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Pneumatic Automation / Actuation / Vacuum End-Effectors
System · Pneumatic Automation Layer 4 · Actuation 4 product types

Vacuum End-Effectors

Four products, one sub-system. SMC ZH ejectors generate the vacuum with no moving parts (just a venturi nozzle and your shop air); SMC ZP suction cups grip the part; replacement cups are the consumable on every cycle; ZSE sensors close the loop so the PLC knows the pick actually happened. Spec'd together, this is the pick-and-place package for parts no mechanical gripper can hold.

The Vacuum End-Effectors family 4 types · Actuation

Tap any type to jump to its page. The Decision Guide further down asks three questions that funnel the spec to one of these.

01What this category is

Vacuum end-effectors are the answer when the part is too fragile, too irregular, or too delicate for a mechanical gripper to touch.

What it is
The ejector makes vacuum, the cup grips

A four-product pick-and-place sub-system — ejector, suction cup, spare cup, and sensor — for parts no mechanical gripper can touch.

The decision
Spec the four products as one unit

The ejector + cup + sensor is the working set. Quote them piecemeal and one of them is what takes the line down.

Match the cup
Cup geometry follows the part surface

Flat cups for rigid sheet, deep-bellows for curved, oil-resistant compound for textured. Wrong geometry is the #1 dropped-part failure.

Why it matters
No sensor, no dependable pick

The ZSE sensor confirms the pick latched before the arm moves. Skip it and the robot eventually drops parts it never actually picked up.

Watch out
Cups are the consumable everyone under-stocks

Production duty replaces cups every 4-12 weeks. Quote a 6-month spare allowance on day one — customers always run out before the next PO.

The bench
SMC anchors the whole set

ZH ejector at ~−84 kPa with no moving parts, ZP cup geometries, and ZSE vacuum sensor — the full sub-system from one line.

02The 4 types · side-by-side

Best-for, key trade-off, capacity, price band, and how deep the brand bench runs.

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Distributor-facing reading. The trade-off column is the one that closes the loop — every type buys something and gives something up. Knowing what each type costs you is how the right one gets on the quote without a callback.

Product type
Best for
Key trade-off
Typical capacity
Price band
Brands SPC carries
Vacuum Ejector / Generator Venturi-driven · no moving parts · runs on shop air
Distributed vacuum generation, no pump required. Pick-and-place stations on existing pneumatic machines — the ejector mounts at the end-effector and converts compressed air directly to vacuum. SMC ZH is the platform: single-stage and multi-stage versions, vacuum levels to ~−84 kPa, flow rates matched to the cup size and cycle time.
Consumes compressed air whenever vacuum is on Ejectors are an ongoing air-cost line item — they don't make vacuum for free, they trade compressed air for it at roughly 3-7x the SCFM consumption versus an electric vacuum pump on continuous duty. Right answer for intermittent picks, distributed cells, and installs without electrical at the end-effector; wrong answer for continuous-vacuum process work where a central pump pays back.
Vacuum flow 4–220 L/min · -84 kPa max
single-stage · multi-stage
$ – $$
1 / 5 · SMC only
Vacuum Cup / Suction Cup Dozens of geometries · matched to part surface
The interface between the vacuum and the part. Flat rigid parts (sheet metal, glass, PCBs) take flat or shallow-bellows cups; curved or compliant parts take deep-bellows cups; oily or textured surfaces want oil-resistant compound; hot-formed parts want silicone or fluorosilicone. SMC ZP catalog covers the geometry × material matrix — get the cup right and the install works.
Wrong geometry = dropped parts Mis-matched cup geometry is the #1 failure mode in vacuum pick-and-place — a flat cup on a curved part seals on one edge and dumps vacuum past the other; a deep bellows on a rigid flat part compresses unevenly and oscillates the pick. Match the cup to the surface geometry before sizing the ejector; the wrong cup can't be saved by a bigger ejector.
Diameters 2–200 mm · holding force scales with area
NBR · silicone · FKM · fluorosilicone
$ – $$
1 / 5 · SMC only
Replacement Vacuum Cup The consumable · 4-12 week replacement cadence
The PM line item every vacuum customer underestimates. Cups wear from the surface contact, the elastomer fatigues from vacuum cycling, and the sealing lip eventually loses its conformability. Production-duty installs replace every 4-12 weeks; quote a 6-month spare allowance on every initial cup sale. Same SMC ZP catalog, ordered as the replacement bare cup.
Customers consistently under-stock The cup is the cheapest line item on the install and the one most likely to take the line down when it fails — the customer always runs out before the next PO clears. Stock a working spare bank; cycle the new cup in at the first sign of holding-time drift, not when the cup actually fails.
Matched to OEM cup geometry + material
bare cup only · cup + adapter
$
1 / 5 · SMC only
Vacuum Sensor / Switch PLC feedback · confirms the pick before the arm moves
Closes the cycle loop — no sensor, no dependable pick. Mounts on the vacuum line between the ejector and the cup; signals the PLC when vacuum reaches a threshold (the part is held) so the robot can index. SMC ZSE pressure sensor with PNP/NPN switched output is the default; analog 4-20 mA versions feed diagnostic data on cup-wear trends.
Spec'd or skipped — never half-installed Vacuum sensors are the line item customers cut from initial quotes to save $100/station, and then call back six months later after the robot has dropped a thousand parts. Spec it on every vacuum end-effector quote; the savings on the cut are consumed by the first dropped-part incident.
Range to -100 kPa · digital + analog outputs
switched · analog · IO-Link
$
1 / 5 · SMC only

