HSUE_en_V06.qxp   28.11.2011   10:08 Uhr   Seite 1             Handling system overview             Multi-axis systems and...
HSUE_en_V06.qxp   28.11.2011   10:08 Uhr     Seite 2       Table of contents                                    Mechatroni...
HSUE_en_V06.qxp   28.11.2011   10:08 Uhr   Seite 3                                     Gantry axes, electric              ...
HSUE_en_V06.qxp   28.11.2011   10:08 Uhr   Seite 4       Mechatronic Motion Solutions                                     ...
HSUE_en_V06.qxp      28.11.2011          10:08 Uhr         Seite 5        Define the level of cooperation             Cons...
HSUE_en_V06.qxp   28.11.2011   10:09 Uhr        Seite 6       Toothed belt and spindle axes EGC                           ...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 7        Toothed belt and spindle axes EGC        Toothed...
HSUE_en_V06.qxp    28.11.2011   10:09 Uhr   Seite 8                                                                    Fle...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 9                                                        ...
HSUE_en_V06.qxp   28.11.2011   10:09 Uhr   Seite 10       Pick & place                                    Handling modules...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 11         Type                                       Imp...
HSUE_en_V06.qxp   28.11.2011   10:09 Uhr   Seite 12       Linear gantries                                                 ...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 13                                                       ...
HSUE_en_V06.qxp   28.11.2011   10:09 Uhr   Seite 14       Cantilever axes                                                 ...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 15                                                       ...
HSUE_en_V06.qxp   28.11.2011      10:09 Uhr   Seite 16       Three-dimensional gantries                                   ...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 17                                                       ...
HSUE_en_V06.qxp    28.11.2011        10:09 Uhr     Seite 18       Advanced Handling Systems       H-gantry EXCH           ...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 19        Tripod EXPT                                    ...
HSUE_en_V06.qxp    28.11.2011        10:09 Uhr   Seite 20       Application-specific solutions – Gripper systems       Par...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 21        Application-specific solutions – Individual han...
HSUE_en_V06.qxp    28.11.2011       10:09 Uhr      Seite 22       Aluminium and steel frames       Aluminium frames       ...
HSUE_en_V06.qxp      28.11.2011          10:09 Uhr         Seite 23                                                    Fiv...
HSUE_en_V06.qxp   28.11.2011   10:10 Uhr   Seite 24       Electric gantry axes                                            ...
HSUE_en_V06.qxp      28.11.2011          10:10 Uhr         Seite 25         Electric gantry axes                          ...
HSUE_en_V06.qxp   28.11.2011   10:10 Uhr   Seite 26       Electric gantry axes                                            ...
HSUE_en_V06.qxp      28.11.2011          10:10 Uhr         Seite 27         Electric gantry axes                          ...
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
Handling systemoverview en
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Handling systemoverview en

  1. 1. HSUE_en_V06.qxp 28.11.2011 10:08 Uhr Seite 1 Handling system overview Multi-axis systems and drives 1
  2. 2. HSUE_en_V06.qxp 28.11.2011 10:08 Uhr Seite 2 Table of contents Mechatronic Motion Cantilever axes – Solutions ................................. 4 Three-dimensional systems .. 14 Your task defines the solution! Cartesian XYZ handling unit for long horizontal strokes and short Electric axis EGC vertical strokes, electric and/or in focus .................................... 6 pneumatic 3D gantries – Three-dimensional systems ................................. 16 Pick & place .......................... 10 Cartesian XYZ handling, electric • High-speed, handling module and/or pneumatic link-guided, electric or pneumatic • YZ handling for short strokes, electric and/or pneumatic Advanced Handling Systems ................................. 18 High-speed kinematics and con- trol package for 2D and 3D appli- cations Linear gantries – Two-dimensional systems ..... 12 YZ handling for long strokes, Application-specific electric and/or pneumatic solutions ............................... 20 • Gripper systems • Frame options 2
