handling systemoverview en
DESCRIPTION
Good SystemTRANSCRIPT
1
Handling system overview
Multi-axis systems and drives
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Table of contents
Cantilever axes –
Three-dimensional systems .. 14
Cartesian XYZ handling unit for
long horizontal strokes and short
vertical strokes, electric and/or
pneumatic
3D gantries –
Three-dimensional
systems ................................. 16
Cartesian XYZ handling, electric
and/or pneumatic
Advanced Handling
Systems ................................. 18
High-speed kinematics and con-
trol package for 2D and 3D appli-
cations
Application-specific
solutions ............................... 20
• Gripper systems
• Frame options
Mechatronic Motion
Solutions ................................. 4
Your task defines the solution!
Electric axis EGC
in focus .................................... 6
Pick & place .......................... 10
• High-speed, handling module
link-guided,
electric or pneumatic
• YZ handling for short strokes,
electric and/or pneumatic
Linear gantries –
Two-dimensional systems ..... 12
YZ handling for long strokes,
electric and/or pneumatic
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3
Grippers, electric
and pneumatic ...................... 40
Vacuum technology ............... 46
Motors, gear units
and controllers ...................... 48
Compact vision systems ........ 52
Multi-axis control systems ... 53
Software tools, ready-to-install
solutions, controller control
cabinets ................................. 56
Commissioning and mainte-
nance, after sales service,
engineering ........................... 60
Gantry axes, electric
and pneumatic ...................... 24
Cantilever axes, electric
and pneumatic ...................... 30
Mini slides, electric
and pneumatic ...................... 34
Linear motor axes
and cylinders, electric ........... 36
Rotary drives, electric
and pneumatic ...................... 38
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Mechatronic Motion Solutions
Mechatronic Motion Solutions from Festo is a globally unique
system comprising components, modules, systems and software.
It combines all types of pneumatic, servopneumatic and (electro)
mechanical motion, geared to your task. Irrespective of the control
system environment you use, Mechatronic Motion Solutions pro-
vides the appropriate interfaces.
Mechatronic
Guarantees the mechanical and electrical compatibility and combina-
tion at all levels. All pneumatic and electric drives are equipped with
suitable interfaces for mechanical, data and energy transmission,
thus ensuring that different technologies can be combined in one
system. It also enables complex handling and positioning systems to
be set up easily and safely.
Motion
Stands for the comprehensive, multi-dimensional portfolio of linear
and rotary drives as well as a large variety of mechanical and vacuum
grippers. They provide a host of benefits, such as high speed, preci-
sion, etc.
Solutions
Represents the decades of experience Festo has in the field of hand-
ling technology, across all industries and continents. This includes
first-class expertise in the development of components and sophisti-
cated systems. They range from pre-designed and calculated compo-
nents to subsystems and complete systems. The logical answer to the
demand for pre-installed and customised systems and solutions.
Forward-looking:
The Bionic Handling Assistant.
Now in the Festo range:
numerous innovative products that have
already proven their worth in practice,
including the adaptive gripper DHDG
and the robotic controller CMXR.
More details on page 63Winner 2010
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A detailed description of our
services can be found starting on
page 56
52011/07 – Subject to change – Handling system overview
Consulting
Common solution methods lead
to better overall solutions. Soft-
ware tools also provide assis-
tance with design and configura-
tion.
Quotation
A prompt, complete and detailed
quotation comprising:
• 3D drawing
• Parts list
• Cycle and travel times
• Performance level
• Functional sequence
• Price
Ordering
One part number, one order
item, one delivery date makes
for easy ordering. Includes order
tracking.
Engineering
We can plan and design your
single or multi-axis system in
no time at all. You also receive
CAD drawings, circuit diagrams,
parts lists and detailed system
documentation.
Assembly
All functions and requested fea-
tures are fully tested:
• Quality
• Perfect fit
• Harmonised interfaces
(mechanical and electrical)
Engineering Procurement Assembly Operation
Cost saving
Time saving
Enhancing process reliability
Define the level of cooperation
you want: step by step
Consulting Quotation Ordering Engineering Assembly Commissioning Maintenance
Commissioning
Festo offers fast and reliable
integration and commissioning
of complete subsystems – direct-
ly in your machine.
