Upload
hranislav-niciforovic
View
320
Download
19
Tags:
Embed Size (px)
DESCRIPTION
FESTO Handling Guide En
Citation preview
Handling Guide Standardised handling systems – from the front unit to the controller
The competence brochure for standard handling systems from Festo2012/2013
2 Handling Guide – Subject to change – 2012/09
The competence brochure for standard handling systems from Festo.The past development of handling technology at Festo is char-acterised by rapid changes in the area of standardised systems, Mechatronic Motion Solution components and customer-specific solutions. The mechatronic standard multi-axis modular system, the design basis for the standard handling systems, has been extended and optimised by degrees. In addition to the mechanical combination of drives, cylinders and axes as well as the adaptation of the front unit products for rotating, gripping and vacuum, the multi-axis modu-lar system also includes energy management components such as energy chains and spiral tubing. Standardisation is a key factor in the successful implementation of a wide range of customer applications. Ready-to-install and standard-ised handling systems allow the customer to virtually dispense with the complex processes associated with developing and construct-ing these systems. We design, order and commission, assemble, test and deliver. We can also commission the handling system on site on request.
Handling Guide 2012/2013
We offer our customers design engineering, documentation, CAD models, assembly, checking and testing, commissioning and servicing. Advantages of standardised handling systems:• Shorter project turnaround times thanks to preconfigured, stan-
dardised handling systems • Shorter design times thanks to the early availability of 2D and 3D
drawings• Reliable project costs thanks to the clear price/performance matrix
with defined interfaces• Competent engineers provide support with technical advice and
expert knowledge based on the latest technological standards• The documentation for the handling system includes both the CAD
model and the circuit diagrams in EPLAN or Promis Working in close cooperation with our customers, we have developed very specific and industry-oriented system solutions – everything required to solve a wide range of problems quickly and reliably.
The standard multi-axis modular system from Festo
For fast solution proposals and quotationsThe Festo handling team can be reached at:
Tel. +49 (0) 711 347-4381Fax +49 (0) 711 347-4356E-mail [email protected]
32012/09 – Subject to change – Handling Guide
Toothed belt axes and spindle axes EGC/EGC-HD
VersatileThe entire EGC range is available as toothed belt and spindle axes. Numerous sizes and slide vari-ants, an optional central lubrica-tion adapter as well as protected guides open up a broad range of applications.
Heavy-duty variant HDThe EGC-HD completes the EGC range with recirculating ball bearing guide. It absorbs lat-eral forces and torques twice as effectively as the standard axis. With a toothed belt or spindle drive with two parallel guides, it is perfect for cantilever systems.
Flexible motor mountingon EGC-TB/EGC-HD-TB• Motor can be attached on
4 sides, freely selectable• Subsequent conversion
possible at any timeThe benefits to you:Define a standard attachment variant with one part number and modify to alternative positions as and when needed.
Technical data EGC-HD-BSwith spindle drive
EGC-HD-TBwith toothed belt drive
Size (profile width) [mm] 125, 160, 220 125, 160, 220Max. stroke [mm] 2,400 5,000Max. speed [m/s] 1.5 5Max. acceleration [m/s2] 15 30Repetition accuracy [mm] ±0.02 ±0.08Max. feed force [N] 1,300 1,500Torque Mx [Nm] 900 900
Torque My/Mz [Nm] 1,450 1,450
Slide optionsAdditional slide• 1 active and 1 passive
(freely movable) slide• For greater axial and lateral
torques
Protected slide• Additional scrapers on
both sides of the slide• For protecting the guide
against dust, dirt particles and fluids
Specially developed profiles with an optimised cross section give the drives maximum rigidity and load capacity. Speed, accelera-tion and torque resistance set a new benchmark.
Profile cross section EGC-HD-TB
Profile cross section EGC-HD-BS
4 Handling Guide – Subject to change – 2012/09
Peri
pher
als
From individual components to the complete system
Motion control and control cabinet Compact Vision Systems Frames Information
Front unit Drives Handling systems
Han
dlin
g
Rotary and swivel modules Electric Standard handling systems Advanced handling systems
Grippers Pneumatic
Vacuum Servopneumatic
Consulting Quotation Ordering Engineering Assembly Commissioning Maintenance
52012/09 – Subject to change – Handling Guide
Motion control and control cabinet Compact Vision Systems Frames Information
Front unit Drives Handling systems
Festo – from consulting to maintenance.
Rotary and swivel modules Electric Standard handling systems Advanced handling systems
Grippers Pneumatic
Vacuum Servopneumatic
Complete solutions from Festo greatly reduce the total cost of ownership (TOC). In addition, everything is delivered fully assem-bled, adjusted, tested and documented.
Consulting Quotation Ordering Engineering Assembly Commissioning Maintenance
Aluminium Steel
6 Handling Guide – Subject to change – 2012/09
Bernoulli vacuum gripper
Intelligent vacuum generators
Vacuum grippers
VAS/VAS-B
ESG
DHPS
HGPT-B
HGRC/HGWC
DHDS DHEB
HGDT/HGDT-F
HGPC
HGPD
DHRS
DHWS
HGRT
HGPL
HGPP
OGGB OVEMVN
ESS/ESV
Vacuum generators
Radial and angle grippers
Three-point grippers Bellows grippers Parallel grippers
Gripper fingers Gripping
Vacuum
HGDD
DHDG
Front unit
Suction cups
HGPLE
72012/09 – Subject to change – Handling Guide
Swivelling up to 270° Swivelling up to 360° Rotating >360°
DSMI
DRQD-B ERMB
Rotary and swivel modules Function combinations
DSM-B
DSM-HD
DSM-T
EHMB
DSL-B
HGDS
8 Handling Guide – Subject to change – 2012/09
Drives with displacement encoder
Rodless cylinders
Valve
Proportional valve
Position controller and end-position controller
VUVG
VPWP
CPX-CMAX CPX-CMPX
DNCI
CPV
MPA
VTSA
Slide
DGSL
DGC
Valve terminals
Cylinders with piston rod
ADN DNC
Guide units
DFM
Pneumatic components Servopneumatic components Electrical components
DGCI
Drives, axes and cylinders
92012/09 – Subject to change – Handling Guide
Cylinders and cantilever axes Slide
Position controllers Servo and stepper motors
CMFL
Servo and stepper motor controllers
CMMP-AS CMMD-ASCMMS-ASEMMS-AS EMMS-ST
EMGA/EMGB
EPCO EGSLDNCE DGEA
SFC-LACI
Linear motor axes
Gantry axes and guide axes
EGC-TB/BS EGC-HD-TB/BS ELGA-TB-RFEGC-FA ELGA-TB-G
EGSK/EGSP DGE-ZR/BS/FA DGE-RFELGR
Pneumatic components Servopneumatic components Electrical components
ADNE-LAS ELGL-LASELGL-LASDNCE-LAS
ELGG
Gear unit CMMS-ST CMMO-ST
10 Handling Guide – Subject to change – 2012/09
High-speed Pick and Place Pick and Place Pneumatic
Low-cost
HSW
HSP
Electric
Linear gantry Pneumatic
Electric
Low-cost
Handling modules Standard handling systems Standard handling systems Advanced handling systems
Movements in 2D Movements in 2D Movements in 3D High-speed movements in 2D and 3D
112012/09 – Subject to change – Handling Guide
TripodCantilever axis Three-dimensional gantryZ-axis, pneumatic
Z-axis, electric
Low-cost
H-gantry
T-gantry
Handling modules Standard handling systems Standard handling systems Advanced handling systems
Movements in 2D Movements in 2D Movements in 3D High-speed movements in 2D and 3D
12 Handling Guide – Subject to change – 2012/09
Control solution Control cabinet Compact Vision Systems Software
Motion control
Module Compact controller
Integrated controller
CPX terminal Modular controller Robotics controller
Controller CECC-D CECC-LK
CoDeSys controller in CDPX
CoDeSys controller CPX-CEC-C1
Motion controller CPX-CEC-M1
Modular controller CECX-X-C1
Motion controller CECX-X-M1
Robotics controller CMXR-C1
Robotics controller CMXR-C2
Functionality
ptp = point-to-point
Single axis (ptp, asynchronous)
Single axis (ptp, asynchronous)
C1: Single axis M1: Interpolation(2D)
Single axis(ptp, asynchronous)
Interpolation(2.5D)
Robotics(3D)
Robotics(3D)
Maximum permissiblenumber ofaxes
4 axes 8 axes 6 axes interpolated, maximum 3 of these basic axes, 1 orientation axis.
Another 16 axes possi-ble via the integrated Co DeSys PLC.
132012/09 – Subject to change – Handling Guide
PositioningDrivesControl package CMCA for advanced handling systems
Control packages for standard handling systems
Festo Handling and Positioning Profile (FHPP)
Festo Configuration Tool (FCT)
SBOx-Q
Control solution Control cabinet Compact Vision Systems Software
Complete solutions and software
Fieldbus communication
Set selection Direct operation Parameter channel
Mode Position Speed Free access to all parameters for
reading and writing
14 Handling Guide – Subject to change – 2012/09
Table of contents
Instructions on fast-track planning of standard handling systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Selection matrixStandard, advanced and low-cost handling systems . . . . . . . . . . . . 16
Standard handling systemsStandard handling modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Pick and Place . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Standard linear gantries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Standard cantilever axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Standard three-dimensional gantries . . . . . . . . . . . . . . . . . . . . . . . . . 42Advanced handling systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Low-cost standard handling systems . . . . . . . . . . . . . . . . . . . . . . . . . 58
Standardised peripherals in handling technologyFrames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Control cabinets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68Machine vision, Compact Vision System, Checkbox . . . . . . . . . . . . . 69Servopneumatics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
152012/09 – Subject to change – Handling Guide
16 Handling Guide – Subject to change – 2012/09
Two-dimensional systems Three-dimensional systems
Handling moduleHSP/HSW
Pick and Place DHSP Linear gantry DHSL Cantilever axis DHSA Three-dimensional gantry DHSR
Effective load [kg] Working stroke [mm] Working stroke [mm] Working stroke [mm] Working stroke [mm] Working stroke [mm]
... 0.3 Z: 0 ... 50Y: 0 ... 500X: 0 ... 1,900
Page 44
... 0.5 Z: 0 ... 100Y: 0 ... 1,900
Page 26
Z: 0 ... 80Y: 0 ... 1,000X: 0 ... 5,000
Page 45
... 1 Z: 0 ... 70Y: 0 ... 175
Page 18
Z: 0 ... 80Y: 0 ... 150
Page 22
Z: 0 ... 200Y: 0 ... 5,000
Page 27
Z: 0 ... 200Y: 0 ... 1,000X: 0 ... 8,500
Page 46
... 2 Z: 0 ... 160Y: 0 ... 200
Page 22
Z: 0 ... 400Y: 0 ... 8,500
Page 28
Z: 0 ... 400Y: 0 ... 1,500X: 0 ... 8,500
Page 47
... 4 Z: 0 ... 200Y: 0 ... 320
Page 23
Z: 0 ... 1,000Y: 0 ... 8,500
Page 29
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 36
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 48
... 6 Z: 0 ... 400Y: 0 ... 400
Page 23
Z: 0 ... 1,000Y: 0 ... 8,500
Page 30
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 37
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 49
... 10 Z: 0 ... 1,000Y: 0 ... 8,500
Page 31
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 38
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 50
... 15 Z: 0 ... 1,000Y: 0 ... 8,500
Page 32
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 39
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 51
... 25 Z: 0 ... 1,000Y: 0... 8,500
Page 33
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 40
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 52
... 50 Z: 0 ... 1,000Y: 0 ... 8,500
Page 34
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 41
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 53
ZY
ZY
ZY
X
Selection matrixStandard handling systems
Z
Y
X
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 200 400 600 800
DGEA-18
EGSA-50
DNCE-32/FENG
EGC-70-BS
DGSL-16
DFM-20
DNC-32/FENG
EGSL-55
Cycl
e ti
me
[s]
Z-axis
Working stroke [mm]
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500 2,000 2,500
EGC-HD-125-TB /
EGC-80-TB
EGC-HD-125-BS /
EGC-80-BS
DGC-40
DGCI-40
Cycl
e ti
me
[s]
Y-axis
Working stroke [mm]
Instructions on fast-track planning of standard handling systems
Using the linear gantry DHSL 4 as an exampleRequirement: Linear gantry: Effective load up to 4 kg Vertical: Stroke 300 mm, electric cantilever axis, intermediate position, repetition accuracy ±0.05 mm Horizontal: Stroke 1,000 mm, electric toothed belt drive, repetition accuracy ±0.1 mm
Step 1
Step 2
Step 3
Selection matrix: Standard handling systemsIn the row for effective load 4 kg and the column for linear gantry, you will find the page number where the technical data is to be found. Effective load definition: Estimating the effective load is a prerequisite for fast-track planning of a handling system. The effective load is the sum of all weights and forces acting on the Z-axis: 1. Workpiece, assembling force 2. All drives and mounting components mounted on the Z-axis
(e.g. an adapted rotary/gripping solution).