  3. 3. HSUE_en_V06.qxp 28.11.2011 10:08 Uhr Seite 3 Gantry axes, electric Grippers, electric and pneumatic ...................... 24 and pneumatic ...................... 40 Cantilever axes, electric Vacuum technology ............... 46 and pneumatic ...................... 30 Motors, gear units Mini slides, electric and controllers ...................... 48 and pneumatic ...................... 34 Compact vision systems ........ 52 Linear motor axes and cylinders, electric ........... 36 Multi-axis control systems ... 53 Rotary drives, electric and pneumatic ...................... 38 Software tools, ready-to-install solutions, controller control cabinets ................................. 56 Commissioning and mainte- nance, after sales service, engineering ........................... 60 3
  4. 4. HSUE_en_V06.qxp 28.11.2011 10:08 Uhr Seite 4 Mechatronic Motion Solutions Mechatronic Motion Solutions from Festo is a globally unique system comprising components, modules, systems and software. It combines all types of pneumatic, servopneumatic and (electro) mechanical motion, geared to your task. Irrespective of the control system environment you use, Mechatronic Motion Solutions pro- vides the appropriate interfaces. Mechatronic Guarantees the mechanical and electrical compatibility and combina- tion at all levels. All pneumatic and electric drives are equipped with suitable interfaces for mechanical, data and energy transmission, thus ensuring that different technologies can be combined in one system. It also enables complex handling and positioning systems to be set up easily and safely. Motion Stands for the comprehensive, multi-dimensional portfolio of linear and rotary drives as well as a large variety of mechanical and vacuum grippers. They provide a host of benefits, such as high speed, preci- sion, etc. Solutions Represents the decades of experience Festo has in the field of hand- ling technology, across all industries and continents. This includes first-class expertise in the development of components and sophisti- cated systems. They range from pre-designed and calculated compo- nents to subsystems and complete systems. The logical answer to the demand for pre-installed and customised systems and solutions. Forward-looking: The Bionic Handling Assistant. Now in the Festo range: numerous innovative products that have already proven their worth in practice, including the adaptive gripper DHDG and the robotic controller CMXR. Winner 2010 More details on page 63 4 Handling system overview – Subject to change – 2011/07
  5. 5. HSUE_en_V06.qxp 28.11.2011 10:08 Uhr Seite 5 Define the level of cooperation Consulting Ordering Commissioning you want: step by step Common solution methods lead One part number, one order Festo offers fast and reliable to better overall solutions. Soft- item, one delivery date makes integration and commissioning ware tools also provide assis- for easy ordering. Includes order of complete subsystems – direct- tance with design and configura- tracking. ly in your machine. tion. Engineering Maintenance Quotation We can plan and design your The production industry is A prompt, complete and detailed single or multi-axis system in focussed on preventing produc- quotation comprising: no time at all. You also receive tion stoppages. This is another • 3D drawing CAD drawings, circuit diagrams, reason why our solutions provide • Parts list parts lists and detailed system maximum reliability – and reduce • Cycle and travel times documentation. your process costs and time to • Performance level market. • Functional sequence Assembly • Price All functions and requested fea- tures are fully tested: • Quality • Perfect fit • Harmonised interfaces (mechanical and electrical) A detailed description of our services can be found starting on page 56 Consulting Quotation Ordering Engineering Assembly Commissioning Maintenance Cost saving Engineering Procurement Assembly Operation Time saving Enhancing process reliability 2011/07 – Subject to change – Handling system overview 5
  6. 6. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 6 Toothed belt and spindle axes EGC The comprehensive electric axis Top performer EGC is available in numerous Generously sized profiles with an variants. Its many advantages optimised cross section afford include: high dynamic response maximum rigidity and load and speed, newly defined capacity of the drives. Speed, rigidity and high for resistance, acceleration and torque resist- among others. All in all, the new ance set a new standard. axis range in the mechatronic multi-axis modular system can Economical be implemented as an individ- In addition to its technical fea- Toothed belt axis EGC-TB ual or complete system solu- tures, the EGC offers outstanding tion. value for money. And thanks to its high performance, a smaller Versatile size can often be used, particu- The EGC range is available as larly in the case of spindle axes! toothed belt and spindle axes. Different spindle pitches, numer- Quicker planning ous sizes and variants, such as The integration of the EGC in the protected guides, open up a Festo multi-axis and modular Spindle axis EGC-BS broad range of applications. positioning system offers stand- The series is rounded off with ardised interfaces for other the driveless linear guide unit drives and motor packages. with a freely movable slide. The PositioningDrives software makes design much easier, and ensures correct configuration without expensive oversizing. Guide axis EGC-FA Electric toothed belt axis external guide while the axis ELGA-TB-G remains very rigid or when a Handling axis with simple, inte- simple plain-bearing guide is grated plain-bearing guide and sufficient. high feed forces. Economical wherever the load needs an More details on page 24 6 Handling system overview – Subject to change – 2011/07
