GANTRY ROBOTS FLEXIBILITY SPEED PRECISION

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GANTRY ROBOTS

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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 over-lapping movements and offers all de-grees of freedom of a 6-axis robot. This flexibility combined with a high operat-ing speed makes it extremely powerful: Solo 6 achieves pick & place cycles of only one second. Its design configura-tion 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 periph-eral 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

Technical features

• Low-noise linear guiding unit

• Helical toothed racks

• Synchronized drive technology

• KUKA servo equipment

• Precision gear reducers for rotary axes

• KUKA control technology

• Energy supplied electrically to the fifth axis, pneumatically to the sixth axis

• Precision ball roller guides

• Standardized energy couplings

• Gripper quick change system

• Rotary drive technology - Servo motors

- Reduction gear - Toothed belt drive

• Quick change head - 3 axes

- Double angle drive

- Feed-through for energy and air

3 motors with absolute encoders

3 gear reducer units

3 toothed belts

3 drive pulleys

Angle drive with feed-through duct Mounting flange

C-axis housing

Vertical axis Y with ISO flange (optionally, rotary axis B) Drive housing

Drive axis Y Drive axis C Drive axis A

ROTARY DRIVE UNIT

QUICK CHANGE HEAD

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)

Housing of axis A with integrated toothed belt for the vertical axis

QUALITY TO THE VERY DETAIL

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GANTRY ROBOT MONO

3-AXIS ROBOT

Field of application

Unloading and loading (feeding) operations for production machines, e.g. injection molding or metal cutting machines.

Advantages

• Rugged high-precision 3-axis robot

• Excellent cost / performance ratio

• PC-based control system

1 Application example

Unloading and loading system for plastic toothed wheels with metal shafts at the Mast company.

Project description

Ingenious design: The gripper system lets the shafts float in the gripper by an air bearing effect during handling. This makes it possible to place the shafts into the precise position 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

GANTRY ROBOT STEREO

DOUBLE 3-AXIS ROBOT

Loading of machines combined with parallel pick & place operations.

Advantages

• Task sharing can shorten the cycle to half

• Synchronous sequences are possible

2 Application example

Robotized automation for all-around coating of coils and metal bodies at the Sigwart company.

The double 3-axis system performs several tasks simultane-ously: Finished-part unloading, loading the adjusting station and feeding the metal body with the coil into the injection molding machine.

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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Flexible unloading and loading tasks for injection molding machines. Subito Coro combines a 3-axis system with a 6-axis system. This makes it a multi-tasking artist: Several pick & place grippers in the 6-axis system load the loading gripper of the 3-axis system with the parts to be loaded in a variable way. In addition, the 6-axis system can perform, for example, assembly tasks at the periphery.

Advantages

• Fast cycles are achieved by overlapping movements

• 6-axis robot with all degrees of freedom for peripheral tasks such as, for example, assembly tasks or direct load-ing of the 3-axis system in a shake-hand operation by the 6-axis system (dynamic transfer)

3 Application example 1

Robotized automation for all-around coating of filters at the Karcoma company.

The 6-axis robot system with its pick & place grippers picks up the filter jackets in the adjusting station – behind the bowl feeder – in the correct position with a clearance of 1 mm and loads the loading gripper of the 3-axis system dyna mically. Subsequently the 3-axis loading robot feeds the parts into the injection molding machine in one go with its floating 8-way gripper; the correct alignment and the positioning accuracy during transfer are monitored by a contact sensing system installed in the gripper system.

4 Application example 2

Automation of a rotary table injection molding machine: Loading contact pins and unloading the shell at the KBS company.

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 fin-ished parts are then inspected for proper contact insulation in the inspection station and subsequently packed.

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GANTRY ROBOT SUBITO CORO

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GRIPPER SYSTEMS

GRASPING AND RELIABLE

FPT gripper systems are provided with 3-dimensional floating bearings and achieve maximum precision and process reliability when loading the parts to be coated. Furthermore, they are provided with an alignment or fixing feature which safeguards precise transfer with-out alignment error. The grippers are designed on the basis of a standardized quick change system which facilitates quick product change. This makes FPT gripper systems perfectly suited for demanding fields of application – e.g. injection molding with inserted parts (in-mold process).

Applications of gripper systems for in-mold injection processes:

• Contact pins • Soldering lugs • Coil bobbins • Coil cores • Gear shafts • In-mold labeling • 2-component coating • Filters • Bushes • Armatures

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THE CONTROL PHILOSOPHY

Your benefits from the KUKA compatibility:

• Advanced industry standard

• State-of-the-art technology • PC-based control • World-wide service • Soft PLC ROBOT CONTROL CPU KUKA PC

Microprocessor technology PENTIUM (or equivalent)

Programming Technology-oriented user programming

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. 1)

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 - 61 Hz

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}3)

Noise emission 67dB (A) (DIN 45635-1)

HAND-HELD PROGRAMMING UNIT

Dimensions (W × H × D) 330 × 260 × 110 mm 4)

1)_{Number of additional axes depends on}

motor size

2)_{Valid for standard version} 3)_Option

4)_{Depth incl. recessed handle and}

emergency stop button

Warning: The KR C2 control cabinet may only be operated on power circuits with a grounded star point.

Pentium PC processor Upload/download Commands, variables MFC multi-function card Windows Operation, display, data management Real-time module VxWorks Command processing, path planning… DSE-IBS

(Digital Servo Electronics) Control, commutation, fault monitoring CAN

RDC (resolver-to-digital converter) resolver values, calibration position Drive bus IBS

Optional Standard Serial Drive amplifier Ethernet Interbus, Profibus, DeviceNet, ControlNet, Ethernet CAN Bus (DeviceNet) Digital I/O Serial interface Suitable plug-in card TCP/IP Previously special protocol PCI CAN ISA/PCI KUKA-VGA KR C2 control cabinet KR C2 robot control

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Schattbucher Straße 10, 88279 Amtzell Tel.: +49 75 20 95 13-0, Fax: +49 75 20 9513 -13 Mail: info@fpt.de, www.fpt.de

Te ch n ic a l d a ta a n d f ig u re s m a y d if fe r f ro m y o u r s p e c if ic c o n fi g u ra ti o n . S u b je c t t o m o d if ic a ti o n . V 1 - © F P T · D e si g n : w w w .di ezone .n e t 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

3D view

Linear servo axes 3 3+3 3+3 3+3

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 – – – 360°

Maximum load capacity

(depending on design type) 10 kg 25 kg 10 / 25 kg 25 / 5 kg

Repetition accuracy < ± 0.03 mm < ± 0.03 mm < ± 0.03 mm < ± 0.03 / 0.05 mm

Maximum axis speed

(linear) 2 m / 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