Handling systemoverview en

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Handling system overview

Multi-axis systems and drives

HSUE_en_V06.qxp 28.11.2011 10:08 Uhr Seite 1

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Table of contents

Cantilever axes –

Three-dimensional systems .. 14

Cartesian XYZ handling unit for

long horizontal strokes and short

vertical strokes, electric and/or

pneumatic

3D gantries –

Three-dimensional

systems ................................. 16

Cartesian XYZ handling, electric

and/or pneumatic

Advanced Handling

Systems ................................. 18

High-speed kinematics and con-

trol package for 2D and 3D appli-

cations

Application-specific

solutions ............................... 20

• Gripper systems

• Frame options

Mechatronic Motion

Solutions ................................. 4

Your task defines the solution!

Electric axis EGC

in focus .................................... 6

Pick & place .......................... 10

• High-speed, handling module

link-guided,

electric or pneumatic

• YZ handling for short strokes,

electric and/or pneumatic

Linear gantries –

Two-dimensional systems ..... 12

YZ handling for long strokes,

electric and/or pneumatic


3

Grippers, electric

and pneumatic ...................... 40

Vacuum technology ............... 46

Motors, gear units

and controllers ...................... 48

Compact vision systems ........ 52

Multi-axis control systems ... 53

Software tools, ready-to-install

solutions, controller control

cabinets ................................. 56

Commissioning and mainte-

nance, after sales service,

engineering ........................... 60

Gantry axes, electric

and pneumatic ...................... 24

Cantilever axes, electric

and pneumatic ...................... 30

Mini slides, electric

and pneumatic ...................... 34

Linear motor axes

and cylinders, electric ........... 36

Rotary drives, electric

and pneumatic ...................... 38


4 Handling system overview – Subject to change – 2011/07

Mechatronic Motion Solutions

Mechatronic Motion Solutions from Festo is a globally unique

system comprising components, modules, systems and software.

It combines all types of pneumatic, servopneumatic and (electro)

mechanical motion, geared to your task. Irrespective of the control

system environment you use, Mechatronic Motion Solutions pro-

vides the appropriate interfaces.

Mechatronic

Guarantees the mechanical and electrical compatibility and combina-

tion at all levels. All pneumatic and electric drives are equipped with

suitable interfaces for mechanical, data and energy transmission,

thus ensuring that different technologies can be combined in one

system. It also enables complex handling and positioning systems to

be set up easily and safely.

Motion

Stands for the comprehensive, multi-dimensional portfolio of linear

and rotary drives as well as a large variety of mechanical and vacuum

grippers. They provide a host of benefits, such as high speed, preci-

sion, etc.

Solutions

Represents the decades of experience Festo has in the field of hand-

ling technology, across all industries and continents. This includes

first-class expertise in the development of components and sophisti-

cated systems. They range from pre-designed and calculated compo-

nents to subsystems and complete systems. The logical answer to the

demand for pre-installed and customised systems and solutions.

Forward-looking:

The Bionic Handling Assistant.

Now in the Festo range:

numerous innovative products that have

already proven their worth in practice,

including the adaptive gripper DHDG

and the robotic controller CMXR.

More details on page 63Winner 2010


A detailed description of our

services can be found starting on

page 56

52011/07 – Subject to change – Handling system overview

Consulting

Common solution methods lead

to better overall solutions. Soft-

ware tools also provide assis-

tance with design and configura-

tion.

Quotation

A prompt, complete and detailed

quotation comprising:

• 3D drawing

• Parts list

• Cycle and travel times

• Performance level

• Functional sequence

• Price

Ordering

One part number, one order

item, one delivery date makes

for easy ordering. Includes order

tracking.

Engineering

We can plan and design your

single or multi-axis system in

no time at all. You also receive

CAD drawings, circuit diagrams,

parts lists and detailed system

documentation.

Assembly

All functions and requested fea-

tures are fully tested:

• Quality

• Perfect fit

• Harmonised interfaces

(mechanical and electrical)

Engineering Procurement Assembly Operation

Cost saving

Time saving

Enhancing process reliability

Define the level of cooperation

you want: step by step

Consulting Quotation Ordering Engineering Assembly Commissioning Maintenance

Commissioning

Festo offers fast and reliable

integration and commissioning

of complete subsystems – direct-

ly in your machine.

Maintenance

The production industry is

focussed on preventing produc-

tion stoppages. This is another

reason why our solutions provide

maximum reliability – and reduce

your process costs and time to

market.



Top performer

Generously sized profiles with an

optimised cross section afford

maximum rigidity and load

capacity of the drives. Speed,

acceleration and torque resist-

ance set a new standard.

Economical

In addition to its technical fea-

tures, the EGC offers outstanding

value for money. And thanks to

its high performance, a smaller

size can often be used, particu-

larly in the case of spindle axes!

Quicker planning

The integration of the EGC in the

Festo multi-axis and modular

positioning system offers stand-

ardised interfaces for other

drives and motor packages.

The PositioningDrives software

makes design much easier, and

ensures correct configuration

without expensive oversizing.

The comprehensive electric axis

EGC is available in numerous

variants. Its many advantages

include: high dynamic response

and speed, newly defined

rigidity and high for resistance,

among others. All in all, the new

axis range in the mechatronic

multi-axis modular system can

be implemented as an individ-

ual or complete system solu-

tion.

Versatile

The EGC range is available as

toothed belt and spindle axes.

Different spindle pitches, numer-

ous sizes and variants, such as

protected guides, open up a

broad range of applications.

The series is rounded off with

the driveless linear guide unit

with a freely movable slide.

Toothed belt axis EGC-TB

Spindle axis EGC-BS

Guide axis EGC-FA

Toothed belt and spindle axes EGC

Electric toothed belt axis

ELGA-TB-G

Handling axis with simple, inte-

grated plain-bearing guide and

high feed forces. Economical

wherever the load needs an

external guide while the axis

remains very rigid or when a

simple plain-bearing guide is

sufficient.

More details on page 24



Newly defined rigidity

Load application point near the

guide for maximum torques and

forces

Spindle axis EGC-BS:

Precise spindle drive with ball

screw and external recirculating

ball bearing guide on the slide

The spindle axis is designed for

high precision and smooth run-

ning with large loads and long

strokes.

Toothed belt axis EGC-TB:

Dynamic toothed belt drive with

external recirculating ball bear-

ing guide on the slide

The toothed belt axis is designed

for high speeds with high loads

and long strokes.

Guide axis EGC-FA:

Driveless linear guide unit with

external recirculating ball bear-

ing guide and freely movable

slide.

Toothed belt and spindle axes EGC

• Speeds up to 5 m/s

• Maximum stroke up to 8.5 m

• Repetition accuracy ±0.1 mm

• Maximum feed force 2500 N

(for additional technical details,

see page 25)

The guide axis is designed to

support forces and torques in

multi-axis applications.

• Reduced vibrations with

dynamic loads

• Higher torsional resistance

• Speeds up to 2 m/s

• Maximum stroke up to 5 m

• Repetition accuracy ±0.02 mm

• Maximum feed force 3000 N

(for additional technical details,

see page 25)

Toothed belt and spindle axes

EGC – the new design for

• High speeds and feed forces

• Maximum rigidity

• High loads and torques

• Minimum distance between

load and guide centre



Flexible motor attachment

for EGC-TB

• Motor can be attached on

4 sides, freely selectable

• Subsequent modification

possible at all times

The benefits to you:

Define a standard attachment

variant with one part number

and modify to alternative posi-

tions as and when needed

Suitable motors and con-

trollers starting on page 48

Suitable accessories:

Gear unit EMGA-..-P-..

Motor kit EAMM-A-..

Slide variants: Extended slide

• Longer guide

• For a greater axial torque

• More mounting options

• Maximum of 4 sensors

• Output status display: 2 yellow

LEDs for better visibility,

regardless of approach direc-

tion

• Repetition accuracy

≤ ±0.05 mm (radial)

Safety thanks to optional

sensing

• Inductive proximity sensor

SIES-8M

• Flush mounting of up to 2 sen-

sors in the profile slot – no pro-

truding edges outside of the

drive cross section

Second slide

• 1 active and 1 passive

(freely movable) slide

• Adjustable, extended guide

• For greater axial and lateral

torques

• More mounting options

Protected slide

• Scraper on both sides

of the slide

• Removes dirt particles and

liquids from the external guide

• For use in aggressive

environments



50% more rigidity than

previous solutions.

The newly developed guide sys-

tem for the EGC axis provides

smoother running and higher

torque resistance. The very rigid

axis profile allows longer unsup-

ported strokes without an addi-

tional guide axis.

• Thanks to its performance, it is

often possible to use a smaller

size.

• Can also be used as a mono

system with higher loads,

with no need for the second

axis

The toothed belt/spindle axis

EGC is a high-performance com-

ponent for multi-axis applica-

tions, thanks to its positive char-

acteristics. Simpler designs

enable optimum integration and

reduce installation costs.

When combined with handling

and assembly systems from

Festo, like gripping or turning,

the range for new customised

design solutions is almost limit-

less.

In addition:

Nominal stroke = effective stroke

• Smaller and optimised installa-

tion space

• Optimum value for money

Individual handling systems

with frame

Complete, ready-to-install sys-

tems not only consist of gantries

with axis mechanics, but are

often already mounted on

aluminium or steel frames.

The significant increase in the

performance of the EGC axes

means that there is often no

need for cross bracings with

these frames.

• Simpler and lighter construc-

tion

• Improved efficiency

Conventional frame Economical with EGC:

Frame without cross bracing



Pick & place

Example: sanitary engineering

Valve assembly for flush-

mounted systems

Requirements

• Slim design

• Jerk-free movement

• High precision

• Easy to service

Complete solution

as pick & place with

• Pneumatic: HMPL/HMPL

• Or electric: EGSA/EGSA

with gripper/swivel unit

Example: automotive technology

Module in airbag assembly

Requirements

• Short cycle times

• Precision

• Wait position

Solution

Handling module HSP-AE with

servo drive MTR-DCI and sturdy

parallel gripper HGPT-B

Handling modules are ready-to-

install, complete solutions and

can be operated with electric or

pneumatic drives.

• Consisting of semi-rotary drive

with link guide

• Precision thanks to metallic

end positions combined with

a sturdy design

• Active wait position possible

• Freely positionable with the

electrical variant

• High repetition accuracy

in the end positions

• 180° design and 90° pick &

place

Range of applications:

• Effective load up to 1.6 kg

• For extremely short cycle times

(0.6 ... 1.2 s)

• For tight installation spaces

• For short stroke ranges

Pick & place systems consist

of two yoke drives.

• Possible combinations com-

prising slides and cantilever

axes

• High mechanical rigidity and

sturdy design

• Pneumatic and electrical com-

ponents – freely combinable

• As electrical solution – variable

positioning


• Effective load up to 6 kg

• Stroke ranges up to 400 mm

• For applications where the

gripper unit needs to be

retracted from the area of

activity.



Type

Link-guide,

high-speed

pick & place

(180°)

Link guide

high-speed

pick & place

(90°)

2D pick & place handling

Important characteristics

• Compact

• High cycle rates of up to 100 Hz

• Intelligent stroke adjustment

• Wait position, freely programma-

ble positions (electrical)

• Easy to commission

• Easy to install

• Compact

• High cycle rates of up to 100 Hz

• Intelligent stroke adjustment

• Wait position, freely programma-

ble positions

(electrical)

• Easy to commission

• Easy to install

• Very rigid construction

• Short cycle times

• Precision mini slide, pneumatic

DGSL and electric EGSL

• Highly dynamic response and

precision with long strokes with

EGSA

• High functionality with HMP

Design

Fully assembled

handling module

Fully assembled

handling module

Module unit

made up of a

slide and/or can-

tilever axis

Eff. load

Max.

1.6 kg

Max.

1.6 kg

Max.

