SMC Networks ZXP7 X1 KA Series User manual

Doc. no. TQ1230001-OM106-B
PRODUCT NAME
Vacuum Gripper
MODEL / Series / Product Number
ZXP7  -  -X1  -KA
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-ZPB25JS-X1-KA. Refer to the suction cup
catalog for the detail of other applicable suction cups.

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No. TQ1230001-OM106-B
Contents
Safety instructions…………………………………………………………………………………………………..2
1. Parts included in the package...............................................................................................................6
2. Names of Parts of the Product..............................................................................................................7
3. Specifications .......................................................................................................................................8
3.1. Specifications...............................................................................................................................8
3.2. Flow rate / Exhaust characteristics ............................................................................................9
3.3. How to calculate theoretical lifting force..................................................................................10
3.4. How to order...............................................................................................................................11
4. Mounting ............................................................................................................................................12
4.1. Mounting.....................................................................................................................................12
4.2. Wiring..........................................................................................................................................13
4.3. Piping..........................................................................................................................................14
5. Dimensions.........................................................................................................................................15
5.1. Vacuum Gripper .........................................................................................................................15
5.2. Center of gravity ........................................................................................................................16
5.3. Suction cup with adapter...........................................................................................................17
6. How to change the number of cups ....................................................................................................19
6.1 Change to 1 cup (with flange) ....................................................................................................19
6.2 Change to 1 cup (without flange)...............................................................................................20
6.3 Change to 2 cups ........................................................................................................................21
7.Maintenance........................................................................................................................................22
7.1. Maintenance for vacuum gripper ..............................................................................................22
7.2. Maintenance for suction cup.....................................................................................................23
8.Precautions .........................................................................................................................................24
8.1 Air supply..................................................................................................................................24
8.2 Vacuum gripper precautions ...................................................................................................24
8.3 Suction cup precautions..........................................................................................................26
9.Troubleshooting...................................................................................................................................29

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No. TQ1230001-OM106-B
Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards
(ISO/IEC)*1) , and other safety regulations.
*1) 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.
Caution
Caution indicates a hazard with a low level of risk which, if not avoided, could result
in minor or moderate injury.
Warning
Warning indicates a hazard with a medium level of risk which, if not avoided, could
result in death or serious injury.
Danger
Danger indicates a hazard with a high level of risk which, if not avoided, will result
in death or serious injury.
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.
1.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.
2.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.
3. Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is
to be used in any of the following conditions.
1. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2. 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.
3. An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4. 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.

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No. TQ1230001-OM106-B
Safety Instructions
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.2)
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.
2) 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.
! 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.

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No. TQ1230001-OM106-B
■Explanation of Symbols
Sy mb o l
Definition
Things you must not do.
Instructions are provided as a drawing or sentence next to the symbol.
Things you must do
Instructions are provided as a drawing or sentence next to the symbol.
■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.

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No. TQ1230001-OM106-B
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 vacuum 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 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 pressure switch may be adversely affected (damage, malfunction, or hardening of the cable and the 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.

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No. TQ1230001-OM106-B
1. Parts included in the package
Robot mounting flange 1 pc.
Vacuum gripper: 1 pc.
Suction cup with adapter: 4 pcs.
(When “suction cup series” is selected.)
Parallel pin (5x10): 1 pc.
Hexagon socket head cap
screw (M5x10): 8 pcs.
Plug: 4 pcs.
Part No. M-3P
（When “cup mounting flange shape” is selected.）
Used for decreasing the number of suction cups.
Tie band 1 pc.
Used for tying and fixing the Φ4 tube and
switch cable. Φ4 tube is connected to release
pressure supply port (PD) when release
pressure is supplied to this product.

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No. TQ1230001-OM106-B
2. Names of Parts of the Product
Air supply port
Parallel pin
Digital pressure switch
O-ring
(25.6x20.8x2.4)
Parallel pin
Cups with adapter
Robot mounting flange
(Conforming to “ISO 9409-1-31.5-4-M5”)
Cup mounting flange
(With mesh)
(Conforming to “ISO 9409-1-50-4-M6”)

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No. TQ1230001-OM106-B
3. Specifications
3.1. Specifications
■Product specifications
Common
Standards
Conforming to ISO 9409-1-31.5-4-M5
Applicable fluid
Air
Operating temperature range [°C]
5 to 50
Weight [g]
ZXP7N-X1-KA
427
ZXP7A-X1-KA
659
Example)
ZXP7A-ZPB25JS-X1-KA
712 note1)
Max. work load [kg] Note2)
7
Impact / Vibration resistance [m/s2] Note3)
150 / 30
Air supply port (P)
One-touch fitting (Φ4) Side
Release pressure supply port (PD)
One-touch fitting (Φ4) Internal
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
Pressure
switch
Model
ZSE20---M5-LA2
Power supply voltage [V]
12 to 24 VDC ±10%
Ripple (p-p) 10% or less
Rated pressure range [kPa]
0 to -101
Display accuracy [%]
±2 F.S. ±1 digit
(Ambient temperature at 25°C ±3°C)
Repeatability [%]
±0.2 F.S. ±1 digit
Temperature characteristics [%]
±2 F.S. (Standard on 25°C)
Applicable suction cups
Refer to “3.4. How to order”
Standard
CE/UKCA MARKED
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, 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.
Note 3) Impact resistance: The characteristics are satisfied after tested one time in each of the X, Y and Z directions without
energization. (Initial value)
Vibration resistance: The characteristics are satisfied after tested a one sweep in each of the X, Y and Z directions at 10
to 500 Hz without energization. (Initial value)
Note 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.
Note 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.

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No. TQ1230001-OM106-B
3.2. Flow rate / Exhaust characteristics
■Flow rate / Exhaust characteristics.
The flow rate characteristics correspond to the standard supply pressure (0.5MPa).
* The actual suction flow at the point of suction varies depending on the piping conditions to the vacuum port.
■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 changeswhen 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.
Flow rate characteristics
Exhaust characteristics
-90
-80
-70
-60
-50
-40
-30
-20
-10
00 5 10 15 20 25
Vacuum pressure [kPa]
Suction flow [L/min(ANR)]

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No. TQ1230001-OM106-B
3.3. How to calculate theoretical lifting force
This manual shows how to calculate theoretical lifting force only. Refer to the catalog of suction cups for further
detail 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.
Calculation
Theoretical lifting force table
The theoretical lifting force (not including the safety factor) can be determined by the cup diameter and vacuum
pressure.
The 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 force = P x S x 0.1)
Cup diameter (Φ8 to Φ32) [N]
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
W: Lifting force [N]
P: Vacuum pressure [kPa]
S: Cup area [cm2]
t: Safety factor Horizontal lifting: 4 or more
Vertical lifting: 8 or more
Cup

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No. TQ1230001-OM106-B
･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) - (3) (4) (5) (6) (7)
-X1-KA
Applicable cups Cup part numbers
N
（NBR）
S/SF
(Silicone）
U
(Urethane）
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 MZP3PG20JT2SF-M-7A-X2 -21 - - ZP3P-20JT2SF-WM
ZP3P 32 JT2 SF ZP3PG32JT2SF-7A-X2 -48 - - ZP3P-32JT2SF-W
ZP3P 32 JT2 SF MZP3PG32JT2SF-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-T2JT-7A-X2
Cup with adapter
(7)
Attachment
ZP3PA-T1JT-7A-X2
Cup unit
Part number
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
(3)
Cup
series
(4)
Cup
diameter
(5)
Cup
form
(6)
Cup
material
How to order
1) Body size 3) Cup series 5) Cup form 7) Attachment *3
Symbol Size Symbol Cup series Symbol Cup form Symbol Attachment
7 75mm ZP Basic U Flat Nil With (guide) attachment
ZP3P Bellows type for film packaging workpieces C Flat with ribs M With mesh attachment
2) Cup mounting flange shape Nil Without cup B Bellows
Symbol Shape UT Thin flat
AWith flange (42 ㎜ x 42 ㎜) 4) Cup diameter J Multistage bellows
N Without flange Symbol Cup diameter JT2 2.5-stage bellows 8)Pressure switch output/unit specification
08 Φ8 JT5 5.5-stage bellows Symbol Pressure switch output/unit specification
10 Φ10 Nil Without cup Nil NPN/With unit selection function *4
13 Φ13 A NPN/SI unit only Note *5
16 Φ16 6) Cup material B NPN/With unit selection function (Initial value psi) *4
20 Φ20 Symbol Material C PNP/With unit selection function *4
25 Φ25 N NBR D PNP/SI unit only *5
B25 Φ25 S
Silicone rubber (White) *2
EPNP/With unit selection function (Initial value psi) *4
B30 Φ30 U Urethane rubber
32 Φ32 F FKM
Nil Without cup SF Silicone rubber (Blue) *2
Nil Without cup
Model ZXP 7 -     -X1 -KA
① ② ③ ④ ⑤ ⑥ ⑦
⑧
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
For Kawasaki Heavy Industries,Ltd.
Dual-Arm SCARA Robot duAro 1 and 2 compatible
3.4. How to order
■Vacuum Gripper
1
■Suction Cup Part Numbers and Weight
Suction cup part 1 Refer to the table blow for the applicable cups.
With Flange
Without Flange

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No. TQ1230001-OM106-B
4. Mounting
4.1. Mounting
■Mounting procedure
1) Confirm the gasket seal on the adapter, then mount 4 cups with adapter to the vacuum gripper.
(Tightening torque: 1N・m or tighten for 45 degrees using a spanner after tightening by hand)
2) Mount parallel pin to the robot tool flange pin hole.
3) Align the parallel pin of the robot tool flange with the robot mounting flange, and assemble them with
bolts included in the accessories. (Tightening torque: 3.0+/-0.3 Nm) Connect the wiring after mount
the robot mounting flange. (Refer to “4.2. Wiring”.)
4) Tighten the vacuum gripper to the robot mounting flange. (Tightening torque: 3.0+/-0.3 Nm)
Take out the cable of pressure switch from the space above air supply port.
Removal should be performed by following the mounting procedure in reverse.
Pin hole
Parallel pin
Robot mounting flange
Robot tool flange
Vacuum gripper
Hexagon socket head cap screw
(M5x10 8 pcs.)
Suction cups with adapter
2）
Gasket seal
Adapter
Oval hole
Air supply port

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No. TQ1230001-OM106-B
4.2. Wiring
For wiring between vacuum gripper and the sensor harness from duAro arm, refer to duAro's instruction
manual.
■Pressure switch cable specifications
Conductor cross section [mm2]
0.15 (AWG26)
Insulator
O.D. [mm]
1.0
Color
Brown, Blue, Black (3-core)
Sheath
Finished O.D.
Φ3.4
Lead wire length
2m (Tip loose wire)
Caution
Do not lift up the vacuum gripper by holding this cable. Otherwise it can cause open circuit.
■Internal Circuits and Wiring Examples
* Brown is DC (+), blue is DC (-), and black is output.

-14-
No. TQ1230001-OM106-B
P
#
P
PD
V
Digital pressure switch
ZSE20-

-

-M5-LA2
Silencer exhaust
EXH.
4.3. Piping
For piping of the vacuum gripper and the air tube from duAro arm, refer to duAro's instruction manual.
■Tubing
Connect a tube (applicable tube O.D. Φ4) to the air pressure supply port (P). (Refer to P.24 “ 2) installation
of tubing.”)
When you remove the tube, push the release button and pull out the tube.
* When supplying release pressure is necessary, remove plug (part No.: KQ2P-04) and connect Φ4 tube to
release pressure supply port (PD).
Tie and fix the Φ4 tube and switch cable by using in the accessory tie band after connecting Φ4 tube.
Release Button
Air pressure supply port (P)
Applicable tubing O.D.:Φ4
Circuit diagram
Release pressure supply port (PD)
Plug (Part No.: KQ2P-04)

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No. TQ1230001-OM106-B
5. Dimensions
5.1. Vacuum Gripper
60(Operating range 50 to 70)
60(Operating range 50 to 70)
* Cup distance is changeable.

