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Handling System Overview Multi-Axis Systems and Drives
Handling System Overview Multi-Axis Systems and Drives
1
Table of contents
Three-dimensional gantry – 16
three-dimensional systems
Cartesian XYZ handling unit,
electric and/or pneumatic
Pick and Place 10
• High-speed handling
module with link guidance,
electric or pneumatic
Linear gantry – 12
two-dimensional systems Application-specific 20
YZ handling for long strokes, solutions
electric and/or pneumatic • Gripper systems
• Frame options
2
Gantry axes, electric and 24 Grippers, electric and 38
pneumatic pneumatic
Commissioning and 58
maintenance, after-sales
service
3
Mechatronic Motion Solutions
Your task defines the Either you concentrate on your Or you can choose the compo- Thanks to excellent system
solution! core business and let Festo look nents yourself and use the expertise, Festo is able to solve
after your handling task – with sophisticated service packages. your tasks in handling tech-
an extensive portfolio of tested They provide all the support you nology, from pick and place to
and ready-to-install multi-axis need, from application-specific customised applications. Or you
systems supported by a highly advice, engineering and project can purchase the appropriate
qualified project engineers and planning to startup and exten- components, whether pneu-
advisors with many years of sive after-sales services. matic, servopneumatic, electric
experience. or a mechatronic mix of compo-
nents. Everything is fully tested,
as a matter of course.
Cost saving
Time saving
Slide variants:
Compatible motors and
controllers:
See Page 46
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 10 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 3000 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.
Requirements Requirements
• Short cycle times • Slim design
• Precision • Jerk-free movement
• Waiting position • High degree of precision
• Easy to service
Solution
Handling module HSP-AE with Complete solution
servo drive MTR-DCI and sturdy as pick and place with
parallel gripper HGPT-B • Pneumatic: HMPL/HMPL
• Or electric: EGSA/EGSA with
gripping/swivel unit
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 desired inter-
mediate positions
Range of application:
• Ideal for long gantry strokes
• Often used for feeding
applications
• Workpiece masses up to 5 kg
(effective load up to 10 kg)
• Long gantry strokes up to 3 m
and heavy loads up to 10 kg
• High requirements on system
resistance to torsion
Solution
• Linear gantry with toothed belt
axes and cantilever axis
• Complete solution, including
vacuum gripper
Higher effective loads of up to 50 kg on request * With the pneumatic drive DGC, can be used as duo axis
Range of application:
• Cantilever axes are the best
3-axis solution for movements
in 3D or in the available space
where three-dimensional
gantries are too big or the
handling unit needs to be
retracted from the area of
activity
• Long strokes in horizontal
plane of up to 3 m
• Very high requirements on
system resistance to torsion
Solution
• Cantilever axes with pneumatic
axes DGC and handling
modules HMP
• Assembled complete
with tubing and electrical
connections
Standard sizes
Standardised • The simplest of designs X: Gantry axes 0 to 2 kg X: Up to 3000 mm X: DGC/DGPL,
cantilever by virtue of standard Y: Gantry axes or Y: Up to 200 mm DGE/EGC
axis in three combinations cantilever axes Z: Up to 1600 mm Y: HMPL
effective load Z: Cantilever axes Z: DGSL, HMPL, EGSA
categories or slides
• Size 1.0
A three-dimensional gantry
consists 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 desired inter-
mediate positions
Range of application:
• For any movement in 3D space
• Very high requirements on
precision and/or very heavy
workpieces, with long strokes
at the same time
Solution
Three-dimensional gantry with
toothed belt axes DGE from the
multi-axis modular system
• System solution for standardised three-dimensional gantries with * With the pneumatic drive DGC, can be used as duo axis
effective load up to 50 kg on request
• Long strokes in X direction up to 10 m on request
Advantages:
• Complete system performance
from Festo – plug and work –
from engineering to commis-
sioning
• High rigidity, minimal vibra-
tions and small moving masses
when compared to other solu-
tions (Cartesian axis gantries
or robots): large effective loads
with high dynamic response
• Maximum acceleration of
100 m/s2 and speed of 6 m/s
with 1 kg load
• Up to three times quicker than
Cartesian systems and with
smaller dimensions/smaller
space requirement
• Effective loads of up to 5 kg
• Available in 4 standard sizes
with a working space of up to
1250 mm in diameter
Range of application:
• For any movements in 3D
space
• High-speed handling for pick
and place tasks
• Very high requirements on pre-
cision and dynamic response
Handheld
Robotic
terminal
controller
CDSA
CMXR
Valve terminal,
remote I/O
Drive Gripper
technology vacuum
2009/09 – Subject to change – Handling system overview 19
Application-specific solutions – Gripper systems
Gripper jaws
• With interchangeable plastic
inserts
• Category: GBT 3 Semi-rotary drive
DRQD-16-90-YSRJ-A-ALFW-E422
Energy throughfeed
• electric
Gripper jaws • pneumatic
• Category: GBL 4
Two independently
positionable X-axes for
horizontal transport
Complete
energy chain for
X/Y/Z axes
X Y
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
X Y
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
= length of the frame 0-5000
0-1000
22 * Effective load = mass at front end of the handling system Handling system overview – Subject to change – 2009/09
Five steps to a complete system! Design
How to choose your standardised All frames are calculated with
substructure quickly and easily, respect to their rigidity, using Information
suitable for your handling system. finite element software.
