Standard Gantry Robots

Standard Gantry Robots
Standard System
WARNING – USER RESPONSIBILITY
FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS DESCRIBED ITEMS CAN CAUSE DEATH;
PERSONAL INJURY AND PROPERTY DAMAGE.
• This document and other information from Parker-Hannifin Corporation, its subsidiaries and authorized distributors provide
product or system options for further investigation by users having technical expertise.
• The user, through its own analysis and testing, is solely responsible for making the final selection of the system and components
and assuring that all performance, endurance, maintenance, safety and warning requirements of the application are met. The
user must analyze all aspects of the application,
• follow applicable industry standards, and follow the information concerning the product in the current product catalog and in
any other materials provided from Parker or its subsidiaries or authorized distributors.
• To the extent that Parker or its subsidiaries or authorized distributors provide component or system options based upon data
or specifications provided by the user, the user is responsible for determining that such data and specifications are suitable and
sufficient for all applications and reasonably foreseeable uses of the components or systems.
2
Content
Electromechanical Automation ............................................. 5
Global Products with local manufacturing and support
.............................. 5
Standard to custom gantry robots kits .................................. 6
System overview ................................................................... 7
Line gantry: .......................................................................... 8
Technical specifications ............................................................... 8
Line gantry: ........................................................................... 9
Dimensions ............................................................................ 9
Space gantry:....................................................................... 10
Drive kits for GL and GR ............................................................. 10
Technical specification
.............................................................. 11
Cable carriers: .................................................................... 12
Guidelines for using cable carriers
................................................. 12
Load diagrams ....................................................................... 12
Determining the chain length
....................................................... 13
Dimensions for support and cable carrier chain .................................... 13
Dimensions drawings of connection points ......................................... 13
Gantry robots - Overview..................................................... 14
Order code ........................................................................... 15
3
4
Electromechanical Automation
Global Productswith local manufacturing and support
Global Product Design
Parker Hannifin has more than 40
years experience in the design and
manufacturing of drives, controls,
motors and mechanical products.
With dedicated global product development teams, Parker draws on
industry-leading technological leadership and experience from engineering
teams in Europe, North America and
Asia.
Local Application Expertise
Parker has local engineering resources committed to adapting and
applying our current products and
technologies to best fit our customers’ needs. Parker’s engineering
resources also extend
to the development and manufacture of complete systems for continuous process and motion control
applications.
Manufacturing to Meet
Our Customers’ Needs
Parker is committed to meeting the
increasing service demands that our
customers require to succeed in the
global industrial market. Parker’s
manufacturing teams seek continuous
improvement through the implementation of lean manufacturing methods
throughout the process. We measure
ourselves on meeting our customers’
expectations of quality and delivery,
not just our own. In order to meet
these expectations, Parker operates
and continues to invest in our manufacturing facilities in Europe, North
America and Asia. This allows us to
minimize transportation time and
cost and to be able to respond more
quickly to customer needs.
Worldwide
Electromechanical
Automation
Manufacturing Locations
Europe
HAUSER Offenburg, Germany
SSD Littlehampton, GB
SSD Parvex Div. Dijon, France
SBC Milano, Italia
North America
Compumotor Rohnert Park, CA
Daedel Div. Irwin, Pennsylvania
Actuator Div. Wadsworth, Ohio
Sporlan Div. NY + Port Washington
Compumotor, New Ulm
Quick Coupling Div. Minnesota
Asia:
TeJing Hydraulics Shanghai, China
CHOMERICS Chennai, India
Since 40 years, HAUSER develops and produces
high quality components and systems for the
automation industry. Integrating development,
production and service synergy for highest economic efficiency is effectively exploited. Technical innovation and future-orientated concepts are
linked efficient with practical suitable solutions.