  7. 7. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 7 Toothed belt and spindle axes EGC Toothed belt and spindle axes Toothed belt axis EGC-TB: • Speeds up to 5 m/s EGC – the new design for Dynamic toothed belt drive with • Maximum stroke up to 8.5 m • High speeds and feed forces external recirculating ball bear- • Repetition accuracy ±0.1 mm • Maximum rigidity ing guide on the slide • Maximum feed force 2500 N • High loads and torques The toothed belt axis is designed (for additional technical details, • Minimum distance between for high speeds with high loads see page 25) load and guide centre and long strokes. Spindle axis EGC-BS: • Speeds up to 2 m/s Precise spindle drive with ball • Maximum stroke up to 5 m screw and external recirculating • Repetition accuracy ±0.02 mm ball bearing guide on the slide • Maximum feed force 3000 N The spindle axis is designed for (for additional technical details, high precision and smooth run- see page 25) ning with large loads and long strokes. Guide axis EGC-FA: The guide axis is designed to Driveless linear guide unit with support forces and torques in external recirculating ball bear- multi-axis applications. ing guide and freely movable • Reduced vibrations with slide. dynamic loads • Higher torsional resistance Newly defined rigidity Load application point near the guide for maximum torques and forces 2011/07 – Subject to change – Handling system overview 7
  8. 8. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 8 Flexible motor attachment Suitable motors and con- for EGC-TB trollers starting on page 48 • Motor can be attached on Suitable accessories: 4 sides, freely selectable Gear unit EMGA-..-P-.. • Subsequent modification Motor kit EAMM-A-.. possible at all times The benefits to you: Define a standard attachment variant with one part number and modify to alternative posi- tions as and when needed Slide variants: Extended slide Second slide Protected slide • Longer guide • 1 active and 1 passive • Scraper on both sides • For a greater axial torque (freely movable) slide of the slide • More mounting options • Adjustable, extended guide • Removes dirt particles and • For greater axial and lateral liquids from the external guide torques • For use in aggressive • More mounting options environments Safety thanks to optional • Maximum of 4 sensors sensing • Output status display: 2 yellow • Inductive proximity sensor LEDs for better visibility, SIES-8M regardless of approach direc- • Flush mounting of up to 2 sen- tion sors in the profile slot – no pro- • Repetition accuracy truding edges outside of the ≤ ±0.05 mm (radial) drive cross section 8 Handling system overview – Subject to change – 2011/07
  9. 9. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 9 50% more rigidity than • Thanks to its performance, it is previous solutions. often possible to use a smaller The newly developed guide sys- size. tem for the EGC axis provides • Can also be used as a mono smoother running and higher system with higher loads, torque resistance. The very rigid with no need for the second axis profile allows longer unsup- axis ported strokes without an addi- tional guide axis. The toothed belt/spindle axis Festo, like gripping or turning, EGC is a high-performance com- the range for new customised ponent for multi-axis applica- design solutions is almost limit- tions, thanks to its positive char- less. acteristics. Simpler designs enable optimum integration and In addition: reduce installation costs. Nominal stroke = effective stroke • Smaller and optimised installa- When combined with handling tion space and assembly systems from • Optimum value for money Individual handling systems The significant increase in the with frame performance of the EGC axes Complete, ready-to-install sys- means that there is often no tems not only consist of gantries need for cross bracings with with axis mechanics, but are these frames. often already mounted on • Simpler and lighter construc- aluminium or steel frames. tion • Improved efficiency Conventional frame Economical with EGC: Frame without cross bracing 2011/07 – Subject to change – Handling system overview 9