Maintenance
The production industry is
focussed on preventing produc-
tion stoppages. This is another
reason why our solutions provide
maximum reliability – and reduce
your process costs and time to
market.
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Top performer
Generously sized profiles with an
optimised cross section afford
maximum rigidity and load
capacity of the drives. Speed,
acceleration and torque resist-
ance set a new standard.
Economical
In addition to its technical fea-
tures, the EGC offers outstanding
value for money. And thanks to
its high performance, a smaller
size can often be used, particu-
larly in the case of spindle axes!
Quicker planning
The integration of the EGC in the
Festo multi-axis and modular
positioning system offers stand-
ardised interfaces for other
drives and motor packages.
The PositioningDrives software
makes design much easier, and
ensures correct configuration
without expensive oversizing.
The comprehensive electric axis
EGC is available in numerous
variants. Its many advantages
include: high dynamic response
and speed, newly defined
rigidity and high for resistance,
among others. All in all, the new
axis range in the mechatronic
multi-axis modular system can
be implemented as an individ-
ual or complete system solu-
tion.
Versatile
The EGC range is available as
toothed belt and spindle axes.
Different spindle pitches, numer-
ous sizes and variants, such as
protected guides, open up a
broad range of applications.
The series is rounded off with
the driveless linear guide unit
with a freely movable slide.
Toothed belt axis EGC-TB
Spindle axis EGC-BS
Guide axis EGC-FA
Toothed belt and spindle axes EGC
Electric toothed belt axis
ELGA-TB-G
Handling axis with simple, inte-
grated plain-bearing guide and
high feed forces. Economical
wherever the load needs an
external guide while the axis
remains very rigid or when a
simple plain-bearing guide is
sufficient.
More details on page 24
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Newly defined rigidity
Load application point near the
guide for maximum torques and
forces
Spindle axis EGC-BS:
Precise spindle drive with ball
screw and external recirculating
ball bearing guide on the slide
The spindle axis is designed for
high precision and smooth run-
ning with large loads and long
strokes.
Toothed belt axis EGC-TB:
Dynamic toothed belt drive with
external recirculating ball bear-
ing guide on the slide
The toothed belt axis is designed
for high speeds with high loads
and long strokes.
Guide axis EGC-FA:
Driveless linear guide unit with
external recirculating ball bear-
ing guide and freely movable
slide.
Toothed belt and spindle axes EGC
• Speeds up to 5 m/s
• Maximum stroke up to 8.5 m
• Repetition accuracy ±0.1 mm
• Maximum feed force 2500 N
(for additional technical details,
see page 25)
The guide axis is designed to
support forces and torques in
multi-axis applications.
• Reduced vibrations with
dynamic loads
• Higher torsional resistance
• Speeds up to 2 m/s
• Maximum stroke up to 5 m
• Repetition accuracy ±0.02 mm
• Maximum feed force 3000 N
(for additional technical details,
see page 25)
Toothed belt and spindle axes
EGC – the new design for
• High speeds and feed forces
• Maximum rigidity
• High loads and torques
• Minimum distance between
load and guide centre
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Flexible motor attachment
for EGC-TB
• Motor can be attached on
4 sides, freely selectable
• Subsequent modification
possible at all times
The benefits to you:
Define a standard attachment
variant with one part number
and modify to alternative posi-
tions as and when needed
Suitable motors and con-
trollers starting on page 48
Suitable accessories:
Gear unit EMGA-..-P-..
Motor kit EAMM-A-..
Slide variants: Extended slide
• Longer guide
• For a greater axial torque
• More mounting options
• Maximum of 4 sensors
• Output status display: 2 yellow
LEDs for better visibility,
regardless of approach direc-
tion
• Repetition accuracy
≤ ±0.05 mm (radial)
Safety thanks to optional
sensing
• Inductive proximity sensor
SIES-8M
• Flush mounting of up to 2 sen-
sors in the profile slot – no pro-
truding edges outside of the
drive cross section
Second slide
• 1 active and 1 passive
(freely movable) slide
• Adjustable, extended guide
• For greater axial and lateral
torques
• More mounting options
Protected slide
• Scraper on both sides
of the slide
• Removes dirt particles and
liquids from the external guide
• For use in aggressive
environments
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50% more rigidity than
previous solutions.
The newly developed guide sys-
tem for the EGC axis provides
smoother running and higher
torque resistance. The very rigid
axis profile allows longer unsup-
ported strokes without an addi-
tional guide axis.