The consequent followed systems idea enables
an extensive palette of reasonable standardized
automation solutions. Inherent handling systems
for core industry, palletizing robots, linear portals and space gantries, storage and retrieval
machines, pick and place handling and charging
gantries. Since 1995, HAUSER is subsidiary of
Parker Hannifin and integrated in the Electromechanical Automation Europe (EME) division.
5
With Standard to custom gantry
Gantry out of the box
Standard components
to satisfy your system
requirements
Focussed system configurations
enable robot applications to be
specified easily using our carefully
selected standard components,
reducing the time and resources
needed by the integrator to specify
the system.
Short deliveries & competitive pricing
Flexible solution for
experienced machine
builders
Using our engineering standard
PARKER components enable
gantry kits to be supplied cost effectively. Factory pre - assembly
is no longer required as proven
component configurations eliminate possible installation errors.
This combined with delivery times
in the region of 4 weeks results in
a solution from concept to operation in the shortest possible time.
We deliver a gantry robot kit. The
assembly of the kit and further
construction will be done on your
own. This includes among others:
connecting the gripper at the Zaxis, mounting and connecting the
controller, safety requirements and
the machine setup.
Custom system can be supplied upon request!
Line gantry with X- and Z-axes or
space gantry with X-, Y- and Zaxes (all actuators with gearbox),
optional with steel strip cover
for the X- and Y-axis (Protection
class IP30), optional with cable
management (for all axes).
Basic gantry
The basic version includes the linear actuators, with mounted gearbox
and assembly accessories.
Customer supplied motors can be
specified 1).
Complete with drive
In additional to the basic gantry
a complete drive package can be
ordered. Comprising of:
1) If a customer-specific gearbox is used
the delivery time of the entire gantry
robot may extend up to 6 weeks.
• Motor
• Controller, power module, plug
set
• Motor- and feedback cables
• Parameter list
for all axes.
6
Standard gantry robots
System overview
Controller
Compax3 provides a control solution to meet the most demanding
requirements.
Motor- and feedback
cables
Pre-defined cable length offered.
Motors
Parker servo motors with resolver
feedback or with SinusCosinus
Multiturn feedback (absolute
value encoder - no initiators
Energy cable chain
This option provides standardEnergy cable chains for all axes
of the device. The cable feed is
located close to the x-axis drive.
Initiators
and limit switch kit.
On request we deliver Initiators,
end of travel switches and tripping plates for each axis (Please
order separately). You will find
ordering information in the related
inear actuator catalogues:
Steel base
Steel support structures can be
supplied on request for easy robot
installation.
7
Linear portal robots
Combination of LEB/LBB linear axis
Basic design
Type
Drive
Axis Module max. Vmax 1) amax 2) max.
hub [m/s] [m/s] load
[m]
[kg]
X
LBB080
5
2
3
Gearing
i
60
GL02
PS60-007S2
Motor
Motor - torque drive [Nm]
package
max
middle
SMH1004506519
2.0
1.5
SMHA1004506519
3.5
2.5
SMA1154010819
3.6
2
7
GL2
Z
ZEB050
1.5
1.5
5
30
X
LEB100
5.5
2
3
110
PS90-005S2
Z
ZEB080
1.5
1.5
5
50
PS90-010S2 10 SMHA1154010819
6.0
4.5
X
LBB120
8.5
2
3
130
PS90-007S2
SMH1154010819
4.5
2.7
Z
ZEB080
1.5
1.5
4
75
PS90-010S2
SMHA1154010819
6.9
5.0
X
LBB120
8.5
2
3
250
SMH1424515524
6.0
3.0
Z
ZEB100
2
1.5
3
150
PS115010S2
SMHA1424515524
11.5
8.0
5
GL03
GL3
7
GL04
GL4
GL05
1) Values for max. working envelope and max. payload
2) Valid for X-axis (with Z-axis retracted)
8
10
GL5
Linear axis LBB/LEB
Z11
"Z-Stroke" + Z11
X02
"Z-Stroke"
"Z-Stroke" + Z12
ZH
Z12
C= (2* "Z-Stroke") + Z11+ Z12
and vertical axis ZEB
"X-Stroke"
X11
X12
L = "X-Stroke" +X11 + X12
LinePortal
Length
carriage
X-axis
B
A
X01 XL
Distance
profile x-axis
Width
1
2
1
2
1
2
A
B
XL
X01
X02
X11
X12
Z11
Z12
Zh
GL02
240
464
250
264
250
454
418
202
594
308
GL03
310
633
450
299
251
524
476
240
645
340
GL04
330
660
500
385
240
635
590
240
645
340
GL05
430
783
500
395
350
645
600
250
780
395
Length for Safety
distance
9
Z-axis
Length for Safety
distance
transcend
Length for
distance
transcend
Height
housing
Space gantry robots
Combination of LEB/LBB linear actuators and ZEB vertcal axis
Basic version
Type
Axis
X
GR02
Drive
Module max. Vmax 1) amax 2) max.
