Standard gantry robots. Catalogue: N5/UK Version 5 / March 2004
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1 Catalogue: N5/UK Version 5 / March 2004
2 Parker worldwide partner for automation systems 2 Parker Hannifin GmbH
3 Gantry robot kits Content Gantry robot kits... 3 System overview... 4 Line gantry: Technical specifications... 6 Line gantry: Dimensions... 7 Space gantry: Technical specifications... 8 Space gantry: Dimensions... 9 Order code Gantry robots - Overview...11 Standard components to satisfy your system requirements Standard components ensure short deliveries & competitive pricing Flexible solution for experienced machine builders 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. Using our engineering expertise standard parker components enable gantry kits to be supplied cost effectively. Factory pre-assembly 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. Selectable levels of integration enable the machine builder or systen integrator to assemble a suitable solution: Actuators only (with gearboxes) Actuators + cable management system Actuators & motion control & cable chain management Custom systems can be supplied upon request! 3 Parker Hannifin GmbH
4 System overview ou have the choice! are available in various system configurations: Basic gantry Line gantry with - and -axis or space gantry with -, - and - axis (all actuators with gearbox), optional with steel strip cover for the - and -axis (Protection class IP30), optional with cable management (for all axis). Optional Drive package Complete package consisting of motors, controller, motor- and feedback cable and a parameter list. Cable management Cable management for all axes can be provided. Entry point: drive of -axis. Basic gantry The basic version includes the linear actuators, with mounted gearbox and assembly accessories. Initiators and limit switch kit Customer supplied motors can be specified 1). On request we deliver Initiators, end of travel switches and tripping plates for each axis (Please order separately). ou will find ordering information in the adequate linear actuator catalogs: linear actuators: (English), (German) linear actuators: (English), (German) HR vertical actuators: (English), (German) Steel base Steel support structures can be supplied on request for easy robot installation. 1) If a customer-specific gearbox is used the delivery time of the entire gantry robot may extend up to 6 weeks. 4 Parker Hannifin GmbH
5 Complete with drive In additional to the basic gantry a complete drive package can be ordered. Comprising of: Motor Controller Motor- and feedback cables Parameter list for all axis. Controller Compax3 provides a control solution to meet the most demanding requirements. Software Parameter set for the optimisation of the controller ensuring easy setup and dynamic performance. Motor- and feedback cables Free cable length specified by customer. Motors Parker servo motors with resolver feedback or with SinusCosinus Multiturn feedback (absolute value encoder - no initiators required) 5 Parker Hannifin GmbH
6 Line gantrys - Combination of / linear actuator and HR vertical actuators Gantry GL02 GL03 GL04 GL05 GL06 Axis Actuator HR 50 HR HR HR HR Basic version max. Stroke [m] v max 1) [m/s] a max 2) 3) [m/s 2 ] max. Payload [kg] Gearbox max. duty cycle [%] at acceleration rates [m/s 2 ] 2) Drive package Motor description P3 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/050/002/B09/19/ i=5 % % 90 % /230 P3 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/050/004/B09/19/ i=5 85 % 76 % 69 % 63 % 58 % /230Br (with brake) P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/060/006/B09/19/ i=5 % % 89 % 71 % 59 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/045/008/B09/19/ i=7 91 % 81 % 73 % 66 % Br (with brake) P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/060/006/B09/19/ i=7 % % 93 % 73 % -- /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/056/008/B09/19/ i=7 % 91 % 81 % 73 % 67 % 400Br (with brake) i=7 % % % 89 % 72 % /400 i=7 78 % 70 % 63 % /400Br (with brake) i=7 % % % 92 % 75 % /400 i=7 78 % 70 % 63 % /400Br (with brake) Controller C3S063 U line = 230V C3S063 U line = 230V 1) Values for max. working envelope and max. payload. 2) Only valid for uniform acceleration (linear acceleration ramp); max. acceleration values - provided drive power is sufficient. 3) Valid for -axis (with -axis retracted). 6 Parker Hannifin GmbH
![duty cycle [%] at acceleration rates [m/s 2 ] 2) Drive package Motor description P3 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/050/002/B09/19/ i=5 % % 90 % -- -- /230 P3 1 m/s 2 2 m/s 2 3 m/s 2 4](/docs-images/48/23797601/images/page_6.jpg "m/s 2 5 m/s 2 MH_105/050/004/B09/19/ i=5 85 % 76 % 69 % 63 % 58 % /230Br (with brake) P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/060/006/B09/19/ i=5 % % 89 % 71 % 59 % /400 P4 1 m/s 2 2 m/s 2")
7 AA B "-stroke" K2 H "-stroke" + K2 K1 "-stroke" + K N5 SP AS1 "-stroke" SP1 L = "-stroke" +K AS LL Gantry K1 K2 H AS LL SP K AA B AS1 SP1 robots standard IP30 standard IP30 standard IP30 GL GL GL GL GL Parker Hannifin GmbH
8 Space gantry robots - Combination of / linear actuators and HR vertical actuators Gantry GR02 GR03 GR04 GR05 GR06 GR07 GR08 GR09 GR10 GR11 Axis Actuator HR 50 HR HR HR HR HR HR HR HR 1 HR Basic version max. Stroke [m] v max 1) [m/s] a max 2) 3) [m/s 2 ] max. Payload [kg] Gearbox max. duty cycle [%] at acceleration rates [m/s 2 ] 2) Drive package Motor description P3, 1 m/s 2 2 m/s 2 3 m/s 2 MH_105/050/004/B09/19/ i=5 % 95 % 68 % /230 P3, 1 m/s 2 2 m/s 2 3 m/s 2 MH_105/050/002/B09/19/ i=5 % % 90 % /230 P3, 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/050/004/B09/19/ i=5 99 % 89 % 81 % 74 % 68 % /230Br (with brake) P4 1 m/s 2 2 m/s 2 3 m/s 2 MH_105/060/008/B09/19/ i=5 % % 72 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 MH_105/060/006/B09/19/ i=5 % % 89 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/045/008/B09/19/ i=7 91 % 81 % 73 % 66 % 60 % /400Br (with brake) P5 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_145/056/015/B05/24/ i=5 % % 98 % 76 % 62 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 MH_105/060/006/B09/19/ i=5 % % 89 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/045/008/B09/19/ i=7 91 % 81 % 73 % 66 % 60 % /400Br (with brake) P5 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_145/045/022/B05/24/ i=7 % % % 79 % 64 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 MH_105/060/006/B09/19/ i=5 % % 85 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/045/008/B09/19/ i=7 91 % 81 % 73 % 66 % 60 % /400Br (with brake) P5 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 MH_145/056/015/B05/24/ i=7 % % 98 % 75 % /400 P4 1 m/s 2 2 m/s 2 MH_105/060/002/B09/19/ i=7 % 68 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/045/008/B09/19/ i=7 % 91 % 81 % 73 % 67 % /400Br (with brake) P5 1 m/s 2 2 m/s 2 3 m/s m/s 2 MH_145/045/008/B05/24/ i=7 % % 70 % 62 % /400 P4 1 m/s m/s 2 MH_105/060/002/B09/19/ i=7 % 71 % /400 P4 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_105/056/008/B09/19/ i=7 82 % 72 % 65 % 59 % 54 % /400Br (with brake) i=7 % % 72 % 55 % 44 % /400 P5 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_145/045/008/B05/24/ i=7 % % 98 % 75 % 61 % /400 P5 1 m/s 2 2 m/s 2 3 m/s 2 MH_145/045/015/B05/24/ i=7 78 % 70 % 63 % /400Br (with brake) P5 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_145/045/022/B05/24/ i=7 % % 87 % 66 % 54 % /400 P5 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_145/045/008/B05/24/ i=7 % % 98 % 75 % 61 % /400 P5 1 m/s 2 2 m/s 2 3 m/s 2 MH_145/045/015/B05/24/ i=7 78 % 70 % 63 % /400Br (with brake) P5 1 m/s 2 2 m/s 2 3 m/s m/s 2 MH_145/045/022/B05/24/ i=7 % % 75 % 66 % /400 i=7 % % % 92 % 75 % /400 P5 1 m/s 2 2 m/s 2 3 m/s 2 MH_145/045/015/B05/24/ i=7 78 % 70 % 63 % /400Br (with brake) P7 1 m/s 2 2 m/s 2 3 m/s 2 4 m/s 2 5 m/s 2 MH_145/045/022/B05/24/ i=7 % 85 % 58 % 44 % 35 % /400 i=7 % % % 92 % 75 % /400 P5 1 m/s 2 2 m/s 2 3 m/s 2 MH_145/045/015/B05/24/ i=7 78 % 70 % 63 % /400Br (with brake) Controller C3S063 U line = 230V C3S063 U line = 230V C3S063 U line = 230V 1) Values for maximum working envelope and maximum payload. 