Belt Driven Tables. Parker High-Precision Systems and Services

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1 Belt Driven Tables Linear Motor Driven Tables For high speed automation, both gantry and articulated arm robots are widely used throughout industry. Because of the many inherent advantages of the gantry robot, it is a solid choice for palletizing, storage and retrieval, machine loading, parts transfer, material handling, and automated assembly. Parker offers numerous standard gantry configurations as well thousands of configured product options to develop a customer specific system solution to solve these and other automation applications. Utilization of these preengineered systems enables the user to redirect scarce engineering resources from motion system design to machine or process functionality. Parker High-Precision Systems and Services Parker s family of linear modules provides the most comprehensive line of high throughput linear positioning devices in the industry. These electromechanical positioners are designed to shuttle a payload at high speeds to multiple locations along a linear travel path. They serve as the primary building blocks for Parker preengineered gantry systems or customer designed automation systems. Parker linear modules are offered in several unique product families which can address a broad range of travel, speed, load, accuracy, and environmental requirements. There are three bearing systems (polyamide roller, steel roller, or square rail), three drive types (belt-and-pulley or rack-and-pinion, or linear servo motor), and up to six different cross sectional sizes (6, 8, 1, 12, 15 and 18 mm) from which to choose. Systems designed around these elements have effectively, efficiently, and economically satisfied the widest range of application requirements for high speed automation. OSPE..BHD Series Belt-Driven Positioners OSPE..BV Series Belt-Driven Positioners The OSPE..BHD offers a compact design ideal for high-speed, long travel, heavy duty applications requiring robustness, dynamic precision, and extraordinary performance. Page 26. Robust and compact, the OPSE..BV is a vertical fixed belt-driven actuator with integrated ball bearing guide designed to lift loads in a vertical orientation. Page 3. OSPE..B Series Belt-Driven Positioners Ideal for precise point-topoint applications, the OSPE..B offers high-speed operation, easy installation, and low maintenance. Page 278. HMR High Moment Rodless Series Industrial Belt Driven Positioners The user-friendly and versatile HMR has enormous moment and payload capacity bundled in a low-profile, yet sleek package. The HMRB is ideal for long travel lengths and high speed dynamic positioning. Page

2 Belt Driven Tables LCR Series Light-Capacity Belt-Driven Positioners The LCR Series is a completely pre-engineered, pre-tested, ready-to-use positioner solution for unmatched, easy-to- use flexibility. Page 341. HPLA BELT DRIVEN TABLES Strong and rugged, the HPLA is a next generation linear module. The series offers high speed, high acceleration, and long travel, combined with stiff, rigid construction characteristics. Page 357. HLE-RB The HLE line is a proven performer offering long life and trouble-free operation, ideal as single axis products or as components for high speed multi-axis gantries. Roller Bearing system. Page 372. HLE-SR The HLE line is a proven performer offering long life and trouble-free operation, ideal as single axis products or as components for high speed multi-axis gantries. Square Rail bearing system. Page 385. HZR Vertical-Axis Belt Driven Positioners The HZR is a rugged vertical axis unit unique to the high speed automation industry designed for mechanical demands placed on the vertical axis of a multi-axis gantry robot. Page 396. Additional Capabilities: Gantry Systems Page 42 Parker s gantry systems provide cost-effective, easy to integrate solutions that satisfy the vast majority of automation requirements. In addition to these standard gantry systems, Parker offers products with additional capabilities to fulfill the needs of special applications. Our engineering skill and manufacturing expertise have integrated these products into custom-tailored gantry solutions which have successfully addressed the most unique and exacting requirements of machine builders and integrators around the world. 252

3 HPLA Series Belt Driven Linear Modules FEATURES Strong steel roller bearing option for highest load capacity 153 kg Rugged construction for heavy duty applications Thrust force capacity to 5455 N Standard travel up to 9 meters Velocity up to 5 meters/sec. Positional repeatability of ±.2 mm Timing belt and pulley drive mechanism for fast, accurate positioning Proven Technology Direct mounting for planetary gear reducers eliminating complexity of additional machined parts or couplings Adjustable end of travel limit switches and Home position sensor Cable carrier systems Performance matched Parker servo systems Structural components for vertical and multi-axis mounting Toe clamps and hardware for fast/easy mounting External bumper option Link shafts and support bearing for dual unit axes Splice plates for extending travels beyond length available in a single profile Typical Fields of Application As part of advanced, cost-effective construction of machines and handling systems: Materials handling: palletizing, depalletizing, feeding, part removal Cleanroom technology: wafer transport, wafer coating Warehouse technology: parts picking, storage and retrieval Machine tool automation: workpiece loading and unloading, tool changing Construction: formwork, placing reinforcing steel bars in concrete Process engineering: painting, coating, bonding Testing technology: guiding ultrasonic sensors, laboratory equipment Textile machinery building: cross-cutting, slitting and stacking, quilting, seam stitching HLE6 HPLA8 HLE1 HPLA12 HLE15 HPLA18 Belt Driven Tables The HPLA is a rugged next generation linear module that offers high speed, high acceleration, and long travel, combined with stiff, rigid construction characteristics. It is ideally suited as a single axis product or as a component for high speed multi-axis gantries. The HPLA carriage is rigidly supported on three sides by heavy duty roller bearings, housed in a rugged aluminum housing. The bearing wheels are pre-loaded via eccentric bushings to eliminate play in the system, and are strategically located to evenly distribute the load across the length of the carriage. A high strength steel reinforced drive belt and pulley system provides fast and highly repeatable positioning of the carriage. This high thrust drive belt is securely connected to the carriage by a unique clamping system. This system provides a secure connection and enables easy belt replacement without the need to remove the payload. Having a low coefficient of friction, the carriage design provides a high mechanical efficiency and long service life. Special carriage lengths and linear units with multiple carriages are available for custom applications. 357

4 The Modular Concept Provides the ideal solution for the following applications: High load-bearing capacity High levels of rigidity FEATURES Modular drive system: Increased system stiffness due to larger belt width Low maintenance High performance due to hollow shaft input Modular guide system: Provides an alternative to composite wheel material Quiet operation Low maintenance Steel wheel option on an integrated steel rolling surface for increased load capacity Various options for adaptation to wide ranging applications: Steel cover strip Corrosion-resistant stainless steel version for application in clean rooms or in the food industry Integrated position feedback system for maximum precision Optional IP3 rated strip seal Drive Station The drive stations are designed to accept planetary gear reducers or provide different shaft outputs for driving the HPLA. Gearhead Parker Stealth series gearheads integrated as direct drive options for high performance in a smaller overall width footprint. Drive Belt A zero backlash, steel reinforced timing belt provides high speed, high force, and high acceleration. A serrated clamp mechanism between belt and carriage guarantees a safe, strong connection and allows belt replacement without removing the load. Carriage Roller bearing wheels are installed on three sides of the carriage to provide smooth linear motion and support. The wheels are positioned to evenly distribute the load across the length of the carriage. Eccentric bearing wheel bushings are adjusted to eliminate play on all sides of the carriage. The carriages are available in standard and extended lengths. Tensioning Station An easily accessible tensioning station is used to set the drive belt tension. Housing An extruded aluminum profile provides maximum rigidity (torsion and deflection) at minimum weight. It is designed to accommodate both steel or polyamide roller bearing wheels. The polyamide wheels ride in the extruded guideway and the steel wheels ride on integral hardened steel bearing ways. Roller Bearing Three rows of preloaded heavy duty steel roller bearings provide the highest load carrying capacity available. Each roller bearing incorporates a low friction, lubricated and sealed radial ball bearing enclosed in a hardened steel outer ring (or raceway). A polyamide tread can be substituted for the steel ring whenever whisper quiet motion is desired. Optional IP3 Strip Seal Magnetically attached stainless steel seal strip (not shown) provides environmental protection to interior components. 358