hub [m/s] [m/s] load
[m]
[kg]
LBB080
4.9
1.9
3.0
Gearbox
120
Y
ZBB080
2.0
1.9
3.0
60
Z
ZEB050
1.5
1.5
5.0
30
X
LEB100
5.5
2.0
3.0
210
PS60-007S2
PS90-005S2
GR03
GR06
GR08
7
Motor
Motor torque [Nm]
max
middle
SMH1004506519
2.8
2.0
SMH1004506519
2.0
1.5
SMHA1004506519
3.5
2.5
SMA1154010819
5.2
4.0
SMA1154010819
3.6
2.0
LEB100
2.5
2.0
3.0
110
Z
ZEB080
1.5
1.5
5.0
50
PS90-010S2
10 SMHA1154010819
6.0
4.5
X
LBB120
8.5
2.0
3.0
310
PS90-010S2
10
SMH1155610819
6.0
4.8
Y
LBB120
3.9
2.0
3.0
130
PS90-007S2
7
SMH1154010819
4.5
2.7
Z
ZEB080
1.5
1.5
4.0
75
PS90-010S2
10 SMHA1154010819
6.9
5.0
X
LBB120
8.5
2.0
3.0
400
SMH1424515524
8.0
6.5
Y
LBB120
2.5
2.0
3.0
250
SMH1424515524
6.0
3.0
Z
ZEB100
2.0
1.5
3.0
150
SMHA1424515524
11.5
8.0
X
LEB150
7.4
2.0
3.0
500
SMH1424515524
11.5
9.5
SMH1424515524
7.0
5.7
11.5
8.0
Y
LEB150
3.5
2.0
3.0
250
Z
ZEB100
2.0
1.5
3.0
150
Drive
package
GR2
5
Y
PS115-010S2 10
PS115-007S2
GR10
i
GR3
GR6
GR8
7
PS115-010S2 10 SMHA1424515524
GR10
Drive package
for line- or space- gantry robots
Type
power supplyl
Servo drive
#
C3 MP10 D6USBM00
#
Compax 3
1
10kW 3*400/480V
2
2
C3 M050 D6 5.0 A, 560/680 VDC
C3 M100 D6 10.0A, 560/680 VDC
GL4
2
C3 M100 D6 10.0A, 560/680 VDC
GL5
1
1
C3 M100 D6 10.0A, 560/680 VDC
C3 M150 D6 15.0A, 560/680 VDC
3
C3 M050 D6 5.0 A, 560/680 VDC
3
C3 M100 D6 10.0A, 560/680 VDC
3
2
1
1
2
C3 M100 D6 10.0A, 560/680 VDC
C3 M100 D6 10.0 A, 560/680 VDC
C3 M150 D6 15.0 A, 560/680 VDC
C3 M100 D6 10.0 A, 560/680 VDC
C3 M150 D6 15.0 A, 560/680 VDC
GL2
GL3
1
10kW 3*400/480V
1
10kW 3*400/480V
GR2
GR3
GR6
GR8
1
10kW 3*400/480V
GR10
1
10kW 3*400/480V
10
ZBH04/01 BRM13/01
C3
C3
NFI03/01
C3
M050 D6,
M100 D6,
M150 D6
MP10 D6,
0.50 kW
MP10 D6,
25 A
2
1
1
3
1
1
Linear axis LBB/LEB
"X-Stroke"
X11
X12
"Y-Stroke"
Y11
Z12 "Z-Stroke"+Z11
C=(2*"Z-Stroke")+Z11+Z12
"Z-Stroke"
"Z-Stroke"+Z12
ZH
z11
and vertical axis ZEB
Y12
"X-Stroke" + X11+X12
Y02
A=”Y-Stroke" +E
"Y-Stroke"
D
Y01
YL
"Y-Stroke"+Y11+Y12
X02
"X-Stroke"
XL
X01
Line- SupplePortal ment
distance
profile
x-axis
Distance Length X-axis
profile
Length
Y-axis
for
safetydistance
1
Y-axis
Length
Length for
safetydistance
transcend
Length
for
safetydistance
Length for
safetydistance
transcend
Z-axis
Length for
safetydistance
transcend
2
1
2
1
2
1
E
D
XL
X01
X02
X11
X12
Y01
Y02
Y11
Y12
YL
Z11
Z12
Zh
GR02
400
240
400
271
201
454
418
197 285 348
384
250
202
594
308
GR03
648
310
450
299
251
524
476
299 251 524
476
450
240
645
340
GR06
580
330
500
385
340
635
590
285 240 535
490
500
240
645
340
GR08
580
430
600
335
290
635
590
285 240 535
490
500
250
780
395
GR10
670
400
600
358
270
658
570
358 270 608
520
500
250
780
395
11
2
1
Height
of
casing
2
Cable carriers
Guidelines
A cable carrier assembly is needed when making power connections to moving elements. The cable carrier
chain consists of Igumid, and the support profile is made of aluminium. The process for fully determining the
dimensions of a cable carrier supply is very complex. The examples listed below represent simple applications,
but more data will normally be required when the situation is less straightforward. The following descriptions only
apply to power supplies arranged horizontally, which lie above a support profile and which are within the limits
specified in the technical data. If the application you are running is more demanding, please contact us.
L
Use only electrical cables which are
suitable for use in cable carriers.
Hose lines should be highly flexible and should only extend slightly
under pressure. Weight should be
distributed across the cable track
as evenly as possible!
S
L
Z u s a tz la s t q
in k g /m
f
z
1 0
2 7 0 0 .x x
8
6
2 5 0 0 .x x
4
B 1 5 .x x
2
0
0
1
0 ,5
0
2
1
e le c tr ic lin e
3
fr e itr a g e n d e L ä n g e
f in m
V e rfa h rw e g L
4
S
Cables must not be twisted when
routed in the cable carrier and
should be routed next to one another and as loosely as possible.
Avoid laying several lines on top
of each other and laying lines of
different diameters directly next to
one another. If multiple layers must
be used, separating strips should
in m
fla t c a b le
h
1 .1 h
h o s e
L
2
1 ,5
d
1 .1 d
d
1 .2 d
d
1 .1 d
be inserted between each layer –
should such circumstances arise,
please contact Parker.
If there is no alternative to routing
several lines beside each other
without subdivisions, the clearance
height within the carrier must be
less than line diameter. This is the
only way of preventing the cables
from twisting.
The supply cables must be able to move freely in the cable carrier – they must never be fastened or bundled
together. Separating strips must always be inserted between flat cables routed in multiple layers.
Recommended dimensions of the space required:
with round cables:
with flat cables:
with hose lines:
approx. 10% of the line diameter
for each, approx. 10% of the cable width and cable thickness
approx. 20% of the hose diameter
Highly flexible, thin lines with a low bending strength should be loosely gathered together and routed in order in a protective hose. When selecting the size of the protective hose, ensure that its area is considerably
greater than the sum of the individual cross-sectional areas. As a guide, allow approximately 10 % of the diameter of each line as clearance.
Load diagrams
Max. suspended length vs. additional load
L
L
S
L
A d d itio n a l lo a d q
in k g /m
Max.length with permitted deflection vs. additional load.
K R
f
z
A d d itio n a l lo a d q
in k g /m
1 0
0
B 1 5 .x x
2
0 .5
0
2 5 0 0 .x x
4
B 1 5 .x x
0
z
6
2 5 0 0 .x x
2
D
2 7 0 0 .x x
8
6
4
L
1 0
2 7 0 0 .x x
8
S
1
2
1
1 .5
3
4
2
S u s p e n d e d
le n g th L f in m
S tro k e L
S
0
in m
0
0
0 .5
12
1
2
1
2
3
4
L e n g th w ith d e fle c tio n L D in m
1 .5
S tro k e L
S
in m
S
S /2
B
h
Ü
G
Determining the chain length
D r iv in g p la te
H
S
+K
2
K R
LK =
F ix p o in t
Remarks: LK round to a multiple of t
t
Clear mounting height HF
Own chain
weight kg/m
100
120
≈ 0,35
80
100
120
≈ 0,40
35
125
145
170
≈ 0,81
414
35
170
235
260
≈ 0,81
46
414
35
170
235
260
≈ 0,90
150
46
578
35
220
335
360
≈ 1,01
2700.07.200.0
200
56
825
50
275
450
485
≈ 1,30
2700.12.200.0
200
56
825
50
275
450
485
≈ 1,48
2700.17.200.0
200
56
825
50
275
450
485
≈ 1,85
K
Height
Curved
Connech
protrutionÜB tion height
H
B15.015.038.0
38
30,5
185
23
80
B15.025.038.0
38
30,5
185
23
2500.03.055.0
55
46
275
2500.03.100.0
100
46
2500.05.100.0
100
2500.07.150.0
E
d
Pitch
t
F
Bending
radius KR
KR
D
A
B
LEB150
C
LBB120
LEB100
LBB080
customized
with KSP2
(400-010121)
with KSP1
(400-010120)
Art. No. (for length -> Seite 12)
TYPE
KR
A
B
C
D
E
B15.015.038.0
38
max.
E
F
d
23 17,5
14
100-905150
100-905006
B15.025.038.0
38
max.
36
41
120 23 17.5
14
100-905170
100-905178
2500.03.055.0
55
38
54
61
170 35
25
23
100-905810
100-905818
2500.03.100.0
100
38
54
61
260 35
25
23
100-905830
100-905838
2500.05.100.0
100
57
73
78
260 35
25
23
100-905850
100-905858
2500.07.150.0
150
77
93
98
360 35
25
23
100-905860
100-905868
2700.07.200.0
200
75
91
96
485 50
35
32
100-905861
100-905869
2700.12.200.0
200
125
141 146 485 50
35
32
100-905921
100-905928
2700.17.200.0
200
175
194 199 485 50
35
32
100-905960
100-905968
13
F
dmax Cable carrier
Connection elements fix
point and driving plate
(inelastic) (for dimensions
-> page 14)
Dimensional drawings of connection points
for Typ 2500.xxx
90 counterbore 12 17 15
10
10
Senkung 90 12 17 15
40
A
B
7 thick
6,5
A
B
A
30
B
7,5
1.5
14
3.5
16,5
for Typ 2700.xxx
t=8
11
17
40
14
10
8
2
54
2
8
16.5
12
6.1
12
A
B
6.5
A
B
11
30
7 thick
90 counterbore
40
8 thick
3.5
1.5
B
A
6.1
90 counterbore 17
10
40
11.5
1.5
7.5
6,1
1.5
6.1
11,5
for Type B15.xxx
54
Typ
A
B
Typ
A
B
Typ
A
B
B15.015..