  10. 10. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 10 Pick & place Handling modules are ready-to- Pick & place systems consist install, complete solutions and of two yoke drives. can be operated with electric or • Possible combinations com- pneumatic drives. prising slides and cantilever • Consisting of semi-rotary drive axes with link guide • High mechanical rigidity and • Precision thanks to metallic sturdy design end positions combined with • Pneumatic and electrical com- a sturdy design ponents – freely combinable • Active wait position possible • As electrical solution – variable • Freely positionable with the positioning electrical variant • High repetition accuracy Range of applications: in the end positions • Effective load up to 6 kg • 180° design and 90° pick & • Stroke ranges up to 400 mm place • For applications where the gripper unit needs to be Range of applications: retracted from the area of • Effective load up to 1.6 kg activity. • For extremely short cycle times (0.6 ... 1.2 s) • For tight installation spaces • For short stroke ranges Example: automotive technology Example: sanitary engineering Module in airbag assembly Valve assembly for flush- mounted systems Requirements • Short cycle times Requirements • Precision • Slim design • Wait position • Jerk-free movement • High precision Solution • Easy to service Handling module HSP-AE with servo drive MTR-DCI and sturdy Complete solution parallel gripper HGPT-B as pick & place with • Pneumatic: HMPL/HMPL • Or electric: EGSA/EGSA with gripper/swivel unit 10 Handling system overview – Subject to change – 2011/07
  11. 11. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 11 Type Important characteristics Design Eff. load Max. eff. strokes Components Link-guide, • Compact Fully assembled Max. Z: Pneumatic: high-speed • High cycle rates of up to 100 Hz handling module 1.6 kg up to 20 … 70 mm HSP-AP pick & place • Intelligent stroke adjustment Y: Electric: (180°) • Wait position, freely programma- up to 52 … 170 mm HSP-AE ble positions (electrical) (with servo • Easy to commission motor • Easy to install MTR-DCI) Link guide • Compact Fully assembled Max. Max. linear stroke Pneumatic: high-speed • High cycle rates of up to 100 Hz handling module 1.6 kg 90...175 mm HSW-AP pick & place • Intelligent stroke adjustment Working stroke Electric: (90°) • Wait position, freely programma- 9 ... 35 mm HSW-AE ble positions (with servo (electrical) motor • Easy to commission MTR-DCI) • Easy to install 2D pick & place handling • Very rigid construction Module unit Max. Z: up to 400 mm DGSL • Short cycle times made up of a 6 kg Y: up to 400 mm EGSL • Precision mini slide, pneumatic slide and/or can- EGSA DGSL and electric EGSL tilever axis HMP • Highly dynamic response and precision with long strokes with EGSA • High functionality with HMP 2011/07 – Subject to change – Handling system overview 11
  12. 12. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 12 Linear gantries Movements in 2D: A linear gantry consists of a gantry axis and a yoke drive. • High mechanical rigidity and sturdy design • Pneumatic and electrical com- ponents – freely combinable • As electrical solution – variable positioning/any intermediate positions Range of applications: • Ideal for long gantry strokes • Often used for feeding applica- tions • Repetition accuracy up to 0.02 mm • Long gantry strokes up to 8.5 m and heavy loads up to 50 kg • Increased requirements on system resistance to torsion Example: construction Requirements materials industry • High dynamic response Handling, palletising and • Gentle acceleration and packing of ceramic tiles braking • Jerk-free movement • Good positioning flexibility Solution • Linear gantry with toothed belt axes and cantilever axis • Complete solution, including vacuum gripper 12 Handling system overview – Subject to change – 2011/07
  13. 13. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 13 Type Important characteristics Axis design • Linear gantry as • High process reliability thanks to installa- Y-axis: Gantry axes mono or duo tion integration EGC, DGC, DGCI axis • Pneumatic and electric drives Z-axis: Mini slides EGSL, • Free movement (with freely programmable positions) DGSL, DFM of the Z-axis in • Repetition-accurate, centralised direct axis the vertical connections Cantilever axes EGSA, DGEA plane (2D) Cylinders DNCE, DNC, DNCI Gantry axis EGC Type Eff. load [kg] Repetition accuracy [mm] Stroke [mm] LP 0.5 Max. 0.5 Y = up to ±0.02 Y = up to 1900 Z = up to ±0.01 Z = up to 100 LP 1 Max. 1 Y = up to ±0.02 Y = up to 5000 Z = up to ±0.01 Z = up to 200 Servo drive package on electric axes: LP 2 Max. 2 Y = up to ±0.02 Y = up to 8500 • Servo motor EMMS-AS Z = up to ±0.01 Z = up to 400 • Motor controller CMMP/S/D-AS LP 4 Max. 4 Y = up to ±0.02 Y = up to 8500 LP 6 Max. 6 Z = up to ±0.01 Z = up to 1000 LP 10 Max. 10 LP 15 Max. 15 Y = up to ±0.02 Y = up to 8500 LP 25 Max. 25 Z = up to ±0.02 Z = up to 1000 LP 50 Max. 50 2011/07 – Subject to change – Handling system overview 13