Technical dataFind the relevant axes Vertical, electric, 300 mm, etc. DGEA-25 is selected
Horizontal, toothed belt, electric, 1,000 mm, etc. EGC-120-TB-KF is selected
Cycle timeZ-axis at 300 mm on the curve of DGEA-18, positioning time for a full stroke: 0.4 sec. Y-axis at 1,000 mm on the curve of EGC-80-TB, positioning time for a full stroke: 0.8 sec. Using these specifications and making allowances for other motions (e.g. gripping, rotating), an initial estimate of the total cycle time can be made.
TB: Toothed belt drive EGCBS: Spindle drive EGCP: Pneumatic drivePS: Servopneumatic driveFA: Guide axisES: Electric mini slideKF: Recirculating ball
bearing guideFENG: Guide unitASP: Cantilever spindle driveAZR: Cantilever toothed belt drive
NoteAn operating pressure of 6 bar is assumed for all the pneumatic drives shown here.
The cycle time is the time it takes during a stroke by a linear drive or cylinder to travel from 0 to x mm.
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm]
Z-axis End position Intermediateposition
AZR DGEA-25 0 ... 800 Any ± 0.05 ± 0.05BS EGC-70-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02ASP EGSA-60 0 ... 300 Any ± 0.01 ± 0.01SP DNCE-32 with FENG 0 ... 400 Any ± 0.02 ± 0.02ES EGSL-75 0 ... 300 Any ± 0.015 ± 0.015P DGSL-20 0 ... 200 - ± 0.01 1) -P DFM-25 0 ... 400 - max. 0.05 -P DNC-32 with FENG 0 ... 500 2 ± 0.2 -PS DNCI-32 with FENG 0 ... 500 2/any 2) <± 0.5 <± 0.5/± 2 2)
Y-axis
TB EGC-120-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08BS EGC-120-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02TB EGC-HD-160-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08BS EGC-HD-160-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02P DGC-40-KF 3) 0 ... 1,500 1 4) ± 0.02 ± 0.02PS DGCI-40-KF 0 ... 1,500 2/any 2) max. ± 0.4 max. ± 0.4/± 2P DGC-25 + FA 0 ... 2,000 1 4) ± 0.02 5) ± 0.02/± 0.1PS DGCI-25 + FA 0 ... 2,000 2/any 2) ± 0.02/± 0.4 ± 1/± 0.4
X-axis
TB EGC-80-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08
16 Handling Guide – Subject to change – 2012/09
Two-dimensional systems Three-dimensional systems
Handling moduleHSP/HSW
Pick and Place DHSP Linear gantry DHSL Cantilever axis DHSA Three-dimensional gantry DHSR
Effective load [kg] Working stroke [mm] Working stroke [mm] Working stroke [mm] Working stroke [mm] Working stroke [mm]
... 0.3 Z: 0 ... 50Y: 0 ... 500X: 0 ... 1,900
Page 44
... 0.5 Z: 0 ... 100Y: 0 ... 1,900
Page 26
Z: 0 ... 80Y: 0 ... 1,000X: 0 ... 5,000
Page 45
... 1 Z: 0 ... 70Y: 0 ... 175
Page 18
Z: 0 ... 80Y: 0 ... 150
Page 22
Z: 0 ... 200Y: 0 ... 5,000
Page 27
Z: 0 ... 200Y: 0 ... 1,000X: 0 ... 8,500
Page 46
... 2 Z: 0 ... 160Y: 0 ... 200
Page 22
Z: 0 ... 400Y: 0 ... 8,500
Page 28
Z: 0 ... 400Y: 0 ... 1,500X: 0 ... 8,500
Page 47
... 4 Z: 0 ... 200Y: 0 ... 320
Page 23
Z: 0 ... 1,000Y: 0 ... 8,500
Page 29
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 36
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 48
... 6 Z: 0 ... 400Y: 0 ... 400
Page 23
Z: 0 ... 1,000Y: 0 ... 8,500
Page 30
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 37
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 49
... 10 Z: 0 ... 1,000Y: 0 ... 8,500
Page 31
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 38
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 50
... 15 Z: 0 ... 1,000Y: 0 ... 8,500
Page 32
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 39
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 51
... 25 Z: 0 ... 1,000Y: 0... 8,500
Page 33
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 40
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 52
... 50 Z: 0 ... 1,000Y: 0 ... 8,500
Page 34
Z: 0 ... 400Y: 0 ... 800X: 0 ... 5,000
Page 41
Z: 0 ... 1,000Y: 0 ... 2,000X: 0 ... 8,500
Page 53
ZY
ZY
ZY
X
Selection matrixStandard handling systems
Z
Y
X
172012/09 – Subject to change – Handling Guide
ZY
Selection matrixAdvanced handling systems
Low-cost standard handling systemsTwo-dimensional systems Three-dimensional systems
Pick and Place DHBP Linear gantry DHBL Three-dimensional gantry DHBR
Effective load [kg] Working stroke [mm] Working stroke [mm] Working stroke [mm]
... 2 Z: 0 ... 100Y: 0 ... 160
Page 59
Z: 0 ... 100Y: 0 ... 3,000
Page 60
Z: 0 ... 200Y: 0 ... 800X: 0 ... 1,500
Page 61
... 4 Z: 0 ... 100Y: 0 ... 160
Page 59
Z: 0 ... 200Y: 0 ... 3,000
Page 60
Two-dimensional systems Three-dimensional systems
T-gantry EXCT H-gantry EXCH Tripod EXPT
Effective load [kg] Working stroke [mm] Working stroke [mm] Working stroke [mm]
... 3 Z: 0 ... 120/300Y: 0 ... 2,980
Page 55
... 5 h: 0 ... 480d: 0 ... 1,250
Page 57
... 6 Y: 0 ... 1,000X: 0 ... 2,000
Page 56
d
h
Z
Y
X
ZY
Z
Y
X
18 Handling Guide – Subject to change – 2012/09
Standard handling modules HSP
• Compact design• Extremely short cycle times• Low-cost• Simple commissioning• For effective loads up to 1.6 kg
• Stroke adjustment along Y and Z-axes
• Wait positions possible• No planning costs
Technical data
Drive system Pneumatic/electric
Effective load 0 ... 1.6 kgStrokeY 52 ... 170 mmZ 20 ... 70 mmZ (effective linear stroke) 15 ... 25 mmPrecision stroke adjustmentY ±8 ... 20 mmZ –10 ... –20 mmWait position 1) Optional
Precision ±0.02 mm
1) The wait position enables the picker to pull back from the working area.
1.6 kg
Pneumatic handling module Electric handling module Handling module for freely configurable drives
1.6 kg
The handling module is a gen-eration of function modules for the automatic transfer, feed and removal of small parts in extremely confined spaces.
This is achieved by means of a guided vertical and horizontal motion sequence. A backlash-free cross-guide with recircu-lating ball bearing elements ensures high precision and
good rigidity. The combination of a swivel module and a link guided movement produces a compact unit for a complete Pick and Place cycle.
Variants and options can be found in the Festo online catalogue.
70/170 HSP-25
50/110 HSP-16
30/68 HSP-12
0.3
0.6
0.9
1.2
1.5
1.8
0.0 0.25 0.5 0.75 1.0 1.25 1.5
Cycl
e ti
me
[s]
Mass [kg]
70/170 HSP-25
50/110 HSP-16
30/68 HSP-12
0.3
0.6
0.9
1.2
1.5
1.8
0.0 0.25 0.5 0.75 1.0 1.25 1.5
Cycl
e ti
me
[s]
Mass [kg]
High-speed Pick and Place/electric HSP-AE 12/16/25
High-speed Pick and Place/pneumatic HSP 12/16/25
192012/09 – Subject to change – Handling Guide
Standard handling modules HSW
• Compact design• Extremely short cycle times• Low-cost• Simple commissioning
• For effective loads up to 1.6 kg• Angle and stroke adjustment• Wait positions possible• No planning costs
Technical data
Drive system Pneumatic
Effective load 0 ... 1.6 kgMax. linear stroke at 90° swivel angle 90 ... 175 mmWorking stroke 9 ... 35 mmMin. cycle time 0.6 ... 1.0 sRepetition accuracy ±0.02 mmWait position max. 2
Repetition accuracy, wait position < 1 mm
1.6 kg
Pneumatic handling module Electric handling module Handling module for freely configurable drives
1.6 kg
The handling module is a new generation of function mod-ules for the automatic transfer, feed and removal of small parts in extremely confined spaces. This is achieved by means of a
guided swivel and linear motion sequence. A backlash-free guide with recirculating ball bearing elements ensures high precision and good rigidity. The combi-nation of a swivel module and a
link guided movement produces a compact unit for a complete Pick and Place cycle at an operating angle of 90°.
Variants and options can be found in the Festo online catalogue.
HSW-10-AP
HSW-12-AP
HSW-16-AP
0.0
0.2
0.8
0.6
0.4
1
1.2
1.4
1.6
0 400 800 1,200 1,600 2,000 2,400 2,800
m [k
g]
Mass [kg]
20 Handling Guide – Subject to change – 2012/09
212012/09 – Subject to change – Handling Guide
Standard Pick and Place DHSP
Pick and Place systems consist of two yoke drives.• Combinations comprising
slides and cantilever axes• High mechanical rigidity
and sturdy design• Pneumatic and electric
components – freely combinable
• As an electric solution – freely positionable
Range of application• 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.
Electr./pneum. Pick and Place DGSL/EGSL
Electric Pick and Place EGSL/EGSL
Pneumatic Pick and Place DGSL/HMP
Pick and Place with front unit (as an example)
Pick and Place variants (as an example)
Pneumatic Pick and Place DGSL/DGSL
22
Z
Y
Handling Guide – Subject to change – 2012/08
Standard Pick and Place DHSP 1 and DHSP 2
Components Effective load [kg]
Stroke [mm] Intermediate position Repetition accuracy [mm] Drive package
Z-axis
Y-axis
Z-axis
Y-axis
Z-axis
Y-axis
End position Intermediate position
Z-axis
Y-axis
DHSP 1DGSL-10 DGSL-16 ... 1 0 ... 80 0 ... 150 - - ±0.01 - - -DGSL-10 EGSL-35 1) ... 1 0 ... 80 0 ... 50 - Any ±0.015 ±0.015 - EMMS-AS-40EGSL-35 1) EGSL-45 1) ... 1 0 ... 50 0 ... 200 Any Any ±0.015 ±0.015 EMMS-AS-40 EMMS-AS-55
DHSP 2DGSL-12 DGSL-20 ... 2 0 ... 150 0 ... 200 - - ±0.01 - - -DGSL-12 EGSL-45 1) ... 2 0 ... 150 0 ... 200 - Any ±0.015 ±0.015 - EMMS-AS-55
EGSL-45 1) EGSL-55 1) ... 3 0 … 150 0 … 250 Any Any ±0.015 ±0.015 EMMS-AS-55 EMMS-AS-70
3 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 0.5 1 1.5
30/10
50/30
80/50
0
0.5
1
1.5
2
2.5
0 0.2 0.4 0.6 0.8 1 1.2
30/50
50/100
80/150
0
0.5
1
1.5
2
2.5
3
3.5
0 0.5 1 1.5
10/50
30/100
50/200
0
0.5
1
1.5
2
2.5
3
0 0.5 1 1.5 2 2.5
50/50
100/100
150/200
50/50
100/100
150/200
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
0.0 0.5 1.0 1.5 2.0 2.5
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Combination DGSL 10/EGSL 35
Combination DGSL 10/DGSL 16
Combination EGSL 35/EGSL 45
Combination DGSL 12/EGSL 45
Combination DGSL 12/DGSL 20
Mass [kg]
Mass [kg]
Mass [kg]
Mass [kg]
Mass [kg]
0
1
2
3
4
5
6
7
0 1 2 3 4
50/50
100/150
150/200
200/250
Cycl
e ti
me
[s]
Combination EGSL 45/EGSL 55
Mass [kg]
1) Controller CMMS/P-AS
DHSP 1 DHSP 2
23
Z
Y
2012/08 – Subject to change – Handling Guide
Standard Pick and Place DHSP 4 and DHSP 6
Components Effective load [kg]
Stroke [mm] Intermediate position Repetition accuracy [mm] Drive package
Z-axis
Y-axis
Z-axis
Y-axis
Z-axis
Y-axis
End position Intermediate position
Z-axis
Y-axis
DHSP 4
DGSL-16 HMP-16 ... 4 0 ... 150 0 ... 320 - 1 ±0.02 ±0.02 - -
DGSL-16 EGSL-55 1) ... 4 0 ... 150 0 ... 250 - Any ±0.015 ±0.015 - EMMS-AS-55
EGSL-55 1) EGSL-75 1) ... 4 0 ... 250 0 ... 300 Any Any ±0.015 ±0.015 EMMS-AS-55 EMMS-AS-70
DHSP 6DGSL-20 HMP-25 ... 6 0 ... 200 0 ... 400 - 1 ±0.01 ±0.02 - -
HMP-20 HMP-25 ... 6 0 ... 400 0 ... 400 1 1 ±0.02 ±0.02 - -
DGSL-20 EGSL-75 1) ... 6 0 … 200 0 … 300 - Any ±0.015 ±0.015 - EMMS-AS-70
6 kg
1
1.2
1.4
1.6
1.8
2
2.2
2.4
0 1 2 3 4 5 6
400/400
200/400
Cycl
e ti
me
[s]
Combination HMP 20/HMP 25
Mass [kg]
0
0.5
1
1.5
2
2.5
3
3.5
4
0 2 4 6 8
50/100
150/200
200/300
Cycl
e ti
me
[s]
Combination DGSL 20/EGSL 75
Mass [kg]
1.2
1.4
1.6
1.8
2
2.2
2.4
0 1 2 3 4 5 6
400/200
200/200
Cycl
e ti
me
[s]
Combination DGSL 20/HMP 25
Mass [kg]
0.5
1
1.5
2
2.5
3
0 1 2 3 4 5 6
250/320
100/200
50/100
Cycl
e ti
me
[s]
Combination DGSL 16/HMP 16
Mass [kg]
0
0.5
1
1.5
2
2.5
3
3.5
0 1 2 3 4 5 6
50/100
150/200
250/300
Cycl
e ti
me
[s]
Combination EGSL 55/EGSL 75
Mass [kg]
1) Controller CMMS/P-AS
DHSP 4 DHSP 6
0
0.5
1
1.5
2
2.5
3
3.5
0.0 1.0 2.0 3.0 4.0 5.0
50/50
100/200
150/250
Cycl
e ti
me
[s]
Mass [kg]
Combination DGSL 16/EGSL 55
24 Handling Guide – Subject to change – 2012/09
Standard linear gantries DHSL Handling system from the multi-axis modular system
Movements in 2D: a linear gantry consists of a gantry axis and a yoke drive.• High mechanical rigidity and
sturdy design• Pneumatic and electric
components – freely combinable
• As an electric solution – freely positionable/any intermediate positions
Range of application• Ideal for long gantry strokes• Often used for feeding
applications• Repetition accuracy up to
0.02 mm• Long gantry strokes up to
8.5 m and heavy loads up to 50 kg
• High requirements for system rigidity
The X/Y axis table system variant is not explicitly listed in the Handling Guide. It can be easily extrapolated from standard linear gantries. More information on request.