5 SPECIFICATIONS HPLA Series Characteristic Unit Weight (basic unit without stroke) Standard Carriage, NL Extended Carriage, VL Carriage Weight Standard Carriage, NL Extended Carriage, VL Weight/Meter of Additional Travel Units kg (lb) kg (lb) kg (lb) kg (lb) kg/m (lb/ft) Moment of Inertia (related to the drive shaft) Standard Carriage, NL kg-cm 2 (lb-in 2 ) Extended Carriage, VL kg-cm 2 (lb-in 2 ) Polyamide Wheel 6.8 (15.) 8.6 (18.9) 1.7 (3.7) 2.6 (5.7) 6.1 (4.1) 17.8 (6.1) 25.4 (8.7) HPLA8 HPLA12 HPLA18 Steel Wheel 7.5 (16.5) 9.5 (2.9) 1.8 (4.) 2.8 (6.2) 7.3 (4.9) 18.4 (6.3) 26.5 (9.) Polyamide Wheel 2.2 (44.4) 25.2 (55.4) 5.8 (12.8) 8.8 (19.4) 13.7 (9.2) 142 (48) 197 (67) Steel Wheel 21.6 (47.5) 27.1 (59.6) 6. (13.2) 9.2 (2.2) 15.5 (1.4) 146 (5) 24 (7) Polyamide Wheel 57.2 (125.8) 74.8 (164.6) 12.3 (27.1) 21.1 (46.4) 29.4 (19.8) 725 (247) 1121 (382) Steel Wheel 61.6 (135.3) 8.9 (178.) 12.6 (27.7) 21.8 (48.) 33.6 (22.6) 743 (253) 1154 (393) SPECIFICATIONS HPLA18 (Rack Drive) Polyamide Wheel 78.4 (172.5) 95.2 (29.4) 32.5 (71.5) (1) 39.8 (87.6) (1) 31.5 (21.2) 698 (238) 845 (288) Travel and Speed Maximum Speed (2) m/s (in/s) 5 (2) 5 (2) 5 (2) 5 (2) Maximum Acceleration (2) m/s 2 (in/s 2 ) 1 (393) 1 (393) 1 (393) 1 (393) Max. Travel, Standard Carriage NL (3) mm (in) 554 (218) 552 (217) 947 (372) 944 (371) 924 (363) 92 (362) 868 (341) Max. Travel, Extended Carriage VL (3) mm (in) 539 (212) Geometric Data Cross Section, Square mm (in) 8 (3.15) 12 (4.72) 18 (7.9) 18 (7.9) Moment of Inertia Ix cm 4 (in 4 ) 139 (3.34) 724 (17.39) 361 (86.73) 361 (86.73) Moment of Inertia Iy cm 4 (in 4 ) 165 (3.96) 83 (19.94) 477 (97.95) 477 (97.95) Moment of Elasticity N/mm 2 (lb/in 2 ) 537 (211).72 x 1 5 (.144 x 1 8 ) 927 (365) 924 (363).72 x 1 5 (.144 x 1 8 ) 894 (352) 89 (35).72 x 1 5 (.144 x 1 8 ) 838 (33).72 x 1 5 (.144 x 1 8 ) Pulley Data, Torques, Forces Travel Distance per Revolution mm/rev (in/rev) 18 (79) 27 (1.63) 42 (16.54) 28 (11.2) Response Radius of Drive Pulley mm (in) 28.7 (1.13) 43. (1.69) 66.8 (2.63) 44.6 (1.75) Maximum Drive Torque Nm (lb-in) 47.4 (42) (1165) 368 (3264) 58 (514) Maximum Belt Traction (effective load) Refer to charts on following pages Repeatability (3)(4) mm (in) ±.2 (±.8) ±.2 (±.8) ±.2 (±.8) ±.5 (±.2) (1) Includes weight of drive module. (2) Greater speeds and accelerations may be achieved. (3) Bumper to bumper maximum stroke - splicing possible for longer travel distances including safety zone. (4) Nominal value - component dependent. For improved repeatability consult factory. Belt Driven Tables 359

6 SPECIFICATIONS HPLA8 Series Load-Bearing Capacity of Carriage and Timing Belt F X Load-Bearing Capacity of HPLA8 Timing Belt (Fx) Transferable Thrust Force (n) Nominal Belt Tension Maximum Belt Tension Description Gearhead Drive Option (81, km life) (46, km life) Supported Pulley PX9/PX115 PV9/PV115 PS9 S3/S4/ S8/S The forces and moments that the carriage is capable of transferring are speed-dependent. The curves shown in the graphs apply to a standard carriage (S). With the extended carriage (E), all the values apart from Fx (load-bearing capacity of timing belt) can be doubled if the load is applied equally to both halves of the carriage or distributed uniformly along its entire length. HPLA8 Load-Bearing Capacity (Fy and Fz) (Values double for extended carriage) Load bearing capacity [N] HPLA8 Maximum Permissable Moment Load (Mx, My and Mz) (Values double for extended carriage) Maximum permissible torque [Nm] Velocity [m/s] Fz with steel roller guide Fy with steel roller guide Fz with polyamide roller guide Fy with polyamide roller guide My with steel roller guide Mz with steel roller guide Mx with steel roller guide My with polyamide roller guide Mz with polyamide roller guide Mx with polyamide roller guide The curves show the maximum loadbearing capacity of a carriage in one direction of force or torque. If several loads are applied in different directions, the values given by the curves must be derated, i.e. the load or speed should be reduced if necessary. M Z F Z DimAxes software is available for determination of precise carriage loading. Visit to request a Gantry Robot CD. M y F y M x Velocity [m/s] 36

7 SPECIFICATIONS HPLA12 Series Load-Bearing Capacity of Carriage and Timing Belt Load-Bearing Capacity of HPLA12 Timing Belt (Fx) Description Gearhead Drive Option (81, km life) (46, km life) Supported Pulley PV115 PX115 PS9/PS115 S3/S4/ S8/ S9 Transferable Thrust Force (n) Nominal Belt Tension Maximum Belt Tension The forces and moments that the carriage is capable of transferring are speed-dependent. The curves shown in the graphs apply to a standard carriage (S). With the extended carriage (E), all the values apart from Fx (load-bearing capacity of timing belt) can be doubled if the load is applied equally to both halves of the carriage or distributed uniformly along its entire length. F X HPLA12 Load-Bearing Capacity (Fy and Fz) (Values double for extended carriage) Load bearing capacity [N] HPLA12 Maximum Permissable Moment Load (Mx, My and Mz) (Values double for extended carriage) Maximum permissible torque [Nm] Velocity [m/s] Fz with steel roller guide Fy with steel roller guide Fz with polyamide roller guide Fy with polyamide roller guide My with steel roller guide Mz with steel roller guide Mx with steel roller guide My with polyamide roller guide Mz with polyamide roller guide Mx with polyamide roller guide The curves show the maximum loadbearing capacity of a carriage in one direction of force or torque. If several loads are applied in different directions, the values given by the curves must be derated, i.e. the load or speed should be reduced if necessary. F Z DimAxes software is available for determination of precise carriage loading. Visit to request a Gantry Robot CD. M Z F y M x Belt Driven Tables 1 M y Velocity [m/s] 361

8 SPECIFICATIONS HPLA18 Series Load-Bearing Capacity of Carriage and Timing Belt Load-Bearing Capacity of HPLA18 Timing Belt (Fx) Transferable Thrust Force (n) Nominal Belt Tension Maximum Belt Tension Description Gearhead Drive Option (81, km life) (46, km life) Supported Pulley PS115 PS142 S3/S4/ S8/S The forces and moments that the carriage is capable of transferring are speeddependent. The curves shown in the graphs apply to a standard carriage (S). With the extended carriage (E), all the values apart from Fx (load-bearing capacity of timing belt) can be doubled if the load is applied equally to both halves of the carriage or distributed uniformly along its entire length. F X HPLA18 Load-Bearing Capacity (Fy and Fz) (Values double for extended carriage) Load bering capacity [N] Fz with steel roller guide Fy with steel roller guide Fz with polyamide roller guide Fy with polyamide roller guide The curves show the maximum loadbearing capacity of a carriage in one direction of force or torque. If several loads are applied in different directions, the values given by the curves must be derated, i.e. the load or speed should be reduced if necessary. F Z 25 F y Velocity [m/s] HPLA18 Maximum Permissable Moment Load (Mx, My and Mz) (Values double for extended carriage) Maximum permissible torque [Nm] My with steel roller guide Mz with steel roller guide Mx with steel roller guide My with polyamide roller guide Mz with polyamide roller guide Mx with polyamide roller guide DimAxes software is available for determination of precise carriage loading. Visit to request a Gantry Mx Robot CD. Mz My M Z M y M x Velocity [m/s] 362