Reading the brand bench column — the bar shows how many of SPC's tier slots (Industry Leader · Emerging · Economical · adjacent) carry an option at that product type. A deep bench means a price-driven and a spec-driven option both close cleanly; a narrow bench means the available brands map closely to the technical requirements and the comparison stops being a tier choice.

03Decision guide

2 questions “Funnel the Spec” to one product type.

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Draw a line from the customer's answer at the top to the type name at the bottom. This is the page distributors screenshot and send to a customer the day before a quote call — so the customer comes prepared with the answers, and the call is about the brand and the budget, not the basics.

Use this Download the PDF above, print it, drop it in an email to the end customer, or screenshot the tree below. The questions and the type recommendations are designed to stand on their own without the rest of the page.
START AT THE TOP  ·  FOLLOW THE PATH DOWN  ·  END ON THE PRODUCT TYPE
Question 1
Is the job picking and placing parts, or is this workholding / sheet handling on a fixed table?
Pick-and-place · robot or gantry moves the cup to the part
Question 2a
What's the part surface — flat-rigid, curved/compliant, porous, or textured/oily?
If Flat rigid · glass, PCB, sheet metal
Recommend
Vacuum Cup (flat or shallow-bellows)
SMC ZP flat or shallow-bellows cup, NBR or silicone. Pair with SMC ZH ejector at the end-effector for distributed vacuum, and SMC ZSE sensor on the line for pick confirmation.
See product type →
If Curved · compliant · thermoformed
Recommend
Vacuum Cup (deep-bellows)
Deep-bellows SMC ZP cup conforms to curved or compliant surfaces — the bellows compress to seal what a flat cup can't. Same ejector + sensor pairing.
See product type →
If Porous · MDF, cardboard, foam
Recommend
High-Flow Vacuum Ejector
Porous parts leak vacuum continuously through the material — spec a multi-stage SMC ZH ejector with high flow capacity that can stay ahead of the leak. Cup geometry matters less; flow rate matters most.
See product type →
If Textured · oily · printed surfaces
Recommend
Vacuum Cup (FKM or fluorosilicone)
Oil-resistant elastomers (FKM, fluorosilicone) on a shallow or flat cup geometry. Avoid NBR — it swells and tears on continuous oil contact.
See product type →
Workholding · part sits on a vacuum table or chuck
Recommend
Vacuum Ejector + Manifold
SMC ZH ejector feeding a manifolded vacuum table. Add SMC ZSE sensor on the manifold line to confirm hold-down before the cut, mill, or print operation starts. Holding force scales with surface area sealed against the table.
See product type →

The decision tree picks the lead product, but the spec is always the four-product set: ejector + cup + replacement cup allowance + sensor. The cycle gating is also worth flagging: high-speed cycling above 60 picks/min wants a multi-stage ejector with a vacuum release valve for fast cup detach; holding-mode work (long hold, infrequent release) can run a single-stage ejector with no release valve and save the air. Match cup material to the surface the customer's machine is actually touching — wrong elastomer destroys the cup in days.