X/Y axis table as a variant with Y duo axis (as an example)
X/Y axis table as a variant with Y mono axis (as an example)
252012/09 – Subject to change – Handling Guide
Standard linear gantries DHSL Effective load 0.5 up to 50 kg
Support profile type HMIA
Adapter plate type HMVD
Profile mounting type MUE
Y-axis variants• Electric• Pneumatic• Servopneumatic
Z-axis variants• Electric• Pneumatic• Servopneumatic
Combination options using the example of the DHSL-6:
Standard mounting attachments using the example of the DHSL-6
Adapter plate type HMVS
Adapter plate type HMVZ
Plate type HMIW
Plate type HMIY
Energy chain type 2400/2500
Plate type HMIZ
The standard linear gantry type DHSL consists of standard com-ponents that are clearly defined in the Festo multi-axis modular system. This makes it very easy to real-ise many different combinations of Z and Y-axes.
26
Z
Y
Handling Guide – Subject to change – 2012/08
Standard linear gantry DHSL-0.5
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
P DGSL-8 0 ... 100 - ± 0.01 2) - - - -
Y-axis
TB EGC-50-TB-KF 0 ... 1,900 Any ± 0.08 ± 0.08 EMMS-AS-55-S 5 CMMS/P-AS 10
P DGC-12-KF 0 ... 1,900 - ± 0.02 1) - - - - -
1) With shock absorber YSR/YSRW 2) With cushioning P1/Y3
0.5 kg
0
0.1
0.2
0.3
0.4
0.5
0.6
0 20 40 60 80 100
DGSL-8
0
0.5
1
1.5
2
2.5
3
3.5
4
0 200 400 600 800 1,000 1,200
EGC-50
DGC-12-KF
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574497 DHSL-0.5-DGC12-DGSL8 0 ... 0.5 kg 0 ... 1,900 mm 0 ... 100 mm574498 DHSL-0.5-EGC50TB-DGSL8 0 ... 0.5 kg 0 ... 1,900 mm 0 ... 100 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
27
Z
Y
2012/08 – Subject to change – Handling Guide
Standard linear gantry DHSL-1
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
ABS EGSA-50 0 ... 100 Any ± 0.01 ± 0.01 EMMS-AS-40 - CMMS/P-AS 10ES EGSL-35 0 ... 50 Any ± 0.015 ± 0.015 EMMS-AS-40 - CMMS/P-AS 5P DGSL-10 0 ... 200 - ± 0.01 5) - - - - -P DFM-12 0 ... 200 - max. ± 0.05 - - - - -
Y-axis
TB EGC-70-TB-KF 0 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-55-S CMMS-AS 10BS EGC-70-BS-KF 0 ... 1,000 Any ± 0.08 ± 0.02 EMMS-AS-55-S - CMMS-AS 10P DGC-18-KF 0 ... 3,000 1 1) ± 0.02 3) ± 0.02/± 0.1 4) - - - -
PS DGCI-18-KF 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX 3) With shock absorber YSR/YSRW 4) Intermediate position approached from either side 5) With cushioning P1/Y3
1 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 50 100 150 200 250
EGSL-35
EGSA-50
DGSL-10
DFM-12
0
0.5
1
1.5
2
2.5
3
0 200 400 600 800 1,000 1,200
EGC-70
DGC-18-KF
DGCI-18-KF
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574499 DHSL-1-DGC18-DGSL10 0 ... 1 kg 0 ... 3,000 mm 0 ... 200 mm574501 DHSL-1-DGC18-EGSA50 0 ... 1 kg 0 ... 3,000 mm 0 ... 100 mm574500 DHSL-1-EGC70TB-DGSL10 0 ... 1 kg 0 ... 5,000 mm 0 ... 200 mm574502 DHSL-1-EGC70TB-EGSA50 0 ... 1 kg 0 ... 5,000 mm 0 ... 100 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
28
Z
Y
Handling Guide – Subject to change – 2012/08
Standard linear gantry DHSL-2
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-18 0 ... 400 Any ± 0.05 ± 0.05 EMMS-AS-55-S 3 CMMS/P-AS -ASP EGSA-50 0 ... 100 Any ± 0.01 ± 0.01 EMMS-AS-40-S - CMMS/P-AS 10ES EGSL-45 0 ... 200 Any ± 0.015 ± 0.015 EMMS-AS-40-M - CMMS/P-AS 15P DGSL-12 0 ... 200 - ± 0.02 4) - - - - -P DFM-16 0 ... 200 - ± 0.02 ± 0.02 - - - -
Y-axis
TB EGC-80-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-70-S 3 CMMS/P-AS 10BS EGC-80-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS/P-AS 10P DGC-25-KF 0 ... 8,500 1 1) ± 0.02 3) ± 0.02/± 0.1 4) - - - -
PS DGCI-25-KF 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX 3) With shock absorber YSR/YSRW 4) Intermediate position approached from either side
2 kg
0
0.2
0.4
0.6
0.8
1
1.2
0 100 200 300 400 500
DGEA-18
EGSA-50
EGSL-45
DGSL-12
DFM-16
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500 2,000
EGC-80
DGC-25
DGCI-25
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574507 DHSL-2-DGC25S-DGEA18 0 ... 2 kg 0 ... 8,500 mm 0 ... 800 mm574503 DHSL-2-DGC25S-DGSL12 0 ... 2 kg 0 ... 8,500 mm 0 ... 200 mm574505 DHSL-2-DGC25S-EGSA50 0 ... 2 kg 0 ... 8,500 mm 0 ... 100 mm574508 DHSL-2-EGC80TB-DGEA18 0 ... 2 kg 0 ... 8,500 mm 0 ... 600 mm574504 DHSL-2-EGC80TB-DGSL12 0 ... 2 kg 0 ... 8,500 mm 0 ... 200 mm574506 DHSL-2-EGC80TB-EGSA50 0 ... 2 kg 0 ... 8,500 mm 0 ... 100 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
29
Z
Y
2012/08 – Subject to change – Handling Guide
Standard linear gantry DHSL-4
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-18 0 ... 600 Any ± 0.05 ± 0.05 EMMS-AS-55-S 3 CMMS-AS 10BS EGC-70-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 10ASP EGSA-50 0 ... 100 Any ± 0.01 ± 0.01 EMMS-AS-40-S - CMMS-AS 10SP DNCE-32 with FENG 0 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 6ES EGSL-55 0 ... 150 Any ± 0.015 ± 0.015 EMMS-AS-55-S - CMMS-AS 5P DGSL-16 0 ... 150 - ± 0.01 5) - - - - -P DFM-20 0 ... 400 - max. 0.05 - - - - -P DNC-32 with FENG 0 ... 500 - ± 0.2 - - - - -PS DNCI-32 with FENG 0 ... 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-80-TB-KF 3) 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-70-M 3 CMMS-AS 10BS EGC-80-BS-KF 3) 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMP-AS 5TB EGC-HD-125-TB 0 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-125-BS 0 ... 2,500 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5P DGC-40 4) 0 ... 8,500 1 1) ± 0.02 6) ± 0.02/± 1 6) - - - -
PS DGCI-40 4) 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX3) Max. Z stroke 600 mm 4) Max. Z stroke 400 mm 5) With cushioning P1/Y3 6) With shock absorber YSR/YSR
4 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 200 400 600 800
DGEA-18
EGSA-50
DNCE-32/FENG
EGC-70-BS
DGSL-16
DFM-20
DNC-32/FENG
EGSL-55
Cycl
e ti
me
[s]
Z-axis
Working stroke [mm]
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500 2,000 2,500
EGC-HD-125-TB /
EGC-80-TB
EGC-HD-125-BS /
EGC-80-BS
DGC-40
DGCI-40
Cycl
e ti
me
[s]
Y-axis
Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574513 DHSL-4-DGC40S-DGEA18 0 ... 4 kg 0 ... 8,500 mm 0 ... 400 mm574509 DHSL-4-DGC40S-DGSL16 0 ... 4 kg 0 ... 8,500 mm 0 ... 150 mm574515 DHSL-4-DGC40S-DGSL16 0 ... 4 kg 0 ... 8,500 mm 0 ... 400 mm574511 DHSL-4-DGC40S-EGSA50 0 ... 4 kg 0 ... 8,500 mm 0 ... 100 mm574514 DHSL-4-EGC80TB-DGEA18 0 ... 4 kg 0 ... 8,500 mm 0 ... 400 mm574510 DHSL-4-EGC80TB-DGSL16 0 ... 4 kg 0 ... 8,500 mm 0 ... 150 mm574516 DHSL-4-EGC80TB-EGC70BS 0 ... 4 kg 0 ... 8,500 mm 0 ... 600 mm574522 DHSL-4-EGC80TB-EGSA50 0 ... 4 kg 0 ... 8,500 mm 0 ... 100 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
30
Z
Y
Handling Guide – Subject to change – 2012/08
Standard linear gantry DHSL-6
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-25 0 ... 800 Any ± 0.05 ± 0.05 EMMS-AS-70-S 3 CMMS-AS 10BS EGC-70-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 10ASP EGSA-60 0 ... 300 Any ± 0.01 ± 0.01 EMMS-AS-55-S - CMMS-AS 10SP DNCE-32 with FENG 0 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 6ES EGSL-75 0 ... 300 Any ± 0.015 ± 0.015 EMMS-AS-70-S - CMMS-AS 5P DGSL-20 0 ... 200 - ± 0.01 - - - - -P DFM-25 0 ... 400 - max. 0.05 - - - - -P DNC-32 with FENG 0 ... 500 - ± 0.2 - - - - -PS DNCI-32 with FENG 0 ... 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-120-TB-KF 3) 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMP-AS 10BS EGC-120-BS-KF 3) 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5TB EGC-HD-160-TB 0 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-160-BS 0 ... 2,500 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5P DGC-40 4) 0 ... 8,500 1 1) ± 0.02 6) ± 0.02 6) - - - -PS DGCI-40 4) 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -P DGC-25 + FA 0 ... 8,500 1 1) ± 0.02 ± 0.02/± 0.1 - - - -
PS DGCI-25 + FA 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX3) Max. Z stroke 600 mm 4) Max. Z stroke 200 mm 5) With cushioning P1/Y3 6) With shock absorber YSR/YSRW
6 kg
0
0.5
1
1.5
2
2.5
0 200 400 600 800
DGEA-25
EGSA-60
DNCE-32/FENG
EGC-70-BS
DGSL-20
DFM-25
DNC-32/FENG
EGSL-750
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0 500 1,000 1,500 2,000 2,500
EGC-HD-160-TB /
EGC-120-TB
EGC-HD-160-BS /
EGC-120-BS
DGC-40
DGCI-40
DGC-25+FA
DGCI-25+FACycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574523 DHSL-6-DGC25FAS-DGEA25 0 ... 6 kg 0 ... 8,500 mm 0 ... 800 mm574521 DHSL-6-DGC40S-DGEA25 0 ... 6 kg 0 ... 8,500 mm 0 ... 200 mm574517 DHSL-6-DGC40S-DGSL20 0 ... 6 kg 0 ... 8,500 mm 0 ... 200 mm574519 DHSL-6-DGC40S-DGSL20 0 ... 6 kg 0 ... 8,500 mm 0 ... 200 mm574522 DHSL-6-EGC120TB-DGEA25 0 ... 6 kg 0 ... 8,500 mm 0 ... 600 mm574518 DHSL-6-EGC120TB-DGSL20 0 ... 6 kg 0 ... 8,500 mm 0 ... 200 mm574520 DHSL-6-EGC120TB-DGSL20 0 ... 6 kg 0 ... 8,500 mm 0 ... 300 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
31
Z
Y
2012/08 – Subject to change – Handling Guide
Standard linear gantry DHSL-10
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-25 0 ... 800 Any ± 0.05 ± 0.05 EMMS-AS-70-S 3 CMMS-AS 10BS EGC-80-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 10SP DNCE-32 with FENG 0 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 6P DGSL-25 0 ... 200 - ± 0.01 - - - - -P DFM-32 0 ... 400 - max. 0.05 - - - - -P DNC-32 with FENG 0 ... 500 - ± 0.2 - - - - -PS DNCI-32 with FENG 0 ... 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-120-TB-KF 3) 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMP-AS 10BS EGC-120-BS-KF 3) 0 ... 2,500 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5TB EGC-HD-160-TB 4) 0 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-160-BS 4) 0 ... 2,500 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5P DGC-32 + FA 0 ... 8,500 1 1) ± 0.02 ± 0.02/± 0.1 - - - -
PS DGCI-32 + FA 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX3) Max. Z stroke 400 mm 4) Max. Z stroke 800 mm
10 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
0 500 1,000 1,500
DGEA-25
EGC-80-BS-20P
DNCE-32/FENG
DGSL-25
DFM-32
DNC-32/FENG
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0 500 1,000 1,500 2,000 2,500
EGC-HD-160-TB /
EGC-120-TB
EGC-HD-160-BS /
EGC-120-BS
DGC-32+FA
DGCI-32+FA
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574526 DHSL-10-DGC32FAS-DGEA25 0 ... 10 kg 0 ... 8,500 mm 0 ... 800 mm574524 DHSL-10-DGC32FAS-DGSL25 0 ... 10 kg 0 ... 8,500 mm 0 ... 200 mm574528 DHSL-10-DGC32FAS-EGC80BS 0 ... 10 kg 0 ... 8,500 mm 0 ... 1,000 mm574527 DHSL-10-EGC120TB-DGEA25 0 ... 10 kg 0 ... 8,500 mm 0 ... 400 mm574525 DHSL-10-EGC120TB-DGSL25 0 ... 10 kg 0 ... 8,500 mm 0 ... 200 mm574529 DHSL-10-EGC120TB-EGC80BS 0 ... 10 kg 0 ... 8,500 mm 0 ... 400 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
32
Z
Y
Handling Guide – Subject to change – 2012/08
Standard linear gantry DHSL-15
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-40 0 ... 1,000 Any ± 0.05 ± 0.05 EMMS-AS-100-S 3 CMMS-AS 10BS EGC-80-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS-AS 7SP DNCE-40 with FENG 0 ... 500 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 6P DFM-40 0 ... 400 - max. 0.05 - - - - -P DNC-40 with FENG 0 ... 500 2 ± 0.2 - - - - -PS DNCI-40 with FENG 0 ... 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-120-TB-KF 3) 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMP-AS 10BS EGC-120-BS-KF 3) 0 ... 2,500 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5TB EGC-HD-220-TB 4) 0 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-220-BS 4) 0 ... 3,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S 3 CMMP-AS 5ZR ELGA-120-RF 0 ... 8,500 Any ± 0.1 ± 0.1 - - - -P DGC-40 + FA 4) 0 ... 8,500 1 1) ± 0.02 ± 0.02/± 0.1 - - - -
PS DGCI-40 + FA 4) 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX3) Max. Z stroke 200 mm 4) Max. Z stroke 1,000 mm
15 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
0 500 1,000 1,500
DGEA-40
EGC-80-BS-20P
DNCE-40/FENG
DFM-40
DNC-40/FENG
0
0.5
1
1.5
2
2.5
3
4.5
3.5
4
0 500 1,000 1,500 2,000 2,500
EGC-HD-220-TB /
EGC-120-TB
EGC-HD-220-BS /
EGC-120-BS
DGC-40+FA
DGCI-40+FA
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574530 DHSL-6-EGC120TB-DGSL20 0 ... 15 kg 0 ... 8,500 mm 0 ... 1,000 mm574532 DHSL-15-DGC40FAS-EGC80BS 0 ... 15 kg 0 ... 8,500 mm 0 ... 1,000 mm574531 DHSL-15-EGC120TB-DGEA40 0 ... 15 kg 0 ... 8,500 mm 0 ... 200 mm574533 DHSL-15-EGC120TB-EGC80BS 0 ... 15 kg 0 ... 8,500 mm 0 ... 200 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
33
Z
Y
2012/08 – Subject to change – Handling Guide
Standard linear gantry DHSL-25
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-40 0 ... 1,000 Any ± 0.05 ± 0.05 EMMS-AS-100-S 3 CMMS-AS 7BS EGC-120-BS-KF 0 ... 1,000 3) Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5SP DNCE-63 with FENG 0 ... 500 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS-AS 5P DFM-50 0 ... 400 - max. 0.05 - - - - -P DNC-63 with FENG 0 ... 500 2 ± 0.2 - - - - -PS DNCI-63 with FENG 0 ... 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-185-TB-KF 4) 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-M 5 CMMP-AS 10BS EGC-185-BS-KF 4) 0 ... 3,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5TB EGC-120-TB-KF 5) 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMP-AS 10BS EGC-120-BS-KF 5) 0 ... 2,500 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5TB EGC-HD-220-TB 4) 0 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-220-BS 4) 0 ... 3,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5P DGC-63 + FA 5) 0 ... 5,000 1 1) ± 0.02 ± 0.02/± 0.1 - - - -
PS DGCI-63 + FA 5) 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX3) Limited to 700 mm in yoke operation 4) Max. Z stroke 600 mm 5) Max. Z stroke 1,000 mm
25 kg
0
0.5
1
1.5
2
2.5
3
0 500 1,000 1,500
DGEA-40
EGC-120-BS-25P
DNCE-63/FENG
DGC-50-KF
DNC-63/FENG
DFM-50
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
0 500 1,000 1,500 2,000 2,500
EGC-120-DUO
EGC-HD-220-BS /
EGC-185-BS
EGC-HD-220-TB /
EGC-185-KF
DGC-63+FA
DGCI-63+FA
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574535 DHSL-25-2EGC120TB-DGEA40 0 ... 25 kg 0 ... 8,500 mm 0 ... 1,000 mm574538 DHSL-25-2EGC120TB-EGC120BS 0 ... 25 kg 0 ... 8,500 mm 0 ... 1,000 mm574536 DHSL-25-DGC63FAS-EGC120BS 0 ... 25 kg 0 ... 8,500 mm 0 ... 1,000 mm574534 DHSL-25-EGC185TB-DGEA40 0 ... 25 kg 0 ... 8,500 mm 0 ... 600 mm574537 DHSL-25-EGC185TB-EGC120BS 0 ... 25 kg 0 ... 8,500 mm 0 ... 600 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
34
Z
Y
Handling Guide – Subject to change – 2012/08
Standard linear gantry DHSL-50
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
BS EGC-185-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-140-S - CMMS-AS 5SP DNCE-63 with FENG 0 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5
Y-axis
TB EGC-185-TB-KF 3) 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-140-M 5 CMMP-AS 6BS EGC-185-BS-KF 3) 0 ... 3,000 Any ± 0.02 ± 0.02 EMMS-AS-140-M - CMMP-AS 5P DGC-63 + FA 3) 0 ... 5,000 1 1) ± 0.02 ± 0.02/± 0.1 - - - -
PS DGCI-63 + FA 3) 0 ... 2,000 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX3) Max. Z stroke 1,000 mm
50 kg
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500
DNCE-63/FENG
EGC-185-BS
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500 2,000
EGC-185-DUO
DGC-63+FA
DGCI-63+FA
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis Y-axis
Working stroke [mm] Working stroke [mm]
Part number Order code 1 Effective load Stroke, Y-axis Stroke, Z-axis574540 DHSL-50-2EGC185TB-EGC185BS 0 ... 50 kg 0 ... 8,500 mm 0 ... 1,000 mm574539 DHSL-50-DGC63FAS-EGC185BS 0 ... 50 kg 0 ... 5,000 mm 0 ... 1,000 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
352012/09 – Subject to change – Handling Guide
Standard cantilever axes DHSAHandling system from the multi-axis modular system
Cantilever axis with EGC/DGEA/DFMFront unit ERMB
Movements in 2D: a linear gantry consists of a gantry axis and a yoke drive.• High mechanical rigidity and
sturdy design• Pneumatic and electric compo-
nents – freely combinable• As an electric solution – freely
positionable/any intermediate positions
Range of application• Ideal for long gantry strokes• Often used for feeding
applications• Repetition accuracy up to
0.02 mm• Long gantry strokes up to
8.5 m and heavy loads up to 50 kg
• High requirements for system rigidity
Y-axis variants• Electric
X-axis variants• Electric
Z-axis variants• Electric• Pneumatic• Servopneumatic
36
Z
X Y
Handling Guide – Subject to change – 2012/08
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
v
ZR J 1) DGEA-25 1 ... 400 Any ± 0.05 ± 0.05 EMMS-AS-70-S 5 CMMS-AS 5 1.7SP J EGC-120-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5 1.7P S 2) DGSL-25 1 ... 200 - ± 0.01 - - - - - -SP S DNCE-63 with FENG 1 ... 150 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS-AS 5 1.7SP S EGC-120-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5 1.7SP S EGSL-75 1 ... 200 Any ± 0.015 ± 0.015 EMMS-AS-70-S - CMMS-AS 5 1.7
Y-axis
SP J EGC-185-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-140-M - CMMP-AS 5 1.7SP J EGC-220-HD-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5 1.7ZR J EGC-185-TB 1 ... 600 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 5 1.7ZR J EGC-220-HD-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 5 1.7SP S EGC-120-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5 1.7SP S EGC-220-HD-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5 1.7ZR S EGC-120-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 5 1.7ZR S EGC-125-HD-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-70-S 3 CMMS-AS 5 1.7
X-axis
SP S EGC-185-BS 1 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5 1.7SP S EGC-220-HD-BS 1 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5 1.7ZR S EGC-185-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 5 1.7
ZR S EGC-220-HD-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 5 1.7
1) Yoke operation 2) Slide operation
Standard cantilever axis DHSA-4 4 kg
0
0.2
0.4
0.6
0.8
0 100 200 300 400 500
0
4
3
2
1
0 1,000 2,000 3,000 4,000 5,000 6,000
0
0.8
0.4
0.2
0.8
1
0 200 400 600 800 1,000
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
37
Z
X Y
2012/08 – Subject to change – Handling Guide
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
v
ZR J 1) DGEA-25 1 ... 400 Any ± 0.05 ± 0.05 EMMS-AS-70-S 5 CMMS-AS 5 1.5SP J EGC-120 1 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5 1.5P S 2) DGSL-25 1 ... 200 - ± 0.01 - - - - - -SP S DNCE-63 with FENG 1 ... 150 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS-AS 5 1.5SP S EGC-120 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5 1.5SP S EGSL-55 1 ... 100 Any ± 0.015 ± 0.015 EMMS-AS-55-S - CMMS-AS 5 1.5
Y-axis
SP J EGC-120-BS 1 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5 1.5SP J EGC-160-HD-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5 1.5ZR J EGC-185-TB 1 ... 600 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 5 1.5ZR J EGC-220-HD-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 5 1.5SP S EGC-120-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5 1.5SP S EGC-220-HD-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 5 1.5ZR S EGC-120-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 5 1.5ZR S EGC-160-HD-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-70-M 3 CMMS-AS 5 1.5
X-axis
SP S EGC-220-HD-BS 1 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5 1.5ZR S EGC-185-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 5 1.5
ZR S EGC-220-HD-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 5 1.5
1) Yoke operation 2) Slide operation
Standard cantilever axis DHSA-66 kg
0
0.2
0.4
0.6
0.8
0 100 200 300 400 500
0
4
3
2
1
0 1,000 2,000 3,000 4,000 5,000 6,000
0
0.8
0.4
0.2
0.8
1
0 200 400 600 800 1,000
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
38
Z
X Y
Handling Guide – Subject to change – 2012/08
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
v
ZR J 1) DGEA-40 1 ... 330 Any ± 0.05 ± 0.05 EMMS-AS-100-S 5 CMMS-AS 4 1.5SP J EGC-120 1 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS-AS 4 1.5SP S 2) DNCE-63 with FENG 1 ... 150 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 4 1.5SP S EGC-120 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 4 1.5SP S EGSL-75 1 ... 100 Any ± 0.015 ± 0.015 EMMS-AS-70-S - CMMS-AS 4 1.5
Y-axis
SP J EGC-185-BS 1 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 4 1.5SP J EGC-220-HD-BS 1 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 4 1.5SP S EGC-120-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 4 1.5SP S EGC-220-HD-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 4 1.5ZR S EGC-120-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 4 1.5ZR S EGC-160-HD-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 4 1.5
X-axis
SP S EGC-220-HD-BS 1 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 4 1.5
ZR S EGC-220-HD-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 4 1.5
1) Yoke operation 2) Slide operation
Standard cantilever axis DHSA-10 10 kg
0
0.2
0.4
0.6
0.8
0 100 200 300 400 500
0
4
3
2
1
0 1,000 2,000 3,000 4,000 5,000 6,000
0
0.5
1.5
1
0 200 400 600 800 1,000
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
39
Z
X Y
2012/08 – Subject to change – Handling Guide
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
v
ZR J 1) DGEA-40 1 ... 300 Any ± 0.05 ± 0.05 EMMS-AS-100-S - CMMS-AS 3 1.5SP J EGC-120 1 ... 380 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 3 1.5SP S 2) DNCE-63 with FENG 1 ... 300 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 3 1.5SP S EGC-400 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 3 1.5
Y-axis