  14. 14. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 14 Cantilever axes A cantilever system is made up of 2 parallel drives, combined with a pick & place unit. • High mechanical rigidity and sturdy design • Pneumatic and electrical com- ponents – freely combinable • As electrical solution – variable positioning/any intermediate positions Range of applications: • Cantilever axes are the best triple-axis solution for move- ments in 3D or in the available space where three-dimensional gantries are too big or the hand- ling unit needs to be retracted from the area of activity • Long strokes in horizontal plane (X-axis) of up to 8.5 m • Cantilever stroke (Y-axis) up to 400 mm horizontal • Very high requirements for system resistance to torsion Example: assembly industry Requirements Palletising of hinged housings • High dynamic response • Good positioning flexibility • Gentle acceleration and braking Solution • Cantilever axes with pneumatic axes and handling modules DGC and HMP • Assembled complete with tubing and electrical connections 14 Handling system overview – Subject to change – 2011/07
  15. 15. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 15 Type Important characteristics Axis design • Cantilever • High process reliability thanks to installation X-axis: Gantry axes gantry integration EGC, DGC • Free movement • Pneumatic and electric drives Y-axis:Cantilever axes of the Z-axis in (with freely programmable positions) DGEA, HMP the available • Repetition-accurate, centralised direct axis space (3D) connections Z-axis: Mini slide DGSL, (EGSL) Cantilever axes DGEA, HMP Type Eff. load [kg] Repetition accuracy [mm] Stroke [mm] AL 2 Max. 2 X = up to ±0.02 X = up to 8500 Y = up to ±0.02 Y = up to 400 Servo drive package on electric Z = up to ±0.02 Z = up to 150 axes: • Servo motor EMMS-AS AL 4 Max. 4 X = up to ±0.02 X = up to 8500 • Motor controller CMMP/S/D-AS Y = up to ±0.02 Y = up to 400 Z = up to ±0.02 Z = up to 300 AL 6 Max. 6 X = up to ±0.02 X = up to 8500 Y = up to ±0.02 Y = up to 300 Z = up to ±0.02 Z = up to 400 2011/07 – Subject to change – Handling system overview 15
  16. 16. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 16 Three-dimensional gantries A three-dimensional gantry con- sists of horizontal gantry axes and a vertical drive. • Can be used universally for handling light to heavy work- pieces or high effective loads • Ideal for very long strokes • High mechanical rigidity and sturdy design • Pneumatic and electrical com- ponents – freely combinable • As electrical solution – variable positioning/any intermediate positions Range of applications: • For any movement in 3D space • Very high requirements for pre- cision and/or very heavy work- pieces, with long strokes at the same time Example: automotive industry Requirements Loading handling in assembly • Flexible positioning system for solenoids • High speed and long horizontal strokes • Fast system availability • Complete documentation of process values Solution Planar surface gantry Three-dimensional gantry with The planar surface gantry is toothed belt axes DGE from the equivalent to a three-dimen- multi-axis modular system sional gantry, but without a Z-axis and allows free move- ment in the plane. 16 Handling system overview – Subject to change – 2011/07
  17. 17. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 17 Type Important characteristics Axis design • Three-dimen- • Compact design X-axis: Gantry axis EGC sional gantry as • High process reliability thanks to installation Y-axis: Gantry axes EGC, mono or duo integration DGC, DGCI axis • Pneumatic and electric drives • Free movement (with freely programmable positions) Z-axis: Mini slides EGSL, of the Z-axis in • Repetition-accurate, centralised direct DGSL, DFM the available connections of axes Cantilever axes EGSA, DGEA space (3D) • Pneumatic and electric drives Cylinders DNCE, DNC, DNCI (with freely programmable positions) • High dynamic response and precision Gantry axis EGC Type Eff. load [kg] Repetition accuracy [mm] Stroke [mm] RP 0.3 Max. 0.3 X = up to ±0.08 X = up to 1900 Y = up to ±0.02 Y = up to 500 Servo drive package on electric Z = up to ±0.01 Z = up to 500 axes: RP 0.5 Max. 0.5 X = up to ±0.08 X = up to 5000 • Servo motor EMMS-AS Y = up to ±0.02 Y = up to 1000 • Motor controller CMMP/S/D-AS Z = up to ±0.01 Z = up to 80 RP 1 Max. 1 X = up to ±0.08 X = up to 8500 Y = up to ±0.02 Y = up to 1000 Z = up to ±0.01 Z = up to 200 RP 2 Max. 2 X = up to ±0.08 X = up to 8500 Y = up to ±0.02 Y = up to 1500 Z = up to ±0.01 Z = up to 400 Max. 4 X = up to ±0.08 X = up to 8500 RP 4 Y = up to ±0.02 Y = up to 1500 Z = up to ±0.01 Z = up to 1000 RP 6 Max. 6 X = up to ±0.08 X = up to 8500 RP 10 Max. 10 Y = up to ±0.02 Y = up to 2000 Z = up to ±0.01 Z = up to 1000 RP 15 Max. 15 X = up to ±0.08 X = up to 8500 RP 25 Max. 25 Y = up to ±0.02 Y = up to 2000 Z = up to ±0.02 Z = up to 1000 RP 50 Max. 50 X = up to ±0.08 X = up to 8500 Y = up to ±0.02 Y = up to 1500 Z = up to ±0.02 Z = up to 1000 2011/07 – Subject to change – Handling system overview 17
