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www.schmalz.com
Innovative Vacuum for Automation
EN
Quick Reference Guide
Flat suction cup FXCB/FMCB
30.30.01.01839/00 | 09.2018
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Contents
Flat suction cup FXCB/FMCB
30.30.01.01839/00 www.schmalz.com 2 | EN
Note
These 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.
Quick Reference Guide
These operating instructions are a quick reference guide. The complete operating instructions can be found online. The QR code above and the NFC tag located under the
type plate of the gripper contain links to these operating instructions.
Published by
© J. Schmalz GmbH, 09.2018
This document is protected by copyright. J. Schmalz GmbH retains the rights established thereby.
Reproduction 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 written agreement from J. Schmalz GmbH.
Contact
J. Schmalz GmbH
Johannes-Schmalz-Str. 1
72293 Glatten, Germany
Tel. +49 (0) 7443 2403-0
Fax +49 (0) 7443 2403-259
schmalz@schmalz.de
www.schmalz.com
Contact information for Schmalz companies and trade partners worldwide can be found at
www.schmalz.com/salesnetwork
Operating instructions
www.schmalz.com/manual-
fmcb-fxcb
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DANGER
General safety notes on the start of operations/operation
Danger to life and limb
►
The system may only be set up and operated by trained personnel who have read
and understood the operating instructions.
►
The system integrator must secure the danger zone during the start of operations.
►
The production system must be stopped in the area where the system is being set
up
► The system may only be set up at the workplace in accordance with the operating
instructions.
►
The system must be disconnected during setup.
►
The production system must be secured to prevent activation during setup.
►
Only qualified specialist personnel, mechanics and electricians may perform the
installation. Qualified specialist personnel are persons who have received technical training and have the knowledge and experience – including knowledge of
applicable regulations – necessary to enable them to recognize possible dangers
and implement the appropriate safety measures while performing tasks.
►
Collaborative operation of the gripper is solely permitted with systems designed for
this purpose. The system integrator must ensure that the integrated safety functions are working properly.
►
Operation in a collaborative system is only permitted when the entire system complies with the corresponding requirements for collaborative robot systems in accordance with DIN IST/TS 15066, DIN EN ISO 10218-1 and DIN EN ISO 10218-2.
Inappropriate voltage supply
Electric shock, destruction of the electrical components
►
Connection work may only be carried out by a qualified electrical specialist.
►
The system must incorporate safe electrical cut-off of the power supply in compliance with EN60204
►
Do not connect or disconnect the plug connectors when voltage is applied.
►
Only operate the system with protected extra-low voltage.
Acceleration/deceleration/kinetic energy/gravity/falling parts
Danger to life and limb due to workpieces slinging away
►
Never stand under suspended loads.
►
Do not place any body parts under the suspended load or the system.
►
The system’s maximum permitted load must not be exceeded.
►
Maintain sufficient distance to the moving system/workpiece in order to avoid danger, even in the case of unforeseeable events (e.g. emergency stop)
Human error
Danger to life and limb
►
The operating instructions contain important information on using the system.
Read the complete operating instructions thoroughly and keep them for later reference.
Switching components that are not explosion-proof
Risk of fire and explosion
►
The product must not be used in explosion risk areas.
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WARNING
Failure to comply with the general safety instructions
Personal injuries and damage to the system
►
These operating instructions are specific to the items included in delivery from
Schmalz. These operating instructions do not take into account any modifications
to the system made by the customer.
►
Use only the connections, mounting holes and attachment materials that have
been provided.
►
Carry out mounting or removal only when the device is in a voltage-free and depressurized state.
►
General safety regulations, European standards and VDE guidelines must be observed and complied with.
►
The gripper is to be used in combination with an automated handling system (gantry/robot). For this reason, you must also follow the safety regulations of the corresponding system.
►
Animals are not permitted to sit or stand in the transport area.
►
Transporting persons or animals is prohibited!
►
It is not permitted to make changes to system components.
►
The system may only be operated with the operating voltages specified for the
corresponding components.
►
Make sure that the workplace and surroundings are kept clean.
►
Protect the components from damage of any kind.
►
Compressed air or a vacuum could cause closed containers to explode or implode. Check the products before use.
►
Do not apply suction to any dangerous dusts, oil mists, vapors, aerosols, etc.
►
Only use suitable and approved vacuum filters.
►
Do not look into the exhaust air flow of the vacuum generator.
Non-compliance with work safety instructions
Personal injuries and damage to the system
►
Never lift loads at an angle and never drag them.
►
Do not tear off stuck loads.
►
Only pick up and lift suitable loads (check inherent stability and surface density).
►
Only set workpieces down on clear, even surfaces due to the danger of slipping.
►
Do not release the load until it rests completely and safely on a secure surface.
►
Do not come close to the load when releasing/depositing it and do not touch it.
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CAUTION
Approach of a moving element to a fixed part/machinery mobility/moving
elements/stored energy/vacuum
Body parts could be crushed, cut, sucked in, caught or sliced if the flat suction cup
is abruptly attached to a workpiece or a surface.