• Thanks to its performance, it is
often possible to use a smaller
size.
• Can also be used as a mono
system with higher loads,
with no need for the second
axis
The toothed belt/spindle axis
EGC is a high-performance com-
ponent for multi-axis applica-
tions, thanks to its positive char-
acteristics. Simpler designs
enable optimum integration and
reduce installation costs.
When combined with handling
and assembly systems from
Festo, like gripping or turning,
the range for new customised
design solutions is almost limit-
less.
In addition:
Nominal stroke = effective stroke
• Smaller and optimised installa-
tion space
• Optimum value for money
Individual handling systems
with frame
Complete, ready-to-install sys-
tems not only consist of gantries
with axis mechanics, but are
often already mounted on
aluminium or steel frames.
The significant increase in the
performance of the EGC axes
means that there is often no
need for cross bracings with
these frames.
• Simpler and lighter construc-
tion
• Improved efficiency
Conventional frame Economical with EGC:
Frame without cross bracing
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Pick & place
Example: sanitary engineering
Valve assembly for flush-
mounted systems
Requirements
• Slim design
• Jerk-free movement
• High precision
• Easy to service
Complete solution
as pick & place with
• Pneumatic: HMPL/HMPL
• Or electric: EGSA/EGSA
with gripper/swivel unit
Example: automotive technology
Module in airbag assembly
Requirements
• Short cycle times
• Precision
• Wait position
Solution
Handling module HSP-AE with
servo drive MTR-DCI and sturdy
parallel gripper HGPT-B
Handling modules are ready-to-
install, complete solutions and
can be operated with electric or
pneumatic drives.
• Consisting of semi-rotary drive
with link guide
• Precision thanks to metallic
end positions combined with
a sturdy design
• Active wait position possible
• Freely positionable with the
electrical variant
• High repetition accuracy
in the end positions
• 180° design and 90° pick &
place
Range of applications:
• Effective load up to 1.6 kg
• For extremely short cycle times
(0.6 ... 1.2 s)
• For tight installation spaces
• For short stroke ranges
Pick & place systems consist
of two yoke drives.
• Possible combinations com-
prising slides and cantilever
axes
• High mechanical rigidity and
sturdy design
• Pneumatic and electrical com-
ponents – freely combinable
• As electrical solution – variable
positioning
Range of applications:
• 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.
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Type
Link-guide,
high-speed
pick & place
(180°)
Link guide
high-speed
pick & place
(90°)
2D pick & place handling
Important characteristics
• Compact
• High cycle rates of up to 100 Hz
• Intelligent stroke adjustment
• Wait position, freely programma-
ble positions (electrical)
• Easy to commission
• Easy to install
• Compact
• High cycle rates of up to 100 Hz
• Intelligent stroke adjustment
• Wait position, freely programma-
ble positions
(electrical)
• Easy to commission
• Easy to install
• Very rigid construction
• Short cycle times
• Precision mini slide, pneumatic
DGSL and electric EGSL
• Highly dynamic response and
precision with long strokes with
EGSA
• High functionality with HMP
Design
Fully assembled
handling module
Fully assembled
handling module
Module unit
made up of a
slide and/or can-
tilever axis
Eff. load
Max.
1.6 kg
Max.
1.6 kg
Max.
6 kg
Max. eff. strokes
Z:
up to 20 … 70 mm
Y:
up to 52 … 170 mm
Max. linear stroke
90...175 mm
Working stroke
9 ... 35 mm
Z: up to 400 mm
Y: up to 400 mm
Components
Pneumatic:
HSP-AP
Electric:
HSP-AE
(with servo
motor
MTR-DCI)
Pneumatic:
HSW-AP
Electric:
HSW-AE
(with servo
motor
MTR-DCI)
DGSL
EGSL
EGSA
HMP
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Movements in 2D:
A linear gantry consists of a
gantry axis and a yoke drive.