  18. 18. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 18 Advanced Handling Systems H-gantry EXCH T-gantry EXCT The Cartesian high-speed handling system with robotic functionality The Cartesian high-speed handling system with robotic functionality has superb dynamic response with up to 70 picks/min and makes has superb dynamic response with more than 90 picks/min and optimum use of the installation space. makes optimum use of the installation space. It is extremely compact and flat, making the large rectangular work- Compact and slim, as a YZ linear portal with rectangular working ing space with the XY planar surface gantry flexible for handling with space, it is an ideal pick & place handling system for flexible handling free planar movement. When supplemented with a Z-axis, this can be with free movement in the vertical plane with limited installation extended to 3D applications. space. Key features Benefits Key features Benefits • Parallel kinematic principle • High dynamic response • Parallel kinematic principle • High dynamic response with two stationary motors, (70 picks/min) with two stationary motors, (>90 picks/min) rotating toothed belt and low • At least 30% higher perform- rotating toothed belt and low • At least 30% higher perform- moving mass ance compared to conventional moving mass ance than conventional solu- gantry systems tions • Large rectangular working • Optimum ratio of working • Slim design with very compact • Large working space coverage in space space to installation space Z-axis the vertical plane, particularly in • 1 EXCH covers the working narrow working and installation space of 2 SCARA robots conditions • Flat construction and low • Optimum installation, hardly • Low Z-axis inertia and small • High precision with maximum centre of gravity any vibrations = low require- moving mass dynamic response and delay ments for frame, low costs • Minimal vibrations • Reduced requirements for • Integrated energy chain • Easy and safe installation even support frame concept when the system is modified or expanded • Integrated cable carrier • Easy and safe installations, concept even in front unit • Configurable system solution • Festo plug & work®: easy to integrate into a system concept • Configurable system solution • Festo plug & work®, easy to and commission integrate into system concept and commission 18 Handling system overview – Subject to change – 2011/07
  19. 19. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 19 Tripod EXPT Control package CMCA The high-speed handling unit with robot functionality for free move- The control package with optional PLC is used for free 3D path control ment in three dimensions provides precision in movement and posi- with demanding and highly dynamic kinematics. tioning, combined with high dynamic response up to 150 picks/min. It comprises: robotic control system, motor controllers, control The rigid kinematics has a pyramid-shape arrangement: three rigid cabinet or connecting plate. Additional functions can be integrated. drives securely connected to one another and their motors are The complete package with kinematics and basic parameterisation attached statically and do not move. of the entire system is supplied ready to connect to the application. Key features Benefits Key features Benefits • Parallel kinematic principle • Minimum moving mass – • Ready-to-install control system • Easy project management with with CFK rods maximum dynamic response of from a single source – in a con- a single partner, including drives (150 picks / min) trol cabinet or on a mounting application-specificintegration plate into the complete system • The pyramid shape results in a • High process reliability and • Basic function or extended • Control solution appropriate closed mechanical chain with accuracy for joining applica- control functionality for the application, the kine- high rigidity tions and insertion operations matics and the requirements • Broad construction and broad • Optimum flow of reaction • Precise fit for integration into • Optimum use of available attachment to the frame forces into machine frame kinematics frame space • Low tendency to vibration of frame • Easy to operate and maintain • Quick and easy commissioning the entire system, including and maintenance • Configurable system solution • Festo plug & work®, easy to control package and mechanics • Handheld terminal commission • Reliable system operation • Safety concept for rod loss • Detaching the rods does not • Harmonised safety concept to • Meets the requirements of detection damage the tripod or the EN ISO 13849-1 the EU Machinery Directive system • Easy integration into customer protection circuit 2011/07 – Subject to change – Handling system overview 19
