FPT Gantry

GANTRY ROBOTS
FLEXIBILITY · SPEED · PRECISION
GANTRY ROBOTS
FLEXIBILITY · SPEED · PRECISION
FPT gantry robots have a modular design and the standard versions are provided with 3 axes. The Subito Coro is the
maximum configuration and combines the standard module with the Subito Solo 6, i.e. it has as many as 3+6 axes.
The Subito Solo 6 robot features 3 linear
and 3 rotary axes. It performs fast overlapping movements and offers all degrees of freedom of a 6-axis robot. This
flexibility combined with a high operating speed makes it extremely powerful:
Solo 6 achieves pick & place cycles of
only one second. Its design configuration with 3+6 axes makes it possible to
use several gripper systems in parallel.
In this way, the system can perform
machine loading functions and peripheral tasks at the same time and – in
addition – load the loading gripper in
a shake-hand operation in addition. So
that you have a grip on everything.
Nine axes on the move: Subito Coro gantry robot
QUALITY TO THE VERY DETAIL
SOPHISTICATED, PRECISE, COMPATIBLE
Technical features
• Low-noise linear guiding unit
• Helical toothed racks
ROTARY DRIVE UNIT
• Synchronized drive technology
3 motors with
absolute encoders
• KUKA servo equipment
Mounting flange
• Precision gear reducers for rotary axes
• KUKA control technology
Drive housing
3 gear reducer units
• Energy supplied electrically to the fifth
axis, pneumatically to the sixth axis
Options
• Automatic lubrication system
• Motor current measurements to
determine joining force and torque for:
- Crash stop
- Force / torque controlled movements
• Automatic gripper change system
• Rotating feature (0-90 degrees)
3 toothed belts
• Precision ball roller guides
• Standardized energy couplings
• Gripper quick change system
QUICK CHANGE HEAD
• Rotary drive technology
- Servo motors
- Reduction gear
C-axis housing
Drive axis A
Drive axis C
Drive axis Y
3 drive pulleys
- Toothed belt drive
• Quick change head
- 3 axes
- Double angle drive
- Feed-through for energy and air
Angle drive
with feed-through duct
Housing of axis A with integrated toothed
belt for the vertical axis
Vertical axis Y with ISO flange
(optionally, rotary axis B)
3
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2
GANTRY ROBOT MONO
GANTRY ROBOT STEREO
3-AXIS ROBOT
DOUBLE 3-AXIS ROBOT
Field of application
Field of application
Unloading and loading (feeding) operations for production
Loading of machines combined with parallel pick & place
machines, e.g. injection molding or metal cutting machines.
operations.
Advantages
Advantages
• Rugged high-precision 3-axis robot
• Task sharing can shorten the cycle to half
• Excellent cost / performance ratio
• Synchronous sequences are possible
• PC-based control system
2
1
Application example
Unloading and loading system for plastic toothed wheels
Application example
Robotized automation for all-around coating of coils and
metal bodies at the Sigwart company.
with metal shafts at the Mast company.
Project description
Project description
The double 3-axis system performs several tasks simultane-
Ingenious design: The gripper system lets the shafts float
ously: Finished-part unloading, loading the adjusting station
in the gripper by an air bearing effect during handling. This
and feeding the metal body with the coil into the injection
makes it possible to place the shafts into the precise position
molding machine.
in the injection mold without leaving any sliding traces.
• Separation system for shaft feeding with integrated camera
system for part position detection
• Modular transfer system for finished-part buffering in
containers (capacity for 4 hours)
• Positioning accuracy for the shafts (8-way) 0.02 mm
The pallet gripper system can handle 5 layers of metal bodies
and finished parts in the system container. The parts are
checked and corrected in the adjusting station so that they
fulfill the requirements for loading. The gripper system is
designed in such a way that the inserts (metal body and coil)
are joined one into the other and then placed into the die. The
3-component production is provided with position detection.
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4
3
GANTRY ROBOT SUBITO CORO
6+3-AXIS ROBOT
Field of application
3
Application example 1
Flexible unloading and loading tasks for injection molding
Robotized automation for all-around coating of filters
machines. Subito Coro combines a 3-axis system with a
at the Karcoma company.
6-axis system. This makes it a multi-tasking artist: Several
pick & place grippers in the 6-axis system load the loading
Project description
gripper of the 3-axis system with the parts to be loaded in
The 6-axis robot system with its pick & place grippers picks
a variable way. In addition, the 6-axis system can perform,
up the filter jackets in the adjusting station – behind the bowl
for example, assembly tasks at the periphery.
feeder – in the correct position with a clearance of 1mm and
loads the loading gripper of the 3-axis system dynamically.
Advantages
Subsequently the 3-axis loading robot feeds the parts into the
• Fast cycles are achieved by overlapping movements
injection molding machine in one go with its floating 8-way
• 6-axis robot with all degrees of freedom for peripheral
gripper; the correct alignment and the positioning accuracy
tasks such as, for example, assembly tasks or direct load-
during transfer are monitored by a contact sensing system
ing of the 3-axis system in a shake-hand operation by
installed in the gripper system.
the 6-axis system (dynamic transfer)
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Application example 2
Automation of a rotary table injection molding machine:
Loading contact pins and unloading the shell at the KBS
company.