• High mechanical rigidity and
sturdy design
• Pneumatic and electrical com-
ponents – freely combinable
• As electrical solution – variable
positioning/any intermediate
positions
Range of applications:
• Ideal for long gantry strokes
• Often used for feeding applica-
tions
• Repetition accuracy up to
0.02 mm
• Long gantry strokes up to 8.5 m
and heavy loads up to 50 kg
• Increased requirements on
system resistance to torsion
Linear gantries
Example: construction
materials industry
Handling, palletising and
packing of ceramic tiles
Requirements
• High dynamic response
• Gentle acceleration and
braking
• Jerk-free movement
• Good positioning flexibility
Solution
• Linear gantry with toothed belt
axes and cantilever axis
• Complete solution, including
vacuum gripper
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Servo drive package on
electric axes:
• Servo motor EMMS-AS
• Motor controller CMMP/S/D-AS
Important characteristics
• High process reliability thanks to installa-
tion integration
• Pneumatic and electric drives
(with freely programmable positions)
• Repetition-accurate, centralised direct axis
connections
Axis design
Y-axis: Gantry axes
EGC, DGC, DGCI
Z-axis: Mini slides EGSL,
DGSL, DFM
Cantilever axes EGSA, DGEA
Cylinders DNCE, DNC, DNCI
Gantry axis EGC
Eff. load [kg]
Max. 0.5
Max. 1
Max. 2
Max. 4
Max. 6
Max. 10
Max. 15
Max. 25
Max. 50
Repetition accuracy [mm]
Y = up to ±0.02
Z = up to ±0.01
Y = up to ±0.02
Z = up to ±0.01
Y = up to ±0.02
Z = up to ±0.01
Y = up to ±0.02
Z = up to ±0.01
Y = up to ±0.02
Z = up to ±0.02
Stroke [mm]
Y = up to 1900
Z = up to 100
Y = up to 5000
Z = up to 200
Y = up to 8500
Z = up to 400
Y = up to 8500
Z = up to 1000
Y = up to 8500
Z = up to 1000
Type
• Linear gantry as
mono or duo
axis
• Free movement
of the Z-axis in
the vertical
plane (2D)
Type
LP 0.5
LP 1
LP 2
LP 4
LP 6
LP 10
LP 15
LP 25
LP 50
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Cantilever axes
Example: assembly industry
Palletising of hinged housings
Requirements
• High dynamic response
• Good positioning flexibility
• Gentle acceleration and braking
Solution
• Cantilever axes with pneumatic
axes and handling modules DGC
and HMP
• Assembled complete with tubing
and electrical connections
A cantilever system is made up
of 2 parallel drives, combined
with a pick & place unit.
• High mechanical rigidity and
sturdy design
• Pneumatic and electrical com-
ponents – freely combinable
• As electrical solution – variable
positioning/any intermediate
positions
Range of applications:
• Cantilever axes are the best
triple-axis solution for move-
ments in 3D or in the available
space where three-dimensional
gantries are too big or the hand-
ling unit needs to be retracted
from the area of activity
• Long strokes in horizontal
plane (X-axis) of up to 8.5 m
• Cantilever stroke (Y-axis) up to
400 mm horizontal
• Very high requirements for
system resistance to torsion
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Servo drive package on electric
axes:
• Servo motor EMMS-AS
• Motor controller CMMP/S/D-AS
Important characteristics
• High process reliability thanks to installation
integration
• Pneumatic and electric drives
(with freely programmable positions)
• Repetition-accurate, centralised direct axis
connections
Axis design
X-axis: Gantry axes
EGC, DGC
Y-axis:Cantilever axes
DGEA, HMP
Z-axis: Mini slide DGSL,
(EGSL)
Cantilever axes DGEA, HMP
Eff. load [kg]
Max. 2
Max. 4
Max. 6
Repetition accuracy [mm]
X = up to ±0.02
Y = up to ±0.02
Z = up to ±0.02
X = up to ±0.02
Y = up to ±0.02
Z = up to ±0.02
X = up to ±0.02
Y = up to ±0.02
Z = up to ±0.02
Stroke [mm]
X = up to 8500
Y = up to 400
Z = up to 150
X = up to 8500
Y = up to 400
Z = up to 300
X = up to 8500
Y = up to 300
Z = up to 400
Type
• Cantilever
gantry
• Free movement
of the Z-axis in
the available
space (3D)
Type
AL 2
AL 4
AL 6
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A three-dimensional gantry con-
sists of horizontal gantry axes
and a vertical drive.