  20. 20. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 20 Application-specific solutions – Gripper systems Parallel gripper HGPL-40-40 Z-axis: • With stroke reduction • Mini slide DGSL-25-80-Y3A HGPL-HR-40 • With integrated clamping unit • With proximity sensor SME-10 in sensor slot Parallel gripper HGPT-63-A-G2 • With external sensing via Parallel gripper HGPT-63-A-G2 inductive proximity sensor M12 • With position transmitter SMAT for evaluating the entire gripper stroke Gripper jaw • With interchangeable plastic Gripper jaw inserts • With interchangeable plastic • Category: GBT 3 inserts • Category: GBT 3 Semi-rotary drive DRQD-16-90-YSRJ-A-ALFW-E422 Energy through-feed Gripper jaw • Electric • Category: GBL 4 • Pneumatic Advantages Scope of services Application examples • Ready-to-install gripper Festo plans and designs gripper Crankshaft handling system Vacuum gripper system for paper system, customised to your systems for the front end unit on and cardboard boxes individual application the basis of your requirements. • No interface problems with With an extensive modular sys- the handling system tem of mechanical grippers and • Easy installation and assembly suction grippers, Festo offers the • Complete CAD data for fast right solution for every applica- design tion. Individual adaptations according to your specifications such as ejectors, multiple grip- pers, gripper fingers and gripper jaws complete the spectrum. 20 Handling system overview – Subject to change – 2011/07
  21. 21. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 21 Application-specific solutions – Individual handling systems Two independently positionable X-axes for horizontal transport Load interface at the front end unit for customer applications Complete energy supply for X/Y/Z-axes Advantages Scope of services Application examples • Optimised performance In addition to the flexible stand- Handling and processing Handling of workpiece carriers, • Any customised solution is ard solutions from the multi-axis of rod material including mounting plate possible modular system, Festo also • Short lead times for planning, offers individual handling solu- design and assembly tions designed in accordance • Optional: gripper systems with your specifications. Adapta- tions, such as freely definable axis dimensions, facilitate short- er cycle times or integration in machines with minimal space requirement. 2011/07 – Subject to change – Handling system overview 21
  22. 22. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 22 Aluminium and steel frames Aluminium frames Effective load* Standard dimensions Linear gantry 3D gantry Profile Small load 80 x 80 mm High load 100 x 100 mm Up to 6 kg 0-4000 0-1500 0-1000 0-3000 0-2000 Up to 15 kg 0-5000 0-1500 0-2000 0-3000 0-1000 Up to 25 kg 0-6000 0-1500 0-2000 0-3000 0-1000 Steel frames Effective load* Standard dimensions Material Linear gantry 3D gantry Steel structural hollow section to EN 10210 or EN 10219 0-5000 Up to 15 kg 0-2500 0-2000 0-5000 0-2500 Up to 25 kg 0-5000 0-2500 0-2000 0-5000 0-2500 Up to 50 kg 0-5000 0-1000 0-1500 0-5000 0-1000 = length of the frame 22 * Effective load = mass at front end of the handling system Handling system overview – Subject to change – 2011/07
  23. 23. HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 23 Five steps to a complete system! Design Special designs How to choose your standard- Calculation of rigidity of all Our qualified teams are able ised substructure quickly and frames with Finite Element soft- to create an FEM design within easily, suitable for your handling ware. a very short time. system. This means that reinforcement is Then a video is created to show Step 1: Handling system: Select only included if it is really neces- the rigidity of the frame. according to the handling guide, sary. The benefit to you: a 100% as usual cost optimisation. The benefit to you: 100% design certainty. Handling plus frame: Step 2: What kind of system is it? Linear or three-dimensional gantry Step 3: Which frame size is being used? BG 3.0, 5.0 or 6.0 Step 4: With BG 5.0/6.0, specify the material of the frame, steel or aluminium Step 5: Specify the dimensions. Length, height, width or axis distance Individual special solutions! If you haven’t yet found the right solution, let us know. We’ll be happy to advise you. Example representation with FEM software Deformation increased by a factor of 2000 due to the acting forces. 3D gantry 5 m long 2.5 m high 2 m wide 2011/07 – Subject to change – Handling system overview 23