9 SPECIFICATIONS HPLA Characteristics The HPLA deflection curves can be used for determining the deflection based on the profile length and the application load weight. Applications requiring high acceleration forces can place a severe strain on the system stability. In these cases, a solid substructure may be required with the HPLA product being supported at frequent intervals. These deflection curves illustrate the deflection d, based on the HPLA profile being simply supported at both ends. The graphs take into consideration the self deflection due to the weight of the profile, along with the load to be transported. The maximum deflection cannot be exceeded. If the maximum deflection is exceeded based on your application parameters, then additional supports are required. Alternatively, the next larger profile size may be considered. For deflection formulas and calculations, please refer to the Technical Information Library found on our web site: www. parkermotion.com L F F L F = Force N L = Unsupported length mm d = Deflection mm Deflection Curves Deflection (mm) Deflection (mm) Deflection (mm) Maximum Deflection HPLA Unsupported length (m) Maximum Deflection Unsupported length (m) Maximum Deflection HPLA12 HPLA18 Load (N) Load (N) Unsupported length (m) Load (N) Belt Driven Tables 363

10 SPECIFICATIONS Dual Axis Considerations When two parallel linear modules are required to form a single axis, the span or distance between each unit determines which type of shaft connection is required. In some cases, a link shaft support bearing might also be required. The link shaft bearing is used to support the linking shaft of an HPLA dual axis when there is a large center to center distance. This bearing must be used if the critical speed is exceeded with the dual-axis link shaft. Figure A Critical Speed 9 A (min) A (max) A Span (mm) Series (min.) (max.) HPLA HPLA HPLA Center to Center ( mm) HPLA18 HPLA12 L 1 HPLA Shaft rpm Figure B Linear Velocity 6 A Span (mm) Series (min.) (max.) HPLA HPLA HPLA Linear Velocity (m/s) HPLA18 HPLA12 HPLA8 n v Shaft rpm 364

11 DIMENSIONS HPLA8 Drive Unit Download 2D & 3D files from Dimensions (mm) 46 Gearbox Reference Dimension 199 (w/ strip seal) 164 (w/o strip seal) Safety Zone A + Travel 1* 1* 25 (Std. Carriage) 4 (Extended Carriage) A Travel * Tables With Steel Wheels Only 125 Safety Zone 163(w/ strip seal) 128 (w/o strip seal) A 3 18 Y X Detail X 2.5 Detail Y Section A-A Dimension A (mm) Description With Strip Seal Without Strip Seal Standard Carriage - Polyamide Wheels Standard Carriage - Steel Wheels Extended Carriage - Polyamide Wheels Extended Carriage - Steel Wheels Belt Driven Tables 365

12 Free sizing and selection support from Virtual Engineer at solutions.parker.com/virtualengineer DIMENSIONS HPLA12 Drive Unit Dimensions (mm) 21 6 Gearbox Reference Dimension A + Travel 25 (w/ strip seal) 25 (w/o strip seal) Safety Zone 13* 13* 3 (Std. Carriage) 5 (Extended Carriage) * Tables With Steel Wheels Only Travel 125 Safety Zone 25 (w/ strip seal) 16 (w/o strip seal) 117 A A 11 7 Detail X SQ Section A-A Detail X Dimension A (mm) Description With Strip Seal Without Strip Seal Standard Carriage - Polyamide Wheels Standard Carriage - Steel Wheels Extended Carriage - Polyamide Wheels Extended Carriage - Steel Wheels

13 Download 2D & 3D files from DIMENSIONS HPLA18 Drive Unit Dimensions (mm) Gearbox Reference Dimension A + Travel 393 (w/ strip seal) 293 (w/o strip seal) 125 Safety Zone 2* 4 Standard Carriage 7 Extended Carriage A 2* *Tables With Steel Wheels Only Travel 125 Safety Zone 363 (w/ strip seal) 263 (w/o strip seal) A 235 Description Dimension A (mm) With Strip Seal Without Strip Seal Standard Carriage - Polyamide Wheels Standard Carriage - Steel Wheels Extended Carriage - Polyamide Wheels Extended Carriage - Steel Wheels Section A-A Detail X Detail X Belt Driven Tables 367

14 Free sizing and selection support from Virtual Engineer at solutions.parker.com/virtualengineer DIMENSIONS Idler Unit Dimensions Dimensions (mm) E A Safety B C B Travel Safety A E Zone Zone D D Lubrication system with steel rollers Series Carriage Length Wheel Type With Strip Seal Dimensions (mm) Without Strip Seal A B C D E A B C D E HPLA8 Standard Polyamide HPLA8 Extended Polyamide HPLA8 Standard Steel HPLA8 Extended Steel HPLA12 Standard Polyamide HPLA12 Extended Polyamide HPLA12 Standard Steel HPLA12 Extended Steel HPLA18 Standard Polyamide HPLA18 Extended Polyamide HPLA18 Standard Steel HPLA18 Extended Steel OPTIONS & ACCESSORIES Limit and home sensors, switches, cable carriers, splice plates, and more. See page

15 ORDERING INFORMATION ORDERING INFORMATION Fill in an order code from each of the numbered fields to create a complete model order code. Order Example: HPLA8 D1 B1 T2 C1 DA1 S8 F2 G2-5 K24 R1 H1 LH1 E1 Series HPLA8 HPLA12 HPLA18 C1 C2 C3 C4 Standard Length Carriage with Load Plate* Extended Length Carriage with Load Plate* Standard Length Carriage with Clamping Bar* Extended Length Carriage with Clamping Bar* * See photos below. Drive System D Idler Unit D1 Timing Belt Drive, Nominal Thrust, Maximum Life D2 Timing Belt Drive, Maximum Thrust, Nominal Life Link Shaft Option DA No Link Shaft - Single Axis or Idler Unit DAnnnn Double Unit, Specify Center to Center Distance (mm) Bearing Option B1 Polyamide Rollers *B2 Steel Rollers Travel Tnnnn Carriage * For steel roller option in vertical and inverted orientations, please consult factory for special instructions. Specified travel in mm (nnnn = mm) Drive Shaft Configuration S No Shaft, Idler Unit S3 Supported Pulley, Flange Left S4 Supported Pulley, Flange Right S5 Supported Pulley, Shaft Option, Left S6 Supported Pulley, Shaft Option, Right S7 Supported Pulley, Shaft Option, Both S8 Supported Pulley, Flange Left, Shaft Right S9 Supported Pulley, Flange Right, Shaft Left Drive Housing Flange F No Flange F8 PV9/PX9 Flange (HPLA8 ONLY) S S1 S2 S3 S4 S3 Dual S4 Dual S5 S6 S7 S8 S9 Belt Driven Tables Load Plate carriage option Clamping Bar carriage option 369

16 ORDERING INFORMATION Fill in an order code from each of the numbered fields to create a complete model order code. Order Example: HPLA8 D1 B1 T2 C1 DA1 S8 F2 G2-5 K24 R1 H1 LH1 E1 F9 F1 F11 F12 PX115/PV115 Flange (HPLA8 and HPLA12 only) PS9 Flange (HPLA8 and HPLA12 only) PS115 Flange (HPLA12 & HPLA18 only) PS142 Flange (HPLA18 only) R3 Corrosion resistant preparation with strip seal 1, 2 R4 Corrosion resistant preparation with no strip seal 2 1 C1, C2 Carriage Load Plate Only 2 B1 Bearing Option Polyamide Rollers Only) Gearbox Option G- No Gearbox G8-nn PX9 Gearbox included G9-nn PX115 Gearbox included G1-nn PS9 Gearbox included G11-nn PS115 Gearbox included G12-nn PS142 Gearbox included G14-nn PV9 Gearbox included G15-nn PV115 Gearbox included nn = ratio Single stage ratios 3:1, 5:1, 1:1 Dual stage ratios 15:1, 25:1 Mounting Orientation H1 Carriage Up H2 Carriage Down H3 Carriage on Side, Drive Station Up H4 Carriage on Side, Drive Station Down Limit/Home Switch Option* LH No Limit Switch Assembly LH3 Three NPN Prox Switches,1-3 VDC LH4 Three PNP Prox Switches, 1-3 VDC *C1, C2 Carriage Load Plate Only Motor Kit Option K No Flange K2 NEMA23 stepper, 1/4 shaft K21 BE23 K23 SMN6, MPM72 (metric), N7, J7 K24 SMN82, MPM89 (metric), N92, J92 K26 BE34 K34 MPP92x motor kit K36 Parker MPP1/MPJ1 K39 Parker MPP115/MPJ115 K41 Parker MPP142/MPJ142 K5 Parker HDY55; MPL15XX (Allen Bradley) K51 AKM3X-AN (Kollmorgen) K52 SGMAH-4 (Yaskawa) K53 SGMAH-8 (Yaskawa) K54 MKD41 (Indramat) K55 AKM4X-AN (Kollmorgen) K56 MKD7 (Indramat) K57 MKD9 (Indramat) Linear Encoder E1 Without Linear Encoder E5* 5. Micron Resolution, Magnetic Type E7* Sine Cosine Output, Magnetic Type *C1, C2 Carriage Load Plate Only *Consult factory for linear encoder options and quotation. Environmental Option R1 Standard preparation with strip seal 1 R2 Standard preparation with no strip seal 37

17 HZR Series FEATURES Features Designed as a vertical axis unit Load lifting capacities up to 15 kg Velocity up to 5 meters/sec. Positional repeatability of ±.2 mm Torsion-resistant housing Roller wheel bearings for smooth vertical motion High vertical acceleration The HZR is a rugged vertical axis unit unique to the high speed automation industry. It is specifically designed to satisfy the mechanical demands placed on the vertical axis of a multi-axis gantry robot utilized for high throughput lifting and transporting of heavy or bulky loads. The payload is supported by a high strength extruded aluminum profile which is lifted and guided through a torsion-resistant cast aluminum housing. Maintenancefree, heavy duty polyamide bearing wheels evenly distribute and support the high forces induced by rapid horizontal acceleration of the load. A wear-free, steel cord reinforced timing belt transmits large traction forces to provide high accelerations and lifting capability in the vertical direction. Typical Fields of Application Materials handling: palletization, feeding, removal Textile machinery building: crosscutting, slitting and stacking, quilting, seam stitching Process engineering: painting, coating, bonding Storage technology: commissioning, inventory Machine tool building: workpiece loading, tool changing Testing technology: guiding ultrasonic sensors 396

18 SPECIFICATIONS SPECIFICATIONS Characteristics Unit Weight Basic Unit (based on 1 meter travel) Weight of additional length Moment of Inertia (based on 1 meter travel) Inertia reflected to drive pulley Travel and Speed1 Maximum Speed Maximum Acceleration Maximum Travel Geometric Data Cross Section (square profile) Moment of Inertia Ix Section Modulus, W Pulley Data, Torques, Forces Travel Distance per Revolution Pulley Diameter Maximum Drive Torque Static Load Maximum Belt Traction (effective load) Repeatability Units kg (lb) kg/m (lb/ft) HZR5P (Standard) (33.73) (1.95) HZR5E (Extended) HZR8 HZR (37.92) (1.95) (81.8) (4.9) (132.3) (6.85) kg-cm 2 (lb-in 2 ) (22.58) (22.72) 25 (85.4) 357 (122.) m/s (in/s) m/s 2 (in/s 2 ) m (in) mm (in) cm 4 (in 4 ) cm 3 (in 3 ) mm/rev (in/rev) mm (in) Nm (lb-in) kg (lb) N (lb) mm (in) ±.2 (2) (197) (59.1) (1.97) (.72) (1.82) (7.9) (2.26) (416.3) (99.2) (371.8) (±.8) ±.2 (2) (197) (59.1) (1.97) (.72) (1.82) (7.9) (2.26) (416.3) (99.2) (371.8) (±.8) 1 For higher speeds, accelerations or longer travel consult Parker Application Engineering for assistance ±.2 (2) (393) (59.1) (3.2) (4.5) (2.85) (9.45) (3.1) (956.7) (165) (635) (±.8) ±.2 (2) (393) (78.7) (3.9) (9.2) (4.67) (9.45) (3.1) (1488.1) (331) (992) (±.8) Belt Driven Tables 397

19 SPECIFICATIONS Force and Moment Loads The forces and moments that the carriage is capable of transferring are speed-dependent. The curves shown in the graphs apply to a standard guiding (P). With the extended guiding (E), all the values apart from Fx (loadbearing capacity of timing belt) can be doubled if the load is applied equally to both halves of the carriage or distributed uniformly along its entire length. The curves show the maximum load-bearing capacity of a carriage in one direction of force or torque. If several loads are applied in different directions, the values given by the curves must be derated, i.e. the load or speed should be reduced if necessary. M y F y M x Fx M z F z Z X Y DimAxes software is available for determination of precise carriage loading. Visit to request a Gantry Robot CD. Force vs. Speed Force, N (lb) Force, N (lb) Force, N (lb) 1,8 (45) 1,6(36) 1,4(315) 1,2(27) 1,(225) 8(18) 6(135) 4(9) 2(45) 3,6 (81) 3, (675) 2,4 (54) 1,8 (45) 1,2 (27) 6 (135) 7, (1,575) 5,6 (1,26) 4,2 (945) 2,8 (63) 1,4 (315) F l = F y (P) F l = F y (E) HZR F x F Z Speed, mm/sec F y HZR8 E - Extended guiding P - Standard guiding (39.4) (78.7) (118.1) (157.4) (196.8) F z Speed, mm/sec (in/sec) F z HZR1 F x = Fy Moment Load vs. Speed Moment, Nm (ft-lb) Moment, Nm (ft-lb) Moment, Nm (ft-lb) 35(79) 3(67) 25(56) 2(45) 15(34) 1(22) 5(11) 6 (442.5) 48 (354.) 36 (265.5) 24 (177.) 12 (88.5) 1,4 (1,32.5) 1,12 (826.) 84 (619.5) 56 (413.) 28 (26.5) M y (E) M l (E) M l (P) M y (P) M z (E) HZR5 E - Extended guiding P - Standard guiding M z (P) Speed, mm/sec M y M x M z HZR8 HZR 1 HZR (39.4) (78.7) (118.1) (157.4) (196.8) Speed, mm/sec (in/sec) Mz My HZR1 Mx (39.4) (78.7) (118.1) (157.4) (196.8) Speed, mm/sec (in/sec) (39.4) (78.7) (118.1) (157.4) (196.8) Speed, mm/sec (in/sec) 398

20 SPECIFICATIONS Extension Loads Z Y L X F YE F XE Force vs. Extended Length Force, N (lb) 6(135) 5(112) 4(9) 3(67) 2(45) 1(22) Fy = Fy (E) Fx = Fx (P) HZR5 E - Extended guiding P - Standard guiding Length, mm 1, (215) HZR8 8 (16) Force, N (lb) 6 (135) 4 (9) F XE 2 (45) 2,5 (562) F YE , 1,25 (9.9) (19.7) (29.6) (39.4) (49.2) Length, mm (in) HZR1 Belt Driven Tables 2, (45) Force, N (lb) 1,5 (337) 1, (225) F YE F XE 5 (112) ,125 1,5 1,875 (14.7) (29.5) (44.2) (59.) (73.8) Length, mm (in) 399

21 Total Length = Travel Download 2D & 3D files from DIMENSIONS HZR5 Dimensions (mm) (1) mm dia Cross Section of Profile (enlarged to show detail) Stroke mm dia mm dia (1) HZR8 HZR1 6.8 mm thru hole available for M8 tap Sq mm thru hole available for M8 tap 75 typ sq Cross Section of Profile (enlarged to show detail) M8 Mounting Holes Motor (typical) sq Cross Section of Profile (enlarged to show detail) Dia typ. M1 (16 Places) Motor (typical) 14 2 Tension Adjustment Station Tension Adjustment Station Total Length = Travel Travel M8 x 2 DP (4 plcs) Mounting Surface (adaptor plates available per application) Total Length = Travel Travel 4 14 M8 x 2 DP (4 plcs) Mounting Surface (adaptor plates available per application)

22 ORDERING INFORMATION Fill in an order code from each of the numbered fields to create a complete model order code. Order Example: HZR8 1 A SP2 ARO G2-3 K2 LH1 E Series HZR5 HZR8 HZR1 Table Travel nnnn Specified travel in mm (nnnn = mm) Mounting Flange Options A No Mounting Flange B HZR Mounting to HPLA8 C HZR Mounting to HLE1 D HZR Mounting to HPLA12 E HZR Mounting to HLE15 Drive Station Interface SP1 Drive Housing for PX9/PV9 SP11 Drive Housing for PS9 SP12 Drive Housing for PX115/PV115 SP13 Drive Housing for PS115 Orientation Options ARO Gearbox Right ALO Gearbox Left Gearbox Option G- No Gearbox G1-nn Customer Supplied G8-nn PX9 Gearbox included G9-nn PX115 Gearbox included G1-nn PS9 Gearbox included G11-nn PS115 Gearbox included G12-nn PS142 Gearbox included nn = ratio Single stage ratios 3:1, 5:1, 1:1 Dual stage ratios 15:1, 25:1 Motor Kit Option K No Motor Kit K2 Parker ES23X K21 Parker BE23X K23 Parker N7, ALlen Bradley MPL15XX K24 Parker N92 K26 Parker LV/HV34 K34 Parker MPP92/MPJ92 K36 Parker MPP1/MPJ1 K39 Parker MPP115/MPJ115 K41 Parker MPP142/MPJ142 K5 Parker HDY55; MPL15XX (Allen Bradley) K51 AKM3X-AN (Kollmorgen) K52 SGMAH-4 (Yaskawa) K53 SGMAH-8 (Yaskawa) K54 MKD41 (Indramat) K55 AKM4X-AN (Kollmorgen) K56 MKD7 (Indramat) Limit Switch Assembly LH No Switch Assembly LH1 Three mechanical switches, with 1 NO and 1 NC contact per switch (HZR8 and HZR1) LH2 Two mechanical switches and 1 NPN proximity switch (HZR8 and HZR1) LH3 Three NPN proximity switches NO/NC, 1-3 VDC (HZR8 and HZR1) LH4 Three PNP proximity switches NO/NC, 1-3 VDC (HZR8 and HZR1) LH5 Three NPN proximity switches NO Home ; NC Travel Limits 1-3 VDC (HZR5 only) LH6 Three NPN proximity switches NO Home ; NC Travel Limits 1-3 VDC (HZR5 only) Extended Option E 16 Additional Rollers (HZR5 only) Belt Driven Tables Free sizing and selection support from Virtual Engineer at solutions.parker.com/ VirtualEngineer 41

23 Parker Gantry Robot Systems: Minimize Your Engineering Effort Parker s gantry systems provide cost-effective, easy to integrate solutions that satisfy the vast majority of automation requirements. In addition to our standard gantry systems, Parker offers products with additional capabilities to fulfill the needs of special applications. Our engineering skill and manufacturing expertise have integrated these products into custom-tailored gantry solutions which have successfully addressed the most unique and exacting requirements of machine builders and integrators around the world. Additional Capabilities Motors, Drives and Controls Extended Travels Rotary Motion Modules Cleanroom Preparations External Position Feedback Vertical Axis Brakes End Effectors Protective Guarding Custom Support Structures GANTRY ROBOT SYSTEMS Gantry Robot Elements HPLA or HLE Linear Drive Module Proven high-speed, belt driven linear modules are the core motion components of the gantry system. Vertical Drive Modules Designed specifically to satisfy thrust, side, and moment load requirements while providing reliable vertical motion. Cable Management System Standardized cable carriers with high flex cables ensure system reliability Home Position Sensor Fully adjustable mechanical or proximity sensors provide accurate and repeatable homing. Travel Limit Sensors Fully adjustable mechanical or proximity sensors provide overtravel protection. Structural Frame Steel or aluminum support structures are utilized to provide the strength and rigidity needed for high-speed applications. Gear Reducers Precision planetary gearheads (in-line and right-angle) accurately transfer motion from the motors and reduce reflected inertia. Servo Motor System Brushless servo motor system allows closed loop reliability and high dynamic performance. 42

24 GANTRY ROBOT SYSTEMS Seven Standard Configurations Parker s seven standard system configurations are designed to satisfy the vast majority of gantry robot applications. By standardizing on these configurations, Parker has simplified sizing and selection, shortened lead times, and reduced costs for users of these systems. The travels and loads indicated are nominal, and should not be considered limiting factors. Longer travels and increased loads are attainable depending upon the combination of parameters. System Four Two Axis: XX Z System One Two Axis: XX Y System Five Two Axis: XX Z System Two Two Axis: XX YY System Six Three Axis: XX YY Z System Three Two Axis: XX Z System Seven Three Axis: XX YY Z Belt Driven Tables 43

25 GANTRY ROBOT SYSTEMS System One System One provides two axes of horizontal motion. The primary axis (X) is comprised of two HPLA or HLE Linear Modules linked by a common drive shaft, and the secondary axis (Y) is comprised of one HPLA or HLE Linear Module. These linear modules are capable of high speeds and accelerations over long travels. This system is designed for rapid transport of light to moderate loads in a single horizontal plane. Z Y X Support Structure Available (steel or aluminum framing) X-Axis Drive Rail Assembly X-Axis Driven Rail Assembly X-Axis Link Shaft Assembly X-Axis Cable Carrier X-Axis Drive Motor Y-Axis Drive Rail Assembly Y-Axis Cable Carrier Y-Axis Drive Motor Pillow Block Bearing & Support (Based on Application) Axis Model Number Load Travel Velocity Series No. X-Axis Y-Axis Z-Axis (kg) X-Axis (meters) Y-Axis (meters) Z-Axis (meters) X-Axis (m/sec.) Y-Axis (m/sec.) 1 HLE6RB HLE6RB HLE6SR HLE6SR HPLA8 HPLA HLE1RB HLE1RB HLE1SR HLE1SR HPLA12 HPLA HLE15RB HLE15RB Z-Axis (m/sec.) Note: Loads, travels, and velocities shown are interdependent. Increased values are attainable. Actual configuration will depend on application requirements. Please consult factory for more details. 44

26 GANTRY ROBOT SYSTEMS Dimensions OVERALL = X-AXIS TRAVEL + "C" DIM. BETWEEN BUMPERS = X-AXIS TRAVEL + "B" DIM. "A" DIM. 1/2 TRAVEL 1/2 TRAVEL BETWEEN CENTERS Y-AXIS TRAVEL + "E" DIM. OVERALL = Y-AXIS TRAVEL + "H" DIM. BETWEEN BUMPERS = Y-AXIS TRAVEL + "G" DIM. "F" DIM. 1/2 TRAVEL 1/2 TRAVEL Belt Driven Tables Series No. A Dim B Dim C Dim System One (XX Y) E Dim F Dim G Dim H Dim (1.) 54. (19.84) 73. (28.74) 46.2 (15.99) (6.) 42.4 (15.84) (24.74) (1.) 54. (19.84) 72. (28.35) 38.2 (14.97) (6.) 42.4 (15.84) 618. (24.33) 3 4. (15.75) 65. (25.59) 112. (39.84) 53. (2.87) 25. (9.84) 5. (19.69) 862. (33.94) (17.72) 7. (27.56) 19. (42.91) 588. (23.15) 3. (11.81) 55. (21.65) 94. (37.1) (17.72) 7. (27.56) (44.92) 65. (23.82) 3. (11.81) 55. (21.65) 991. (39.2) 6 5. (19.69) 75. (29.53) 125. (47.44) 56. (22.5) 3. (11.81) 55. (21.65) 15. (39.57) 7 5. (19.69) 75. (29.53) 122. (48.3) 612. (24.9) 35. (13.78) 6. (23.62) 17. (42.13) Note: Dimensional information is shown for reference purposes only. Please consult factory prior to ordering to confirm dimensions. 45

27 GANTRY ROBOT SYSTEMS System Two System Two utilizes two linear modules in both axes (X & Y). The second linear module of the Y-axis is an idler unit which increases load capacity (normal and moment) and permits longer travel. The addition of this unit doubles the load capacity over System One. Traction force can be improved by linking the second axis (Y) module to the first with a common drive shaft. The link shaft doubles the potential acceleration of the system. This system is intended for moderate to heavy loads. Z Y X Support Structure Available (steel or aluminum framing) X-Axis Drive Rail Assembly X-Axis Driven Rail Assembly X-Axis Link Shaft Assembly X-Axis Cable Carrier X-Axis Drive Motor Clamping Profile Y-Axis Drive Rail Assembly Y-Axis Idler Rail Assembly Y-Axis Cable Carrier Y-Axis Drive Motor Pillow Block Bearing & Support (Based on Application) Axis Model Number Load Travel Velocity Series No. X-Axis Y-Axis Z-Axis (kg) X-Axis (meters) Y-Axis (meters) Z-Axis (meters) X-Axis (m/sec.) Y-Axis (m/sec.) 1 HLE6RB HLE6RB HLE6SR HLE6SR HPLA8 HPLA HLE1RB HLE1RB HLE1SR HLE1SR HPLA12 HPLA HLE15RB HLE15RB Z-Axis (m/sec.) Note: Loads, travels, and velocities shown are interdependent. Increased values are attainable. Actual configuration will depend on application requirements. Please consult factory for more details. 46

28 GANTRY ROBOT SYSTEMS Dimensions OVERALL = X-AXIS TRAVEL + "C" DIM. BETWEEN BUMPERS = X-AXIS TRAVEL + "B" DIM. "A" DIM. 1/2 TRAVEL 1/2 TRAVEL BETWEEN CENTERS Y-AXIS TRAVEL + "E" DIM. "D" DIM. BETWEEN CENTERS OVERALL = Y-AXIS TRAVEL + "H" DIM. BETWEEN BUMPERS = Y-AXIS TRAVEL + "G" DIM. "F" DIM. 1/2 TRAVEL 1/2 TRAVEL Belt Driven Tables Series No. A Dim mm (in) B Dim mm (in) C Dim mm (in) System Two (XX YY ) D Dim mm (in) E Dim mm (in) F Dim mm (in) G Dim mm (in) H Dim mm (in) (1.) 54. (19.84) 73. (28.74) (6.69) 58.2 (2.1) 254. (1.) 54. (19.84) 73. (28.74) (1.) 54. (19.84) 72. (28.35) (6.69) (18.98) 254. (1.) 54. (19.84) 72. (28.35) 3 4. (15.75) 65. (25.59) 112. (39.84) 28. (11.2) 68. (26.77) 4. (15.75) 65. (25.59) 112. (39.84) (17.72) 7. (27.56) 19. (42.91) 31. (12.21) 738. (29.6) 45. (17.72) 7. (27.56) 19. (42.91) (17.72) 7. (27.56) (44.92) 31. (12.21) 755. (29.72) 45. (17.72) 7. (27.56) (44.92) 6 5. (19.69) 75. (29.53) 125. (47.44) 33. (12.99) 76. (29.92) 5. (19.69) 75. (29.53) 125. (47.44) 7 5. (19.69) 75. (29.53) 122. (48.3) 3. (11.81) 762. (3.) 5. (19.69) 75. (29.53) 122. (48.3) Note: Dimensional information is shown for reference purposes only. Please consult factory prior to ordering to confirm dimensions. 47

29 GANTRY ROBOT SYSTEMS System Three System Three provides two axes of motion in a vertical plane. A ballscrew driven ET Cylinder is utilized to provide high thrust in the vertical direction. ET Rod Guides, in conjunction with the dual X-axis, minimize the effects of moment and side loading, permitting higher acceleration of the payload. Z Y X Support Structure Available (steel or aluminum framing) X-Axis Drive Rail Assembly X-Axis Idler Rail Assembly X-Axis Cable Carrier X-Axis Drive Motor ET Cylinder Z-Axis with Flange Plate Z-Axis Mounting Plate Z-Axis Drive Motor Z-Axis Cable Carrier Axis Model Number Load Travel Velocity Series No. X-Axis Y-Axis Z-Axis (kg) X-Axis (meters) Y-Axis (meters) Z-Axis (meters) X-Axis (m/sec.) Y-Axis (m/sec.) Z-Axis (m/sec.) 1 HLE6RB ETB HLE6RB ETB HLE6SR ETB HLE6SR ETB HPLA8 ETB HLE1RB ETB HLE1RB ETB HLE1SR ETB HLE1SR ETB HPLA12 ETB HPLA12 ETB HLE15RB ETB HLE15RB ETB Note: Loads, travels, and velocities shown are interdependent. Increased values are attainable. Actual configuration will depend on application requirements. Please consult factory for more details. 48

30 GANTRY ROBOT SYSTEMS Dimensions BETWEEN BUMPERS X-AXIS TRAVEL + "B" DIM. 1/2 TRAVEL 1/2 TRAVEL "A" DIM. "D" DIM. BETWEEN CENTERS X-AXIS TRAVEL + "C" DIM. OVERALL = TRAVEL + "E" DIM. Z-AXIS TRAVEL RETRACTED HEIGHT AND Z-AXIS POSITION DETERMINED BY APPLICATION Series No. A Dim System Three XX Z (Electric Cylinder) B Dim C Dim D Dim E Dim (1.) 54. (19.84) 73. (28.74) 2. (7.87) 238. (9.37) (1.) 54. (19.84) 73. (28.74) 2. (7.87) 34.1 (11.97) (1.) 54. (19.84) 72. (28.35) 2. (7.87) 238. (9.37) (1.) 54. (19.84) 72. (28.35) 2. (7.87) 34.1 (11.97) 5 4. (15.75) 65. (25.59) 112. (39.84) 25. (9.84) 34.1 (11.97) (17.72) 7. (27.56) 19. (42.91) 3. (11.81) 34.1 (11.97) (17.72) 7. (27.56) 19. (42.91) 3. (11.81) (12.67) (17.72) 7. (27.56) (44.92) 3. (11.81) 34.1 (11.97) (17.72) 7. (27.56) (44.92) 3. (11.81) (12.67) 1 5. (19.69) 75. (29.53) 125. (47.44) 35. (13.78) (12.67) (19.69) 75. (29.53) 125. (47.44) 35. (13.78) 494. (19.45) (19.69) 75. (29.53) 122. (48.3) 35. (13.78) (12.67) (19.69) 75. (29.53) 122. (48.3) 35. (13.78) 494. (19.45) Note: Dimensional information is shown for reference purposes only. Please consult factory prior to ordering to confirm dimensions. Belt Driven Tables 49

31 GANTRY ROBOT SYSTEMS System Four System Four is a variation of System Three that offers an alternative mounting arrangement. It is a popular choice for front loading applications and is often implemented as a wall mount unit. Z Y X Support Structure Available (steel or aluminum framing) X-Axis Drive Rail Assembly X-Axis Idler Rail Assembly Z-Axis Mounting Plate X-Axis Cable Carrier X-Axis Drive Motor Z-Axis Electric Cylinder Z-Axis Drive Motor Z-Axis Cable Carrier Axis Model Number Load Travel Velocity Series No. X-Axis Y-Axis Z-Axis (kg) X-Axis (meters) Y-Axis (meters) Z-Axis (meters) X-Axis (m/sec.) Y-Axis (m/sec.) Z-Axis (m/sec.) 1 HLE6RB ETB HLE6RB ETB HLE6SR ETB HLE6SR ETB HPLA8 ETB HLE1RB ETB HLE1RB ETB HLE1SR ETB HLE1SR ETB HPLA12 ETB HPLA12 ETB HLE15RB ETB HLE15RB ETB Note: Loads, travels, and velocities shown are interdependent. Increased values are attainable. Actual configuration will depend on application requirements. Please consult factory for more details. 41

32 GANTRY ROBOT SYSTEMS Dimensions "A" DIM. 1/2 TRAVEL 1/2 TRAVEL OVERALL = X-AXIS TRAVEL + "C" DIM. BETWEEN BUMPERS = X-AXIS TRAVEL + "B" DIM. OVERALL = "E" DIM. + TRAVEL "D" DIM. BETWEEN CENTERS RETRACTED HEIGHT AND Z-AXIS POSITION DETERMINED BY APPLICATION Z-AXIS TRAVEL Series No. A Dim. System Four XX Z (Electric Cylinder) B Dim. C Dim. D Dim. E Dim (1.) 54. (19.84) 73. (28.74) 2. (7.87) 238. (9.37) (1.) 54. (19.84) 73. (28.74) 2. (7.87) 34.1 (11.97) (1.) 54. (19.84) 72. (28.35) 2. (7.87) 238. (9.37) (1.) 54. (19.84) 72. (28.35) 2. (7.87) 34.1 (11.97) 5 4. (15.75) 65. (25.59) 112. (39.84) 25. (9.84) 34.1 (11.97) (17.72) 7. (27.56) 19. (42.91) 3. (11.81) 34.1 (11.97) (17.72) 7. (27.56) 19. (42.91) 3. (11.81) (12.67) (17.72) 7. (27.56) (44.92) 3. (11.81) 34.1 (11.97) (17.72) 7. (27.56) (44.92) 3. (11.81) (12.67) 1 5. (19.69) 75. (29.53) 125. (47.44) 35. (13.78) (12.67) (19.69) 75. (29.53) 125. (47.44) 35. (13.78) 494. (19.45) (19.69) 75. (29.53) 122. (48.3) 35. (13.78) (12.67) (19.69) 75. (29.53) 122. (48.3) 35. (13.78) 494. (19.45) Note: Dimensional information is shown for reference purposes only. Please consult factory prior to ordering to confirm dimensions. Belt Driven Tables 411

33 GANTRY ROBOT SYSTEMS System Five System Five is an X-Z system utilizing the HZR belt driven unit for the vertical axis. The rigidity of the HZR permits higher vertical speed, greater X-axis acceleration, and larger moment loading than System Three. Z Y X Support Structure Available (steel or aluminum framing) X-Axis Drive Rail Assembly X-Axis Idler Rail Assembly X-Axis Cable Carrier X-Axis Drive Motor HZR Z-Axis with Flange Plate Z-Axis Cable Carrier Z-Axis Drive Motor Axis Model Number Load Travel Velocity Series No. X-Axis Y-Axis Z-Axis (kg) X-Axis (meters) Y-Axis (meters) Z-Axis (meters) X-Axis (m/sec.) Y-Axis (m/sec.) Z-Axis (m/sec.) 1 HLE1RB HZR HLE1RB HZR HLE1SR HZR HLE1SR HZR HPLA12 HZR HPLA12 HZR HLE15RB HZR HLE15RB HZR Note: Loads, travels, and velocities shown are interdependent. Increased values are attainable. Actual configuration will depend on application requirements. Please consult factory for more details. 412

34 GANTRY ROBOT SYSTEMS Dimensions BETWEEN BUMPERS = X-AXIS TRAVEL + "B" DIM. 1/2 TRAVEL 1/2 TRAVEL "A" DIM. "D" DIM. BETWEEN CENTERS OVERALL = X-AXIS TRAVEL + "C" "E" DIM. "F" DIM. Z-AXIS TRAVEL RETRACTED HEIGHT DETERMINED BY CUSTOMER Series No. A Dim B Dim System Five XX Z (HZR) C Dim D Dim E Dim F Dim (17.72) 7. (27.56) 19. (42.91) 31. (12.21) 885. (34.84) 17. (6.69) (17.72) 7. (27.56) 19. (42.91) 36. (14.17) 13. (4.55) 245. (9.65) (17.72) 7. (27.56) (44.92) 31. (12.21) 885. (34.84) 17. (6.69) (17.72) 7. (27.56) (44.92) 36. (14.17) 13. (4.55) 245. (9.65) 5 5. (19.69) 75. (29.53) 125. (47.44) 4. (15.75) 885. (34.84) 115. (4.53) 6 5. (19.69) 75. (29.53) 125. (47.44) 4. (15.75) 13. (4.55) 19. (7.48) 7 5. (19.69) 75. (29.53) 122. (48.3) 4. (15.75) 885. (34.84) 115. (4.53) 8 5. (19.69) 75. (29.53) 122. (48.3) 4. (15.75) 13. (4.55) 19. (7.48) Note: Dimensional information is shown for reference purposes only. Please consult factory prior to ordering to confirm dimensions. Belt Driven Tables 413

35 GANTRY ROBOT SYSTEMS System Six System Six is a three-axes version of System Two. HPLA/ HLE linear modules provide motion in the X and Y directions while a vertically mounted ET cylinder provides the third axis (Z) of motion. The ET cylinder provides high vertical thrust capacity at moderate speeds. With the Z-axis retracted, this system can transport moderate to heavy loads at high rates of speed over long travel distances. Z Y X Support Structure Available (steel or aluminum framing) X-Axis Drive Rail Assembly X-Axis Driven Rail Assembly X-Axis Link Shaft Assembly X-Axis Cable Carrier X-Axis Drive Motor Pillow Block Bearing Support (Based on Application) Clamping Profile Y-Axis Drive Rail Assembly Y-Axis Idler Rail Assembly Y-Axis Cable Carrier Y-Axis Drive Motor Z-Axis ET Electric Cylinder Z-Axis Drive Motor Electric Cylinder Mounting Plate Electric Cylinder Mounting Bracket Z-Axis Cable Carrier Axis Model Number Load Travel Velocity Series No. X-Axis Y-Axis Z-Axis (kg) X-Axis (meters) Y-Axis (meters) Z-Axis (meters) X-Axis (m/sec.) Y-Axis (m/sec.) Z-Axis (m/sec.) 1 HLE6RB HLE6RB ETB HLE6RB HLE6RB ETB HLE6SR HLE6SR ETB HLE6SR HLE6SR ETB HPLA8 HPLA8 ETB HLE1RB HLE1RB ETB HLE1SR HLE1SR ETB HPLA12 HPLA12 ETB HLE15RB HLE15RB ETB Note: Loads, travels, and velocities shown are interdependent. Increased values are attainable. Actual configuration will depend on application requirements. Please consult factory for more details. 414

