Air Gripper for Collaborative Robots

Center of gravity . 17 4Product Specifications . 18 4-1. Air gripper . 18 4-2. 3-port solenoid valve . 19 4-3. Auto switch . 20 5Operating method or operation . 21 5-1Precautions for Design . 21 5-2. Installation . 21 5-3. Wiring example to robot controller (common to NPN/PNP) . 30 5-4.YASKAWA Plug & Play Kit . 31 5-4-1. Installing YASKAWA Plug & Play Kit . 31 5-4-2.

7

+0.027 0 Width across flats 24 R24 Shaft: 18 0.050 0.093 28 +0.5 +0.1 4 x M6 Thread depth 12 61 129 + Stroke 110 85 259 + Stroke Hole: 18 +0.027 0 2 x M6 Thread depth 6 Shaft: 18 0.050 0.093 Press-fit spring pin 5 x 40 L 38 17 32 37 48 24 28 +0.5 +0.1 85 61 25 70 90 Double knuckle joint CKPA100 Built-in strong magnet type/with magnetic field resistant auto switch (D-P79WSE) 56 63 56 + Stroke

IDX-OM-M050

Inside diameter 25 approx. 2m) (The opposite side 4Eye bolt (O.D.10, Length Compressed air outlet JIS flange 65A 10K For Option K 16K 4x 20 Drain tube direction(Nil) Drain tube Ventilation approx. 0.7m) condensed water Drain tube for (O.D.10, Length 9351 78 18 267 8x 19 4x 19 A A Flange bolt hole Drawing of view A 1130 140 1120 140 655 Other than 18 Option K Option K Model 75 direction

IDX-OM-U021

) 51 1276 1375 () (1) 1,3 (2) (1) 1,3 () 20 335 7122 670 752 (3) (3) (2) IDF100150F 6-3 6 2 IDX-OM-U021 6 IDF125F-30K16K () (10,2m) ) (10 ( 4 () () JIS 65A 10K 4x (K16K) 2m) 20 4x JIS 65A 10K 25 25 (10,0.7m) 78 9351 267 18 8x19 4x19 A A A 140 1130 140 1120 655 K 18 K 75 K16K (17) 64 (K16K) 17) JIS 65A 10K JIS 65A 10K 40 51 1276 1418) (14~18) 1375 (1) () (1) 1,3 1,3

Valve for Water and Chemical Base Fluids (2/3 Port Air Operated Valve)

L1 = n / 2 x 30 + 16 L2 = n / 2 x 30 + 32 n = Number of valves (cleaning valve + gate valve + other valves) n: Stations (mm) 2 n 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 L1 L2 76 106 136 166 196 226 256 286 316 346 376 406 436 466 496 526 556 586 616 46 92 122 152 182 212 242 272 302 332 362 392 422 452 482 512 542 572 602 632 62 13 VCC Series Dimensions SUS316L Stainless steel

HRX-OM-Y098

HRL Series 5.4 Description of the Screen 5-63 HRX-OM-Y098 Chapter 5 Display and Setting of Various Functions Table 5.4-32 List of maintenance reminders 1 Maintenance No.

CRJ

EA) 25 1.4 32 5.5 (mm) EA EB HA Size CRJU05 CRJU 1 6.6 5.6 33.8 6.5 5.6 35.8 7.5 3.1 (mm) Rotation angle Q S JC JD BA BD A BH J BB D JB H BE BG BI JA SD BC DD UU N BF CB W CA Size 32.4 21.5 43 90 CRJB05 13.5 M4 x 0.7 5 30 11 19.5 20 M4 x 0.7 5g6 3.5 14.5 6.5 17.1 7 5.8 3.4 9.5 10h9 28 12.5 3.5 5.5 4.5 43.4 27 54 180 37.4 24 48 90 CRJB 1 16.5 M5 x 0.8 6 35 14 23.5 22 M5 x 0.8 6g6 4.5 15.5

HRX-OM-W060

Indication Item Setting, selection and display 1 ASCII code (1) Protocol Communication format Binary data 1 EIA RS-485 (2) Type Standard EIA RS-232C 9600 bps (3) Baud Rate Communication speed 1 19200 bps (4) Slave Address Slave address 1 to 32 Select from 1 to 32 1 1 1 Disabled (5) DIO Run/Stop 2 Run/stop by contact input Enabled Displays the communication status (6) Communication Status