6 kg

Max. eff. strokes

Z:

up to 20 … 70 mm

Y:

up to 52 … 170 mm

Max. linear stroke

90...175 mm

Working stroke

9 ... 35 mm

Z: up to 400 mm

Y: up to 400 mm

Components

Pneumatic:

HSP-AP

Electric:

HSP-AE

(with servo

motor

MTR-DCI)

Pneumatic:

HSW-AP

Electric:

HSW-AE

(with servo

motor

MTR-DCI)

DGSL

EGSL

EGSA

HMP



Movements in 2D:

A linear gantry consists of a

gantry axis and a yoke drive.


sturdy design




positioning/any intermediate

positions


• Ideal for long gantry strokes

• Often used for feeding applica-

tions

• Repetition accuracy up to

0.02 mm

• Long gantry strokes up to 8.5 m

and heavy loads up to 50 kg

• Increased requirements on

system resistance to torsion

Linear gantries

Example: construction

materials industry

Handling, palletising and

packing of ceramic tiles

Requirements

• High dynamic response

• Gentle acceleration and

braking

• Jerk-free movement

• Good positioning flexibility

Solution

• Linear gantry with toothed belt

axes and cantilever axis

• Complete solution, including

vacuum gripper



Servo drive package on

electric axes:

• Servo motor EMMS-AS

• Motor controller CMMP/S/D-AS


• High process reliability thanks to installa-

tion integration

• Pneumatic and electric drives

(with freely programmable positions)

• Repetition-accurate, centralised direct axis

connections

Axis design

Y-axis: Gantry axes

EGC, DGC, DGCI

Z-axis: Mini slides EGSL,

DGSL, DFM

Cantilever axes EGSA, DGEA

Cylinders DNCE, DNC, DNCI

Gantry axis EGC

Eff. load [kg]

Max. 0.5

Max. 1

Max. 2

Max. 4

Max. 6

Max. 10

Max. 15

Max. 25

Max. 50

Repetition accuracy [mm]

Y = up to ±0.02

Z = up to ±0.01

Y = up to ±0.02

Z = up to ±0.01

Y = up to ±0.02

Z = up to ±0.01

Y = up to ±0.02

Z = up to ±0.01

Y = up to ±0.02

Z = up to ±0.02

Stroke [mm]

Y = up to 1900

Z = up to 100

Y = up to 5000

Z = up to 200

Y = up to 8500

Z = up to 400

Y = up to 8500

Z = up to 1000

Y = up to 8500

Z = up to 1000

Type

• Linear gantry as

mono or duo

axis

• Free movement

of the Z-axis in

the vertical

plane (2D)

Type

LP 0.5

LP 1

LP 2

LP 4

LP 6

LP 10

LP 15

LP 25

LP 50



Cantilever axes

Example: assembly industry

Palletising of hinged housings

Requirements


• Good positioning flexibility

• Gentle acceleration and braking

Solution

• Cantilever axes with pneumatic

axes and handling modules DGC

and HMP

• Assembled complete with tubing

and electrical connections

A cantilever system is made up

of 2 parallel drives, combined

with a pick & place unit.


sturdy design





positions


• Cantilever axes are the best

triple-axis solution for move-

ments in 3D or in the available

space where three-dimensional

gantries are too big or the hand-

ling unit needs to be retracted

from the area of activity

• Long strokes in horizontal

plane (X-axis) of up to 8.5 m

• Cantilever stroke (Y-axis) up to

400 mm horizontal

• Very high requirements for

system resistance to torsion



Servo drive package on electric

axes:




• High process reliability thanks to installation

integration



• Repetition-accurate, centralised direct axis

connections

Axis design

X-axis: Gantry axes

EGC, DGC

Y-axis:Cantilever axes

DGEA, HMP

Z-axis: Mini slide DGSL,

(EGSL)

Cantilever axes DGEA, HMP

Eff. load [kg]

Max. 2

Max. 4

Max. 6


X = up to ±0.02

Y = up to ±0.02

Z = up to ±0.02

X = up to ±0.02

Y = up to ±0.02

Z = up to ±0.02

X = up to ±0.02

Y = up to ±0.02

Z = up to ±0.02

Stroke [mm]

X = up to 8500

Y = up to 400

Z = up to 150

X = up to 8500

Y = up to 400

Z = up to 300

X = up to 8500

Y = up to 300

Z = up to 400

Type

• Cantilever

gantry

• Free movement

of the Z-axis in

the available

space (3D)

Type

AL 2

AL 4

AL 6



A three-dimensional gantry con-

sists of horizontal gantry axes

and a vertical drive.

• Can be used universally for

handling light to heavy work-

pieces or high effective loads

• Ideal for very long strokes


sturdy design





positions


• For any movement in 3D space

• Very high requirements for pre-

cision and/or very heavy work-

pieces, with long strokes at the

same time

Three-dimensional gantries

Example: automotive industry

Loading handling in assembly

system for solenoids

Requirements

• Flexible positioning

• High speed and long horizontal

strokes

• Fast system availability

• Complete documentation of

process values

Solution

Three-dimensional gantry with

toothed belt axes DGE from the

multi-axis modular system

Planar surface gantry

The planar surface gantry is

equivalent to a three-dimen-

sional gantry, but without a

Z-axis and allows free move-

ment in the plane.



Servo drive package on electric

axes:




• Compact design

• High process reliability thanks to installation

integration



• Repetition-accurate, centralised direct

connections of axes



• High dynamic response and precision

Axis design

X-axis: Gantry axis EGC

Y-axis: Gantry axes EGC,

DGC, DGCI

Z-axis: Mini slides EGSL,

DGSL, DFM

Cantilever axes EGSA, DGEA

Cylinders DNCE, DNC, DNCI

Gantry axis EGC

Eff. load [kg]

Max. 0.3

Max. 0.5

Max. 1

Max. 2

Max. 4

Max. 6Max. 10

Max. 15Max. 25

Max. 50


X = up to ±0.08Y = up to ±0.02Z = up to ±0.01








Stroke [mm]

X = up to 1900Y = up to 500Z = up to 500








Type

• Three-dimen-

sional gantry as

mono or duo

axis

• Free movement

of the Z-axis in

the available

space (3D)

Type

RP 0.3

RP 0.5

RP 1

RP 2

RP 4

RP 6RP 10

RP 15RP 25

RP 50



Key features

• Parallel kinematic principle

with two stationary motors,

rotating toothed belt and low

moving mass

• Large rectangular working

space

• Flat construction and low

centre of gravity

• Integrated energy chain

concept

• Configurable system solution

Benefits


(70 picks/min)

• At least 30% higher perform-

ance compared to conventional

gantry systems

• Optimum ratio of working

space to installation space

• 1 EXCH covers the working

space of 2 SCARA robots

• Optimum installation, hardly

any vibrations = low require-

ments for frame, low costs

• Easy and safe installation even

when the system is modified

or expanded

• Festo plug & work®: easy to

integrate into a system concept

and commission

H-gantry EXCH

The Cartesian high-speed handling system with robotic functionality

has superb dynamic response with up to 70 picks/min and makes

optimum use of the installation space.

It is extremely compact and flat, making the large rectangular work-

ing space with the XY planar surface gantry flexible for handling with

free planar movement. When supplemented with a Z-axis, this can be

extended to 3D applications.

Key features


with two stationary motors,

rotating toothed belt and low

moving mass

• Slim design with very compact

Z-axis

• Low Z-axis inertia and small

moving mass

• Integrated cable carrier

concept


Benefits


(>90 picks/min)

• At least 30% higher perform-

ance than conventional solu-

tions

• Large working space coverage in

the vertical plane, particularly in

narrow working and installation

conditions

• High precision with maximum

dynamic response and delay

• Minimal vibrations

• Reduced requirements for

support frame

• Easy and safe installations,

even in front unit

• Festo plug & work®, easy to

integrate into system concept

and commission

T-gantry EXCT

The Cartesian high-speed handling system with robotic functionality

has superb dynamic response with more than 90 picks/min and

makes optimum use of the installation space.

Compact and slim, as a YZ linear portal with rectangular working

space, it is an ideal pick & place handling system for flexible handling

with free movement in the vertical plane with limited installation

space.

Advanced Handling Systems



Key features


with CFK rods

• The pyramid shape results in a

closed mechanical chain with

high rigidity

• Broad construction and broad

attachment to the frame


• Safety concept for rod loss

detection

Benefits

• Minimum moving mass –

maximum dynamic response of

drives (150 picks / min)

• High process reliability and

accuracy for joining applica-

tions and insertion operations

• Optimum flow of reaction

forces into machine frame

• Low tendency to vibration of

frame

• Festo plug & work®, easy to

commission

• Detaching the rods does not

damage the tripod or the

system

Tripod EXPT

The high-speed handling unit with robot functionality for free move-

ment in three dimensions provides precision in movement and posi-

tioning, combined with high dynamic response up to 150 picks/min.

The rigid kinematics has a pyramid-shape arrangement: three rigid

drives securely connected to one another and their motors are

attached statically and do not move.

Key features

• Ready-to-install control system

from a single source – in a con-

trol cabinet or on a mounting

plate

• Basic function or extended

control functionality

• Precise fit for integration into

kinematics frame

• Easy to operate and maintain

the entire system, including

control package and mechanics

• Harmonised safety concept to

EN ISO 13849-1

Benefits

• Easy project management with

a single partner, including

application-specificintegration

into the complete system

• Control solution appropriate

for the application, the kine-

matics and the requirements

• Optimum use of available

space

• Quick and easy commissioning

and maintenance

• Handheld terminal

• Reliable system operation

• Meets the requirements of

the EU Machinery Directive

• Easy integration into customer

protection circuit

Control package CMCA

The control package with optional PLC is used for free 3D path control

with demanding and highly dynamic kinematics.

It comprises: robotic control system, motor controllers, control

cabinet or connecting plate. Additional functions can be integrated.

The complete package with kinematics and basic parameterisation

of the entire system is supplied ready to connect to the application.


Application examples

Crankshaft handling system


Advantages

• Ready-to-install gripper

system, customised to your

individual application

• No interface problems with

the handling system

• Easy installation and assembly

• Complete CAD data for fast

design

Scope of services

Festo plans and designs gripper

systems for the front end unit on

the basis of your requirements.

With an extensive modular sys-

tem of mechanical grippers and

suction grippers, Festo offers the

right solution for every applica-

tion. Individual adaptations

according to your specifications

such as ejectors, multiple grip-

pers, gripper fingers and gripper

jaws complete the spectrum.

Application-specific solutions – Gripper systems

Parallel gripper HGPL-40-40

• With stroke reduction

HGPL-HR-40

• With proximity sensor

SME-10 in sensor slot

Parallel gripper HGPT-63-A-G2

• With position transmitter SMAT

for evaluating the entire

gripper stroke

Gripper jaw

• With interchangeable plastic

inserts

• Category: GBT 3

Gripper jaw

• Category: GBL 4

Z-axis:

• Mini slide DGSL-25-80-Y3A

• With integrated clamping unit

Parallel gripper HGPT-63-A-G2

• With external sensing via

inductive proximity sensor M12

Gripper jaw

• With interchangeable plastic

inserts

• Category: GBT 3

Semi-rotary drive

DRQD-16-90-YSRJ-A-ALFW-E422

Energy through-feed

• Electric

• Pneumatic

Vacuum gripper system for paper

and cardboard boxes



Advantages

• Optimised performance

• Any customised solution is

possible

• Short lead times for planning,

design and assembly

• Optional: gripper systems

Application-specific solutions – Individual handling systems

Scope of services

In addition to the flexible stand-

ard solutions from the multi-axis

modular system, Festo also

offers individual handling solu-

tions designed in accordance

with your specifications. Adapta-

tions, such as freely definable

axis dimensions, facilitate short-

er cycle times or integration in

machines with minimal space

requirement.

Application examples

Handling and processing

of rod material

Handling of workpiece carriers,

including mounting plate

Two independently positionable

X-axes for horizontal transport

Load interface at the front end

unit for customer applications

Complete energy supply for

X/Y/Z-axes


Handling system overview – Subject to change – 2011/0722

Aluminium and steel frames

0-2000

0-4000

0-1000

0-5000

0-1500

0-3000

0-1000

Aluminium frames

Profile

Small load 80 x 80 mm

High load 100 x 100 mm

Steel frames

Material

Steel structural hollow section

to EN 10210 or EN 10219

0-1000

0-6000

0-2500

0-5000

0-2500

0-5000

0-1000

0-5000

0-2500

0-5000

0-2000

0-2500

0-5000

0-2000

0-1000

0-5000

0-1500

0-1500

0-3000

0-2000

0-1500

0-3000

0-2000

Effective load* Standard dimensions

Linear gantry 3D gantry

Up to 15 kg

Up to 25 kg

Up to 50 kg

Effective load* Standard dimensions

Linear gantry 3D gantry

Up to 6 kg

Up to 15 kg

Up to 25 kg

* Effective load = mass at front end of the handling system

= length of the frame



Example representation

with FEM software

Deformation increased by

a factor of 2000 due to the

acting forces.

3D gantry

5 m long

2.5 m high

2 m wide

Five steps to a complete system!

How to choose your standard-

ised substructure quickly and

easily, suitable for your handling

system.

Step 1: Handling system: Select

according to the handling guide,

as usual

Handling plus frame:

Step 2: What kind of system is it?