Vacuum is what picks the part no gripper can touch. Spec the four products together — ejector, cup, spare cup, sensor — and the cycle works. Quote them piecemeal and one of them takes the line down.
SPC distributor playbook Vacuum End-Effectors · spec the system, not the parts
04Questions to ask the customer · before you quote

9 inputs determine the right vacuum end-effector.

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If the customer answers most of these at the first call, the second call is the quote. If they can't answer any, the vacuum end-effectors are rarely the only spec gap — flag it and push for a site walk.

01
What's the part being picked — material, surface finish, weight, and dimensions?
Every spec decision flows from this. Material drives cup elastomer (NBR for general, silicone for hot or food-contact, FKM/fluorosilicone for oily). Surface finish drives cup geometry (flat for rigid, bellows for curved or compliant). Weight drives total cup area required. Get a photo and a part spec sheet before quoting.
02
Is the part surface flat-rigid, curved, porous, or textured/oily?
The four surface conditions each have a different cup answer. Wrong cup geometry is the #1 failure mode — a flat cup on a curved part dumps vacuum past the unsealed edge. Photograph the part contact surface; don't trust verbal descriptions of geometry.
03
What's the cycle rate — picks per minute?
Under 30 picks/min, a single-stage ejector with no release valve is fine. Above 60 picks/min you want a multi-stage ejector with a vacuum-release valve to detach the part fast and reset for the next cycle. Continuous workholding mode runs different ejector spec than high-speed pick.
04
Is there electrical service at the end-effector, or is this air-only?
Ejector-based vacuum is the answer when there's no electrical at the end-effector — the venturi runs on shop air, no power, no pump. If there's electrical and the cycle is continuous vacuum, evaluate a centralized electric pump against the ejector air-cost over the install life.
05
How will the PLC know the part is actually held before the arm moves?
Vacuum sensor on the line. SMC ZSE switched output to a PLC discrete input is the standard pattern. Skip this step and the robot will eventually drop parts it never actually picked up — the cost of that incident dwarfs the $100 sensor cut every time.
06
What's the hold time — instant grab and release, or sustained holding?
Instant grab → cycle the vacuum on demand, ejector runs only during pick. Sustained holding (workholding, mill down-force) → ejector runs continuously and air cost compounds; evaluate centralized vacuum-pump alternative on continuous-duty jobs.
07
Is the part going through hot, cold, washdown, or chemically aggressive process?
Process environment dictates cup material. Hot forming → silicone or fluorosilicone; food contact → FDA-grade silicone; oily machine shop → FKM; cold storage → silicone (NBR stiffens cold). Match the elastomer to the worst-case condition the cup will see in the cycle.
08
How many cups per station, and how many stations on the line?
Multi-cup picks share the same vacuum source but each cup gets its own check valve so a missed pick on one cup doesn't dump vacuum on the others. Cup count drives ejector flow sizing and replacement-cup stocking levels. Multi-station lines need a working spare bank, not a single replacement.
09
What's the holding force the part actually requires — weight × safety factor × dynamic loads?
Total holding force = part weight × 4 (typical safety factor) + any acceleration / deceleration load the robot imposes on the pick. Customers consistently undersize cup area by counting static weight only. Fast-acceleration picks need more cup area than slow-move picks of the same part.
05Where this category lives

Actuation is where compressed air finally becomes machine work — the dense layer the rest of the system exists to feed. Everything upstream (air prep, distribution, control) is just preparation; this is where the air pushes, twists, and grips. Three motion modalities live here and each one needs a different family of hardware: cylinders deliver linear push-pull strokes, rotary and electric actuators deliver turning and precision-positioning motion, and vacuum end-effectors pick and place parts no gripper can touch. The Motion Control layer next door tunes and protects what these actuators do — metering their speed and catching them at end of stroke. Get the motion modality wrong and the machine cycle never works the way it was drawn; get it right and the cylinder, the actuator, and the suction cup disappear into the duty cycle and do their work for the next fifteen million strokes. This is the layer the customer's machine is actually built around — every other layer is there to make this one reliable.

Categories in this layer

Not sure which type? Send us the use case.

Tell us the end-use, the rough flow, and what climate the unit would sit in. We'll come back with a configured quote — the right type, the right tier, and the upstream gear the warranty assumes.