  24. 24. HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 24 Electric gantry axes Toothed belt and spindle axes Key features EGC • Toothed belt axis and spindle axis • Optional: protected guide • As a single or complete • Large profile with optimised solution in a system cross section • Thanks to its high perform- • High torque resistance ance, the EGC can often be • Flexible motor mounting, on dimensioned smaller than toothed belt axis previous solutions Additional details about the axis EGC can be found starting on page 6 Electric toothed belt axis Key features ELGA-TB-G • High feed forces • Speed up to 5 m/s with high • Drive axis for applications acceleration of 50 m/s2 with external guide or for easy • Space-saving position sensing handling tasks with proximity sensors in the • Easily integrated plain-bearing profile slot guide • Toothed belt covered by Suitable for electric axis EGC a steel band with recirculating ball bearing • Flexible motor mounting on guide. all 4 sides of the axis Electric axis DGE Key features • High speeds • Reliable, standard series of • High repetition accuracy electric gantry axes in several • Max. stroke 4500 mm sizes • High torque resistance and • High quality toothed belt drive force resistance with recirculat- or precision ball screw spindle ing ball bearing guide and heavy-duty guide Electric toothed belt axis Features DGE-ZR-RF • Speed up to 10 m/s • Minimal noise • High-speed variant of the • Integrated lubrication for DGE series 10,000 km of service-free • With internal roller bearing running guide 24 Handling system overview – Subject to change – 2011/07
  25. 25. HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 25 Electric gantry axes EGC ELGA-TB-G DGE DGE-ZR-RF Size 50/70/80/120/185 70/80/120 8/12/18/25/40/63 25/40/63 Drive Spindle drive/ Toothed belt drive Spindle drive/ toothed belt drive toothed belt drive toothed belt drive Guide Recirculating ball Easy plain-bearing Without guide Internal roller guide bearing guide guidance Recirculating ball bearing guide Heavy-duty guide Max. stroke [mm] 5000/8500 (10000) 8500 4500 5000 Max. speed [m/s] 2/5 5 1.2/5 10 Repetition accuracy [mm] 0.1 ... 0.02 0.08 ±0.02/0.08/0.1 ±0.1 Max. force Fx [N] 2500/3000 1300 1600 1500 Max. torque load Mx [Nm] 529 20 580 65 Max. torque load My [Nm] 1820 120 1820 340 Max. torque load Mz [Nm] 1820 40 1820 600 Options • Guide axis • Guide axis • Extended slide • Extended slide • Extended slide • Guide axis • Additional slide • Additional slide • Protected version • Protected version • Central lubrication 2011/07 – Subject to change – Handling system overview 25
  26. 26. HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 26 Electric gantry axes Electric toothed belt axis ELGR Features • Ideal for effective loads up to 15 kg • Ideal for applications with • 1 or 2 optional free moving comparatively low requirements additional slides for extended in terms of mechanical load, guidance dynamic response and precision • Easy and reliable end-position • Plain-bearing guide for low sensing using inductive loads proximity sensor • Recirculating ball bearing guide, backlash free for medium loads and higher speeds Guide axis ELFR Features • Plain-bearing guide for speeds • Driveless linear guide axis up to 1 m/s and with low load with free moving slide • Backlash-free recirculating ball • Supports forces and torques bearing guide for speeds up in multi-axis applications to 3 m/s and medium loads • Reduces vibrations with • 3 sizes, strokes up to 1.5 m dynamic load Electric toothed belt axis ELGG Features • Ideal for effective loads up to 15 kg • Toothed belt axis with two • Optional central support for opposing slides higher rigidity, forces and • Single motor drives both slides torques synchronously • Long slide, additional right/left • Plain-bearing guide for low slide for improved guidance loads and higher forces • Recirculating ball bearing guide, • Easy and reliable end-position backlash free for medium loads sensing using inductive and higher speeds proximity sensor Electric axes EGSK/EGSP Key features • 100% steel housing is also • EGSK: series for standard tasks the guide rail in the upper segment • Uniform and quiet running • EGSP: caged ball bearings for properties maximum precision and perform- • Long service life ance in high-end applications 26 Handling system overview – Subject to change – 2011/07
  27. 27. HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 27 Electric gantry axes ELGR ELGG EGSK/EGSP Size 35/45/55 35/45/55 15/20/26/33/46 Drive Toothed belt drive Toothed belt drive Spindle drive Guide Plain-bearing guide Plain-bearing guide Recirculating ball bearing guide Recirculating ball bearing guide Recirculating ball bearing guide Caged ball bearings Max. stroke [mm] 1500 1200 (per slide) 800 Max. speed [m/s] 3 3 1.05/2 Repetition accuracy [mm] ±0.1 0.1 ±0.003/0.005/0.01 Max. force Fx [N] 350 350 320/360 Max. torque load Mx [Nm] 15 15 1400/1390 Max. torque load My [Nm] 124 124 547/579 Max. torque load Mz [Nm] 124 124 547/579 Options • Extended • Extended • Standard slide slide slide • Short slide • Additional slide • Additional slide • Additional slide • Central support • Spindle cover 2011/07 – Subject to change – Handling system overview 27

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