Linear or three-dimensional

gantry

Step 3: Which frame size is being

used? BG 3.0, 5.0 or 6.0

Step 4: With BG 5.0/6.0, specify

the material of the frame,

steel or aluminium

Step 5: Specify the dimensions.

Length, height, width or axis

distance

Design

Calculation of rigidity of all

frames with Finite Element soft-

ware.

This means that reinforcement is

only included if it is really neces-

sary. The benefit to you: a 100%

cost optimisation.

Special designs

Our qualified teams are able

to create an FEM design within

a very short time.

Then a video is created to show

the rigidity of the frame.

The benefit to you: 100% design

certainty.

Individual special solutions!

If you haven’t yet found the right

solution, let us know.

We’ll be happy to advise you.



Electric gantry axes

Toothed belt and spindle axes

EGC

• As a single or complete

solution in a system

• Thanks to its high perform-

ance, the EGC can often be

dimensioned smaller than

previous solutions

Electric axis DGE

• Reliable, standard series of

electric gantry axes in several

sizes

• High quality toothed belt drive

or precision ball screw spindle

Key features

• High speeds


• Max. stroke 4500 mm

• High torque resistance and

force resistance with recirculat-

ing ball bearing guide and

heavy-duty guide


ELGA-TB-G

• Drive axis for applications

with external guide or for easy

handling tasks

• Easily integrated plain-bearing

guide

• Toothed belt covered by

a steel band

• Flexible motor mounting on

all 4 sides of the axis

Key features

• High feed forces

• Speed up to 5 m/s with high

acceleration of 50 m/s2

• Space-saving position sensing

with proximity sensors in the

profile slot

Suitable for electric axis EGC

with recirculating ball bearing

guide.


DGE-ZR-RF

• High-speed variant of the

DGE series

• With internal roller bearing

guide

Features

• Speed up to 10 m/s

• Minimal noise

• Integrated lubrication for

10,000 km of service-free

running

Key features

• Toothed belt axis and spindle axis

• Optional: protected guide

• Large profile with optimised

cross section

• High torque resistance

• Flexible motor mounting, on

toothed belt axis

Additional details about the

axis EGC can be found starting on

page 6


Electric gantry axes EGC ELGA-TB-G DGE DGE-ZR-RF

Size 50/70/80/120/185 70/80/120 8/12/18/25/40/63 25/40/63

Drive Spindle drive/ Toothed belt drive Spindle drive/ toothed belt drive

toothed belt drive toothed belt drive

Guide Recirculating ball Easy plain-bearing Without guide

bearing guide guidance Recirculating ball

bearing guide

Heavy-duty guide

Max. stroke [mm] 5000/8500 (10000) 8500 4500 5000

Max. speed [m/s] 2/5 5 1.2/5 10

Repetition accuracy [mm] 0.1 ... 0.02 0.08 ±0.02/0.08/0.1 ±0.1

Max. force Fx [N] 2500/3000 1300 1600 1500

Max. torque load Mx [Nm] 529 20 580 65

Max. torque load My [Nm] 1820 120 1820 340

Max. torque load Mz [Nm] 1820 40 1820 600

Options


• Guide axis

• Extended slide

• Additional slide

• Protected version

• Central lubrication

• Guide axis

• Extended slide


• Protected version

• Extended slide

• Guide axis

Internal roller guide



Electric gantry axes

Electric toothed belt axis ELGR

• Ideal for applications with

comparatively low requirements

in terms of mechanical load,

dynamic response and precision

• Plain-bearing guide for low

loads

• Recirculating ball bearing guide,

backlash free for medium loads

and higher speeds

Electric toothed belt axis ELGG

• Toothed belt axis with two

opposing slides

• Single motor drives both slides

synchronously

• Plain-bearing guide for low

loads

• Recirculating ball bearing guide,

backlash free for medium loads

and higher speeds

Features

• Ideal for effective loads up

to 15 kg

• Optional central support for

higher rigidity, forces and

torques

• Long slide, additional right/left

slide for improved guidance

and higher forces

• Easy and reliable end-position

sensing using inductive

proximity sensor

Guide axis ELFR

• Driveless linear guide axis

with free moving slide

• Supports forces and torques

in multi-axis applications

• Reduces vibrations with

dynamic load

Features

• Plain-bearing guide for speeds

up to 1 m/s and with low load

• Backlash-free recirculating ball

bearing guide for speeds up

to 3 m/s and medium loads

• 3 sizes, strokes up to 1.5 m

Electric axes EGSK/EGSP

• EGSK: series for standard tasks

in the upper segment

• EGSP: caged ball bearings for

maximum precision and perform-

ance in high-end applications

Key features

• 100% steel housing is also

the guide rail

• Uniform and quiet running

properties

• Long service life

Features

• Ideal for effective loads up

to 15 kg

• 1 or 2 optional free moving

additional slides for extended

guidance

• Easy and reliable end-position

sensing using inductive

proximity sensor



Electric gantry axes ELGR ELGG EGSK/EGSP

Size 35/45/55 35/45/55 15/20/26/33/46

Drive Toothed belt drive Toothed belt drive Spindle drive

Guide Plain-bearing guide Plain-bearing guide Recirculating ball bearing guide

Recirculating ball bearing guide Recirculating ball bearing guide Caged ball bearings

Max. stroke [mm] 1500 1200 (per slide) 800

Max. speed [m/s] 3 3 1.05/2

Repetition accuracy [mm] ±0.1 0.1 ±0.003/0.005/0.01

Max. force Fx [N] 350 350 320/360

Max. torque load Mx [Nm] 15 15 1400/1390

Max. torque load My [Nm] 124 124 547/579

Max. torque load Mz [Nm] 124 124 547/579Options • Extended

slide


• Extended

slide


• Central support

• Standard slide

• Short slide


• Spindle cover



Pneumatic gantry axes

Rodless drive DGC

• Excellent guide qualities

• Maximum characteristic load

values and torque resistance

• Minimised installation space

• Proximity sensors built into

the profile

Features

• Optionally with shock absorber

and second slide

• Accessible from one side:

precision end-position adjust-

ment, sensors, mounting

attachments, air connections

and pneumatic end-position

cushioning

Rodless drive unit DGP/DGPL

• Dynamic

• Minimal space requirement

• High torque resistance

• Recirculating ball bearing

guide: maximum precision

and load capacity

Features

• Space gained through opti-

mised stroke/overall length

ratio

• Integratable proximity

sensors


• Low leakage

• Easy to install

• Choice of air connections

Rodless slide SLG

• Flat, quick and precise

• Ideal for dynamic movements

in a small space

• Perfect for the precision

mechanics and electronics

industries

Features

• Extremely precise thanks to

recirculating ball bearing guide

• Precision adjustment of

stroke length as required

• Air supply on one

or two sides


Pneumatic gantry axes DGC DGP/DGPL SLG

Size 8/12/18/25/32/40/50/63 18/25/32/40/50/63/80 8/12/18

Guide Without guide Without guide Recirculating ball bearing guide

Plain-bearing guide Plain-bearing guide

Recirculating ball bearing guide Recirculating ball bearing guide

Heavy-duty guide

Max. stroke [mm] 5000 3000 900

Max. speed [m/s] 3 3 1.5

Max. force Fx at 6 bar [N] 1870 3016 153

Max. torque load M x [Nm] 26/96/529/375 32/100/745/375 7

Max. torque load M y [Nm] 150/450/1157/560 750/230/1545/560 23

Max. torque load M z [Nm] 48/187/1157/540 140/230/1545/540 23

Cushioning (at both ends) • Flexible, non-adjustable • Pneumatically adjustable • Flexible, non-adjustable

• Pneumatically adjustable • Self-adjusting hydraulic • Self-adjusting hydraulic

• Self-adjusting hydraulic shock absorber shock absorber

shock absorber

Options • Guide axis • Clamping unit • Intermediate-position module

• Protected version • Protected version • Clamping unit




Electric cantilever axes

Electric piston rod cylinder

DNCE

• Lead screw for format adjust-

ments

• Ball screw drive for dynamic

push & pull applications

• With rod guide unit for cost-

optimised cantilever function

Features

• Maintenance free thanks

to lubrication for life

• Freely programmable

positions

• Stick-slip free

• Gentle acceleration

• Free programming and para-

meterisation of speed, travel,

acceleration and force control

Cantilever axis with spindle

EGSA

• Cantilever axis with spindle

• For short strokes, with high

dynamic response and preci-

sion

• For applications where the

axis needs to be retracted

from the working space

Features

• High dynamic response for

a large effective load


• Flexible motor mounting –

axial or parallel


Cantilever axis DGEA

with toothed belt drive

• Dynamic thanks to the reduc-

tion of the moving mass

• For long strokes and high loads

• Motor, gear unit and drive head

are permanently mounted

• Only the main profile is moved

with the load

Features

• Highly precise

• Can be accurately positioned

• Protected against contamina-

tion thanks to the bearing

guide integrated in the profile

• Flat and compact drive head

• Optional: right-angle gear unit


Electric cantilever axes DNCE EGSA DGEA

Size 32/40/63 50/60 18/25/40

Drive Spindle drive Spindle drive Toothed belt

(lead screw/ball screw)

Guide Plain-bearing guide Roller bearing guide Recirculating ball bearing guide

Max. stroke [mm] 800 300 1000

Max. speed [m/s] 0.06 ... 1 1.5 3

Repetition accuracy [mm] ±0.02/0.07 ±0.01 ±0.05

Max. effective load (horizontal) [kg] 100 10 40

Max. effective load (vertical) [kg] 30 6 50

Max. force Fx [N] 2500 240 1000

Max. torque load M x [Nm] 1.5 25 133

Max. torque load M y [Nm] 27 70 665

Max. torque load M z [Nm] 27 70 460

Options External guide – Double guide cartridge

Bellows




Pneumatic cantilever axes

Linear module HMP-B

• Hardened steel guide barrel

• Preloaded and backlash-free

guide barrel bearings in recir-

culating ball bearing guides

• For handling and assembly

technology

Features

• Wear-resistant thanks to the

metallic end stop

• Precision adjustment

• Intermediate-position module

with swivel levers

• One-way flow control valves

that can be externally adjusted

• Integrated sensor strip

Handling axis HMPL

• Extremely flat and with two

guide rods

• Suitable as a precise stand-

alone module or can be quickly

combined into a pick & place

or gantry unit

Features

• Short travel times


• LEDs for optical display

of motion

• Flexible thanks to active

intermediate positions

• Reliable thanks to the optional

clamping cartridge


Pneumatic cantilever axes HMP-B HMPL

Size 16/20/25/32 12/16/20

Guide Recirculating ball Recirculating ball

bearing guide bearing guide

Max. stroke [mm] 400 200

Max. speed [m/s] 1.2 1.0

Repetition accuracy [mm] ±0.01 ±0.02

Max. effective load (horizontal at 6 bar) [kg] 50 10

Max. effective load (vertical at 6 bar) [kg] 15 5

Max. force Fx (at 6 bar) [N] 483 188

Max. torque load M x [Nm] 50 4

Max. torque load M y [Nm] 50 5

Cushioning (at both ends) • Self-adjusting • Self-adjusting

hydraulic shock absorber hydraulic shock absorber

Options • Intermediate-position • Intermediate-position

module module

• Clamping cartridge • Clamping cartridge

• Electric integration rail

for sensors




Electric mini slides

Electric mini slide EGSL

• Short-stroke slide function with

variable positioning

• High precision picking up and

insertion even with high

mechanical loads

• Excellent precision and

linearity


• Flexible motor mounting:

lateral (parallel) or axial with

3 x 90°

Features

• Precise and free positioning

with repetition accuracy of up

to ±0.015 mm

• Ideal for vertical applications

such as inserting or joining

• Reliable protection of small

parts thanks to completely

closed spindle

• Optional additional cover for

guide area

• Simple and low-cost sensing

with integrated sensor slots

on the right and left

Electromechanical

mini slide SLTE

Complete package: the flat elec-

tric mini slide SLTE with precise

and rigid guide for smooth

acceleration and braking using

a lead screw spindle for effective

loads up to 4 kg.

Free positioning using motor

controller SFC-DC (page 51)

with protection class IP54.