• Can be used universally for
handling light to heavy work-
pieces or high effective loads
• Ideal for very long strokes
• High mechanical rigidity and
sturdy design
• Pneumatic and electrical com-
ponents – freely combinable
• As electrical solution – variable
positioning/any intermediate
positions
Range of applications:
• For any movement in 3D space
• Very high requirements for pre-
cision and/or very heavy work-
pieces, with long strokes at the
same time
Three-dimensional gantries
Example: automotive industry
Loading handling in assembly
system for solenoids
Requirements
• Flexible positioning
• High speed and long horizontal
strokes
• Fast system availability
• Complete documentation of
process values
Solution
Three-dimensional gantry with
toothed belt axes DGE from the
multi-axis modular system
Planar surface gantry
The planar surface gantry is
equivalent to a three-dimen-
sional gantry, but without a
Z-axis and allows free move-
ment in the plane.
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Servo drive package on electric
axes:
• Servo motor EMMS-AS
• Motor controller CMMP/S/D-AS
Important characteristics
• Compact design
• High process reliability thanks to installation
integration
• Pneumatic and electric drives
(with freely programmable positions)
• Repetition-accurate, centralised direct
connections of axes
• Pneumatic and electric drives
(with freely programmable positions)
• High dynamic response and precision
Axis design
X-axis: Gantry axis EGC
Y-axis: Gantry axes EGC,
DGC, DGCI
Z-axis: Mini slides EGSL,
DGSL, DFM
Cantilever axes EGSA, DGEA
Cylinders DNCE, DNC, DNCI
Gantry axis EGC
Eff. load [kg]
Max. 0.3
Max. 0.5
Max. 1
Max. 2
Max. 4
Max. 6Max. 10
Max. 15Max. 25
Max. 50
Repetition accuracy [mm]
X = up to ±0.08Y = up to ±0.02Z = up to ±0.01
X = up to ±0.08Y = up to ±0.02Z = up to ±0.01
X = up to ±0.08Y = up to ±0.02Z = up to ±0.01
X = up to ±0.08Y = up to ±0.02Z = up to ±0.01
X = up to ±0.08Y = up to ±0.02Z = up to ±0.01
X = up to ±0.08Y = up to ±0.02Z = up to ±0.01
X = up to ±0.08Y = up to ±0.02Z = up to ±0.02
X = up to ±0.08Y = up to ±0.02Z = up to ±0.02
Stroke [mm]
X = up to 1900Y = up to 500Z = up to 500
X = up to 5000Y = up to 1000Z = up to 80
X = up to 8500Y = up to 1000Z = up to 200
X = up to 8500Y = up to 1500Z = up to 400
X = up to 8500Y = up to 1500Z = up to 1000
X = up to 8500Y = up to 2000Z = up to 1000
X = up to 8500Y = up to 2000Z = up to 1000
X = up to 8500Y = up to 1500Z = up to 1000
Type
• Three-dimen-
sional gantry as
mono or duo
axis
• Free movement
of the Z-axis in
the available
space (3D)
Type
RP 0.3
RP 0.5
RP 1
RP 2
RP 4
RP 6RP 10
RP 15RP 25
RP 50
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18 Handling system overview – Subject to change – 2011/07
Key features
• Parallel kinematic principle
with two stationary motors,
rotating toothed belt and low
moving mass
• Large rectangular working
space
• Flat construction and low
centre of gravity
• Integrated energy chain
concept
• Configurable system solution
Benefits
• High dynamic response
(70 picks/min)
• At least 30% higher perform-
ance compared to conventional
gantry systems
• Optimum ratio of working
space to installation space
• 1 EXCH covers the working
space of 2 SCARA robots
• Optimum installation, hardly
any vibrations = low require-
ments for frame, low costs
• Easy and safe installation even
when the system is modified
or expanded
• Festo plug & work®: easy to
integrate into a system concept
and commission
H-gantry EXCH
The Cartesian high-speed handling system with robotic functionality
has superb dynamic response with up to 70 picks/min and makes
optimum use of the installation space.
It is extremely compact and flat, making the large rectangular work-
ing space with the XY planar surface gantry flexible for handling with
free planar movement. When supplemented with a Z-axis, this can be
extended to 3D applications.
