How to Install the NexBot Safety PNU411-012 Pneumatic Gripper

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Tools Required

• Torque wrench (up to 15 Nm)
• Hex key set (metric)
• Pneumatic tube cutter
• Adjustable wrench
• Safety glasses
• Thread sealant

Article

This guide provides detailed instructions for the proper installation of the NexBot Safety PNU411-012 Pneumatic Gripper (SKU: NXB-GEN-PNU411-012). Following these steps ensures a secure mechanical connection, correct pneumatic setup, and reliable operation for your automated application.

Prerequisites

Before beginning the installation process, ensure you have the following components and have completed the necessary safety preparations.

Safety Precautions:

• Ensure the robot controller and related equipment are powered down.
• Follow all standard lockout/tagout (LOTO) procedures for your facility.
• Depressurize the pneumatic system completely before connecting or disconnecting any tubing.
• Always wear appropriate Personal Protective Equipment (PPE), including safety glasses.

Required Components:

• NexBot Safety PNU411-012 Pneumatic Gripper
• Robot-specific J6 mounting flange adapter plate (sold separately)
• M6 socket head cap screws (quantity as required by adapter plate)
• Pneumatic tubing (typically 4mm or 6mm OD)
• Appropriate pneumatic fittings (e.g., M5 or G1/8 thread)
• 24VDC M8 or M12 sensor cable (if using position sensors)

Robot Preparation:

• The robot arm should be moved to a safe, accessible position for tool installation.
• The mounting surface on the J6 flange must be clean and free of debris or oils.
• This gripper is compatible with NexBot R-10, R-20, C-5, and S-5 series robots at the J6 joint position.

Step-by-Step Instructions

Step 1: Mechanical Mounting

1. Attach the Adapter Plate: Securely fasten the appropriate mounting flange adapter plate to the robot's J6 tool flange using the provided screws. Ensure the plate is correctly oriented according to the robot's documentation.
2. Torque Flange Screws: Using a calibrated torque wrench, tighten the mounting screws in a star pattern to a final torque value of 12 Nm. Do not overtighten.
3. Mount the Gripper: Align the NexBot Safety PNU411-012 gripper with the mounting holes on the adapter plate. Insert the required M6 screws.
4. Secure the Gripper: Tighten the gripper mounting screws evenly. Refer to the adapter plate documentation for specific torque values for this connection. A typical value is 8-10 Nm.

Step 2: Pneumatic Connection

The PNU411-012 is a double-acting gripper, requiring two pneumatic lines for 'open' and 'close' functions.

1. Install Fittings: Apply thread sealant to the pneumatic fittings and install them into the two ports on the gripper body. Tighten until snug, but avoid overtightening to prevent damage to the gripper housing.
2. Cut Tubing: Use a dedicated pneumatic tube cutter to make clean, square cuts on the air supply tubing. Angled or crushed cuts can cause leaks.
3. Connect Tubing: Connect the pneumatic tubes from your directional control valve to the fittings on the gripper. Ensure the 'open' and 'close' lines are connected to the correct ports as labeled on the gripper or its documentation.
4. Secure Tubing: Route the pneumatic tubing along the robot arm using the provided cable management system. Ensure there is enough slack to allow for the full range of motion of all robot joints without pulling or kinking the tubes.

Step 3: Electrical Connection (Optional Sensors)

If your gripper is equipped with position sensors, connect the sensor cable to the robot's end-of-arm I/O block.

1. Connect Cable: Attach the M8/M12 connector from the sensor to the corresponding port on the gripper.
2. Route Cable: Secure the sensor cable alongside the pneumatic tubing, again ensuring sufficient slack for all robot movements.
3. Terminate Connection: Connect the other end of the cable to the robot's I/O module, referencing the robot's electrical schematics for correct pin assignments for 24VDC power, ground, and signal.

Verification

After completing the installation, perform the following checks to ensure proper function.

1. Visual Inspection: Check that all fasteners are tight, and all pneumatic and electrical connections are secure.
2. Pressurize System: Following safety protocols, slowly pressurize the pneumatic system and check for audible air leaks at the fittings.
3. Manual Actuation: Power on the robot controller. Using the teach pendant's I/O control screen, manually toggle the output controlling the gripper. Verify that the gripper opens and closes smoothly.
4. Sensor Check: If sensors are installed, verify that their state changes correctly on the teach pendant's input screen as the gripper actuates.
5. Program Test: Run a simple pick-and-place routine at a very low speed (10% or less) to confirm the gripper functions correctly through a programmed cycle and that cabling does not bind or snag during robot motion.

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