Features

• Max. stroke: 150 mm

• Minimum speed: 2 mm/s

Electric mini slide EGSL 35 EGSL 45 EGSL 55 EGSL 65

Stroke [mm] 50 100/200 100/200/250 100/200/300

Max. speed [m/s] 0.5 1.0 1.0 1.3

Max. acceleration [m/s2] 25 25 25 25

Repetition accuracy [mm] ±0.015 ±0.015 ±0.015 ±0.015

Feed force [N] 75 150 300 450

Max. torque load M x [Nm] 6.2 18.6 33.1 67.4

Max. torque load M y [Nm] 6.0 16.3 33.3 47.1

Max. torque load M z [Nm] 6.0 16.3 33.3 47.1



Pneumatic mini slides

Mini slide DGSL

• Series with ball bearing cage

guide for maximum precision

and load capacity, in a compact

design and with very easy

installation

• Designed for high-precision

shifting, picking up and

inserting – even with high

mechanical loads

Features

• Innovative guide unit

• Repetition accuracy of 0.01 mm

• Linearity and parallelism in the

1/100 mm range

• Optional: clamping unit and

end-position locking

• Three adjustable end stop

variants

• Integrated proximity sensor

• Optional cover stops foreign

parts or dirt getting into the

guide

Mini slide SLT

• Double-acting cylinder

• System product for handling

and assembly technology

• Easy adjustment of end

positions: from one side

Features

• Powerful

• Two adjustable end-position

cushioning systems:

– Flexible cushioning components

– Hydraulic shock absorbers

• Versatile precision assembly

options: yoke, slide, housing

Pneumatic mini slide DGSL SLT

Size 4/6/8/10/12/16/20/25 6/10/16/20/25

Guide Ball bearing cage guide Ball bearing guided

parallel piston rods

Max. stroke [mm] 200 200

Max. speed [m/s] 0.8 0.8


Max. force Fx (at 6 bar) [N] 483 590

Max. torque load M x [Nm] 130 64

Max. torque load M y [Nm] 80 64

Max. torque load M z [Nm] 80 17

Cushioning (at both ends) • Flexible, non-adjustable • Flexible, non-adjustable

• Flexible, adjustable • Self-adjusting

• Self-adjusting hydraulic shock absorber

hydraulic shock absorber

Options • Clamping cartridge –

• End-position locking

• Cover



ELGL-LAS Size 30 64 120

Slide size [mm] 210 (S) 210 (S) 310 (M) 210 (S) 310 (M) 410 (L)

Max. stroke (1 slide) [mm] 740 1750 1650 1750 1650 1550

Max. feed force [N] 44 119 164 240 310 450

Continuous feed force [N] 44 110 160 217 282 330

Repetition accuracy [μm] ±10

Electric linear motor axes and cylinders

Linear motor axis

with air bearing ELGL-LAS

The electric linear drive ELGL is

a handling axis with air bearing

and built-in linear motor. The

drive elements and the air bear-

ing form a unit.

Wear-resistant

• Air bearing technology: the

slide floats contactlessly above

the axis

• The constant minimal air flow

through the air gap prevents

particles and dust from pene-

trating into the axis

Extremely flexible

• Locking brake built into the lin-

ear motor axis, thanks to the

magnetic preloaded air bearing

• Very accurate positioning and

linearity

• Minimum stroke <1 mm

• Several slides can move inde-

pendently of each other on one

axis

• Both opposing and synchro-

nous movements are possible

• No friction on the guide parts

• Maintenance-free and wear-

free

Suitable motor controller

CMMP-AS on page 48

Electric short-stroke cylinder

with linear motor ADNE-LAS

and motor controller CMFL

Highly dynamic with up to 14 Hz

between two end positions. The

speed of the pneumatics com-

bined with electrical precision

is ideal for pusher applications

or sorting tasks. Choose from

4 movement cycles and start –

that’s all it takes.

Advantages

• Positioning time from 30 ms

• Teach function for strokes

above 7.5 mm

• Long service life thanks to elec-

tronic end-position cushioning

• Impressive repetition accuracy

and constant force over the

entire stroke range

• Protection class IP65 allows

direct installation in the appli-

cation

Note:

The magnetic fields of the linear

motor axes and cylinders are

generally constructed and pro-

tected in such a way that iron

parts or chips will not be attract-

ed to them.



Electric linear motor

cylinder DNCE-LAS

The electric linear motor cylinder

is optimised for small loads. All

essential components such as the

linear motor, measuring system,

guide and reference switch are

combined to form a ready-to-use

axis.

Except for the long side, all

mechanical interfaces corres-

pond to the pneumatic cylinder

series DNC. Perfect for use with

existing accessories.

Can be configured and commis-

sioned using the Festo Configu-

ration Tool (FCT). Simply enter

the parameters and positioning

records on the motor controller

SFC-LACI (page 51) – that’s all

it takes.

Type DNCE-LAS DFME-LAS

Size 32 40 32 40

Max. stroke [mm] 100/200/320 100/200/320/400 100/200/320 100/200/320/400

Max. speed [m/s] 3 3 3 3

Min. speed [m/s] 0.02 0.02 0.03 0.05

Max. feed force [N] 141 202 141 202

Continuous feed force [N] 36 55 36 55

Repetition accuracy [μm] ±20 ±15

Electric guide axis

with linear motor DFME-LAS

The DFME-LAS electric guide axis

with linear motor is suitable for

maximum positioning precision

and excellent dynamic response

with small loads.

All essential components such as

the linear motor, measuring sys-

tem, guide and reference switch

form a ready-to-use guide axis.

The mechanical interfaces corres-

pond to the pneumatic cylinder

DFM. Depending on the design,

you can also use accessories

from the DFM on the electric

cylinder DFME-LAS.

The DFME-LAS is easily config-

ured and commissioned with the

Festo Configuration Tool (FCT).

Simply enter the parameters and

positioning records on the motor

controller SFC-LACI (page 51) –

that’s all it takes.


Electric rotary drive module ERMB-20/-25/-32

Rotation angle [°] Infinite

Positioning times (with servo motor) [s] <0.3 for 360°

Repetition accuracy [°]

– With servo motor EMMS-AS ±0.03

– With intelligent servo motor MTR-DCI ±0.05

– With stepper motors EMMS-ST ±0.08

Max. driving torque [Nm] 0.7/2.2/8.5

Max. output torque [Nm] 3.15/8.8/25.5

(depending on speed)

Max. input speed [rpm] 1350/1200/900

Max. output speed [rpm] 300

Drive shaft diameter [mm] 6/8/12

Hollow shaft diameter [mm] 20/24/28

Service life cycles [million] 15/20/20

Options Sensing module


Electric rotary drive module ERMB

Rotary drive module ERMB

• Freely positionable

• For loads up to 15 kg

• As a rotary axis with any rota-

tion angle >360° or “stand-

alone” as a small numerically

controlled rotary table.

• Combination of two rotary

modules with multi-axis kine-

matics enables travel through

any spatial points

• Effectively minimises vibrations

in the multi-axis system thanks

to uniform movements and

user-defined acceleration

ramps

• Smooth and wear-resistant

movement into the end posi-

tions

Position sensing/

reference switch

• The sensing module EAPS,

available as an accessory,

enables impermissible areas to

be defined using 2 inductive

sensors and trip cams

• Sensing on the rotary module

is carried out using inductive

sensors. An index pin in the

retaining ring, which can be

adjusted in 90° increments,

is queried

• Choice for linear movement:

electric with DNCE or pneu -

matic with DNC

• Simple, convenient and reli-

able: hollow shaft with large

diameter for power supply

Very short positioning times

thanks to high dynamic response

for rotation: e.g. 0.25 s for

swivelling 1 kg load by 180°

Rotary/lifting module EHMB

The complete function unit for

linear and rotary movement, with

the two axes moving independ-

ently. The electric rotary and

linear movements are always

freely positionable.



Pneumatic semi-rotary drives

Swivel module DSM/DSM-B

• Semi-rotary vane drive with

shock absorber

Swivel module DSM/T-B with

tandem vanes

• Semi-rotary vane drive with

tandem vanes for double

torque up to 80 Nm

Common key features

• Infinite swivel angle adjust-

ment up to max. 270° with

positive locking attachment

• Precision end position via

internal hexagon

• All cushioning components

with advanced metal sleeve

as end stop, adjustable

• Shock absorber and elastomer

buffer

• Space-saving sensor

technology

With self-adjusting shock

absorber and fixed stop

With tandem vanes, elastic

cushioning and fixed stop

Twin piston semi-rotary drive

DRQD/DRQD-B

• Swivel angle up to 360°

• For handling and assembly

tasks, e.g. in the electronics

industry or in machine con-

struction

Features

• High repetition accuracy com-

bined with high torque

• Position sensing using proximity

sensor – end-position and

mid-position with the same

switch type

• Elastic end-position cushioning

and precision end-position

adjustment

Pneumatic semi-rotary drives DSM/DSM-B DSM-T-B DRQD/DRQD-B

Size 6/8/10/12/16/25/32/40/63 12/16/25/32/40/63 6/8/12/16/20/25/32/40/50

Swivel angle [°]

permanently set 90/180/240 – 90/180/360

as desired 270 max. (depending on 270 max. (depending on X angle (max. 360)

cushioning element) cushioning element)

Frequency of oscillation (at 6 bar [Hz] 3 ... 0.6 3 ... 0.6 5 ... 0.5

and max. swivel angle)

Max. torque (at 6 bar) [Nm] 0.15 ... 40 2.5 ... 80 0.16 ... 50

Repetition accuracy [°] <0.1/<1 <0.1 <0.05

Drive shaft Spigot shaft/flanged shaft Spigot shaft/flanged shaft Spigot shaft/flanged shaft

Cushioning (at both ends) • Flexible, non-adjustable • Flexible, non-adjustable • Pneumatically adjustable

• Self-adjusting hydraulic • Self-adjusting hydraulic • Self-adjusting hydraulic

shock absorber shock absorber shock absorber

Options • With built-in swivel • Freewheel unit • Mid-position module

angle measuring system • Energy through-feed,

• Freewheel unit pneumatic and electric



Pneumatic grippers – Standard

The DHx gripper family of

parallel, three-point, radial

or angle grippers

All the grippers together

• Double acting piston drive

• Maximum repetition accuracy

• Can be used as either a

double-acting or single-acting

gripper

• Gripping force retention

• Compression spring for sup-

porting the gripping forces

• Centring possible at the

gripper jaws

• Contactless end-position

sensing using sensors SMx-08

• Internal fixed flow control

Parallel gripper DHPS

High gripping force with small

dimensions, with opening

strokes of up to 25 mm. Sturdy

and precise T-slot guide of the

gripper jaws

Three-point gripper DHDS

High gripping force with small

dimensions, up to 50 mm grip-

ping diameter. Sturdy and pre-

cise T-slot guide of the gripper

jaws

Radial gripper DHRS

Large torque load thanks to

lateral support of gripper jaws,

total opening angle of 180°

Angle gripper DHWS

Optimised gripper jaw guide and

link guidance for angle grippers

with a total opening angle of 40°

Standard gripper DHPS DHDS DHRS DHWS

Size [mm] 6/10/16/20/25/35 16/32/50 10/16/25/32/40 10/16/25/32/40

Max. total gripping force (6 bar) [N] 970 840 – –

Max. total gripping torque (6 bar) [Ncm] – – 725 1500

Max. stroke per gripper finger [mm] 2/3/5/6.5/7.5/12.5 2.5/3.9/6 – –

Max. opening angle per gripper finger [°] – – 90 20

Repetition accuracy [mm] ≤0.02 ≤0.04 ≤0.1 ≤0.04

Max. operating frequency* [Hz] 2..4 4 2..4 4

* Depending on size



• Rectangular piston for

maximum gripping forces


• Centring possible at the

gripper jaws

• Gripping force retention

• Optionally without tubes

thanks to direct connection

• Optional sensing, mounted

flush in slot

Flat 2-jaw parallel gripper

DHPF

• Extremely flat with low weight,

high gripping forces and high

load bearing T-slot guide for

maximum forces and torques

• Double-acting gripper suitable

for external and internal grip-

ping

• Contactless end-position sens-

ing via the tried and tested

SMx-10- sensors

• Integrated throttling ports

ensure reduced opening and

closing speed

• Long service life thanks to life-

time lubrication

• Workpieces are gripped on the

outside as well as the inside

• Opening/closing times

<100 ms

Radial gripper HGRC and

angle gripper HGWC

• Compact and attractively

priced, flexible and reliable

• Die-cast zinc housing

• Driven by a robust rack and

pinion with low-backlash bear-

ing-supported gripper jaws

• The same constant gripping

force is available along the

entire movement

Standard gripper DHPF HGRC/HGWC

Size [mm] 20/25/32/40/50/63 12/16/20

Max. total gripping force/torque (6 bar) [N] / [Ncm] 180 ... 1660 13 ... 80

Max. stroke per gripper finger [mm] 2.5/4/5.1/7.5/10/15 –

Max. opening angle [°] – 30/80/180

Repetition accuracy [mm] ≤0.02 ±0.05

Max. operating frequency [Hz] 4 3..4

Gripping direction Internal, external Internal, external

Gripping force retention Yes No


42

Pneumatic grippers – Robust

• With and without gripping

force backup

• Up to 4 positions sensed by

sensors integrated flush into

the housing slot

• Reliable operation in harsh

environments thanks to

sealing air

• Internal or external gripping

with one gripper type

• Tubeless compressed air sup-

ply via optional adapter plate

• Long service life of 10 million

switching cycles.