2) Only valid for uniform acceleration (linear acceleration ramp); max. acceleration values - provided drive power is sufficient. 3) Valid for -axis and -axis (with retracted -axis) 8 Parker Hannifin GmbH
9 "-stroke"+k AS LL "-stroke" SP AA "-stroke"+k2 K1 "-stroke" H K2 "-stroke"+k N5 A "-stroke" S A "-stroke" S "-stroke" + K AS LL "-stroke" SP AA Gantry K1 K2 H AS LL SP K robot standard IP30 standard IP30 standard IP30 GR GR GR GR GR GR GR GR GR GR Gantry AS LL SP K A S A S AA AA robot standard IP30 standard IP30 standard IP30 GR stroke GR stroke GR stroke GR stroke GR stroke GR stroke GR stroke GR stroke GR stroke GR stroke Parker Hannifin GmbH
10 Order codes G / / Type / Size See table on page 11 Line gantry G L (), HR50 () G L 0 2 (), HR () G L 0 3 (), HR () G L 0 4 (), HR () G L 0 5 (), HR () G L 0 6 Space gantry G R (), (), HR50 () G R 0 2 (), (), HR () G R 0 3 (), (), HR () G R 0 4 (), (), HR () G R 0 5 (), (), HR () G R 0 6 (), (), HR () G R 0 7 (), (), HR () G R 0 8 (), (), HR () G R 0 9 (), (), HR () G R (), (), HR () G R 1 1 Steel strip cover All axis without steel strip cover and - if exist -axis with steel strip cover (IP30) Stroke -axis Indicate stroke (in mm) n n n n Stroke -axis With GR..: indicate stroke (in mm) n n n n With GL..: indicate "0000" N C Stroke -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 Motor / encoder system Without drive package Resolver Multiturn SinusCosinus (Absolute value encoder) Compax3 Fieldbus option Without drive package Positioning with inputs/outputs Profibus CANopen Free length of cable between switch cabinet and cable management Without drive package N Cable length 5 m 1 Cable length 10 m 2 Cable length 15 m 3 Cable length 20 m 4 Cable length 25 m 5 Cable length 30 m 6 Cable length 35 m 7 Cable length 40 m 8 Cable length 45 m 9 2D DF Files or 3D IGES Files on request! N A N R M N A P C 10 Parker Hannifin GmbH
11 Overview Line gantry Type / Size Axis Actuator max. stroke GL02 GL03 GL04 GL05 GL06 HR50 HR HR HR HR [m] max. payload [kg] More Information... Page 6 and 7 Page 6 and 7 Page 6 and 7 Page 6 and 7 Page 6 and 7 Space gantry Type / Size Axis Actuator max. stroke [m] GR02 GR03 GR04 GR05 GR06 GR07 GR08 GR09 GR10 GR11 HR50 HR HR HR HR HR HR HR HR 1 HR max. payload [kg] More information Parker Hannifin GmbH
12 - our partner for automation Would you like more information? We would be happy to send you our brochures and catalogs! Or call us and set up a meeting. Our product program: Visualisation Distributed Automation Control Technology We reserve the right to make technical changes. The information contained in this manual corresponds to the current status at the time of printing. Drive Technology Servo Drives / Stepper Drives Motors / Gears Direct Drive Technology Linear motors / Torque motors Handling Actuators Cylinders / Actuators Parker Hannifin GmbH & Co.KG Robert-Bosch-Str. 22 D Offenburg, Germany +49 (0) (0) Website: [email protected] Precision Actuators Screw Driven / Linear Motor Driven Parker Hannifin S. p. A Via Gounod 1 I Cinisello Balsamo (MI), Italy Website: [email protected] Parker 2. reprint 2005/05/25 Parker Hannifin plc Arena Business Centre Holy Rood Close, Poole, Dorset. BH17 7BA UK +44 (0) (0) Website: [email protected]
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