Key features
• Parallel kinematic principle
with two stationary motors,
rotating toothed belt and low
moving mass
• Slim design with very compact
Z-axis
• Low Z-axis inertia and small
moving mass
• Integrated cable carrier
concept
• Configurable system solution
Benefits
• High dynamic response
(>90 picks/min)
• At least 30% higher perform-
ance than conventional solu-
tions
• Large working space coverage in
the vertical plane, particularly in
narrow working and installation
conditions
• High precision with maximum
dynamic response and delay
• Minimal vibrations
• Reduced requirements for
support frame
• Easy and safe installations,
even in front unit
• Festo plug & work®, easy to
integrate into system concept
and commission
T-gantry EXCT
The Cartesian high-speed handling system with robotic functionality
has superb dynamic response with more than 90 picks/min and
makes optimum use of the installation space.
Compact and slim, as a YZ linear portal with rectangular working
space, it is an ideal pick & place handling system for flexible handling
with free movement in the vertical plane with limited installation
space.
Advanced Handling Systems
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Key features
• Parallel kinematic principle
with CFK rods
• The pyramid shape results in a
closed mechanical chain with
high rigidity
• Broad construction and broad
attachment to the frame
• Configurable system solution
• Safety concept for rod loss
detection
Benefits
• Minimum moving mass –
maximum dynamic response of
drives (150 picks / min)
• High process reliability and
accuracy for joining applica-
tions and insertion operations
• Optimum flow of reaction
forces into machine frame
• Low tendency to vibration of
frame
• Festo plug & work®, easy to
commission
• Detaching the rods does not
damage the tripod or the
system
Tripod EXPT
The high-speed handling unit with robot functionality for free move-
ment in three dimensions provides precision in movement and posi-
tioning, combined with high dynamic response up to 150 picks/min.
The rigid kinematics has a pyramid-shape arrangement: three rigid
drives securely connected to one another and their motors are
attached statically and do not move.
Key features
• Ready-to-install control system
from a single source – in a con-
trol cabinet or on a mounting
plate
• Basic function or extended
control functionality
• Precise fit for integration into
kinematics frame
• Easy to operate and maintain
the entire system, including
control package and mechanics
• Harmonised safety concept to
EN ISO 13849-1
Benefits
• Easy project management with
a single partner, including
application-specificintegration
into the complete system
• Control solution appropriate
for the application, the kine-
matics and the requirements
• Optimum use of available
space
• Quick and easy commissioning
and maintenance
• Handheld terminal
• Reliable system operation
• Meets the requirements of
the EU Machinery Directive
• Easy integration into customer
protection circuit
Control package CMCA
The control package with optional PLC is used for free 3D path control
with demanding and highly dynamic kinematics.
It comprises: robotic control system, motor controllers, control
cabinet or connecting plate. Additional functions can be integrated.
The complete package with kinematics and basic parameterisation
of the entire system is supplied ready to connect to the application.
HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 19
Application examples
Crankshaft handling system
20 Handling system overview – Subject to change – 2011/07
Advantages
• Ready-to-install gripper
system, customised to your
individual application
• No interface problems with
the handling system
• Easy installation and assembly
• Complete CAD data for fast
design
Scope of services
Festo plans and designs gripper
systems for the front end unit on
the basis of your requirements.
With an extensive modular sys-
tem of mechanical grippers and
suction grippers, Festo offers the
right solution for every applica-
tion. Individual adaptations
according to your specifications
such as ejectors, multiple grip-
pers, gripper fingers and gripper
jaws complete the spectrum.
Application-specific solutions – Gripper systems
Parallel gripper HGPL-40-40
• With stroke reduction
HGPL-HR-40
• With proximity sensor
SME-10 in sensor slot
Parallel gripper HGPT-63-A-G2
• With position transmitter SMAT
for evaluating the entire
gripper stroke
Gripper jaw
• With interchangeable plastic
inserts
• Category: GBT 3
Gripper jaw
• Category: GBL 4
Z-axis:
• Mini slide DGSL-25-80-Y3A
• With integrated clamping unit
Parallel gripper HGPT-63-A-G2
• With external sensing via
inductive proximity sensor M12
Gripper jaw
• With interchangeable plastic
inserts
• Category: GBT 3
Semi-rotary drive
DRQD-16-90-YSRJ-A-ALFW-E422
Energy through-feed
• Electric
• Pneumatic
Vacuum gripper system for paper
and cardboard boxes
HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 20
212011/07 – Subject to change – Handling system overview
Advantages
• Optimised performance
• Any customised solution is
possible
• Short lead times for planning,
design and assembly
• Optional: gripper systems
Application-specific solutions – Individual handling systems
Scope of services
In addition to the flexible stand-
ard solutions from the multi-axis
modular system, Festo also
offers individual handling solu-
tions designed in accordance
with your specifications. Adapta-
tions, such as freely definable
axis dimensions, facilitate short-
er cycle times or integration in
machines with minimal space
requirement.