►
Do not place any body parts between the bottom of the gripper and a surface.
►
Eyes can be sucked in; do not look into open vacuum openings.
High pressure
Placement/release of compressed air lines
►
The system integrator must secure the danger zone.
►
Regularly inspect the gripper and perform regular maintenance in order to detect
and replace porous compressed air lines in good time. Replace defective connectors.
Conductive parts/parts that have become live in an error state/short circuits
Electric shock
►
Regularly inspect and perform maintenance on the gripper to detect and repair
wear or faulty connections in good time.
Noise hazards due to the exhaust system or gas flowing at high speeds or
worn parts
Discomfort, tinnitus, stress, exhaustion due to constant/
high noise levels
►
If possible, switch off vacuum generators (only FMCB) and the blow-off function
when not in use in order to reduce noise pollution.
►
Wear personal protective equipment e.g. ear protectors
►
If possible, position vacuum generators (only FMCB) far enough away from machine operators; use additional silencers
►
Regularly inspect and perform maintenance on the system in order to ensure that
Careless use of personal protective equipment
Danger to the operator
►
Adapt and wear appropriate personal protective equipment based on the task being performed.
ATTENTION
Incorrect disposal of the system or individual components
Environmental damage
►
Disposal according to national guidelines.
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Intended Use
The gripper is used to lift and transport cardboard boxes or similar materials that allow suction.
Neutral gases in accordance with EN 983 are approved as evacuation media. Neutral gases include air, nitrogen and inert gases.
The device may only be used with robot systems that comply with the provisions of DIN IST/TS
15066, DIN EN ISO 10218-1 and DIN EN ISO 10218-2.
Operation as part of a collaborative system is only permitted when the entire system meets the
corresponding legal requirements for collaborative robot systems. The system integrator is responsible for ensuring that these requirements are complied with.
The possibilities to do this include:
- The use of redundant vacuum/compressed air generation
- The use of battery-operated audio-visual warning devices to monitor the input pressure and
vacuum value
- Safety-oriented vacuum generation and monitoring with a corresponding performance level
The system is mounted on the load suspension provided by the customer using the flanges designated for this purpose. The customer also provides a control device.
Functional Principle
The system uses vacuum to lift the defined products. The system can be used to lift one or more
cardboard boxes or similar workpieces of various sizes without adapting the suction area to the
specific workpiece.
The system achieves its maximum load-bearing capacity when the complete suction area is engaged with an airtight workpiece with a smooth surface.
The robot system, to which the customer’s system was attached, is responsible for the motion in
the various axes.
When being applied to the workpiece, the foam must be compressed by at least
50%.
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Technical Data
FXCB
Integrated vacuum generation
FMCB
External vacuum generation
Number of suction cells
45
45
Optimal input pressure
5.5 bar1
-
Permitted pressure range
4.5 to 7.0 bar
Max. 7.0 bar2
Maximum degree of evacuation
53%4
90%4
Compressed air consumption
161.5 l/min4
-
Suction flow
525.9 l/min
-
Required suction flow rate
-
372.3 l/min
3.4
Permissible load
80 N
80 N
Weight
1.9 kg
1.5 kg
Operating voltage
24V DC
24V DC
Permitted temperature range
+5 to +40° C
+5 to +40° C
Sound level at full coverage
67.5 dB(A)4
-
1
At this pressure, the integrated ejectors have optimal energy efficiency.
2
For this gripper version, the compressed air is only used to more quickly deposit loads.
3
At a vacuum of –0.15 bar, the vacuum generator must provide the
specified suction flow rate (at the vacuum connection pieces of the FMCB).
4
Attention: this refers to real measured values without additional safety
Vacuum in the gripper
For workpieces typical for the application (e.g. cardboard boxes), a vacuum between 250 and
300 mbar is recommended.
A vacuum lower than 200 mbar is not recommended.
The overpressure in the gripper must be limited to a maximum of 0.2 bar.
Dimensions:
L
B H
L11
L2
L3
B11
H1
300
130
131.4
331
99
102
159
137.4
H2 d D2
20
10
32
1
Exact dimensions vary based on the circumferential foam/2Only for FMCB
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Items Included in Delivery
For the exact items included in delivery, please refer to the order confirmation.
In addition to the gripper, the following is included in delivery:
4 pcs. M6x12 machine screw according to DIN 7984 for mounting the gripper on the robot
4 pcs. Safety washers to secure against accidental release of the gripper during operation
1 pc Dowel pin Ø 6 mm for exact position locking
1 pc Allen key, size 4, for tightening the screws
1 pc Quick Reference Guide
1 pc Electrical connection cable for connecting the gripping system to the robot (optional)
1 pc Hose clamp (only for FMCB)
Note
The operating instructions are part of the system and must be kept with the system every time it is
relocated.
Mechanical Connection
The system is equipped with a flange connection in accordance with ISO 9409-1-50-4-M6:
The gripper initially comes equipped with a Ø31.5 f7 base in the corresponding robot flange
adapter in order to mount the gripper onto the robot/system.