SP J EGC-185-BS 1 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 3 1.5SP J EGC-220-HD-BS 1 ... 700 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 3 1.5ZR J EGC-185-TB 1 ... 200 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 3 1.5ZR J EGC-220-HD-TB 1 ... 600 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 3 1.5SP S EGC-120-BS 1 ... 600 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 3 1.5SP S EGC-220-HD-BS 1 ... 600 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 3 1.5ZR S EGC-120-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-140-M - CMMP-AS 3 1.5ZR S EGC-160-HD-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 3 1.5
X-axis
SP S EGC-220-HD-BS 1 ... 500 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 3 1.5
ZR S EGC-220-HD-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 3 1.5
1) Yoke operation 2) Slide operation
Standard cantilever axis DHSA-15 15 kg
0
0.2
0.4
0.6
0.8
1
0 100 200 300 400 500
0
5
4
3
2
1
0 1,000 2,000 3,000 4,000 5,000 6,000
0
0.2
1.2
0.8
0.6
0.4
1
0 200 400 600 800 1,000
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
40
Z
X Y
Handling Guide – Subject to change – 2012/08
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
v
ZR J 1) DGEA-40 1 ... 50 Any ± 0.05 ± 0.05 EMMS-AS-100-S 5 CMMS-AS 2 1.5SP J EGC-120-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 2 1.5SP S 2) DNCE-63 with FENG 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 2 1.5SP S EGC-120-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 2 1.5
Y-axis
SP J EGC-185-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 2 1.5SP J EGC-220-HD-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 2 1.5ZR J EGC-185-TB 1 ... 400 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 2 1.5ZR J EGC-220-HD-TB 1 ... 600 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 2 1.5SP S EGC-120-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 2 1.5SP S EGC-220-HD-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 2 1.5ZR S EGC-120-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 2 1.5ZR S EGC-160-HD-TB 1 ... 800 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 2 1.5
X-axis
SP S EGC-220-HD-BS 1 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 2 1.5
ZR S EGC-220-HD-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 2 1.5
1) Yoke operation 2) Slide operation
Standard cantilever axis DHSA-25 25 kg
0
0.2
0.4
0.6
0.8
1
0 100 200 300 400 500
0
5
4
3
2
1
0 1,000 2,000 3,000 4,000 5,000 6,000
0
0.5
1.5
1
0 200 400 600 800 1,000
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
41
Z
X Y
2012/08 – Subject to change – Handling Guide
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
v
SP J 1) EGC-120-BS 1 ... 350 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 1 1.5SP S 2) DNCE-63 with FENG 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 1 1.5SP S EGC-120-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 1 1.5
Y-axis
SP J EGC-185-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 1 1.5SP J EGC-220-HD-BS 1 ... 500 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 1 1.5ZR J EGC-185-TB 1 ... 200 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 1 1.5ZR J EGC-220-HD-TB 1 ... 500 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 1 1.5SP S EGC-120-BS 1 ... 800 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 1 1.5SP S EGC-220-HD-BS 1 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 1 1.5ZR S EGC-185-TB 1 ... 200 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 1 1.5ZR S EGC-160-HD-TB 1 ... 600 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMS-AS 1 1.5
X-axis
SP S EGC-220-HD-BS 1 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMS-AS 1 1.5
ZR S EGC-220-HD-TB 1 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 1 1.5
1) Yoke operation 2) Slide operation
Standard cantilever axis DHSA-50 50 kg
0
0.5
1.5
1
0 100 200 300 400 500
0
6
5
4
3
2
1
0 1,000 2,000 3,000 4,000 5,000 6,000
0
0.5
1.5
2
1
0 200 400 600 800 1,000
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
42 Handling Guide – Subject to change – 2012/09
Standard three-dimensional gantries DHSRHandling system from the multi-axis modular system
A three-dimensional gantry con-sists of horizontal gantry axes and any vertical drive.• Can be used universally for
light to heavy workpieces or high effective loads
• Ideal for very long strokes• High mechanical rigidity and
sturdy design• Pneumatic and electric
components – freely combinable
• As an electric solution – freely positionable/any intermediate positions
Range of application• For any movements in 3D
space• Very high requirements for
precision and/or very heavy workpieces combined with long strokes
The planar surface gantry sys-tem variant is not explicitly listed in the Handling Guide. It can be easily extrapolated from stan-dard three-dimensional gantries, e.g. by omitting the Z-axis. More information on request.
Planar surface gantry with electric Y-axis (as an example)
Planar surface gantry with pneumatic Y-axis (as an example)
432012/09 – Subject to change – Handling Guide
Standard three-dimensional gantries DHSREffective load up to 50 kg
The standard three-dimen-sional gantry type DHSR con-sists of standard components that are clearly defined in the Festo multi-axis modular sys-tem. This makes it very easy to realise many different combi-nations of Z, X and Y-axes.
Standard mounting attachments using the example of the DHSR-6
Support profile type HMIA
Plate type HMIX
Adapter plate type HMVZ
Adapter plate type HMVS
Bracket
Energy chain type 2400/2500
Plate type HMIZ
Plate type HMIY
Y-axis variants• Electric• Pneumatic• Servopneumatic
Z-axis variants• Electric• Pneumatic• Servopneumatic
Combination options using the example of the DHSR-6:
44
Z
X Y
Handling Guide – Subject to change – 2012/08
Standard three-dimensional gantry DHSR-0,3
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
P DGSL-6 0 ... 50 - ± 0.01 2) - - - - -
Y-axis
TB EGC-50-TB-KF 0 ... 500 Any ± 0.08 ± 0.08 EMMS-AS-55-S 3 CMMS/P-AS 10P DGC-12 0 ... 500 - ± 0.02 1) - - - - -
X-axis
TB EGC-50-TB-KF 0 ... 1,900 Any ± 0.08 ± 0.08 EMMS-AS-55-S 3 CMMS/P-AS 9
1) With shock absorber YSR/YSRW 2) With cushioning P1/Y3
0.3 kg
0
0.1
0.2
0.3
0.4
0 10 20 30 40 50 60
DGSL-6
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 500 1,000 1,500 2,000
EGC-50
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
0 100 200 300 400 500 600
EGC-50
DGC-12-KF
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574541 DHSR-0.3-EGC50TB-EGC50TB-DGSL6 0 ... 0.3 kg 0 ... 1,900 mm 0 ... 500 mm 0 ... 50 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
45
Z
X Y
2012/08 – Subject to change – Handling Guide
Standard three-dimensional gantry DHSR-0,5
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
P DGSL-8 0 ... 80 - ± 0.01 1) - - - - -
Y-axis
TB EGC-50-TB-KF 0 ... 1,000 Any ± 0.08 ± 0.08 EMMS-AS-55-S 3 CMMS-AS 10P DGC-12 0 ... 1,000 - ± 0.02 2) - - - - -
X-axis
TB EGC-70-TB-KF 0 ... 5,000 Any ± 0.08 ± 0.08 EMMS-AS-70-M 3 CMMA-AS 10
1) With cushioning P1/Y3 2) With shock absorber YSR/YSRW
0.5 kg
0
0.1
0.2
0.3
0.4
0.5
0.6
0 20 40 60 80 100
DGSL-8
0
0.5
1
1.5
2
2.5
3
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-70
0
0.5
1
1.5
2
2.5
3
3.5
4
0 200 400 600 800 1,000 1,200
EGC-50
DGC-12-KF
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574542 DHSR-0.5-EGC70TB-EGC50TB-DGSL8 0 ... 0.5 kg 0 ... 5,000 mm 0 ... 1,000 mm 0 ... 80 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
46
Z
X Y
Handling Guide – Subject to change – 2012/08
Standard three-dimensional gantry DHSR-1
1) With cushioning P1/Y3
2) More than 1 on request 3) With shock absorber YSR/YSRW 4) 2 with SPC11/CMPX, any with SPC200/CMAX
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
ASP EGSA-50 0 ... 100 Any ± 0.01 ± 0.01 EMMS-AS-40-S - CMMS-AS 10ES EGSL-35 0 ... 50 Any ± 0.015 ± 0.015 EMMS-AS-40-S - CMMS-AS 5P DGSL-10 0 ... 200 - ± 0.01 1) - - - - -P DFM-12 0 ... 200 - - - - - - -
Y-axis
TB EGC-70-TB-KF 0 ... 1,000 Any ± 0.08 ± 0.08 EMMS-AS-55-S 3 CMMS-AS 10BS EGC-70-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 5P DGC-18-KF 0 ... 1,000 1 2) ± 0.02 3) ± 0.02/± 0.1 - - - -PS DGCI-18-KF 0 ... 1,000 2/any 4) ± 0.02/± 0.2 ± 1/± 0.2 - - - -
X-axis
TB EGC-80-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-70-M 3 CMMS-AS 10
1 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 50 100 150 200 250
EGSL-35
EGSA-50
DGSL-10
DFM-12
0
0.5
1
1.5
2
2.5
3
3.5
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-80
0
0.5
1
1.5
2
2.5
3
0 200 400 600 800 1,000 1,200
EGC-70
DGC-18-KF
DGCI-18-KF
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574543 DHSR-1-EGC80TB-EGC70TB-DGSL10 0 ... 1 kg 0 ... 8,500 mm 0 ... 1,000 mm 0 ... 100 mm574544 DHSR-1-EGC80TB-EGC70TB-DGSL10 0 ... 1 kg 0 ... 8,500 mm 0 ... 1,000 mm 0 ... 100 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
47
Z
X Y
2012/08 – Subject to change – Handling Guide
Standard three-dimensional gantry DHSR-2
1) With shock absorber YSR/YSRW
2) More than 1 on request 3) With cushioning P1/Y3 4) 2 with SPC11/CMPX, any with SPC200/CMAX
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-18 0 ... 400 Any ± 0.05 ± 0.05 EMMS-AS-55-S 3 CMMS-AS 10ASP EGSA-50 0 ... 100 Any ± 0.01 ± 0.01 EMMS-AS-40-S - CMMS-AS 10ES EGSL-45 0 ... 100 Any ± 0.015 ± 0.015 EMMS-AS-40-S - CMMS-AS 5P DGSL-10 0 ... 200 - ± 0.01 1) - - - - -P DFM-16 0 ... 200 - - - - - - -
Y-axis
TB EGC-80-TB-KF 0 ... 1,500 Any ± 0.08 ± 0.08 EMMS-AS-70-S 3 CMMS-AS 10BS EGC-80-BS-KF 0 ... 1,500 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS-AS 10P DGC-25-KF 0 ... 1,500 1 2) ± 0.02 3) ± 0.02/± 0.1 - - - -PS DGCI-25-KF 0 ... 1,500 2/any 4) ± 0.02/± 0.3 ± 1/± 0.3 - - - -
X-axis
TB EGC-80-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10
2 kg
0
0.2
0.4
0.6
0.8
1
1.2
0 100 200 300 400 500
DGEA-18
EGSA-50
EGSL-45
DGSL-12
DFM-16
0
0.5
1
1.5
2
2.5
3
3.5
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-80
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500 2,000
EGC-80
DGC-25
DGCI-25
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574545 DHSR-2-EGC80TB-EGC80TB-DGSL12 0 ... 2 kg 0 ... 8,500 mm 0 ... 1,500 mm 0 ... 200 mm574546 DHSR-2-EGC80TB-EGC80TB-EGSA50 0 ... 2 kg 0 ... 8,500 mm 0 ... 1,500 mm 0 ... 100 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
48
Z
X Y
Handling Guide – Subject to change – 2012/08
Standard three-dimensional gantry DHSR-4
1) With cushioning P1/Y3 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX 3) More than 1 on request 4) With shock absorber YSR/YSRW
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-18 0 ... 600 Any ± 0.05 ± 0.05 EMMS-AS-55-S 3 CMMS-AS 10BS EGC-70-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 10ASP EGSA-50 0 ... 100 Any ± 0.01 ± 0.01 EMMS-AS-40-S - CMMS-AS 10SP DNCE-32 with FENG 0 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 6ES EGSL-55 0 ... 150 Any ± 0.015 ± 0.015 EMMS-AS-55-S - CMMS-AS 5P DGSL-16 0 ... 150 - ± 0.01 1) - - - - -P DFM-20 0 ... 400 - max. 0.05 - - - - -P DNC-32 with FENG 0 … 500 2 ± 0.2 - - - - -PS DNCI-32 with FENG 0 … 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-80-TB-KF 0 ... 1,500 Any ± 0.08 ± 0.08 EMMS-AS-70-M 3 CMMS-AS 10BS EGC-80-BS-KF 0 ... 1,500 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5TB EGC-HD-125-TB-KF 0 ... 1,500 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-125-BS-KF 0 ... 1,500 Any ± 0.02 ± 0.02 EMMS-AS-70-S - CMMS-AS 5P DGC-40-KF 0 ... 1,500 1 3) ± 0.02 4) ± 0.02/± 0.1 - - - -PS DGCI-40-KF 0 ... 1,500 2/any 2) ± 0.02/± 0.3 ± 1/± 0.3 - - - -
X-axis
TB EGC-80-TB-KF 0 … 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10
4 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 200 400 600 800
DGEA-18
EGSA-50
DNCE-32/FENG
EGC-70-BS
DGSL-16
DFM-20
DNC-32/FENG
EGSL-55
0
0.5
1
1.5
2
2.5
3
3.5
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-80
0 500 1,000 1,500 2,000 2,500
EGC-HD-125-TB /
EGC-80-TB
EGC-HD-125-BS /
EGC-80-BS
DGC-40
DGCI-40
0
0.5
1
1.5
2
2.5
3
3.5
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574548 DHSR-4-EGC80TB-EGC80TB-DGEA18 0 ... 4 kg 0 ... 8,500 mm 0 ... 1,500 mm 0 ... 400 mm574547 DHSR-4-EGC80TB-EGC80TB-DGEA18 0 ... 4 kg 0 ... 8,500 mm 0 ... 1,500 mm 0 ... 150 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
49
Z
X Y
2012/08 – Subject to change – Handling Guide
Standard three-dimensional gantry DHSR-6
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-25 0 ... 800 Any ± 0.05 ± 0.05 EMMS-AS-70-M 3 CMMS-AS 10BS EGC-70-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-55-S 10 CMMS-AS -ASP EGSA-60 0 ... 300 Any ± 0.01 ± 0.01 EMMS-AS-55-S - CMMS-AS 10SP DNCE-32 with FENG 0 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-55-S 6 CMMS-AS -ES EGSL-75 0 ... 300 Any ± 0.015 ± 0.015 EMMS-AS-70-S - CMMS-AS 5P DGSL-20 0 ... 200 - ± 0.01 1) - - - - -P DFM-25 0 ... 400 - max. 0.05 - - - - -P DNC-32 with FENG 0 ... 500 2 ± 0.2 - - - - -PS DNCI-32 with FENG 0 ... 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-120-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMS-AS 10BS EGC-120-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMS-AS 5TB EGC-HD-160-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-160-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5P DGC-40-KF 3) 0 ... 1,500 1 4) ± 0.02 ± 0.02 - - - -PS DGCI-40-KF 0 ... 1,500 2/any 2) max. ± 0.4 max. ± 0.4/± 2 - - - -P DGC-25 + FA 0 ... 2,000 1 4) ± 0.02 5) ± 0.02/± 0.1 - - - -PS DGCI-25 + FA 0 ... 2,000 2/any 2) ± 0.02/± 0.4 ± 1/± 0.4 - - - -
X-axis
TB EGC-80-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 8
6 kg
0
0.5
1
1.5
2
2.5
0 200 400 600 800
DNC-32/FENG
DGEA-25
EGSA-60
DNCE-32/FENG
EGC-70-BS
DGSL-20
DFM-25
EGSL-75
0
0.5
1
1.5
2
2.5
3
3.5
4
0 2,000 4,000 6,000
EGC-80
0
0.5
1
1.5
2
2.5
3
3.5
4.5
4
0 500 1,000 1,500 2,000 2,500
EGC-HD-160-TB /
EGC-120-TB
EGC-HD-160-BS /
EGC-120-BS
DGC-40
DGCI-40
DGC-25+FA
DGCI-25+FA
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574551 DHSR-6-EGC80TB-EGC120TB-DGEA25 0 ... 6 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 600 mm574549 DHSR-6-EGC80TB-EGC120TB-DGSL20 0 ... 6 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 200 mm574550 DHSR-6-EGC80TB-EGC120TB-EGSA60 0 ... 6 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 300 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
1) With cushioning P1/Y3 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX 3) Pitch 20 mm 4) More than 1 on request 5) With shock absorber YSR/YSRW
50
Z
X Y
Handling Guide – Subject to change – 2012/08
Standard three-dimensional gantry DHSR 10
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-25 0 ... 800 Any ± 0.05 ± 0.05 EMMS-AS-70-M 3 CMMS-AS 10BS EGC-80-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 10SP DNCE-32 with FENG 0 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-55-S - CMMS-AS 6P DGSL-25 0 ... 200 - ± 0.01 1) - - - - -P DFM-32 0 ... 400 - max. 0.05 - - - - -P DNC-32 with FENG 0 … 500 2 ± 0.2 - - - - -PS DNCI-32 with FENG 0 … 500 2/any 2) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-120-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMS-AS 10BS EGC-120-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMS-AS 5TB EGC-HD-160-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-160-BS-KF 3) 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5P DGC-32 + FA 0 ... 2,000 1 4) ± 0.02 5) ± 0.02/± 0.1 - - - -PS DGCI-32 + FA 0 ... 2,000 2/any 2) ± 0.02/± 0.4 ± 1/± 0.4 - - - -
X-axis
TB EGC-120-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 8
1) With cushioning P1/Y3 2) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX 3) Pitch 20 mm
4) More than 1 on request 5) With shock absorber YSR/YSRW
10 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
0 500 1,000 1,500
DGEA-25
EGC-80-BS-20P
DNCE-32/FENG
DGSL-25
DFM-32
DNC-32/FENG
0
0.5
1
1.5
2
2.5
3
3.5
4
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-120
0 500 1,000 1,500 2,000 2,500
EGC-HD-160-TB /
EGC-120-TB
EGC-HD-160-BS /
EGC-120-BS
DGC-32+FA
DGCI-32+FA
0
0.5
1
1.5
2
2.5
3
3.5
4.5
4
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574553 DHSR-10-EGC120TB-EGC120TB-DGEA25 0 ... 10 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 400 mm574552 DHSR-10-EGC120TB-EGC120TB-DGEA25 0 ... 10 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 200 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
51
Z
X Y
2012/08 – Subject to change – Handling Guide
Standard three-dimensional gantry DHSR 15
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-40 0 ... 1,000 Any ± 0.05 ± 0.05 EMMS-AS-100-S 3 CMMS-AS 10BS EGC-80-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5.5...7.5SP DNCE-40 with FENG 0 ... 500 Any ± 0.02 ± 0.02 EMMS-AS-55-S 6 CMMS-AS -P DFM-40 0 ... 400 - max. 0.05 - - - - -P DNC-40 with FENG 0 … 500 2 ± 0.2 - - - - -PS DNCI-40 with FENG 0 … 500 2/any 1) <± 0.5 <± 0.5/± 2 2) - - - -
Y-axis
TB EGC-120-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMP-AS 10BS EGC-120-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5TB EGC-HD-220-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 10BS EGC-HD-220-BS-KF 2) 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5P DGC-40 + FA 0 ... 2,000 1 3) ± 0.02 ± 0.02/± 0.1 - - - -PS DGCI-40 + FA 0 ... 2,000 2/any 1) ± 0.02/± 0.4 ± 1/± 0.4 - - - -
X-axis
TB EGC-120-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-140-S 3 CMMP-AS 7
1) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX
2) Pitch 10 mm
3) More than 1 on request
15 kg
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
0 500 1,000 1,500
DGEA-40
EGC-80-BS-20P
DNCE-40/FENG
DFM-40
DNC-40/FENG
0
0.5
1
1.5
2
2.5
3
3.5
4
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-120
0 500 1,000 1,500 2,000 2,500
EGC-HD-220-TB /
EGC-120-12-TB
EGC-HD-220-BS /
EGC-120-12-BS
DGC-40+FA
DGCI-40+FA
0
0.5
1
1.5
2
2.5
3
3.5
4.5
4
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574555 DHSR-15-EGC120TB-EGC120TB-DGEA40 0 ... 15 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 200 mm574554 DHSR-15-EGC120TB-EGC120TB-DNCE40 0 ... 15 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 200 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
52
Z
X Y
Handling Guide – Subject to change – 2012/08
Standard three-dimensional gantry DHSR 25
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
AZR DGEA-40 0 ... 1,000 Any ± 0.05 ± 0.05 EMMS-AS-100-S 3 CMMS-AS 7BS EGC-120-BS-KF 0 ... 1,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 5.5SP DNCE-63 with FENG 0 ... 400 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5.5P DFM-50 0 ... 400 - max. 0.05 - - - - -P DNC-63 with FENG 0 … 500 2 ± 0.2 - - - - -PS DNCI-63 with FENG 0 … 500 2/any 1) <± 0.5 <± 0.5/± 2 1) - - - -
Y-axis
TB EGC-185-TB-KF 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-M 3 CMMP-AS 5BS EGC-185-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 5TB EGC-HD-220-TB-KF 2) 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-S 3 CMMP-AS 5BS EGC-HD-220-BS-KF 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-S - CMMP-AS 1TB EGC-120-TB-KF 2) 3) 0 ... 2,000 Any ± 0.08 ± 0.08 EMMS-AS-100-M 5 CMMP-AS 5BS EGC-120-BS-KF 3) 0 ... 2,000 Any ± 0.02 ± 0.02 EMMS-AS-100-M - CMMP-AS 1P DGC-63 + FA 0 ... 2,000 1 4) ± 0.02 ± 0.02/± 0.1 - - - -PS DGCI-63 + FA 0 ... 2,000 2/any 1) ± 0.02/± 0.4 ± 1/± 0.4 - - - -
X-axis
TB EGC-185-TB-KF 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-140-M 3 CMMP-AS 5
1) 2 with SPC11/CMPX, any with SPC200/CMAX; <± 0.5 mm with SCP11/CMPX / ± 2 mm with SPC200/CMAX
2) Pitch 10 mm 3) Duo axis system
4) More than 1 on request
25 kg
0
0.5
1
1.5
2
2.5
3
0 500 1,000 1,500
DGEA-40
EGC-120-BS-25P
DNCE-63/FENG
DGC-50-KF
DNC-63/FENG
DFM-50
0
0.5
1
1.5
2
2.5
3
3.5
4
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-185
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0 500 1,000 1,500 2,000 2,500
EGC-120-TB-DUO
EGC-HD-220-BS /
EGC-185-BS /
EGC-120-BS-DUO
EGC-HD-220-TB /
EGC-185-TB
DGC-63+FA
DGCI-63+FA
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574557 DHSR-25-EGC185TB-2EGC120TB-DGEA40 0 ... 25 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 1,000 mm574556 DHSR-25-EGC185TB-EGC185TB-DNCE63 0 ... 25 kg 0 ... 8,500 mm 0 ... 2,000 mm 0 ... 500 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
53
Z
X Y
2012/08 – Subject to change – Handling Guide
Standard three-dimensional gantry DHSR 50
Type Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Servo motor i Controller a [m/s2]
BS EGC-185-BS-KF 0 ... 1,000 Any ± 0.08 ± 0.08 EMMS-AS-140-S - CMMP-AS 4...5.5SP DNCE-63 with FENG 0 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-70-M - CMMS-AS 5.5
Y-axis
TB EGC-185-TB-KF 0 ... 1,500 Any ± 0.08 ± 0.08 EMMS-AS-140-M 5 CMMP-AS 6BS EGC-185-BS-KF 0 ... 1,500 Any ± 0.02 ± 0.02 EMMS-AS-140-M - CMMP-AS 6P DGC-63-FA 0 ... 1,500 1 1) ± 0.02 ± 0.02/± 0.1 - - - -PS DGCI-63-FA 0 ... 1,500 2/any 2) ± 0.02/± 0.3 ± 1/± 0.3 - - - -
X-axis
TB EGC-185-TB-KF-GV 0 ... 8,500 Any ± 0.08 ± 0.08 EMMS-AS-140-M 5 CMMP-AS 4
1) More than 1 on request 2) 2 with SPC11/CMPX, any with SPC200/CMAX
50 kg
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500
DNCE-63/FENG
EGC-185-BS
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
0 1,000 2,000 3,000 4,000 5,000 6,000
EGC-185-GV
0
0.5
1
1.5
2
2.5
3
3.5
0 500 1,000 1,500 2,000
EGC-185-DUO
DGC-63+FA
DGCI-63+FA
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
Part number Order code 1 Effective load Stroke, X-axis Stroke, Y-axis Stroke, Z-axis574558 DHSR-50-EGC185TB-2EGC185TB-DNCE63 0 ... 50 kg 0 ... 8,500 mm 0 ... 1,500 mm 0 ... 200 mm574559 DHSR-50-EGC185TB-2EGC185TB-EGC185SP 0 ... 50 kg 0 ... 8,500 mm 0 ... 1,500 mm 0 ... 1,000 mm
The products can be found in the online catalogue at www.festo.com.