Application examples
Handling and processing
of rod material
Handling of workpiece carriers,
including mounting plate
Two independently positionable
X-axes for horizontal transport
Load interface at the front end
unit for customer applications
Complete energy supply for
X/Y/Z-axes
HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 21
Handling system overview – Subject to change – 2011/0722
Aluminium and steel frames
0-2000
0-4000
0-1000
0-5000
0-1500
0-3000
0-1000
Aluminium frames
Profile
Small load 80 x 80 mm
High load 100 x 100 mm
Steel frames
Material
Steel structural hollow section
to EN 10210 or EN 10219
0-1000
0-6000
0-2500
0-5000
0-2500
0-5000
0-1000
0-5000
0-2500
0-5000
0-2000
0-2500
0-5000
0-2000
0-1000
0-5000
0-1500
0-1500
0-3000
0-2000
0-1500
0-3000
0-2000
Effective load* Standard dimensions
Linear gantry 3D gantry
Up to 15 kg
Up to 25 kg
Up to 50 kg
Effective load* Standard dimensions
Linear gantry 3D gantry
Up to 6 kg
Up to 15 kg
Up to 25 kg
* Effective load = mass at front end of the handling system
= length of the frame
HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 22
232011/07 – Subject to change – Handling system overview
Example representation
with FEM software
Deformation increased by
a factor of 2000 due to the
acting forces.
3D gantry
5 m long
2.5 m high
2 m wide
Five steps to a complete system!
How to choose your standard-
ised substructure quickly and
easily, suitable for your handling
system.
Step 1: Handling system: Select
according to the handling guide,
as usual
Handling plus frame:
Step 2: What kind of system is it?
Linear or three-dimensional
gantry
Step 3: Which frame size is being
used? BG 3.0, 5.0 or 6.0
Step 4: With BG 5.0/6.0, specify
the material of the frame,
steel or aluminium
Step 5: Specify the dimensions.
Length, height, width or axis
distance
Design
Calculation of rigidity of all
frames with Finite Element soft-
ware.
This means that reinforcement is
only included if it is really neces-
sary. The benefit to you: a 100%
cost optimisation.
Special designs
Our qualified teams are able
to create an FEM design within
a very short time.
Then a video is created to show
the rigidity of the frame.
The benefit to you: 100% design
certainty.
Individual special solutions!
If you haven’t yet found the right
solution, let us know.
We’ll be happy to advise you.
HSUE_en_V06.qxp 28.11.2011 10:09 Uhr Seite 23
24 Handling system overview – Subject to change – 2011/07
Electric gantry axes
Toothed belt and spindle axes
EGC
• As a single or complete
solution in a system
• Thanks to its high perform-
ance, the EGC can often be
dimensioned smaller than
previous solutions
Electric axis DGE
• Reliable, standard series of
electric gantry axes in several
sizes
• High quality toothed belt drive
or precision ball screw spindle
Key features
• High speeds
• High repetition accuracy
• Max. stroke 4500 mm
• High torque resistance and
force resistance with recirculat-
ing ball bearing guide and
heavy-duty guide
Electric toothed belt axis
ELGA-TB-G
• Drive axis for applications
with external guide or for easy
handling tasks
• Easily integrated plain-bearing
guide
• Toothed belt covered by
a steel band
• Flexible motor mounting on
all 4 sides of the axis
Key features
• High feed forces
• Speed up to 5 m/s with high
acceleration of 50 m/s2
• Space-saving position sensing
with proximity sensors in the
profile slot
Suitable for electric axis EGC
with recirculating ball bearing
guide.
Electric toothed belt axis
DGE-ZR-RF
• High-speed variant of the
DGE series
• With internal roller bearing
guide
Features
• Speed up to 10 m/s
• Minimal noise
• Integrated lubrication for
10,000 km of service-free
running
Key features
• