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GANTRY CARTESIAN ROBOTS FROM 2 TO 6 AXES

The machine can be supplied with 3 Cartesian axes and any combination of rotary axes. It is possible to use the robot as shown in the figure or rotated 90 � to have the vertical Y axis and the horizontal Z axis. The U, W, and J rotations can be controlled by servomotors or, if there are only two positions, it is possible to mount pneumatic actuators.

Cartesian 4 axis portal robot for bonding tiles

For particularly long Z-axis travels, the Z-axis can be telescopic to reduce vertical dimensions. For small Y-axis travel, Y less than 1000, 1200, 1500 (runs for the 3 sizes light, medium and heavy) the X-axis transmission can be on one of the two X-axis guides. For higher strokes, the transmission of the X axis is realized with a transmission for each of the two guides of the X axis (photo at the top of the page).

Transmissions are made with low-backlash planetary gearboxes. The motors can be Panasonic or Danaher Motion.
The CP series robots can be supplied with timing belt or rack and pinion transmissions. Models with timing belt drives can have the X axis motor "on the ground" as shown in figure beside, or with the motor on board the carriage moving along X, like the figures on the page.

The position feedback is obtained by the resolver or encoder of the motor. For applications in which high accuracy is required in the repetition of the positioning, the position feedback can be achieved with optical scales.

The robot can also be supplied with induction motors and inverters, in applications with low performance and reduced positioning accuracy.

Cartesian 4-axis robot controlled with inverter

The Cartesian gantry robot CP series is schematized in the figure on the right.

Cartesian gantry robots CP series can be supplied in 4 sizes:

Light size with a payload of 10 kg at the wrist
Medium size, with a payload of 60 kg at the wrist
Heavy size, with a payload of 120 kg at the wrist
Heavy size 3/4 axes for palletizing payload up to 300Kg

The gantry cartesian robots can be supplied in the following configurations:

Basic supply of axes only, no motors, no sensors and no electrical system
Supply as in point 1 plus support frame
Supply as in point 1 plus electric panel with PLC (Lenze (Codesys), Siemens, Omron o Mitsubishi) o CNC, HMI touch screen 7" color, motors and drives, sensors
Supply as in point 3 more control and command software

The cartesian axes can be positioned independently or can be interpolated (linearly or circularly with particular curves). The complex interpolation shapes are obtained with the use of axes control boards.

Download the pdf catalog of Cartesian axis robots

Cartesian robot sizing table

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Name
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Type Cartesian robot
X axis stroke mm
Y axis stroke mm
Z axis stroke mm
U axis stroke �
W axis stroke �
J axis stroke �
U rotation with pneumatic cylinder
W rotation with pneumatic cylinder
J rotation with pneumatic cylinder
Weight in kg to be moved (including gripper)
Supply of only the mechanical part
Robot controller
Supply of complete system with software
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