Handling system overview – Subject to change – 2011/07

Parallel gripper HGPT-B and

three-point gripper HGDT

• With oval piston surface and

robust and precise T-slot guid-

ance. High force version (..-F)

with half the stroke for double

the gripping force and reliabil-

ity.

• The force is transmitted direct-

ly to the linear movement of

the gripper jaws via an inclined

plane with forced guidance.

This synchronous movement is

provided by the backlash-free

plain-bearing guide with

ground T-slot jaws.

Parallel gripper HGPT-B

Three-point gripper HGDT

• Synchronous and forced linear

movement of gripper jaws

• Backlash-free movement

thanks to ground gripper jaws

• With and without gripping

force backup

• Integratable sensing, protected

and without protruding edges

Sealed parallel gripper HGPD

and sealed three-point gripper

HGDD

• Sturdy design with maximum

torque load thanks to high

forces or long gripper jaws.

• Completely sealed for trouble-

free operation in the toughest

conditions with dust or liquids.Parallel gripper HGPD

Three-point gripper

HGDD

Sturdy grippers HGPT-B HGPT-B-F HGPD HGDT HGDT-F HGDD

Gripper function Parallel 3-point

Sizes 16 … 80 25 … 63 35 … 80

Max. total gripping force * (6 bar) [N] 120 … 3230 220 … 6550 110 … 3920 290 … 2200 ** 710 … 4500 ** 370 … 2830

Stroke per gripper jaw [mm] 3 … 25 1.5 … 12.5 3 … 20 3 … 10 1.5 … 5 4 … 12

Repetition accuracy * [mm] ±0.01...0.025 ≤0.03...0.05 ≤0.03 ≤0.03...0.05

Max. operating frequency * [Hz] 2...3 4

Gripping direction Internal/external

* Depending on size ** With optional spring support / gripping force backup



The adjustable opening stroke

provides great flexibility because

you only need one gripper type

for different opening strokes.

And the process is faster thanks

to the optimised opening stroke.

In addition, it is suitable for

internal or external gripping.

Safe operation.

• The drive, using the sturdy rack

and pinion principle, enables

synchronous movement of

both gripper jaws. Two parallel

and opposing pistons move the

gripper jaws directly and with-

out loss of force

• Contactless end-position sens-

ing using the tried and tested

SMx-8/10 sensors in the slot

itself, without protruding edges

Long-stroke gripper HGPL

The double-acting long stroke

gripper has a highly precise and

extra long T-slot guide for the

gripper jaws, making it very

suitable for large forces or high

loads that need a long gripping

stroke.

Safety

• Sealing air for use under harsh

conditions, e.g. for protection

against drilling emulsion or

dust

• Sensing of up to two positions

with sensors integrated flush

or via an adapter on the out-

side of the housing

• Gripping force backup

(external)

Versatile

• Adapts perfectly to the appli-

cation: total opening angle of

max. 180°, freely adjustable

• One gripper type for gripping

externally or internally

• Tubeless compressed air sup-

ply via optional adapter plate

Radial gripper HGRT

Sturdy and precise gripping with

the radial gripper HGRT, provid-

ing a large gripping torque for

secure gripping even with longer

gripper fingers. Now with a long

service life of 10 million switch-

ing cycles.

Sturdy grippers HGPL HGRT

Gripper function Parallel Radial

Sizes 14 … 63 16 … 50

Max. total gripping force (6 bar) [N] 160 … 2750 190 … 8425

Stroke per gripper jaw [mm] 20 … 150 –

Max. total opening angle [°] – 180 (freely adjustable)


Max. operating frequency [Hz] 1 3

Gripping direction Internal/external



Pneumatic grippers – Flexible

Variety

For a wide variety of applications

• 11 sizes, 8 to 85 mm gripping

diameter

• Bellows movement direction

upward or downward

• Various bellow materials:

EPDM for larger loads or sili-

cone for higher temperatures

• Lateral air connection via cen-

tre hole or from above

Safety

• Optimised process sequences

and greater quality as smooth

gripping and materials used

prevent scratching of work-

pieces

• Additional reliability thanks to

optional sensing via proximity

sensor or other sensors from

size 27.

Applications

Suitable for gripping glasses,

cups, bottles, test tubes or labo-

ratory glass instruments and

all other containers, including

plastic bottles. Also suitable for

other workpieces with a circular

opening.

Bellows movement direction “downward” or “upward” The bellows gripper grips and transports

Bellows gripper DHEB

For sensitive and reliable internal

gripping of fragile workpieces,

the single-acting bellows gripper

DHEB is the gripper of choice.

It is both multifunctional and

efficient as it is possible to carry

out a leak test at the same time

as the workpiece is being trans-

ported.

Adaptive gripper DHDG

Innovative: all-in-one bionic

gripping solution with mini-

mum weight for maximum

dynamic response. The gripper

is made up of a pneumatic

drive with three gripper fingers

and enables reliable and non-

destructive gripping of fragile

and irregularly shaped work-

pieces.

Innovation meets standards

Adaptive gripper finger and

series-produced gripper com-

bined.

Thanks to the standardised

interface for the gripper fin-

gers, they can be easily com-

bined, via adapters, with the

common series-produced grip-

pers from Festo.

Highlights

• SoftGrip: gentle gripping

with positive locking

• Flexible: gripper fingers

adapt to different shapes

and contours

• Economical: 80% lower

weight than comparable

series-produced grippers



Electric gripper HGPLE

Size 25

Max. total gripping force [N] 600

Max. total stroke [mm] 80

Max. speed [mm/s] 65

Max. acceleration [mm/s²] 500

Max. permissible force Fz [N] 1500

Max. permissible torque M x [Nm] 100

Max. permissible torque M y [Nm] 60

Max. permissible torque M z [Nm] 70

Electric grippers

Electric T-slot parallel gripper

HGPLE

• Free, speed-controlled selec-

tion of the gripper positions

with long stroke

• Perfect for soft or highly sen-

sitive workpieces thanks to

tactile gripping option

• Alternative: reliable gripping

of large and heavy workpieces

Features

• Sturdy design: T-slot for very

high torque resistance, with

high precision

• At least 5 million strokes –

guaranteed

• Reduced gripping times thanks

to “pre-holding positions”:

the gripper fingers stop just

in front the workpiece

• Short opening and closing-

times of 0.6 s including com-

plete stroke

• On-site control using the reli-

able motor controller SFC-DC

Note:

More details on the motor con-

troller SFC-DC can be found on

page 51.



Vacuum

Vacuum generator OVEM

• Various functions integrated

in a single unit

• Integrated air-saving function

• Safety function for de-ener-

gised vacuum generation

• Integrated non-return valve

for preventing pressure drop

• Built-in solenoid valves for acti-

vating the vacuum generator

and ejector pulse

Features

• Four performance classes

• LCD or LED display for easy

reading during operation

• Force of the ejector pulse can

be controlled

• High vacuum: up to 93%

• Protection class IP65

• Integrated filter with inspection

window

• Simple installation via electri-

cal M12 connection and pneu-

matic push-in connector

Vacuum generators VN

• Decentralised vacuum genera-

tion for minimum evacuation

times

• Three classes of vacuum

generators:

- lightweight and compact

- standard

- with vacuum sensor

Features

• Easy to install

• Integrated push-in fittings for

easy, pneumatic installation

of the ejector.

• The vacuum generator can be

used directly in the gripping

area.

• With integrated ejector pulse

Suction grippers ESG

Over 5000 variants – Suitable

for almost every workpiece in

almost every shape, even for

extremely small products with

irregular centres of gravity, rough

surfaces or awkward shapes.

Key features

• Flexible: the ESG modular

system offers the right suction

gripper for every application

• Resistant to chemicals

• Heat resistant

• Anti-static

• The suction gripper ESG con-

sists of the suction cup ESS

and suction cup holder ESH

Key features

• Suction cup insert made of

porous sintered material

• Five diameters:

10, 20, 30, 40, 50 mm

Suction cup inserts OASI

For transporting unstable, fragile

and thin workpieces gently and

safely.



1

Material Nitrile rubber Nitrile rubber Polyurethane Vulkollan® Silicone Fluoro

(antistatic) elastomer

Operating -10 ... +70 -10 ... +70 -20 ... +60 -10 ... +80 -30 ... +180 -10 ... +200

temperatures [°C]

Typical applications Conventional Electronics Rough Automotive Food industry Glass industry

sectors application industry surfaces industry

Food – – – – x –

Oily workpieces x x x x – x

Smooth surfaces x – x x – x

Rough surfaces – – x x – –

Antistatic – x – – – –

Minimal marking – x x x – –

® Vulkollan is a registered trademark of Bayer

OVEM VN VN-P

Efficiency Air-saving circuit • – –

Vacuum suction nozzles H/L •/• •/• •/•

Nozzle diameters (mm) 0.45 ... 1.4 0.45 ... 3 0.45 ... 0.95

Vacuum on/off • – –

Compact, low weight • • •

Reliability Monitoring of the • – •

workpiece transport

Ejector pulse, • – –

reliable placement

Monitoring of the evacuation• – –

time and ejector pulse

Convenient Low noise pollution• • •

in operation thanks to silencers

Low maintenance thanks to •/• •/– •/–

open silencer/filter

12

3

Technical features of suction gripper ESG

Pressure supply

Vacuum port

Open silencer 3

2

1



Motors and controllers

The controller and motor port-

folio from Festo covers a wide

range of servo and stepper

motor functions and is optimally

matched to all electric drives.

Servo motor controller

the fieldbus interface or the

intermediate circuit, results in a

decisive improvement in cost-

effectiveness.

They all feature reliable and con-

venient commissioning, SD card

slot, programming and parame-

terisation via software tools.

Integrated safe holding with

restart blocking for safety-relat-

ed applications.

Servo motor EMMS-AS

One servo motor for three con-

troller types. As a permanently

energised, brushless servo

motor with eight torque ranges,

this motor is designed for

dynamic positioning tasks.

Stepper motor controller

CMMS-ST

Stepper motor technology in a

genuine plug & work solution

package: the single-axis position

controller CMMS-ST combined

with the EMMS-ST stepper

motors, for single and multiple

axis handling with moving mass-

es of up to 20 kg.

In the ServoLite operating mode

the combination of CMMS-ST and

EMMS-ST provides you with a

closed-loop servo system with

maximum operational reliability

and fast dynamic response. This

set the stepper motor controller

CMMS-ST apart from conventional

controllers.

Stepper motor EMMS-ST

The stepper motor combines a

long service life and full position-

ing functionality with an attractive

price. It is designed with a high

degree of protection and with a

plug system suitable for industrial

use, optionally with brake and

integrated encoder.

CMMP-AS/CMMS-AS/CMMD-AS

For special requirements: the

highly functional controller

CMMP-AS. For standard functions:

the controller CMMS-AS and the

economical double controller

CMMD-AS.

The CMMP-AS is ideally suited for

cam disk control and highly dynam-

ic movements. The CMMS-AS

comes into its own in standard

applications and positioning tasks

with an I/O connection. The

CMMD-AS takes on the task of

guiding two servo motors inde-

pendently of each other. Combin-

ing internal components, such as


The performance ranges of

the motors in conjunction with

Festo controllers

EMMS-AS + CMMP-AS

EMMS-AS + CMMS-AS/CMMD-AS

EMMS-ST + CMMS-ST


30

20

15

10

5

0

0 1000 2000 3000 4000 5000rpm

Nm

CMMP-AS

CMMS-ST

CMMS-AS/CMMD-AS

• Infinitely variable positioning

Closed-loop operation

• Speed adjustment

• Position control

• Current regulation

• Torque control

Functions of the CMMS-ST

• SD card for parameters and

firmware

• Automatic motor brake

• External braking resistance

(optional)

• Jerk-free positioning

• Infinitely variable positioning

• Step resolution: Full steps up

to 4000 steps/revolution

• The digital inputs and outputs

are protected against short

circuit, overload and reverse

voltages

Functions of the CMMx-AS

• SD card for parameters and

firmware

• Automatic motor brake

• External braking resistance

(optional)

• Jerk-free positioning

Compatible accessories:

Gear unit EMGA-..-P-..