-16-
No. TQ1230001-OM106-B
5.2. Center of gravity (ZXP7A-ZPB25JN-X1-KA)
Center of gravity
X
Y
Z
-1.77
-1.18
52.07
Z
X
Y
X
Z
Y
(Unit: mm)

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No. TQ1230001-OM106-B
5.3. Suction cup with adapter
*It is shown here for representative model only. See the suction cup catalog for the other models.
Model：ZPGU-7A-X2
(Suction cup form：Flat type)
Model：ZPGC-7A-X2
(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-X2 32 35 20 24.5 2.3
13
15
17.5
19.5
22
24
Model：ZPGB-7A-X2
(Suction cup form：Bellows type)
Dimensions
Model A B D E F G H Y
ZPG10B-7A-X2 10 12 5.5 13.5 21.5 26 5.5
ZPG13B-7A-X2 13 15 8.7 19 24 28.5 7.5
ZPG16B-7A-X2 16 18 10 21 25.5 30 8.5
ZPG20B-7A-X2 20 22 12.6 25 29 33.5
ZPG25B-7A-X2 25 27 16 28 29.5 34
ZPG32B-7A-X2 32 34 18.9 37 34.5 39 14
13
15
10.5
Model：ZPG20UT-7A-X2
(Suction cup form：Thin flat type)
Dimensions
Model A B D E F Y
ZPG10U-7A-X2 10 12
ZPG13U-7A-X2 13 15
ZPG16U-7A-X2 16 18 18 22.5 3.5
ZPG20U-7A-X2 20 23
ZPG25U-7A-X2 25 28
ZPG32U-7A-X2 32 35 20 24.5 4.5
13
15
3
4
17.5
19.5
22
24

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No. TQ1230001-OM106-B
Note1) “D” and (st) indicate the reference value during gripping at vacuum pressure: -85[kPa].
Model：ZPG16J-7A-X2
(Suction cup form：Multistage bellows type 2.5-Stage)
Model：ZPG(B25,B30)J-7A-X2
(Suction cup form：Multistage bellows type 3.5-Stage)
Dimensions
Model A B D E F G H
ZPGB25J-7A-X2 25 26 27 10.2 32.5 48 52.5
ZPGB30J-7A-X2 30 33 32 13.8 38 54.5 59

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No. TQ1230001-OM106-B
Plug(M-3P)
(4 pcs)
Tighten by hand, and give it an
additional turn approx. 1/4
rotations with a wrench.
Suction cup with adapter
(2) Mounting of the plug and suction cup with adapter
6. How to change the number of cups
6.1 Change to 1 cup (with flange)
1. Disassemble the suction cups with adapter
(1) Remove the suction cup with adapter from plate B using a spanner.
(2) Loosen the bolt (M4 x 8), then remove plate B from plate A.
Be careful not to lose the O-ring.
(3) Loosen the bolt for sealing (M6X8), then remove the cup from plate A.
2. Mounting of the plug and suction cup with adapter
(1) Confirm the gasket seal in the accessory 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 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.
Completion drawing
Plate A
Hexagon socket button bolt (M6x8)
With gasket(M-6G)
Tightening torque 1±0.1N･m
Plate B (with O-ring)
Hexagon socket button bolt (M4x8)
Tightening torque 1.5±0.15N･m
Suction cup with adapter
(1) Disassemble the suction cups with adapter