Quick selection:
54 Handling Guide – Subject to change – 2012/09
Advanced handling systems
The latest generation of standard handling systems, characterised by an extremely high dynamic response and modern drive technology, and complemented by suitable control packages.
T-gantry EXCT
Linear gantry with rectangular vertical working space
• Very slim with rigid and compact Z-axis
• Small moving mass
H-gantry EXCH
• Planar surface gantry with rectangular working space
• Flat with very rigid XY kinematics + optionally with Z-axis
• Small moving mass
Tripod EXPT
Three-dimensional gantry with pyramidal working space
• Very rigid pyramidal base system
• Minimal moving mass• Maximum dynamic response
and pick rates
Z
Y 3 kg
Z
X Y 6 kg
5 kg
The technology in detail at:www.festo.com/ahs
d
h
Suitable control package CMCA
Suitable control package CMCA
Suitable control package CMCA
552012/09 – Subject to change – Handling Guide
Advanced handling systems T-gantry EXCT
Pick rate as a function of the effective load and horizontal stroke
Function
... 300
Technical dataMax. acceleration 50 m/s2 Max. speed 5 m/s Repetition accuracy ± 0.1 mm Absolute accuracy ± 0.5 mm Path accuracy (< 0.5 m/s) ± 0.5 mm Max. effective load 3 kg
• The specified cycle rate refers to a double stroke
• Gripping and waiting times are not taken into consideration
• Double stroke cycle [mm]
200/400/800
The kinematic chain• 2 stationary servo motors M1 and M2
• 1 rotating toothed belt ZR• 1 very rigid Y-axis, 1 rigid yet lightweight Z-axis
50 50
Effective load[kg]
Stroke alongY-axis [mm]
Pick rate[picks/min]
Cycle time [ms]
0.1 200 94 640400 78 770800 56 1,070
3 200 92 650400 71 850
800 46 1,300
Z
Y 3 kg
Y
Z
ZR
M1 M2
... 1,000
200 400 600 800
100
90
80
70
60
50
40
30
20
0 kg
3 kg
Pick
s/m
in
Stroke along Y-axis [mm]
0.1 kg
3 kg
56 Handling Guide – Subject to change – 2012/09
Advanced handling systems H-gantry EXCH
Pick rate as a function of the horizontal stroke along the X-axis
Function
Technical data – H-gantryMax. acceleration 50 m/s2 Max. speed 5 m/s Repetition accuracy ± 0.1 mm Absolute accuracy 1) ± 0.5 mm Path accuracy (< 0.5 m/s) ± 0.5 mm Max. effective load at the front panel 6 kg1) System perfectly aligned and calibrated
• The specified cycle rate refers to a double stroke
• Gripping and waiting times are not taken into consideration
Double stroke cycle [mm]:
400/500/700/1,600
The kinematic chain• 2 stationary servo motors M1 and M2• 1 rotating toothed belt ZR• 2 very rigid X-axes, 1 very rigid Y-axis
Z-stroke with rotary/lifting module Optionally with Z-stroke, e.g. rotary/lifting module
Rotary/lifting module
Technical data generalMax. effective load 0.8 kg Max. vertical force 480 N Nominal force 97 N Max./nominal torque 2.8 Nm/0.56 Nm Perm. mass moment of inertia 400 kg mm2
Z-axis Axis of rotationWork range 200 mm ± 360° Repetition accuracy < 0.01 mm < 0.1° Max. speed 1 m/s 21,000°/s
50 50
Stroke along X-axis [mm]
Pick rate[picks/min]
Cycle time [ms]
400 69 870500 65 920700 60 1,000
1,600 43 1,385
6 kg
0.8 kg
... 1,060... 2,000
400 800 1200 1600
80
70
60
50
40
30
20
10
0
Pick
s/m
in
Stroke along X-axis [mm]
Z
X Y
X
YM1
M2 ZR
572012/09 – Subject to change – Handling Guide
Advanced handling systems Tripod EXPT-45/-70/-95/-120
Pick rate as a function of the effective load
• The specified cycle rate refers to a double stroke in a 12" cycle
• Gripping and waiting times are not taken into consideration
Double stroke cycle [mm]:
Technical data – Tripod EXPTMax. acceleration 110 m/s2 Max. speed 7 m/s Repetition accuracy ± 0.1 mm Absolute accuracy 1) ± 0.5 mm Path accuracy (< 0.5 m/s) ± 0.3 mm Effective load at max. dynamic response 1) 1 kg Max. effective load 1) 5 kg1) Including front unit (rotary/gripping/vacuum solution, axis of rotation)
Diameter of the cylindrical working space at a working height = 100 mm
Effective load [kg]
Pick rate[picks/min]
Cycle time [s]
0 150 4001 116 5202 96 6303 85 7104 78 770
5 72 830
Type/size Diameter D
EXPT-45 450EXPT-70 700EXPT-95 950
EXPT-120 1,200
305
25 25
100
0 1 2 3 4 5
160
140
120
100
80
60
40
20
0
Pick
s/m
in
Effective load [kg]
0 200 400 600 800 1000 1200 1400
400
350
300
250
200
150
100
50
0
EXPT 70 EXPT 95 EXPT 120 EXPT 45
Wor
king
spa
ce h
eigh
t [m
m]
Working space diameter [mm]
Working space
• Small diameter• Large height
• Large diameter• Low height
Optional:
Rotary drive as front unit
d
h 5 kg
D
58 Handling Guide – Subject to change – 2012/09
Low-cost standard handling systems
Handling systems with optimised price/performance ratio, best solution for restricted performance characteristics
Standard Pick and Place DHBP 2 and DHBP 4
• Combination of guide units of the type DFMin different sizes
• Simple and robust construction• Stroke range up to 160 mm
Standard linear gantry DHBL 2 and DHBL 4
• Combination of electric and pneumatic drives of the type ELGR, EGSL, DNCE, DGC, DFM in different sizes
• Simple and robust construction• Stroke range up to 3,000 mm
Standard three-dimensional gantry DHBR 2
• Combination of electric and pneumatic drives of the type ELGR, DNCE, DFM in different sizes
• Simple and robust construction• Stroke range up to 1,500 mm
4 kg
4 kg
2 kg
Z
Y
Z
Y
Z
X Y
592012/09 – Subject to change – Handling Guide
Low-cost handling solution Pick and Place DHBP 2 and DHBP 4
Components Effective load [kg]
Stroke [mm] Intermediate position Repetition accuracy [mm]
Z-axis Y-axis Z-axis Y-axis Z-axis Y-axis End position Intermediateposition
DHBP 2DFM-20 DFM-32 ... 2 0 ... 100 0 ... 160 - - ± 0.02 -DHBP 4DFM-25 DFM-32 ... 4 0 ... 100 0 ... 160 - - ± 0.02 -
Z
Y 4 kg
3
3.5
4
4.5
5
5.5
6
6.5
0 0.5 1 1.5 2
100/150
50/100
2
2.5
3
3.5
4.5
5
4
0 1 2 3 4
100/150
50/100
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
DFM-32/DFM-20 DFM-32/DFM-25
Mass [kg] Mass [kg]
DHBP 2 DHBP 4
60 Handling Guide – Subject to change – 2012/09
Low-cost handling solution Linear gantry DHBL 2 and DHBL 4
Type DHBL 2 Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Motor i Controller a [m/s2]
ES EGSL-45 0 ... 100 Any ± 0.015 ± 0.015 EMMS-ST-87-L - CMMS-ST 5P DFM-16 0 ... 200 1 ± 0.02 ± 0.02 - - - -
Y-axis
ZR ELGR-55 0 ... 1,500 Any ± 0.1 ± 0.1 EMMS-ST-57-S - CMMS-ST 6
P DGC-25 0 ... 3,000 1 ± 0.02 ± 0.02 - - - -
Type DHBL 4 Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Motor i Controller a [m/s2]
SP DNCE-32 with FENG 0 ... 200 Any ± 0.01 ± 0.01 EMMS-ST-57-S - CMMS-ST 6P DFM-20 0 ... 200 1 ± 0.02 ± 0.02 - - - -
Y-axis
ZR ELGR-55 + FA 0 ... 1,500 Any ± 0.01 ± 0.01 EMMS-ST-57-S - CMMS-ST 6
P DGC-32 0 ... 3,000 1 ± 0.02 ± 0.02 - - - -
Z
Y 4 kg
0
0.2
0.4
0.6
0.8
1
1.2
0 50 100 150 200 250
EGSL-45
DFM-16
0
0.5
1
1.5
2
2.5
3
3.5
0 1,000 2,000 3,000 4,000
DGC-32
ELGR-55
Cycl
e tim
e [s
]
Cycl
e tim
e [s
]
Z-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
0 100 200 300 400 500
DFM-20
DNCE-32/FENG
Cycl
e tim
e [s
]
Z-axis
Working stroke [mm]
0
0.5
1
1.5
2
2.5
3
3.5
0 1,000 2,000 3,000 4,000
DGC-25
ELGR-55
Cycl
e tim
e [s
]
Y-axis
Working stroke [mm]
Type DHBL 4Type DHBL 2
612012/09 – Subject to change – Handling Guide
Low-cost handling solution Three-dimensional gantry DHBR 2
Components Stroke [mm]
Intermediate position
Repetition accuracy [mm] Drive package
Z-axis End position Intermediateposition
Motor i Controller a [m/s2]
SP DNCE-32 with FENG 0 ... 200 Any ± 0.02 ± 0.02 EMMS-AS-40 - CMMS-AS 6P DFM-16 0 ... 200 1 ± 0.02 ± 0.02 - - - -
Y-axis
ZR ELGR-55 0 ... 800 Any ± 0.1 ± 0.1 EMMS-AS-55 3 CMMS-AS 5
X-axis
ZR ELGR-55 0 ... 1,500 Any ± 0.1 ± 0.1 EMMS-AS-70-S 5 CMMS-AS 5
Z
X Y2 kg
0
0.2
0.4
0.6
0.8
1
1.2
0 50 100 150 200 250
DNCE-32 mit FENG
DFM-16
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 500 1,000 1,500 2,000
ELGR-55
0
0.2
0.4
0.6
0.8
1
1.2
0 200 400 600 800 1,000 1,200
ELGR-55
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Cycl
e ti
me
[s]
Z-axis
X-axis
Y-axis
Working stroke [mm]
Working stroke [mm]
Working stroke [mm]
62 Handling Guide – Subject to change – 2012/09
Effective load Maximum dimensions in mm
Linear gantry Three-dimensional gantry
... 6 kg
Type LP-AL-6.0 1)Type RP-AL-6.0
... 15 kg
Type LP-AL-15.0Type RP-AL-15.0
... 25 kg
Type LP-AL-25.0Type RP-AL-25.0
Standardised peripherals in handling technology – framesQuick overview – frames for standard handling systems
Aluminium frames
Profile material typeHMBS 80 x 80
Steel frames
Steel profile materialSteel structural hollow section to EN 10210 or EN 10219
1) Ident. code legend: LP - linear gantry, Al - aluminium profile, 6.0: handling system for up to 6 kg effective load
1) Ident. code legend: LP - linear gantry, Al - aluminium profile, 6.0: handling system for up to 6 kg effective load
Effective load Maximum dimensions in mm
Profile dimensions of support profile in mm
Linear gantry Three-dimensional gantry
... 6 kg
Type LP-ST-6.0Type RP-ST-6.0
... 25 kg
Type LP-ST-15.0-25.0Type RP-ST-15.0-25.0
... 50 kg
Type LP-ST-50.0Type RP-ST-50.0
... 6,000
... 6,000
... 6,000
... 6,000
... 6,000
... 6,000
... 2,000
... 2,500
... 1,000
... 2,500
... 1,000
... 1,000
... 1,000
... 2,000
... 2,000
... 2,000
... 2,000
... 2,000
... 3,000
... 5,000
... 3,000
... 5,000
... 3,000
... 5,000
... 1,500
... 2,500
... 1,500
... 2,500
... 1,500
... 1,000
150
120
200
150
120
200
X
Z
Y
X
Z
Y
Y
Z
Y
Z
632012/09 – Subject to change – Handling Guide
Standardised peripherals in handling technology – framesStandard aluminium frames
Simple cross-bracing with profile material
Typical connecting component:cross brace/main profile
Direct connection without additional mounting bracket
Floor mounting with levelling feet
64 Handling Guide – Subject to change – 2012/09
Standardised peripherals in handling technology – framesStandard steel frames
Floor mounting with levelling feet
Interface with the handling system, unmachined, adjustment on the handling system
Transport lug permanently welded, optional ring lugs
Reinforcing brace for optimum application of force
652012/09 – Subject to change – Handling Guide
Standardised peripherals in handling technology – controllers
Low-cost controllers Modular controllers
Integrated controller CDPX
Compact controller CECC-D/CECC-LK
CoDeSys controller CPX-CEC-C1