Motor kit EAMM-A-..

Controller comparison table

Motor controller CMMP-AS CMMS-AS/CMMD-AS CMMS-ST

for motor type Servo motor Servo motor Stepper motor

Torque at standstill [Nm] ~25 ~4.7 ~8.5

Peak torque [Nm] ~48 ~9.2 ~8.5

Rotational speed [rpm] ~10000 ~10000 ~3000

Positioning records 255 63 63

Measuring system Incremental/absolute Incremental/absolute Incremental

Extended I/O interface Flexible configuration 4 operating modes 4 operating modes

Notification of remaining distance Separately for all positions 1 for n 1 for n

Torque reduction Separately for all positions No No

Record linking With branching Linear Linear

Safe stop EN 61508/SIL2, EN 13849/PLd EN 61508/SIL2, EN 13849/PLd EN 138449/PLd, EN 61508/SIL2

Primary voltage Single-phase: 100 ... 230 V AC 100 ... 230 V AC 24 ... 48 V DC

Three-phase: 230 ... 480 V AC

Motor current Single-phase: 2.5 and 5 A CMMS-AS: 4 A (single-phase) 8 A (peak 12 A)

Three-phase: 5 and 10 A CMMD-AS: 2x 4 A (can be

adjusted as desired up to 2 A/6 A)

Integrated positioning records 256 64 64



Intelligent servo motor MTR-DCI

This innovative servo motor with

its wide torque range is ideally

suited for positioning tasks. It

combines all necessary compo-

nents into one: motor, gear unit,

motor controller and power elec-

tronics.

Its integrated power electronics

and controller remove the need

for long motor cables, thus

improving the electromagnetic

compatibility. Additional, inte-

grated monitoring functions

ensure optimised reliability and

system availability and make

troubleshooting easier.

Another impressive feature of

the MTR-DCI is the fact that it

requires minimal wiring due to

the integration of the controller;

only one voltage source and only

one fieldbus connection or multi-

pin plug are required.

Electrical data – Motor Size

32 42 52 62

Nominal voltage [V DC] 24 ± 10% 48 -10 %/+5 %

Nominal current (motor) [A] 0.73 2 5 6.19

Peak current [A] 2.1 3.8 7.7 20

Mechanical data – Motor Size

32 42 52 62

Gear ratio G7 G14 G7 G14 G7 G14 G7 G14 G22

Gear unit output speed [rpm] 481 237 444 218 444 218 504 248 153

Gear unit output torque [Nm] 0.15 0.29 0.59 1.13 1.62 3.08 3.78 7.2 11.66

Radial shaft load [N] 40 70 160 230 200 320 240 360 360

Axial shaft load [N] 10 20 50 80 60 100 50 70 70

The entire commissioning

process is performed on-site or

from a PC using a simple teach-

in function, thanks to an optional

LC display and clear menus, and

is supported by the FCT (Festo

Configuration Tool) software.

Functions

• Compact design with integrat-

ed display

• Complete unit with integrated

gear unit and position con-

troller

• Smooth profile prevents the

ingress of dirt

• Closed-loop operation

• DC motor with planetary gear

unit and encoder


• Activation via I/O or fieldbus

Positioning functionality

• 16 positioning records

(including homing)

• Constant acceleration and

braking

• Homing mode:

– Left or right until the

switching signal

– Left or right until the

mechanical stop (preferable)

• Position control

Protective functions

• Temperature monitoring

• Current monitoring

• Voltage failure detection

• Following error monitoring

• Software end-position detection


2011/07 – Subject to change – Handling system overview 51

Motor controllers

face or using the computer-aided

Festo Configuration Tool. Perfect

as a Festo plug & work® ready-

to-install solution in combination

with the electric gripper HGPLE

(see page 45) or electric slide

SLTE (see page 34).

Motor controller SFC-DC

Simple selection and commis-

sioning with the SFC-DC concept.

It includes easy entry of position-

ing records on the controller

using the human-machine inter-

and position can be set inde-

pendently of one another.

As many as 31 travel profiles can

be saved directly in the SFC-LACI

for the two linear motor cylinders

DNCE-LAS and DFME-LAS

(see page 37).

Position controller SFC-LACI

The position controller com-

prises the additional power elec-

tronics needed to control linear

motor drives. The speed, power

Both together

Both single-field controllers offer

simple configuration, parameteri-

sation and commissioning using

FCT software: just enter the

parameters and positioning

records, and you’re ready to go.

• Basic parameterisation of the

mechanical system, the posi-

tion controller and the posi-

tioning records

• Positioning run

• Teach-in operation

• Homing and commissioning

• Diagnostic function

Advantages

• Thanks to the protection class

IP54, the SFC can be mounted

close by, either:

– with central supports

– with H-rail

• The motor controller SFC is

available with or without con-

trol panel

• Easy actuation via:

– I/O interface

– Fieldbus

Motor controller SFC-DC without control

panel

Motor controller SFC-LACI with control

panel

Electrical data SFC-DC SFC-LACI

General Rated output [W] 75 480

Load supply Nominal voltage [V DC] 24 ± 10% 48 +5/-10%

Nominal current [A] 3 10

Peak current [A] 5 20

Logic supply Nominal voltage [V DC] 24 ± 10% 24 ± 10%

Nominal current [A] 0.1 0.5

Peak current [A] 0.8 3.8

Max. current per output [A] 0.5 0.5

(digital logic outputs)



Compact vision systems

Intelligent Compact Vision

System SBOC-Q/SBOI-Q

Intelligent vision system for pre-

cision positioning of axes, type

identification, position detection

and 2D quality inspection of

moving parts and parts at rest.

Plus: OCR and reading 1-/2D

code.

The camera contains not only the

sensor system for capturing the

image data, but also the entire

electronic evaluation unit for

image processing, an integrated

PLC and the interfaces for com-

munication with master con-

trollers.

Highlights

• Integrated PLC runtime system

(CoDeSys 2.3)

• CANopen master functionality

in conjunction with CoDeSys

• Standardised software inter-

faces using Ethernet, as well as

integrated 24V I/O

• Up to 256 inspection programs,

each with up to 256 features

• Up to 16 part types with up to

8 orientations.

Type SBOC-Q-R1 SBOI-Q-R1 SBOC-Q-R3 SBOI-Q-R3 SBOC-Q-R2 SBOC-M SBOI-M

Sensor resolution [pixels] 640 x 480 752 x 480 1.280 x 1024 640 x 480

Exposure time [ms] 0.039 ... 1000 0.018 ... 200 0.008 ... 1000 0.04 ... 1000

Frame rate [fps] 150 60 27 185

(full image)

Sensor type Monochrome Monochrome Monochrome Monochrome

Colour Colour Colour

Lens mounting C mount Integrated C mount Integrated C mount C mount Integrated

CS mount lens CS mount lens CS mount CS mount lens

Operating distance [mm] Depending on 22 ... 1000 Depending on 20 ... 500 Depending on Depending on 22 ... 1000

selected lens selected lens selected lens selected lens

Field of vision [mm] Depending on 14 x 10 ... Depending 7,9 x 5.5 ... Depending on Depending on 14 x 10 ...

selected lens 520 x 390 selected lens 195 x 125 selected lens selected lens 520 x 390

Intelligent Compact Vision

System SBOC-M/SBOI-M

Intelligent camera to support

during diagnostics and commis-

sioning and for monitoring fast

motion sequences. The innova-

tive and low-cost alternative to

conventional high-speed cam-

eras.

Compact design with integrated

electronics for recording and

storing motion sequences. The

small dimensions and low weight

allow easy integration into exist-

ing systems. Commissioning is

carried out easily using PC soft-

ware.

Highlights

• Several cameras can be linked

and synchronised via Ethernet

• Frame rate up to 2100 fps

(depending on resolution)

• Recording of I/O processes

synchronously to images using

integrated I/Os

• Protection class IP65/IP67



Multi-axis control systems

CMXR-C2 for control of

all 3 handling systems

Teach pendant CDSA for robotic

controller CMXR

Robotic controller

CMXR-C1/C2

This robotic controller is at the

heart of the complete kinematic

system solution and enables free

path control in 3D. With up to

6 degrees of freedom, it provides

extremely short travel times for

path applications such as bond-

ing and sealing tasks.

Common features:

• Optional wrist axes

• Motion path smoothing

• Definition of tools and their

end points (TCP)

• Different acceleration ramps

• Constant path speed

• Reduced speed in manual

operation

• Parameterisation using the

Festo Configuration Tool (FCT)

• Programming with Festo Teach

Language (FTL)

Teach pendant CDSA

The integrated teach-in function

enables even complex applica-

tions to be programmed easily

using CDSA.

The CMXR and CDSA robotic con-

trol systems both use the Festo

Teach Language (FTL).

Simple dialogue-based teach-in

programming

When creating the motion pro-

gram, the destination position of

the gripper or the set down posi-

tion is often unknown. This can

be determined by a precise

approach during commissioning.

Teaching is carried out easily and

quickly using the teach-in func-

tion.

Extended functionality: -C2

• Integrated CoDeSys PLC,

with digital and analogue I/O

expansion modules

• Intelligent dynamic limiter for

monitoring physical axis limits

• Speed-independent path

switching points

• Individual programming of

speed, acceleration and jerk

• Tracking of moving objects

• Direct integration of compact

vision systems

Characteristics:

• Emergency stop switch

• Two confirmation buttons

3 levels / 2 channels

• Buttons for jog mode

• Integrated user management

system for defining access

rights

• Integrated alarm system and

signal monitor for diagnostics

and monitoring of peripheral

signals.

Convenient configuration –

fast, reliable and easy

The robotic control system CMXR

is configured using the Festo

Configuration Tool (FCT). Three

parameters are defined: electri-

cal variables such as inputs and

outputs, mechanical variables

and the kinematics. The clear

structure assists the user with

configuring multi-axis systems

quickly and easily.

The motion programs are pro-

grammed using the text-based

macro programming tool in the

Festo Teach Language (FTL).

This powerful programming tool

contains macros for

• Motions

• Dynamic settings I/O

• Processing of peripheral

devices, e.g. a gripper

The programming, based on FTL

which was specifically developed

for the CMXR, can be carried out

online using the teach pendant

CDSA or offline using the FTL

programming editor. This is

integrated in the Festo Configu-

ration Tool (FCT).



CoDeSys embedded controller

CPX-CEC-M1

The intelligent remote I/O termi-

nal in IP65/IP67 can be mounted

directly on the machine. With its

PLC functionality, it provides

decentralised control of up to

8 electric axes synchronously

in 2.5D.

• Integrated CANopen master

• Synchronous control of 8 elec-

tric axes, 2 with circular and

6 with linear interpolation

• Flexible electronic cam disk

function

• Diagnostics and condition

monitoring

• Rapid commissioning using the

optional handheld CPX-MMI

• CoDeSys programming soft-

ware complying with

IEC 61131-3 for easy commis-

sioning, fast programming and

parameterisation

• Softmotion library for motion

control and interpolation up

to 2.5D

• Communication on CPX termi-

nal using Ethernet

(Modbus/TCP, EasyIP, TCP/IP)

• Communication on CPX termi-

nal using fieldbus, e.g.

PROFINIT, Ethernet/IP, Ether-

CAT, Profibus or DeviceNet

Powerful:

Control unit CECX

The modular control unit CECX

expands the control range to

include fieldbus master function-

alities and electric actuation

options.

Simple commissioning, program-

ming and servicing: the CoDeSys

software supplies a powerful

programming environment via

the SoftMotion module for the

control of all electric drives with

CANopen fieldbus connections.

Additionally available: module

libraries, configuration tools and

drivers.

The IEC 61131-3 standard means

that CECX is flexible and open,

and compatible with all types of

control tasks. Whether you want

individual control of electric

drives or interpolation with

2.5 degrees of freedom, CECX

is the perfect combination of

control and motion.

Advantages

• Control of electric drives with

CANopen fieldbus connection

• Certified for CE, UL/CSA

• Standard CoDeSys software

• For PLC functions and multi-

axis motions with interpolation

• Full compatibility through

Profibus, CANopen and

Ethernet

• Compact assembly, easy to

handle

• Can be mounted on an H-rail

Module selection

CPU unit

• Power PC 400 MHz

• Ethernet

• CAN bus

• RS 485

• USB

CPX-CEC-M1 for control of the

T gantry



Multi-axis interface CPX-CMXX

Perfect CPX module for uniform

parameterisation and control of

electric drives Designed for easy

commissioning and integration

of multi-axis systems into all

commonly used control systems.

