or prevent generation of excessive vacuum lev-
els. It also minimizes noise emissions. The limit values H1 and H1-10% are used by the controller function
to control the rotation speed of the motor.
When the configured limit value H1 is reached, vacuum generation is interrupted and leakage measure-
ments are performed. When leakage causes the vacuum level to fall below the limit value H1-10%, then
the vacuum generator starts once more, working toward the value H1.
The following diagram illustrates how the controller functions.

Description of Functions
14 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
Vacuum
Time
H1
H1 – 10%
h2
H2
H2-h2
Speed of
pump
100%
Time
5.4Production Setup Profiles
The CobotPump can store up to four different production setup profiles (P-0 to P-3). All important param-
eter data for workpiece handling is stored in these profiles. The profile is selected by means of the process
data byte PDO byte 0. Thus parameters can be adjusted to suit differing process conditions.
The currently selected data set is displayed in the parameter data under "Production Setup." This data set
corresponds to the current parameters that the CobotPump is using.
In the default setting, the P-0 production setup profile is selected.

Transport and storage
EN-US · 30.30.01.01866 · 00 · 11/18 15 / 30
6Transport and storage
6.1Checking the Delivery
The scope of delivery can be found in the order confirmation. The weights and dimensions are listed in
the delivery notes.
1. Compare the entire delivery with the supplied delivery notes to make sure nothing is missing.
2. Damage caused by defective packaging or in transit must be reported immediately to the carrier and
J. Schmalz.

Installation
16 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
7Installation
7.1Installation Instructions
CAUTION
Improper installation or maintenance
Personal injury or damage to property
4Prior to installation and before maintenance work, the vacuum generator must be dis-
connected from the power supply and secured against unauthorized restart!
For safe installation, the following instructions must be observed:
1. Use only the connections, mounting holes and attachment materials that have been provided.
2. Firmly connect and secure pneumatic and electrical line connections to the vacuum generator.
7.2Mechanical Attachment
The CobotPump may be installed in any position.
The CobotPump can be attached to a collaborative robot using a replaceable flange adapter plate. The
markings on the flange and on the housing of the CobotPump must be observed, as these determine the
orientation of the display and the suction cup on the robot.
üThe flange adapter plate is attached to the robot.
1. Push the CobotPump onto the flange adapter
plate, observing the Poka Yoke markings.
Flange adapter plate
2. Attach the CobotPump using three radial set
screws (M5x16) tightened to 0.6Nm.
3 set screws M5x16
Vacuum grippers or customer-specific grippers are attached to the CobotPump via the flange module (6).

Installation
EN-US · 30.30.01.01866 · 00 · 11/18 17 / 30
7.3Electrical Connection
7.3.1Description of the Electrical Connection
NOTE
In addition to the rated current, current peaks of up to 0.8A flow for a short time
in the default setting.
Damage to the robot due to current pulses!
4Refer to the technical description of the robot for the maximum current.
CAUTION
Change of output signals when product is switched on or plug is connected
Personal injury or damage to property!
4Electrical connection may be performed only by a qualified specialist who can predict
the effects that signal changes will have on the entire system.
NOTE
Incorrect power supply
Destruction of the integrated electronics
4Operate the product using a power supply unit with protected extra-low voltage
(PELV).
4The system must incorporate safe electrical cut-off of the power supply in compliance
with EN60204.
4Do not connect or disconnect the connector under tension and/or when voltage is ap-
plied.
4
The CobotPump is electrically connected to the power supply and for signaling purposes via the interface
at pos. (4) using a 5-pin M12 connector with the following pin assignment:
5-pin M12 connector Pin Symbol Function
1 U Power supply for actuator
2 CAN-L CAN low (CAN bus)
3 GND Ground
4 - Reserved (manufacturer specific) / Do not connect!
5 CAN-H CAN high (CAN bus)

Installation
18 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
Mounting and removal may be performed only when the device is unpressurized and disconnected from
the mains. Electrical connections must be firmly connected and secured to the CobotPump.
When connecting to the power supply, take note of the following:
• The maximum length of the connection cable is 3m.
7.3.2Description of the Connection Cable
The device is electrically connected to the higher-level machine or controller via the connection cable de-
scribed here:
It is included in the complete package and has a length of approx. 170mm.
The connection cable has the following connections:
5-pin M12 cable socket Pin Symbol Function
1 U Power supply for actuator
2 CAN-L CAN low (CAN bus)
3 GND Ground
4 - Reserved (manufacturer specific) / Do not connect!
5 CAN-H CAN high (CAN bus)
8-pin, snap-in connector Pin Symbol Function
1 U Power supply for actuator
2 CAN-H CAN high (CAN bus)
3 CAN-L CAN low (CAN bus)
4 - Reserved (manufacturer specific) / Do not connect!
5 - Reserved (manufacturer specific) / Do not connect!
6 - Reserved (manufacturer specific) / Do not connect!
7 - Reserved (manufacturer specific) / Do not connect!
8 GND Ground
Signal connection
PIN PIN

Installation
EN-US · 30.30.01.01866 · 00 · 11/18 19 / 30
7.3.3Mounting the Connection Cable
CAUTION
Risk of getting caught by the connection cable when the collaborative robot
moves.
Injury due to limbs or hair getting caught.
4Route the connection cable as close to the robot arm as possible.
4Avoid the danger zone.
Connecting the connection cable to the CobotPump:
1. Pull off the corresponding "bumper."
2. Pull the connection cable through the cable
duct by the bumper.
3. Connect the cable using the M12 connector.
4. Attach the bumper to the CobotPump with
the attachment tabs.
Attachment tabs

Installation
20 / 30 EN-US · 30.30.01.01866 · 00 · 11/18
7.4Start of Operations
Flange module
Vacuum
The vacuum is routed to the vacuum gripping system via the flange module, pos. (6).