Application examples Single axes, handling systems Single axes, handling systems Handling systems, Pick and Place, palletising
Permissible number of axes Recommended: 4 axes Recommended: 8 axes
Interfaces CAN bus master/Ethernet CAN bus master/Ethernet
Inputs/outputs Optional: 20 DI, 4 AI/20 DO, 2 AO 12 + 2 high-speed inputs/O Up to 512 I/Os
Connectable operator units Integrated CDPX CDPX/FED CDPX/FED
Programming environment CoDeSys V3 CoDeSys V3 CoDeSys V2.3
Motion • Point-to-point, asynchronous• Each axis moves with its own predefined parameter• The axes do not reach their end positions at the same time and the path is not
defined
• Point-to-point, asynchronous• Each axis moves with its own pre-
defined parameter• The axes do not reach their end
positions at the same time and the path is not defined
Key features • Integrated controller in the display • Integration of two high-speed inputs (200 khz) 4 IO-Link masters with CECC-LK
• Function integration on the CPX valve platform
• 11 different slave bus nodes
66 Handling Guide – Subject to change – 2012/09
Modular controllers Motion controllers
CoDeSys controller CECX-X-C1
Motion controller CPX-CEC-M1
Motion controllerCECX-X-M1
Application examples Handling systems, Pick and Place, palletising
Path control, gluing, cutting, handling, cam disc
Path control, gluing, cutting, handling, flying saw, cam disc
Permissible number of axes Recommended: 16 axes Recommended: 8 axes Recommended: 16 axes
Interfaces CAN bus master/Ethernet/RS 485 Optional: • Second CAN bus master• Profibus slave and master • RS 232
CAN bus master/Ethernet CAN bus master/Ethernet/RS 485 Optional: • Second CAN bus master• Profibus slave and master • RS 232
Inputs/outputs Max. 12 expansion cards Up to 512 I/Os Max. 12 expansion cards
Connectable operator units CDPX/FED CDPX/FED
Programming environment CoDeSys V2.3 CoDeSys V2.3 + Softmotion
Motion • Point-to-point, asynchronous• Each axis moves with its own pre-
defined parameter• The axes do not reach their end
positions at the same time and the path is not defined
• 2.5D interpolation• PLC Open
Key features • High-performance PLC• Encoder activation• Interrupt function• Fast clock pulse inputs• Profibus master and slave• Two CAN bus masters• RS 232/RS 485-A/422-A
• Function integration on the CPX valve platform
• 11 different slave bus nodes
• High-performance PLC• Encoder activation• Interrupt function• Fast clock pulse inputs• Profibus master and slave• Two CAN bus masters• RS 232/RS 485-A/422-A
• CNC editor• DXF import• Cam disc editor
Standardised peripherals in handling technology – controllers
672012/09 – Subject to change – Handling Guide
Robotics controllers
Robotics CMXR-C1
Robotics + PLC CMXR-C2
Application examples Handling, palletising, gluing, dispensing, painting, cutting
Tracking applications such as processing moving parts on a conveyor belt or synchronised kinematic movement with up to 6D
Permissible number of axes 4 degrees of freedom with max. 6 axes 4 degrees of freedom with max. 6 axes Recommended via CoDeSys: 16 axes
Interfaces 2 x CAN bus master/Ethernet 2 x CAN bus master/Ethernet/RS 232Optional: Profibus slave/RS 485
Inputs/outputs Max. 8 expansion cards Max. 12 expansion cards
Connectable operator units CDSA CDPX/FED/CDSA
Programming environment Festo Teach Language (FTL) FTL + CoDeSys V2.3
Motion • 3D interpolation with an orientation axis for kinematic systems with up to 4 degrees of freedom such as a three-dimensional gantry with an axis of rotation on the front unit
CoDeSys control: point-to-point, asynchronous
Key features • Low-cost engineering with the Festo Configuration Tool (FCT)• Programming of the motion in the Festo Teach Language (FTL)• Reduced speed in manual operation• Automatic repositioning after interrupted movements• Teaching of positions• Definition of tools, allowing easy use of multiple grippers• Orientation axis on the front end• Integrated kinematic models, e.g. for Cartesian systems, Tripod, H and T-gantry• Dynamic limiter for optimal cycle time
• Increased flexibility thanks to integrated CoDeSys PLC, e.g. for integrated image processing
• Tracking function for applications involving selecting items from a conveyor belt
• Speed-independent path switching points with time compensation, e.g. for gluing applications
• Complete automation of a cell possible
Standardised peripherals in handling technology – controllers
68 Handling Guide – Subject to change – 2012/09
Standardised peripherals in handling technology – control cabinetsExamples of control cabinets
Control cabinet Description Handling system
Pneumatic and servopneumatic This control cabinet is equipped with a valve terminal type CPX-MPA and is ideal for actuating pneumatic handling systems.
Modular extension of the elec-tric and pneumatic areas of the terminals enables fast realisa-tion of control systems for servo-pneumatic, pneumatic and electric handling systems - even with amix of technologies. Connection to the cus-tomer's higher-level con-trol concepts is possible.
Standard handling systems This cabinet is equipped with motor controllers CMMP-AS.
Cabinets of this type are stan-dardised, pre-assembled solu-tions designed to be compatible with standard handling sys-tems such as the three-dimen-sional gantry DHSR and cantilever system DHSA.
Advanced handling systems Cabinets from the control package CMCA are primarily designed for the advanced handling series.
The CMCA is a robotics con-troller and motor controller in one and offers all the con-trol functions required for demanding applications.
692012/09 – Subject to change – Handling Guide
Standardised peripherals in handling technology – machine vision, Compact Vision System, Checkbox
c-c mount lens Integrated lens c-c mount lens
Integratedlens
c-c mount lens Checkbox
SBOC-Q- R3B-WB
SBOC-Q- R3C-WB
SBOI-Q- R3B-WB
SBOI-Q- R3C-WB
SBOC-Q- R1B
SBOI-Q- R1B
SBOC-Q- R2B
SBOC-Q- R2C
CHB-C-X
Image sensor resolution
725 x 480 725 x 480 725 x 480 725 x 480 640 x 480 640 x 480 1280 x 1024 1280 x 1024 1 x 2048
Sensor type Monochrome Colour Monochrome Colour Monochrome Monochrome Monochrome Colour Monochrome
Sensor size 1/3" 1/2" 2/3" 1"
Frame rate [fps]
60 150 27 In microsecs. 128-102
CAN bus interface - - - - • • • •
Encode
CoDeSys PLC • • • • • • • • -
Read code option • • • • • • • • -
Machine vision – intelligentCompact Vision System SBO..-QThe Compact Vision System SBO..-Q is a camera with built-in processor for position sensing and quality testing of compo-nents. Different part types can be identified and sorted. The images are evaluated directly on the camera.
The results of the image evalu-ation are transmitted by various interfaces to the machine con-troller or edited directly on the CoDeSys runtime system (PLC part) of the camera.
Checkbox Compact PLUS
Checkbox CHB-C-PLUS:Inspects the workpieces, controls the parts rate and removes incor-rectly oriented or defective parts.
Technical data
70 Handling Guide – Subject to change – 2012/09
Products for servopneumatic systems
Standardised peripherals in handling technology – servopneumatics
Position controllerCMAX
End-position controllerCMPX
Linear driveswith displacement encoder
Swivel modules with displacement encoder
DNCI DGCI
Linear motionStandard cylinder DNCI to ISO 15552 with contactless dis-placement encoder and addi-tional sensor interface CASM. As a signal converter, the sensor interface CASM establishes the
Rodless drive DGCI with recir-culating ball bearing guide and contactless displacement encoder for measuring abso-lute values.
Advantage: the drive can be directly connected to CMAX or CMPX without an extra inter-face, providing plug and work with auto-identification.
Rotary motionSwivel module DSMI with inte-grated rotary encoder and sensor interface CASM.
Proportional directional control valve VPWPwith integrated, digital, serial interface for the servopneu-matic positioning system CPX-CMAX and end-position controller CPX-CPMX Soft Stop. With the proportional directional con-trol valve, the force control func-tion is now also available for the position controller CMAX.
Proportionalvalve VPWP
Sensor interfaceCASM
DSMI-BDNCI-FENG
connection between the incre-mental displacement encoder with potentiometer and the pro-portional valve VPWP. This dig-itised bus transmission is very secure.
712012/09 – Subject to change – Handling Guide
Example of a servopneumatic standard solution
Standardised peripherals in handling technology – servopneumatics
CPX terminalCMAX or CMPX
DGCI
Compressed air
VPWP
CASMVPWP
Compressed airDSMI
DNCIVPWP
Com-pressed air
CASM
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. 3174Tel. +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, 76Jd. Santa Emília04183-080 São Paulo / SP -BrasilTel. +55 (11) 5013-1600,Fax +55 (11) 5013-1801E-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 FiliaalA.H. Tammsaare tee 118B12918 TallinnTel. +372 666 1560, Fax +372 666 15 6E-mail: [email protected]
FinlandFesto OyMäkituvantie 9PL 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 2628E-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. Tekno V Blok A/1 Sektor XIKawasan Industri BSDSerpong -Tangerang 15314Banten - IndonesiaTel. +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 1666 0202, 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 Super Highway1700 Paranaque CityMetro ManilaTel. +63 (2) 77 66 888, Fax +63 (2) 82 34 220/21E-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)21 403 95 00,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 Office9, Kung 8th RoadLinkou 2nd Industrial ZoneLinkou Dist., New Taipei City24450 Taiwan, 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.Viranuvat Building, 6th - 7th Floor.1250 Bangna - Trad Road (Soi 34)Bangna, Bangkok 10260Tel. +66 2746-8700, Fax +66 2746-8370E-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]
UkraineDP Festoul. 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. 1515 – 1516 Van Dai Dong StreetWard An Phu, District 2Ho Chi Minh CityTel. +84 (8) 62 81 44 53 – 4454,Fax +84 (8) 62 81 44 42E-mail: [email protected] 13
5092
en
2012
/09