• Faster cycles thanks to simply

coordinated multi-axis move-

ments

• Designed for quick and easy

installation, as well as parame-

terisation, thanks to the Festo

Configuration Tool (FCT)

• The decentralised motion con-

trol in the CPX-CMXX relieves

the higher-order PLC

• Connection to additional field-

buses and networks that are not

available in the individual axis

controllers, for example:

– EtherNet/IP

– Ethernet TCP/IP

– EasyIP

– ProfiNet

– Interbus

– CC-Link

Interface for electric drives

CPX-CM-HPP

The CPX module for the standard

control of up to 4 electric Festo

drive units via the Festo Hand-

ling and Positioning Profile

(FHPP) via the fieldbus gateway.

Ideally suited for integrating

single-axis applications (point-

to-point, asynchronous) to field-

• Adapted for motion applica-

tions with up to 31 electric

drives

• Complete flexibility: modular

I/O system, up to 512 I/Os,

CAN master functionality

• On-site remote control: pre-

processing on all common

fieldbus/Ethernet protocols

• The only comprehensive

automation platform in the

world in IP65: for standard,

proportional and servo pneu-

matics, sensors and motion

control with up to 31 electric

drives

• Stand-alone open and closed-

loop control: economical

automation, e. g. for manual

workstations

bus/Ethernet. It also provides

faster commissioning and

reduced downtime.

• Highly flexible: compatible

with all electric drive units

from Festo

• Reduced complexity: no pro-

gramming of the CPX-CM-HPP

module required

• Simplified engineering: shorter

commissioning, reduced down-

time, standardised control

• Improved diagnostics: based

on plain text error messages,

reading the actual position,

etc.

• Outstanding efficiency: up to

4 individual axes per module

(8 in the system) can be con-

trolled

Integrated controller

CPX-CEC-C1

• As an intelligent remote I/O

terminal in IP65/IP67 directly

on the machine, CPX-CEC-C1

reduces installation costs

• Diagnostics and condition

monitoring, thanks to an exten-

sive CoDeSys function library



Software tools – faster project planning and design, commissioning and operation

More intelligent automation

Festo continuously focuses on

ongoing analysis and identifica-

tion of potential.

This has resulted in combining

the new FHPP software platform

FCT software – Festo configura-

tion tool for commissioning

• All the drives in a system can

be managed and saved in a

common project

• Project and data management

for all supported device types

FHPP – Festo Handling and

Positioning Profile

Festo has developed an opti-

mised data profile, the “Festo

Handling and Positioning Profile

(FHPP)” that is tailored to hand-

ling and positioning applications.

with the tried and tested Festo

Configuration Tool (FCT). It

ensures uniform operation and

ideal interface management of

all motor controllers, from the

fieldbus to the drive system.

• Simple to use thanks to graph-

ically supported parameter

entry

• Universal mode of operation

for all drives

• Work offline at your desk or

online on the machine

The FHPP data profile permits

the actuation of Festo motor

controllers, using a fieldbus

interface, via standardised

control and status bytes.

Available to you

You can download software tools

from our website: www.festo.com

Free access to all

parameters – read

and write

SpeedMode Position

Fieldbus communication

Record selection Parameter channelDirect mode



The PositioningDrives software

tool prevents design errors and

energy waste by helping you to

choose the right components.

Designing drive mechanics, gear

units and motors separately can

increase safety factors or result

in oversized electric drive units

and wasted energy.

Toothed belt drives, spindle

drives or direct drives, servo

motors, stepper motors or DC

motors, ball bearing guides or

plain-bearing guides – the

plethora of options to choose

from presents the user with a

major challenge: calculating

the correct drive.

Once a few application details

have been entered, the

PositioningDrives software calcu-

lates the ideal combination from

the extensive, harmonised range

of electric linear axes, motors,

gear units, controllers and soft-

ware. By specifying various proj-

ect parameters, the tool also cal-

culates the characteristic load

values for the selected drive

quickly and reliably.

Typical program interfaces

Enter the application parameters

such as mounting position, mass,

stroke and precision. You also

have the option of specifying the

required process time and prese-

lecting the drive technology.

Select the required solution

package

For easy selection, these are

sorted by motor and axis tech-

nology, component utilisation,

cycle time or price.

Detailed results

The program also provides

detailed results such as motor

characteristic curve, dynamic

characteristic values, system

data, product data and parts list.

These results are saved as a file

and can be used for ordering

and machine documentation.

PositioningDrives



All-inclusive advantages – ready-to-install solutions

Individually or complete –

your decision

Build it yourself, or have it built –

it’s up to you. But complete sys-

tems can save you as much as

50%. With ready-to-install hand-

ling systems you can dispense

with virtually all the complex

processes involved in the

development and construction of

such systems. Tell us what your

requirements are and we will

design, order, compile, test and

deliver. We can also assemble

and commission your system on

request.

You concentrate on your core

tasks; we take care of the rest.

That not only saves time and

money, but brings maximum

reliability in terms of function

and optimum settings.

We offer:

• Engineering

• Documentation

• Assembly

• Testing and test runs

• Commissioning

• Servicing during the

operating phase

Documentation

Documentation for your

handling system.

• Detailed documentation on

your handling system, in the

required language

• Construction drawing as

instructions for assembly,

including parts list

• Circuit diagrams in EPLAN

or Promis

• Easy to reproduce with the

documentation on CD or on

paper

Engineering

Competent engineers support

you right from the outset.

• Technical advice

• Expert knowledge based

on the latest technological

stand-ards

• Management of all engineering

tasks

• Designs from the mechatronic

multi-axis modular system

• Always suitable: frames made

of aluminium or steel structural

hollow sections

• Customised solutions for

handling systems and frames

• Expertise in vacuum systems

and gripper fingers



Control cabinets for controllers

Festo made-to-measure control

cabinets provide a protected

housing for the control compo-

nents of single and multi-axis

systems: from solutions for sim-

ple control tasks right through to

complex control systems for

highly dynamic movements.

Supported kinematics and

Cartesian systems for demand-

ing and highly dynamic handling

tasks:

• Tripod EXPT

• H-gantry EXCH

• T-gantry EXCT

Supported kinematics and

Cartesian systems for simpler

handling tasks:

• Three-dimensional gantries

• Cantilever gantries

• Planar surface gantries

• Linear gantries

• Pick & place

• Application-specific combina-

tion of components

• A single order number for

the entire control cabinet

• 100% tested, with test

certificate

• Delivered ready to install –

directly to the place of use

if required

The control cabinets are individ-

ually tailored, designed and

constructed for a specific appli-

cation. They take account of

specific industry needs and

requirements, such as those for

the food or the pharmaceutical

industry.

They include complete system

documentation, which you can

quickly and easily integrate into

your overall documentation:

• Assembly drawings

• Parts lists

• Circuit diagrams

(EPLAN/Promis)

• Operating instructions for

components

Performance and options

• Complete system for immedi-

ate use – plug & work®

• For 1 … 31 axes


• Harmonised safety concept:

safe stop in automatic mode

PL “d”

• Additional digital inputs and

outputs

• Optional integration of

pneumatic functions

Teach pendant CDSA

with teach-in function

Version complying with:

• EN 60204-1

• ATEX Zone 1 and 21 (pneumatic only),

• ATEX Zone 2 and 22 (electrical and electro-pneumatic)

• UL-508A



Commissioning service for axis systems

Getting there quicker

For maximum system productivi-

ty, the smooth interaction of the

axis system and the rest of the

equipment is critical. The selec-

tion and assembly of an axis sys-

tem is one thing – fast and reli-

able commissioning of an axis

system is another. What at first

only appears to be a small step

can, in reality, repeatedly prove

to be a real marathon. In order

for everything to run as it should,

we recommend the Festo com-

missioning service for axis sys-

tems.

Services at a glance

• For reliable operation: checking

of wiring, connections, travel

paths and energy chains

• For optimum paths: configura-

tion and parameterisation of

axes

• For maximum performance:

optimisation of the control

parameters and homing

• For tested safety: actuation

of the axes in test mode

• For safeguarded knowledge:

data backup and documenta-

tion

• For reliable operation: instruct-

ing the machine operators, e.g.

on error diagnostics and elimi-

nation of errors or on changing

the position values

Fast

Time-saving commissioning for

maximised efficiency is a matter

of course for our experts and

completion of your system on

schedule is guaranteed.

Reliable

Our experts know exactly what

they have to watch out for when

commissioning, thus ensuring

that your axis system operates

reliably at all times.

Optimally adapted

Maximum performance of axis

system, e.g. in terms of cycle

time, thanks to optimum configu-

ration, parameterisation as well

as homing.

We support you during com-

missioning, regardless of the

number of axes.



The production industry is

focussed on economy of opera-

tion and 100% system availabili-

ty. Another reason for ensuring

maximum reliability. And that’s

what our services are designed

to do. They are available in

176 countries worldwide, and

can be fully integrated into your

Total Productive Maintenance

(TPM) concept.

• Technical hotline

Guaranteed availability via

telephone or e-mail.

• Spare parts service

Accessible at any time online:

comprehensive spare parts

lists with all consumable and

wearing parts.

• Repair service

We repair complex components

and modules. If needed, we

can also carry out express

repairs.

• 24-hour emergency service

No waiting times for registered

customers: you will receive

urgently required parts within

a few hours by express courier

(this does not apply to order-

specific parts).

• After-sales service on-site

Professional inspection, main-

tenance, repairs and commis-

sioning, directly on your sys-

tem.

• Modular service contracts

Ideal support for preventive

maintenance, but also in an

emergency.

After-Sales Service – worldwide

Other services for efficient

system operation

Festo Energy Saving Services

help system operators determine

their savings potential with

regard to compressed air and

help them utilise this to the full.

The result is up to 60% energy

and cost savings with increased

productivity.

Condition Monitoring Service

Monitor critical processes con-

tinually and avoid expensive,

unplanned machine down-

times. Festo specialists will

develop and design an individ-

ual condition monitoring solu-

tion for your system and will

help you implement it.

Would you like to learn more

about our services? Ask our

specialists!



The first step towards a

CAD model for your application.

Send us your requirements and

within 1 -2 days you will receive

the following:

• Standard designs from our

mechatronic multi-axis modu-

lar system

• Simple modifications, e.g.

adjustment of the strokes

• 3D models as STEP, IGES, SAT

or Parasolid file

• 2D drawings as DWG, DXF or

PDF file

Engineering – CAD hotline

Linear gantry

with cantilever axis (Z)

Heavy-duty linear gantry with

toothed-belt axis (Y) and spindle

axis (Z)

Three-dimensional gantry

with toothed belt axis (XY)

and spindle axis (Z)

Examples of CAD models from

the standard multi-axis modular

system



Innovation is not a coincidence!

The fact that Festo occupies a

prominent position in industrial

automation with Mechatronic

Motion Solutions is no coinci-

dence.

8.5% of the company’s turnover

(2010) is invested in research

and development. Consistent

innovation management ensures

that products are brought to

market quickly.

This is why the development of

the Bionic Handling Assistant

was rewarded with the German

Future Award 2010 by the coun-

try’s President. We believe that

every new product incorporates

part of this award, as Festo

wants each new product to pro-

vide optimum functionality and

pioneering technology.

The great inspiration: bionics

The Bionic Learning Network is

a collaboration between Festo

and leading universities, institu-

tions and research companies.

It is closely linked to the innova-

tion processes in learning com-

panies and also part of our com-

mitment to technical training

and education. Festo’s projects

are setting trends, from reliable

automation to energy-efficient

biomechatronics solutions and

green production. Future gripping

The flexible tripod has a wide

operating and can be used for

energy-efficient sorting and

movement, offering flexible and

resilient human/ machine inter-

action in all spatial directions.

System with wrist axis and

adaptive gripper DHDG

(page 44) – controlled with

a CPX-CEC-M1 (page 54) or

robotic controller CMXR

(page 53) and CoDeSys

Softmotion library.