Project description
The particular feature: The 6-axis robot receives the contact
pins directly from the stamping machine and loads them into
the injection mold with the special loading gripper. The finished parts are then inspected for proper contact insulation
in the inspection station and subsequently packed.
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GRIPPER SYSTEMS
GRASPING AND RELIABLE
FPT gripper systems for injection molding production
FPT gripper systems are provided with
Applications of gripper systems
3-dimensional floating bearings and
for in-mold injection processes:
achieve maximum precision and process
• Contact pins
reliability when loading the parts to be
• Soldering lugs
coated. Furthermore, they are provided
• Coil bobbins
with an alignment or fixing feature
• Coil cores
which safeguards precise transfer with-
• Gear shafts
out alignment error. The grippers are
• In-mold labeling
designed on the basis of a standardized
• 2-component coating
quick change system which facilitates
• Filters
quick product change. This makes FPT
• Bushes
gripper systems perfectly suited for
• Armatures
demanding fields of application – e.g.
injection molding with inserted parts
(in-mold process).
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THE CONTROL PHILOSOPHY
1)
ROBOT CONTROL
CPU
KUKA PC
2)
Microprocessor technology
PENTIUM (or equivalent)
3)
Programming
Technology-oriented user programming
4)
Number of additional axes depends on
motor size
Valid for standard version
Option
Depth incl. recessed handle and
emergency stop button
CONTROL CABINET
Type
KR C2
Standards and regulations
73/23/EC, 89/336/EC, 98/37/EC;
DIN EN: 292-1, 292-2, 418, 614-1, 775, 954-1, 6100-6-4,
6100-6-2, 55011, 60204-1, 61000-4-4, 61000-4-5, 61800-3
Degree of protection
IP 54
Ambient temperature, operating
278 K - 318 K (278 K - 328 K with heating / cooling unit)
Max. number of axes
12 max.
Weight, approx.
185 kg without transformer
Cabinet paint, front door, inside
Acc. to customer’s requirements, inside galvanized
Rated supply voltage 3 AC 400 V ± 10 % (DIN IEC 38)
Mains frequency
49 - 61Hz
Rated input power
7.3 - 13.5 kW depending on drive class
Mains fuses
3 x 25 A slow-blow min., 3 x 32 A slow-blow max.
Networking
ETHERNET 2) , CAN 2) , INTERBUS-S 3) , Profibus
Admissible connection cable length
7, 15 3) , 25
Noise emission
67dB (A) (DIN 45635-1)
Warning: The KR C2 control cabinet
may only be operated on power circuits
with a grounded star point.
KR C2 control cabinet
1)
3)
HAND-HELD PROGRAMMING UNIT
Dimensions (W × H × D)
330 × 260 × 110 mm 4)
KR C2 robot control
Your benefits from the KUKA
compatibility:
• Advanced industry standard
Pentium PC processor
• State-of-the-art technology
Windows
Operation, display,
data management
• PC-based control
• World-wide service
• Soft PLC
Upload/download
Commands, variables
Real-time module
VxWorks
Command processing,
path planning…
TCP/IP
Ethernet
Previously
special protocol
Serial interface
PCI
CAN
KUKA-VGA
Optional
Interbus, Profibus,
DeviceNet, ControlNet, Ethernet
Standard
CAN Bus (DeviceNet)
Digital I/O
ISA/PCI
Suitable
plug-in card
MFC multi-function card
CAN
DSE-IBS
(Digital Servo Electronics)
Control, commutation,
fault monitoring
Drive bus IBS
Serial
Drive amplifier
RDC (resolver-to-digital converter)
resolver values, calibration position
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TECHNICAL DATA
GANTRY ROBOT
MONO
3-axis robot
GANTRY ROBOT
MONO
3-axis robot
GANTRY ROBOT
STEREO
Double 3-axis robot
GANTRY ROBOT
SUBITO CORO
6+3-axis robot
3
3+3
3+3
3+3
Linear servo axes
Rotary servo axes
–
–
–
3
Length of X-axis
2,000 - 6,000 mm
2,000 - 6,000 mm
3,000 - 6,000 mm
3,000 - 6,000 mm
Length of Y-axis
600 - 1,200 mm
600 - 1,200 mm
600 - 1,200 mm
600 - 1,200 mm
Length of Z-axis
600 - 1,500 mm
600 - 1,500 mm
600 - 1,500 mm
600 - 1,500 mm
X-axis step size
500 mm
Y-axis step size
100 mm
Z-axis step size
100 mm
Rotary angle
of axes A4-A6
Maximum load capacity
(depending on design type)
Repetition accuracy
–
–
–
360°
10 kg
25 kg
10 / 25 kg
25/ 5 kg
< ± 0.03 mm
< ± 0.03 mm
< ± 0.03 mm
< ± 0.03 / 0.05 mm
Maximum axis speed
(linear)
2m/s
Maximum axis speed,
axes A4/A5
1300 °/ s
Maximum axis speed,
axis A6
2000 °/ s
Degree of protection
IP64
Operating temperature
0 - 40 °C
Electrical connection
400 V AC 32 A
Pneumatic connection
6 bar
Schattbucher Straße 10, 88279 Amtzell
Tel.: +49 75 20 95 13-0, Fax: +49 75 20 9513 -13
Mail: [email protected], www.fpt.de
Technical data and figures may differ from your specific configuration. Subject to modification. V1 - © FPT · Design: www.diezone.net
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