Basic HTML Version
13
Y
Z
M
1
M
2
ZR
The kinematic chain:
• 2 stationary servo motors M
1
and M
2
• 1 rotating toothed belt ZR
• 1 very rigid Y-axis, 1 rigid yet lightweight Z-axis
Alternatives for decentralised
control of the pick and place
function for the T-gantry:
• Control package CMCA with
robotic controller CMXR and
synchronous 3D interpolation
for complex applications and
maximum requirements for
dynamic response
… Page 22
• Intelligent in IP65/IP67 with
CoDeSys embedded controller
CPX-CEC-M1 for synchronous
movements and 2.5D interpo-
lation for simple applications
… Page 23
• Intelligent Compact Vision
System SBOx-Q with integrat-
ed CoDeSys PLC for direct con-
trol of electric drives for sim-
ple process sequences
… Page 23
Function
The linear gantry is characterised by its two stationary motors on
the Y-axis and the rotating toothed belt. The toothed belt, which is
secured to the front panel of the Z-axis, runs completely along the
two rigid axes. The resulting kinematic structure enables the coordi-
nated and free movement of the front panel in the vertical plane.
The direction of movement, acceleration and speed are realised via
simultaneous control of both motors. The superposition of both
motor outputs and the reduced moving mass enable the high
dynamic response of the YZ movement.
Optional front unit
The Front Unit interface, the so-called front panel, can be equipped
with optional rotating, gripping or vacuum solutions.
Kinematics in detail:
• the superposition of both motors enables the direction
of movement of the front panel in a Y and Z-direction
• both motors together ensure maximum acceleration and speed
for exclusive movement of the front panel in a Y or Z-direction
+
+
•
-
•
•
Motor 1
Motor 2