Winner 2010

1. Controls

Control technology

for sub-systems

2. Control

Proportional valve technology

3. Sensors

SMAT sensors

4. Gripping

Adaptive

gripper DHDG

Bionic

Handling Assistant


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Festo worldwide

ArgentinaFesto S.A.Edison 2392(1640) MartínezProv. Buenos AiresTel. +54 (011) 4717 82 00,Fax +54 (011) 47 17 82 82E-mail: [email protected]

AustraliaFesto Pty. Ltd.Head Office (Melbourne)179-187 Browns RoadP.O. Box 261Noble Park Vic. 3174Call Toll Free 1300 88 96 96Fax Toll Free 1300 88 95 95Tel. +61(0)3 97 95 95 55,Fax +61(0)3 97 95 97 87E-mail: [email protected]

AustriaFesto Gesellschaft m.b.H.Linzer Straße 2271140 WienTel. +43 (0)1 910 75-0, Fax +43 (0)1 910 75-250E-mail: [email protected]

BelarusIP FestoMasherov avenue, 78220035 MinskTel. +375 (0)17 204 85 58,Fax +375 (0)17 204 85 59E-mail: [email protected]

BelgiumFesto Belgium saRue Colonel Bourg 1011030 BruxellesTel. +32 (0)2 702 32 11, Fax +32 (0)2 702 32 09E-mail: [email protected]

BelgiumFesto Belgium nvKolonel Bourgstraat 1011030 BrusselTel. +32 (0)2 702 32 11, Fax +32 (0)2 702 32 09E-mail: [email protected]

BrazilFesto Brasil LtdaRua Guiseppe Crespi, 76KM 12,5 - Via Anchieta04183-080 São Paulo SP-BrazílTel. +55 (0)11 50 13 16 00,Fax +55 (0)11 50 13 18 68E-mail: [email protected]

BulgariaFesto EOOD1592 SofiaBul. Christophor Kolumb 9Tel. +359 (0)2 960 07 12,Fax +359 (0)2 960 07 13E-mail: [email protected]

CanadaFesto Inc.5300 Explorer DriveMississauga, Ontario L4W 5G4Tel. +1 (0)905 624 90 00,Fax +1 (0)905 624 90 01E-mail: [email protected]

ChileFesto S.A.Avenida Américo Vespucio, 760PudahuelSantiagoTel. +56 2 690 28 00, Fax +56 2 690 28 60E-mail: [email protected]

ChinaFesto (China) Ltd.1156 Yunqiao Road,Jinqiao Export Processing Zone,Pudong,201206 ShanghaiTel. +86 21 60 81 51 00, Fax +86 21 58 54 03 00E-mail: [email protected]

ColombiaFesto Ltda.Autopista Bogotá - Medellín Km 6 (costado sur)Tenjo, CundinamarcaTel. +57 (1) 865 77 88,Fax +57 (1) 865 77 88 Ext.287E-mail: [email protected]

CroatiaFesto d.o.o.Nova Cesta 18110000 ZagrebTel. +385 (0)1 619 19 69,Fax +385 (0)1 619 18 18E-mail: [email protected]

Czech RepublicFesto, s.r.o.Modřanská 543/76147 00 Praha 4Tel. +420 261 09 96 11, Fax +420 241 77 33 84E-mail: [email protected]

DenmarkFesto A/SIslevdalvej 1802610 RødovreTel. +45 70 21 10 90, Fax +45 44 88 81 10E-mail: [email protected]

EstoniaFesto OY AB Eesti FiliaalLaki 11B12915 TallinnTel. +372 666 15 60, Fax +372 666 15 61E-mail: [email protected]

FinlandFesto OYMäkituvantie 9P.O. Box 8601511 VantaaTel. +358 (09) 87 06 51,Fax +358 (09) 87 06 52 00E-mail: [email protected]

FranceFesto EurlZA des Maisons Rouges8 rue du clos sainte Catherine94360 Bry-sur-MarneTel. +33 (0) 820 20 46 40 (numéro indigo),Fax +33 (0) 820 20 46 41E-mail: [email protected]

GermanyFesto AG & Co. KGPostfach73726 EsslingenRuiter Straße 8273734 EsslingenTel. +49 (0)711 347 0, Fax +49 (0)711 347 26 28E-mail: [email protected]

GreeceFesto Ltd.40 Hamosternas Ave.P.C. 11853 AthensTel. +30 210 341 29 00, Fax +30 210 341 29 05E-mail: [email protected]

Hong KongFesto Ltd.6/F New Timely Factory Building,497 Castle Peak Road,Kowloon, Hong KongTel. + 852 27 43 83 79, Fax + 852 27 86 21 73E-mail: [email protected]

HungaryFesto Kft.Csillaghegyi út 32-34.1037 BudapestHotline +36 1 436 51 00Tel. +36 1 436 51 11, Fax +36 1 436 51 01E-mail: [email protected]

IndiaFesto Controls Private Ltd.237B,Bommasandra Industrial Area,Bangalore Hosur Highway,Bangalore 560 099Tel. +91 (0)80 22 89 41 00,Fax +91 (0)80 27 83 20 58 / 27 83 33 62E-mail: [email protected]

IndonesiaPT. FestoJL. Sultan Iskandar Muda No. 68Arteri Pondok IndahJakarta 12240Tel. +62 (0)21 27 50 79 00,Fax +62 (0)21 27 50 79 98E-mail: [email protected]

IranFesto Pneumatic S.K.# 2, 6th street, 16th avenue,Km 8, Special Karaj RoadP.O.Box 15815-1485Teheran 1389793761Tel. +98 (0)21 44 52 24 09,Fax +98 (0)21 44 52 24 08E-mail: [email protected]

IrelandFesto LimitedUnit 5 Sandyford ParkSandyford Industrial EstateDublin 18Tel. +353 (0)1 295 49 55,Fax +353 (0)1 295 56 80E-mail: [email protected]

IsraelFesto Pneumatic Israel Ltd.P.O. Box 1076Ha'atzma'ut Road 48Yehud 56100Tel. +972 (0)3 632 22 66,Fax +972 (0)3 632 22 77E-mail: [email protected]

ItalyFesto SpAVia Enrico Fermi 36/3820090 Assago (MI)Tel. +39 02 45 78 81, Fax +39 02 488 06 20E-mail: [email protected]

JapanFesto K.K.1-26-10 HayabuchiTsuzuki-kuYokohama 224-0025Tel. +81 (0)45 593 56 10 / -5611,Fax +81 (0)45 593 56 78E-mail: [email protected]

Korea SouthFesto Korea Co., Ltd.470-1 Gasan-dongGeumcheon-guSeoul #153-803Tel. +82 (0)2 850 71 14, Fax +82 (0)2 864 70 40E-mail: [email protected]

LatviaFesto SIAA. Deglava iela 601035 RigaTel. +371 67 57 78 64, Fax +371 67 57 79 46E-mail: [email protected]

LithuaniaFesto, UABPartizanų 63M50306 KaunasLietuvaTel. +370 (8)7 32 13 14, Fax +370 (8)7 32 13 15E-mail: [email protected]

MalaysiaFesto Sdn. Berhad10 Persiaran IndustriBandar Sri DamansaraWilayah Persekutuan52200 Kuala LumpurTel. +60 (0)3 62 86 80 00,Fax +60 (0)3 62 75 64 11E-mail: [email protected]

MexicoFesto Pneumatic, S.A.Av. Ceylán 3,Col. Tequesquináhuac54020 TlalnepantlaEstado de MéxicoTel. +52 (01)55 53 21 66 00,Fax +52 (01)55 53 21 66 55E-mail: [email protected]

NetherlandsFesto B.V.Schieweg 622627 AN DelftTel. +31 (0)15 251 88 99,Fax +31 (0)15 251 88 67E-mail: [email protected]

New ZealandFesto Ltd.20 Fisher CrescentMount WellingtonAucklandTel. +64 (0)9 574 10 94, Fax +64 (0)9 574 10 99E-mail: [email protected]

NigeriaFesto Automation Ltd.Motorways Centre, First Floor, Block CAlausa, Ikeja,LagosTel. +234 (0)1 794 78 20,Fax +234 (0)1 555 78 94E-mail: [email protected]

NorwayFesto ASOle Deviks vei 20666 OsloTel. +47 22 72 89 50, Fax +47 22 72 89 51E-mail: [email protected]

PeruFesto S.R.L.Amador Merino Reyna 480San IsidroLimaTel. +51 (1) 219 69 60, Fax +51 (1) 219 69 71E-mail: [email protected]

PhilippinesFesto Inc.Festo BuildingKM 18, West Service RoadSouth Superhighway1700 Paranaque CityMetro ManilaTel. +63 (0)2 776 68 88, Fax +63 (0)2 823 42 19E-mail: [email protected]

PolandFesto Sp. z o.o.Janki k/Warszawyul. Mszczonowska 705090 RaszynTel. +48 (0)22 711 41 00,Fax +48 (0)22 711 41 02E-mail: [email protected]

PortugalFesto – Automação, Unipessoal, Lda.Rua Manuel Pinto De Azevedo, 567Apartado 80134109-016 PortoContact Center: 707 20 20 43Tel. +351 22 615 61 50, Fax +351 22 615 61 89E-mail: [email protected]

RomaniaFesto S.R.L.St. Constantin 17010217 BucurestiTel. +40 (0)21 310 31 90,Fax +40 (0)21 310 24 09E-mail: [email protected]

RussiaOOO Festo-RFMichurinskiy prosp., 49119607 MoscowTel. +7 495 737 34 00, Fax +7 495 737 34 01E-mail: [email protected]

SingaporeFesto Pte. Ltd.6 Kian Teck WaySingapore 628754Tel. +65 62 64 01 52, Fax +65 62 61 10 26E-mail: [email protected]

SlovakiaFesto spol. s r.o.Gavlovicová ul. 183103 Bratislava 3Tel. +421 (0)2 49 10 49 10,Fax +421 (0)2 49 10 49 11E-mail: [email protected]

SloveniaFesto d.o.o. LjubljanaIC Trzin, Blatnica 81236 TrzinTel. +386 (0)1 530 21 00,Fax +386 (0)1 530 21 25E-mail: [email protected]

South AfricaFesto (Pty) Ltd.22-26 Electron AvenueP.O. Box 255Isando 1600Tel. +27 (0)11 971 55 00,Fax +27 (0)11 974 21 57E-mail: [email protected]

SpainFesto Pneumatic, S.A.U.Avenida Granvia, 159Distrito Económico Granvia L'H08908 Hospitalet de LlobregatBarcelonaTel.: 901243660, Fax: 902243660Tel. +34 93 261 64 00, Fax +34 93 261 64 20E-mail: [email protected]

SwedenFesto ABStillmansgatan 1Box 21038200 21 MalmöTel. +46 (0)20 38 38 40, Fax +46 (0)40 38 38 10E-mail: [email protected]

SwitzerlandFesto AGMoosmattstrasse 248953 Dietikon ZHTel. +41 (0)44 744 55 44,Fax +41 (0)44 744 55 00E-mail: [email protected]

TaiwanFesto Co., Ltd.Head Office244509, Kung 8th RoadLinkou 2nd Industrial ZoneLinkou Dist., New Taipei CityTaiwan, R.O.C.Tel. +886 (0)2 26 01-92 81,Fax +886 (0)2 26 01 92 86-7E-mail: [email protected]

ThailandFesto Ltd.67/1 Phaholyothin Rd.,T. Klong 1, A. KlongluangPathumthani 12120Tel. +66 29 01 88 00, Fax +66 29 01 88 30E-mail: [email protected]

TurkeyFesto San. ve Tic. A.S.Tuzla Mermerciler OrganizeSanayi Bölgesi 6/1834956 Tuzla - Istanbul/TRTel. +90 (0)216 585 00 85,Fax +90 (0)216 585 00 50E-mail: [email protected]

UkraineFesto UkrainaDP Festovul. Borisoglebskaya,1104070, KievTel. +380 (0)44 239 24 30,Fax +380 (0)44 463 70 96E-mail: [email protected]

United KingdomFesto LimitedApplied Automation CentreCaswell RoadBrackmills Trading EstateNorthampton NN4 7PYTel. ++44 (0)1604 / 66 70 00,Fax ++44 (0)1604 / 66 70 01E-mail: [email protected]

United StatesFesto Corporation (New York)395 Moreland RoadP.O. Box 18023Hauppauge, NY 11788Call Toll-free 800/993 3786Fax Toll-free 800/963 3786Tel. +1(631) 435 08 00, Fax +1(631) 435 80 26E-mail: [email protected]

VenezuelaFesto C.A.Av. 23 esquina con calle 71N° 22-62, Edif. Festo.Sector ParaísoMaracaibo - VenezuelaTel. +58 (261) 759 11 20/759 41 20/759 44 38,Fax +58 (261) 759 04 55E-mail: [email protected]

VietnamFesto Co., Ltd (Cong Ty Tnhh Festo)No. 206 Tran Nao StreetWard Binh AnDistrict 2Ho Chi Minh CityTel. +84 (0)8 740 69 09, Fax +84 (0)8 740 69 10E-mail: [email protected]


Handling systemoverview en

Business

electric drives

axis systems

pneumatic yz handling

complete systems

electric grippers

axis control systems

customised systems

positioning systems