Illustration of FEM software
Step 1: Handling: Select accord- This means that only truly
ing to the handling guide, as essential stiffeners are installed.
usual Deformation due to the acting
The benefit to you: a 100% cost forces, amplified by a factor of
Handling plus frame: optimisation. 2000.
23
Electrical gantry axes
> > > Linear motor with air bearing Extremely flexible
ELGL-LAS • Locking brake built into the
The electric linear drive ELGL is a linear motor axis, thanks to the
handling axis with air bearing magnetic preloaded air cushion
and built-in linear motor. The bearing
drive elements and the air • This enables very exact posi-
bearing form a unit. tioning and excellent linearity
• Minimum stroke <1 mm
Wear-resistant • Several slides can move inde-
• Thanks to air bearing tech- pendently of each other on
nology the slide hovers over one axis
the axis without touching it. • Both opposing and synchro-
• The constant air flow out of the nous movements are possible
air gap prevents particles and • No friction in guide parts
dust from penetrating into the • Maintenance-free and wear-
axis. resistant
• Magnetic fields are screened to • Dirt-free thanks to air bearing
keep metal parts and chips
out.
More infor-
mation about
compatible motor controllers
can be found on page 46.
> > > Electrical guide axis with linear pond to the pneumatic cylinder
motor DFME-LAS DFM. Depending on the design,
The DFME-LAS electric guide axis you can also use accessories from
with linear motor is suitable for the DFM on the electric cylinder
maximum positioning precision DFME-LAS.
and excellent dynamic response
with small loads. The DFME-LAS is easily config-
ured and commissioned with the
All required components, such as Festo Configuration Tool. Simply
the linear motor, measuring sys- enter the parameters and posi-
tem, guide and reference switch, tioning records and you’re done!
form a ready-to-use guide axis.
The mechanical interfaces corres-
> > > Electromechanical mini slide • Only one cable required
SLTE between SLTE and SFC-DC
• Precise and rigid guide • Motor controller SFC-DC avail-
• Freely positionable able with or without control
• Short positioning times panel
• Through-holes from above and • Easy actuation via:
below - I/O connection
• Sensors can be integrated - fieldbus connection
• Silent lead screw spindle
• Gentle starting and stopping Parametrisation possible via:
• Effective loads of up to 4 kg • Control panel:
• Constant travel speeds of - Suitable for simple position
2 … 200 mm/s sequences
• Available: motors with • FCT configuration package
integrated encoder (Festo Configuration Tool):
- Parametrisation using RS 232
The mini slide SLTE and motor interface
controller SFC-DC form a unit. - PC interface in Windows,
• Thanks to the protection class Festo Configuration Tool
IP54, the SFC-DC can be
mounted close to the SLTE, Note:
either: More details on the motor
- on central supports controller SFC-DC can be found
- with H-rail on page 48.
> > > Rotary drive module ERMB Available: harmonised range
• Freely positionable of motors
• For loads up to 15 kg • Servo motors
• As a Ф-axis with any rotation • Stepper motors
angle >360° or “stand-alone” • Standardised controller design
as a small NC controlled rotary and software platform simplify
table commissioning and control.
• Combination of two rotary
modules with multi-axis kine- Position sensing/reference
matics enables travel through switch
any spatial points • The sensing module EAPS,
• Dynamic yet precise thanks available as an accessory,
to the toothed belt with pre- enables impermissible areas to
loading roller be defined using two inductive
• Standardised adapter plates sensors and trip cams
as a connection between linear • Sensing on the rotary module
axes and grippers is done using inductive sensors
• Mounting interfaces on all type SIEN-M8. An index pin in
sides the retaining ring, which can be
• Fixed rotary flange with large adjusted in 90° increments, is
hollow shaft diameter queried
• Effectively minimises vibrations
in the multi-axis system thanks
to uniform movements and
user-defined acceleration
ramps
• Smooth and wear-resistant
movement in the end positions
Note:
More details on the motor
controller SFC-DC can be found
on page 48.
Sizes 16 20 25 35 40 50 63 80
Standard Stroke per jaw (mm) 3 4 6 8 10 12 16 20
version Total gripping force (N) 85 170 300 550 740 1290 1860 3175
Force Stroke per jaw (mm) 1.5 2 3 4 5 6 8 10
version Total gripping force (N) 160 375 670 1230 1650 2890 4160 7080
Standard Repetition accuracy ±0.03
and (mm)
force Torques M x (Nm) 9 15 50 80 100 120 160 180
version Torques M y (Nm) 12 15 45 60 90 120 180 220
Torques M Z (Nm) 6 8 35 50 75 100 140 170
Sensor slot Yes
Material Nitrile rubber Nitrile rubber Polyurethane Vulkollan® Silicone Fluoro elastomer
(antistatic)
Operating -10 ... +70 -10 ... +70 -20 ... +60 -10 ... +80 -30 ... +180 -10 ... +200
temperatures [°C]
Typical applications Conventional Electronic Rough Automotive Food Glass
industry surfaces industry industry industry
Food – – – – x –
Oily workpieces x x x x – x
Smooth surfaces x – x x – x
Rough surfaces – – x x – –
Antistatic – x – – – –
Minimal marking – x x x – –
The controller and motor port- > > > Servo motor controller They all have safe and con-
folio from Festo covers a wide CMMP-AS/CMMS-AS/CMMD- venient commissioning, SD card
range of servo and stepper AS and servo motor EMMS-AS slot, programming and para-
motor functions and is optimally For special requirements: the metrisation via software tools.
matched to all electric drives. highly functional controller CMMP- Integrated safe holding system
AS. For standard functions: the with restart blocking for safety-
controller CMMS-AS and the effi- related applications.
cient double-controller CMMD-AS.
Servo motors EMMS-AS
The CMMP-AS is very well suited One servo motor for three con-
for cam disk controllers and troller types. As a permanently
highly dynamic movements. The energised, brushless servo
CMMS-AS comes into its own in motor with eight torque ranges,
standard applications and posi- this motor is designed for
tioning tasks with an I/O connec- dynamic positioning tasks.
tion. The CMMD-AS takes on the
task of guiding two servo motors
independently of each other.
By combining internal modules,
such as the fieldbus interface
or the intermediate circuit,
efficiency is considerably
improved.
> > > Stepper motor controller CMMS- In the ServoLite operating mode,
Compatible motor kits and ST and stepper motor EMMS-ST the combination of CMMS-ST
gear units: Stepper motor technology in a and EMMS-ST provides you with
EAMM-A-... motor kit genuine plug and work solution a closed-loop servo system with
package: the single-axis position maximum operating reliability
controller CMMS-ST combined and fast dynamic response.
with a stepper motor EMMS-ST, This sets the stepper motor
for single and multi-axis hand- controller CMMS-ST apart from
ling, with moving loads of up to conventional controllers.
20 kg.
Stepper motor EMMS-ST
The stepper motor combines a
EMGA-..-P-.. gear unit long service life and full position-
ing functionality with an attrac-
tive price. It is designed with a
high degree of protection and
with a plug system suitable for
industrial use, optionally with
brake and integrated encoder.
30
The performance ranges of the
motors in conjunction with Festo 20
CMMP-AS
controllers
15
Nm
10
5 CMMS-AS/CMMD-AS
0 CMMS-ST
EMMS-AS + CMMP-AS
EMMS-AS + CMMS-AS/CMMD-AS 0 1000 2000 3000 4000 5000
rpm
EMMS-ST + CMMS-ST
> > > Motor controller SFC-DC Note: More details on the elec-
The motor controller SFC-DC tric gripper HGPLE can be found
together with SLTE or HGPLE on page 38.
form a ready-to-install solution.
Note: More details on the elec-
tric slide SLTE can be found on
page 34.
> > > Position controller SFC-LAC Note: More details on the hand-
The position controller SFC-LAC ling axis HME can be found on
and handling axis HME form a page 28.
ready-to-install solution.
> > > Position controller SFC-LACI Note: More details on the linear
The position controller SFC-LACI motor cylinders can be found on
and the linear motor cylinders page 32.
DNCE-LAS and DFME-LAS form a
ready-to-install solution.
This innovative servo motor with pin plug are required. The entire Positioning functionality
its wide torque range is ideally commissioning process is per- • 16 positioning records
suited for positioning tasks. It formed on-site or from a PC (including homing)
combines all necessary compo- using a simple teach-in function, • Constant acceleration and
nents in one: motor, gear unit, thanks to an optional LC display braking
motor controller and power and clearly structured menus, • Homing mode:
electronics. and is supported by the FCT - left or right up to switching
(Festo Configuration Tool) soft- signal
Its integrated power electronics ware. - left or right up to the mech-
and controller remove the need anical stop (preferable)
for long motor cables, thus Functions • Position control
improving the electromagnetic • Compact design with integrated
compatibility. Additional, inte- display Protective functions
grated monitoring functions • Complete unit with integrated • Temperature monitoring
ensure optimised reliability and gear unit and position • Current monitoring
system availability and make controller • Voltage failure detection
troubleshooting easier. • Smooth profile prevents the • Following error monitoring
ingress of dirt • Software end-position detec-
Another convincing feature of • Closed-loop operation tion
the MTR-DCI is the fact that it • DC motor with planetary gear
requires minimal wiring due to unit and encoder
the integration of the controller; • Protection class IP54
only one voltage source and only • Activation via I/O or fieldbus
one fieldbus connection or multi-
> > > Robotic controller CMXR • Real 3D functionality for free
The robotic controller CMXR is path control, similar to a robotic
the core of a complete kinematic functionality
system solution in the field of • PLC interface with I/O: for
handling technology. It combines reduced functions
mechanics, electric drive tech- • PLC interface via Profibus: for
nology and control technology, various functions or external
thanks to integrated and adapt- operation
ed interfaces. In its function as a • Modular design for up to
control system for the main, 8 extension modules, e.g.
manual and secondary axes, inputs and outputs
the CMXR is compatible with • Communication interface:
Cartesian and tripod kinematics. CANopen and Ethernet
> > > Handheld terminal CDSA for • With touch screen, emergency
robotic controller CMXR stop and confirm buttons
When adapted to the CMXR • Simple programming in the
robotic control system, the hand- Festo Teach Language (FTL),
held terminal CDSA allows the operation and diagnostics, incl.
CMXR to be easily programmed teach-in function. Also avail-
at the highest level. able: matching software pack-
ages for user-friendly system
configuration and program-
ming
> > > Modular controller CECX • Two product versions
The modular controller CECX - Modular master controller
with fieldbus master functionali- with CoDeSys software
ty and electric control options in - Motion controller with
the upper segment, including CoDeSys software and the
simple configuration. SoftMotion module
• Module libraries, configuration
tools and drivers
• Numerous communication
interfaces, such as Profibus,
CANopen and Ethernet
> > > Integrated controller FED-CEC • Very simple project planning
The integrated controller FED-CEC and programming with
is a space-saving control concept. CoDeSys and FED Designer (via
The processor module is based on Ethernet or serial interface)
the CoDeSys software platform • Easy control of electric drives
and can be integrated in the front- and CANopen slave products
end display series 50 to 5000. (integrated CANopen master
Display unit and controller are interface)
combined in one housing. • Parameters entered directly
into the machine controller
> > > Interface for electric drives • Simplified engineering: shorter
CPX-CM-HPP commissioning, reduced down-
The CPX module for the standard time, standardised control
control of up to 4 electric Festo • Reduced complexity: no pro-
drive units via the Festo gramming of the CPX-CM-HPP
Handling and Positioning Profile module required
(FHPP) via the fieldbus gateway. • Improved diagnostics: based
Ideally suited for integrating on plain text error messages,
single-axis applications (point- reading out the actual
to-point, asynchronous) to field- position, etc.
bus/Ethernet. It is easy to com- • Outstanding efficiency:
mission and reduces downtime. up to 4 individual axes per
• Highly flexible: compatible module (8 in the system) can
with all electric drive units be controlled
from Festo
2009/09 – Subject to change – Handling system overview 51
Compact Vision Systems
> > > Intelligent Compact Vision • Compact design and low
System SBOC-Q/SBOI-Q weight
Used for quality assurance, it • Easy integration and commis-
delivers guaranteed reliable sioning via parametrisation
inspection results, including • Teach-in of up to 256 work-
a quality test. The areas of pieces
application range from position
and orientation detection of
parts and type identification to
precision axis positioning.
Linear gantry with cantilever axis (Z) Heavy-duty linear gantry with toothed-belt Three-dimensional gantry with toothed belt
axis (Y) and spindle axis (Z) axis (XY) and spindle axis (Z)
Engineering Documentation
Qualified engineers support you Documentation for your handling
right from the outset. system.
Estonia Korea South Slovakia Festo Co., Ltd (Cong Ty Tnhh Festo)
Festo OY AB Eesti Filiaal Festo Korea Co., Ltd. Festo spol. s r.o. No. 206 Tran Nao Street
Laki 11B 470-1 Gasan-dong, Geumcheon-gu Gavlovicová ul. 1 Ward Binh An, District 2
12915 Tallinn Seoul #153-803 83103 Bratislava 3 Ho Chi Minh City, Vietnam
Tel. ++372 666 15 60, Fax ++372 666 15 61 Tel. ++82 (0)2/850 71 14, Fax 864 70 40 Tel. ++421 (0)2/49 10 49 10, Fax 49 10 49 11 Tel. +84 (0)8/740 69 09, Fax 740 69 10
E-mail: info_ee@festo.com E-mail: info_kr@festo.com E-mail: info_sk@festo.com E-mail: info_vn@festo.com