Clamp Cylinder Series CK1

R24 Shaft: 18 0.050 0.093 28 +0.5 +0.1 4 x M6 Thread depth 12 61 129 + Stroke 110 85 259 + Stroke Shaft: 18 Hole: 18 +0.027 0 0.050 0.093 2 x M6 Thread depth 6 Press-fit spring pin 5 x 40 L 38 17 32 37 48 24 28 +0.5 +0.1 85 61 25 70 90 Double knuckle joint CKPA100 Built-in strong magnet type / with magnetic field resistant auto switch (D-P79WSE type) 56 63 56 + Stroke 34 Speed controller

VCS

(mm) Electrical entry P Port size B C D E F H K L M N A Grommet: G Conduit: C Conduit terminat: T Model Q R Q R Q R S U 13.5 28 64 31 6.5 12.5 28 14 12.8 M4 4.5 22 59 44 50 99 50 66 83 1/8 VCS21 18 36 67.5 31 8.5 12.5 28 18 12.8 M4 6 22 62 44 53 99 53 66 86 1/4 22 40 81.5 36.5 11 15 32 20 19 M5 8 24 76 46 66.5 101 66.5 68 99 1/4, 3/8 VCS31 30 50 86 36.5 13.5 15 32 25 23 M5 8 24 80 46 71 101

Series VCL

36 67 31 8.5 12.5 28 18 12.8 M4 6 1/4 99 24 25 56.5 46 54.5 60 52 48.5 101 54.5 68 22 40 81.5 36.5 11 15 32 20 19 M5 8 1/4, 3/8 VCL31 104 24 25 59 46 57 60 54.5 48.5 101 57 68 30 50 84 36.5 13.5 15 32 25 23 M5 8 1/2 107 26 26.5 64.5 48 62.5 62 60 50.5 103 62.5 70 22 45 89 41 11 17 36 22.5 23 M5 8 1/4, 3/8 VCL41 111.5 26 26.5 66.5 48 64.5 62 62 50.5 103 64.5 70 30 50 93.5 41 13.5 17 36 25

Series VCS

(mm) Electrical entry P Port size B C D E F H K L M N A Model Grommet: G Conduit: C Conduit terminal: T Q R Q R Q R S U 13.5 28 64 31 6.5 12.5 28 14 12.8 M4 4.5 22 59 44 50 99 50 66 83 1/8 VCS21 18 36 67.5 31 8.5 12.5 28 18 12.8 M4 6 22 62 44 53 99 53 66 86 1/4 22 40 81.5 36.5 11 15 32 20 19 M5 8 24 76 46 66.5 101 66.5 68 99 1/4, 3/8 VCS31 30 50 86 36.5 13.5 15 32 25 23 M5 8 24 80 46 71 101

25

(Option) 8 AIR SUP Rc, NPT, G 1/8 16 Lead wire length: Approx. 570 mm FLUID IN Rc, NPT, G 1/8 8 18 12 11 11 AIR EXH M5 x 0.8 Thread depth 8 Air Operated PB1013A 18 1.5 10 Mount with this surface up FLUID OUT Rc, NPT, G 1/8 76 64 52 37 7.5 20 2 x M4 x 0.7 Female mounting threads Thread depth 6 2 x 4.5 Mounting hole 66 14 Foot (Option) 3 2 x M4 x 0.7 Female mounting threads Thread depth 6

Series VC, Series VCS, Direct Operated 2 Port Solenoid Valve for Steam

(mm) Electrical entry P Port size B C D E F H K L M N A Model Grommet: G Conduit: C Conduit terminal: T Q R Q R Q R S U 13.5 28 64 31 6.5 12.5 28 14 12.8 M4 4.5 22 59 44 50 99 50 66 83 1/8 VCS21 18 36 67.5 31 8.5 12.5 28 18 12.8 M4 6 22 62 44 53 99 53 66 86 1/4 22 40 81.5 36.5 11 15 32 20 19 M5 8 24 76 46 66.5 101 66.5 68 99 1/4, 3/8 VCS31 30 50 86 36.5 13.5 15 32 25 23 M5 8 24 80 46 71 101

Series VC, Series VCL, Direct Operated 2 Port Solenoid Valve for Oil

36 67 31 8.5 12.5 28 18 12.8 M4 6 1/4 99 24 25 56.5 46 54.5 60 52 48.5 101 54.5 68 22 40 81.5 36.5 11 15 32 20 19 M5 8 1/4, 3/8 VCL31 104 24 25 59 46 57 60 54.5 48.5 101 57 68 30 50 84 36.5 13.5 15 32 25 23 M5 8 1/2 107 26 26.5 64.5 48 62.5 62 60 50.5 103 62.5 70 22 45 89 41 11 17 36 22.5 23 M5 8 1/4, 3/8 VCL41 111.5 26 26.5 66.5 48 64.5 62 62 50.5 103 64.5 70 30 50 93.5 41 13.5 17 36 25

125

-1A Foot bracket (With bolt and washer) F VEX1-18-2A VEX3-32-2A Pilot exhaust (PE) silencer Note) N AN120-M5 Note) Only with solenoid 1727 VEX3 Series Construction VEX3120 (Air operated) VEX3220 (Air operated) w Port 12(P1) (Pilot air port) q r y u y r t Port 23(P2) (Pilot air port) Port 12(P1) (Pilot air port) e t w t Port 3(R) e r Port 3 (R) Port 2 (A) Port 1 (P) Port 23(P2) (Pilot air

2/3 Port Valve

-40F VND70D-50A VND70D-50F 7 0.7 1 1.3 3.8 5 8 12 13 0.3 1 8 1 4 18 23 70 90 140 220 3 8 0.6 15 1 2 3 4 20 0.9 1.4 2.3 5.5 3.6 7.2 5.7 10.8 25 1 1 4 1 32 18 320 32 1 2 1 28 40 500 40 2 50 43 770 50 Note 1) The companion flange is JIS B 2210 10K (Standard) or its equivalent.

ASP

Metric size Inch size Pilot port Model Port size 6 8 10 12 1/4" 5/16" 3/8" 1/2" ASP330F-01 ASP430F-02 ASP530F-03 ASP630F-04 ASP430F-F02 ASP530F-F03 ASP630F-F04 ASP330F-N01 ASP430F-N02 ASP530F-N03 ASP630F-N04 M5 x 0.8 R 1/8 Rc 1/8 R 1/4 Rc 1/8 R 3/8 Rc 1/4 R 1/2 G 1/8 R 1/4 G 1/8 R 3/8 G 1/4 R 1/2 10-32 UNF NPT 1/8 NPT 1/8 NPT 1/4 NPT 1/8 NPT 3/8 NPT 1/4 NPT 1/2 Note) Brass parts are all

ZP

Model Size C10 A 10 ZP10C B 12 C 4 D 13 E F Y 1.7 7.7 7.7 8.2 9.5 9.5 10 13.7 14.7 12 12 12.5 14 14 14.5 18.5 19.5 3.8 ZP10U to 50U C13 13 ZP13C 15 4 13 1.8 C16 16 ZP16C 18 4 13 1.2 C20 20 ZP20C 23 4 15 1.7 C25 25 ZP25C 28 4 15 1.8 C32 32 ZP32C 35 4 15 2.3 C40 40 ZP40C 43 7 18 3.3 C50 50 ZP50C 53 7 18 Deep (D) ZP10D to 40D Model Size U02 A ZP02U B 2.6 C 1.2 D E F Y 2 4 6 8 10 13 16 20 25

Lubrication Equipment

Lubrication Equipment Applicable oil viscosity (cSt (3)(40C)) Application Port Size Bowl capacity (cm3) Option Page Series (1) M5 to 1 Lubricator AL1000-6000 Individual lubrication Bracket 1,000cm3 Tank Float switch 130 1,000 32 1.17-2 32 1 1/4 to 2 Large flow lubricator AL800, 900 Individual lubrication 500 1,000 1.17-8 1,000cm3 Tank Float switch (2) 5,000 9,000 1.17-11 32 Auto Feed Lube