0
25,5
2500.03..
25
51
2700.07..
55
93
B15.025..
10
35,5
2500.05..
2500.07..
44
64
70
90
2700.12..
2700.17..
105
155
143
196
Overview
Linegantry
GL02
GL03
GL04
GL05
Spacegantry
GR02
GR03
GR06
GR08
GR10
Axis
Module
max. stroke [m]
max. load [kg]
hints
X
Z
X
Z
X
Z
X
Z
LBB080
ZEB050
LEB100
ZEB080
LBB120
ZEB080
LBB120
ZEB100
5.0
1.5
5.5
1.5
8.5
1.5
8.5
2.0
60
30
110
50
130
75
250
150
see page
8-9
Axis
Module
max. stroke [m]
max. load [kg]
hints
X
Y
Z
X
Y
Z
X
Y
Z
X
Y
Z
X
Y
Z
LBB080
LBB080
ZEB050
LEB100
LEB100
ZEB080
LBB120
LBB120
ZEB080
LBB120
LBB120
ZEB100
LEB150
LEB150
ZEB100
4.9
2.0
1.5
5.5
2.5
1.5
8.5
3.9
1.5
8.5
2.5
2.0
7.4
3.5
2.0
120
60
30
210
110
50
310
130
75
400
250
150
500
250
150
see page
10-11
14
Order code
Standard-Gantry Robot
G
/
/
Type / Size
See table on page 11
Line gantry
LBB080 (X),
LEB100 (X),
LBB120 (X),
LBB120 (X),
ZEB050 (Z)
ZEB080 (Z)
ZEB080 (Z)
ZEB100 (Z)
Space gantry
LBB080 (X),
LEB100 (X),
LBB120 (X),
LBB120 (X),
LEB150 (X),
LBB080 (Y),
LEB100 (Y),
LBB120 (Y),
LBB120 (Y),
LEB150 (Y),
ZEB050 (Z)
ZEB080 (Z)
ZEB080 (Z)
ZEB100 (Z)
ZEB100 (Z)
G
G
G
G
G
G
G
G
G
G
G
L
L
L
L
L
R
R
R
R
R
R
Steel strip cover
All axes without steel strip cover
X and - if exist Y-axis with steel strip cover(IP30)
Stroke X-axis
Indicate Stroke (in mm)
0
0
0
0
2
3
4
5
0
0
0
0
1
2
3
6
8
0
N
C
n n n n
Stroke Y-axis
With GR: indicate stroke (in mm)
With GL: indicate „0000“
n n n n
0 0 0 0
Stroke Z-axis
Indicate stroke (in mm)
n n n n
Cable management
without cable management
Includes cable management
N
E
Drive package (Motor, controller, cable)
Without drive package
Includes drive package
N
A
Motor / encoder system
Without drive package
Resolver
Multiturn SinusCosinus
(absolute value encoder)
N
R
M
Comapx3 Fieldbus option
Without drive package
Positioning with inputs/outputs
Profibus
CANopen
Ethercat
N
A
P
C
E
Free length of cable between switch
cabinet and cable management
Without drive package
cable length 5 m
cable length 10 m
cable length 15 m
cable length 20 m
cable length 25 m
cable length 30 m
cable length 35 m
cable length 40 m
cable length 45 m
N
1
2
3
4
5
6
7
8
9
15
Additional information available on:
www.parker-handlingsystems.com
We reserve the right to make technical changes. The data correspond to the current status at the time of printing.
© 2009 Parker Hannifin Corporation
Parker Hannifin GmbH
Electromechanical Automation
Robert-Bosch-Straße 22
D-77656 Offenburg, Germany
+49 (0)781 / 509-0
+49 (0)781 / 509-98176
[email protected]
www.parker-handlingsystems.com
192-700011 N6
December 2009