36 GANTRY ROBOT SYSTEMS Dimensions OVERALL = X-AXIS TRAVEL + "C" DIM. BETWEEN BUMPERS = X-AXIS TRAVEL + "B" DIM. "A" DIM. 1/2 TRAVEL 1/2 TRAVEL BETWEEN CENTERS = Y-AXIS TRAVEL + "E" DIM. OVERALL = Y-AXIS TRAVEL + "H" DIM. "D" DIM. BETWEEN CENTERS BETWEEN BUMPERS = Y-AXIS TRAVEL + "G" DIM. 1/2 TRAVEL "F" DIM. 1/2 TRAVEL OVERALL = Z-AXIS TRAVEL + "J" DIM. Z-AXIS TRAVEL Series No. A Dim. B Dim. System Six XX YY Z (Electric Cylinder) C Dim. D Dim. E Dim. F Dim. G Dim. H Dim. J Dim (1.) 54. (19.84) 73. (28.74) (6.69) 58.2 (2.1) 254. (1.) 54. (19.84) 73. (28.74) 238. (9.37) (1.) 54. (19.84) 73. (28.74) (6.69) 58.2 (2.1) 254. (1.) 54. (19.84) 73. (28.74) 34.1 (11.97) (1.) 54. (19.84) 72. (28.35) (6.69) (19.98) 254. (1.) 54. (19.84) 72. (28.35) 238. (9.37) (1.) 54. (19.84) 72. (28.35) (6.69) (19.98) 254. (1.) 54. (19.84) 72. (28.35) 34.1 (11.97) 5 4. (15.75) 65. (25.59) 112. (39.84) 28. (.2) 68. (26.77) 4. (15.75) 65. (25.59) 112. (39.84) 34.1 (11.97) (17.72) 7. (27.56) 19. (42.91) 31. (12.21) 738. (29.6) 45. (17.72) 7. (27.56) 19. (42.91) (12.67) (17.72) 7. (27.56) (44.92) 31. (12.21) 755. (29.72) 45. (17.72) 7. (27.56) (44.92) (12.67) 8 5. (19.69) 75. (29.53) 125. (47.44) 33. (12.99) 76. (29.92) 5. (19.69) 75. (29.53) 125. (47.44) 494. (19.45) 9 5. (19.69) 75. (29.53) 122. (48.3) 3. (11.81) 762. (3.) 5. (19.69) 75. (29.53) 122. (48.3) 494. (19.45) Note: Z-AXIS POSITION & RETRACTED HEIGHT DETERMINED BY APPLICATION Dimensional information is shown for reference purposes only. Please consult factory prior to ordering to confirm dimensions. Belt Driven Tables 415

37 GANTRY ROBOT SYSTEMS System Seven System Seven is a three-axes system which utilizes the HZR unit for the vertical axis. As a result, this system can provide longer vertical travel, higher speed, and greater acceleration than System Six. The inherent rigidity of the HZR also contributes to superior system stiffness, stability, and ease of tuning. If the Z-axis is retracted during horizontal motion, System Seven can easily handle moderate to heavy loads. With the Z-axis fully extended it can handle light to moderate loads. Z Y X Support Structure Available (steel or aluminum framing) X-Axis Drive Rail Assembly X-Axis Driven Rail Assembly X-Axis Link Shaft Assembly X-Axis Cable Carrier X-Axis Drive Motor Clamping Profile Y-Axis Drive Rail Assembly Axis Model Number Load Travel Velocity Series No. X-Axis Y-Axis Z-Axis (kg) X-Axis (meters) Y-Axis (meters) Z-Axis (meters) X-Axis (m/sec.) Y-Axis (m/sec.) Z-Axis (m/sec.) 1 HLE1RB HLE1RB HZR HLE1RB HLE1RB HZR HLE1SR HLE1SR HZR HLE1SR HLE1SR HZR HPLA12 HPLA12 HZR HPLA12 HPLA12 HZR HLE15RB HLE15RB HZR HLE15RB HLE15RB HZR Note: Loads, travels, and velocities shown are interdependent. Increased values are attainable. Actual configuration will depend on application requirements. Please consult factory for more details. 416 Y-Axis Idler Rail Assembly Y-Axis Cable Carrier Y-Axis Drive Motor HZR Z-Axis with Flange Plate Z-Axis Cable Carrier Z-Axis Drive Motor Pillow Block Bearing & Support (Based on Application)

38 GANTRY ROBOT SYSTEMS Dimensions OVERALL = X-AXIS TRAVEL + "C" DIM. BETWEEN BUMPERS = X-AXIS TRAVEL + "B" DIM. "A" DIM. 1/2 TRAVEL 1/2 TRAVEL * Indicates bottom of Z-Axis is above bottom of X-Axis BETWEEN CENTERS Y-AXIS TRAVEL + "E" DIM. "D" DIM. BETWEEN CENTERS OVERALL = Y-AXIS TRAVEL + "H" DIM. BETWEEN BUMPERS = Y-AXIS TRAVEL + "G" DIM. "F" DIM. 1/2 TRAVEL 1/2 TRAVEL "J" DIM. Series No. A Dim. B Dim. C Dim. System Seven XX YY HZR D Dim. E Dim. F Dim. G Dim. H Dim. J Dim. K Dim (17.72) 7 (27.56) 19 (42.91) 31 (12.21) 738 (29.6) 45 (17.72) 7 (27.56) 19 (42.91) 885 (34.84) 5 (1.97) 2 45 (17.72) 7 (27.56) 19 (42.91) 31 (12.21) 738 (29.6) 45 (17.72) 7 (27.56) 19 (42.91) 13 (4.55) 125 (4.92) 3 45 (17.72) 7 (27.56) 1141 (44.92) 31 (12.21) 755 (29.72) 45 (17.72) 7 (27.56) 1141 (44.92) 885 (34.84) 5 (1.97) 4 45 (17.72) 7 (27.56) 1141 (44.92) 31 (12.21) 755 (29.72) 45 (17.72) 7 (27.56) 1141 (44.92) 13 (4.55) 125 (4.92) 5 5 (19.69) 75 (29.53) 125 (47.44) 33 (12.99) 76 (29.92) 5 (19.69) 75 (29.53) 125 (47.44) 885 (34.84) 6 (2.36) 6 5 (19.69) 75 (29.53) 125 (47.44) 37 (14.57) 76 (29.92) 5 (19.69) 75 (29.53) 125 (47.44) 13 (4.55) 15 (.59) 7 55 (21.65) 8 (31.5) 127 (5.) 35 (13.78) 762 (3.) 5 (19.69) 75 (29.53) 122 (48.3) 885 (34.84) 6 (2.36) 8 6 (23.62) 85 (33.47) 132 (51.97) 4 (15.75) 762 (3.) 5 (19.69) 75 (29.53) 122 (48.3) 13 (4.55) 15 (.59) Note: "K" DIM. Z-AXIS TRAVEL RETRACTED HEIGHT DETERMINED BY CUSTOMER Dimensional information is shown for reference purposes only. Please consult factory prior to ordering to confirm dimensions. Belt Driven Tables 417

39 GANTRY SYSTEM OPTIONS & ACCESSORIES Gantry Systems Capabilities & Accessories Parker s gantry systems provide cost-effective, easy to integrate solutions that satisfy the vast majority of automation requirements. In addition to these standard gantry systems, Parker offers products with additional capabilities to fulfill the needs of special applications. Our engineering skill and manufacturing expertise have integrated these products into custom-tailored gantry solutions which have successfully addressed the most unique and exacting requirements of machine builders and integrators around the world. Support Structures Parker can include the support structure and machine guarding as part of your complete system solution. Parker s ParFrame extruded aluminum structures are suited for light to medium duty requirements. High strength steel supports are offered for applications involving greater loads and forces. Aluminum Structures Lightweight aluminum extrusions Economical modular construction Standard metric sizes compatible with linear drive units Steel Support Structures Heavy duty support High system stiffness Ideal for higher overhead gantries Engineered and fabricated to customer specifications Gantry Robot CD available at Sizing Software CAD Files (Parametric Tools) Product Manuals Photos/Applications Library Movie Gallery 418