Afterwards, the position of the gripper can be precisely determined using the included dowel pin if
desired. To do so, position the Ø6H7 bore hole of the gripper flange so that it is congruent with the
Ø6H7 bore hole of the robot flange. Then fix the position by inserting the dowel pin.
Use the included screws and safety washers to mount the gripper on the robot. The required tightening torque can be found in the operating instructions of the robot system.
The system must be attached securely, taking the weight of the system and its maximum loadbearing capacity into account.
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1 23
Pneumatic Connection
1. Electrical connection
2. Pneumatic connection
3. Blow-off opening
The compressed air is connected using the plug-in screw union for compressed air hoses, which is
located on the sealing plate and is included in delivery. Requirements for the compressed air provided by the customer:
Dry, filtered air according to ISO 8573-1:2010 [7:4:4]
Constant operating pressure: 5.5 bar.
If you select a supply hose that is too small, the compressed air supplied to the pneumatic elements will not be enough for optimal operation.
Compressed air supply
The gripper type FXCB requires 161.5 l/min of compressed air. The compressed air
supply integrated into robots is generally not sufficient.
Ventilation
The openings along the housing of the gripper serve as outlets for the exhaust air
from the ejectors (only FXCB). In order to maintain the gripper’s functionality, these
openings may not be closed or covered.
Vacuum Connection (only FMCB)
1. Hose connection
2. Hose clamp
A hose that is suitable for vacuum applications must be connected at the installed hose connection
and secured with the included hose clamps. The supply hose must have the same nominal diameter as the installed connection. The maximum recommended hose length is around 10 meters.
For instructions on opening the housing, see chapter 8.7 of the complete operating instructions.
Vacuum
Once vacuum is applied in a gripper, it immediately begins suction.
2
1
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Electrical Connection
The connection for control of the solenoid valve (only FXCB) and the vacuum switch is made using
an 8-pole M12 connector that is integrated into the housing.
The installed valve and the valve switch are switched via PNP.
The plug connectors must not be connected or disconnected when the system is live.
The power supply and signal inputs have a maximum line length of 30 meters.
DANGER
Inappropriate voltage supply
Electric shock, destruction of the electrical components
►
Connection work may only be carried out by a qualified electrical specialist.
►
The system must incorporate safe electrical cut-off of the power supply in compliance with EN60204
►
Do not connect or disconnect the plug connectors when voltage is applied.
►
Only operate the system with protected extra-low voltage.
Observe the corresponding operating instructions when connecting the external
vacuum generator (only FMCB).
Plug
Pin
Lead color
Function (PNP)
1
White
Not used
2
Brown
24V DC power supply
31
Green
Valve mass
41
Yellow
“Suction OFF” signal input
2
5
Gray
Signal output 2
61
Pink
“Vent ON” signal input
7
Blue
Vacuum switch mass
8
Red
Signal output 1
1
These pins are only assigned for the FXCB version. These pins are not assigned for gripper FMCB.
2
The installed valve for suction is normally open. In the de-energized or disconnected
state, the gripper is in “Suction” mode.
ATTENTION
Incorrectly connected screw union
Malfunction
►
The multi-pole plug’s screw union must be sealed securely and correctly during
installation of the customer’s cable.
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Handling Solution
Optimized control
Only turn on the suction when workpieces are being lifted. Otherwise, additional dust
from the environment is drawn in, which could shorten the necessary maintenance
intervals.
Simplified diagram of a gripper
FXCB
Compressed air connection
Vacuum generation
Vacuum connection
Sealing plate
Compressed air
Vacuum
FMCB
Applying suction
The gripper is placed onto the workpiece being handled.
The sealing plate must be compressed by at least 50% to
ensure that the workpiece is securely gripped.
Only FXCB: The gripper is reset to the “Suction” state by
switching the “Suction OFF” pin (see chapter 5.4). In order
for this to occur, there must be compressed air at the compressed air connection.
Only FMCB: Vacuum is generated externally and must be
present at the vacuum connection. An additional valve for
switching between “Suction ON” and “Suction OFF” is required.
Once the pre-set vacuum value is reached (green light on
the vacuum switch is on and there is an output signal on
the “Signal output 2” pin – see attached operating instructions), the gripper may be moved.
FXCB
FMCB
Setting down
Once the workpiece has been transported and safely set
down on the target surface, it must be deposited.
Only FXCB: Switching on the “Suction OFF” pin ends suc-
tion operation. Optionally, compressed air can be blown into the suction chamber in order to more quickly deposit the
workpiece by switching on the “Vent ON” pin. In order for
this to occur, there must be compressed air at the compressed air connection.
Only FMCB: To deposit the workpiece, the vacuum must
be switched off or disconnected at the vacuum connection.
Optionally, compressed air can be blown into the suction
chamber via the compressed air connection in order to
more quickly deposit the workpiece.
Once the workpiece has been deposited, the gripper must
be returned to a neutral state (Suction OFF and Blow-off
OFF).
FXCB
FMCB
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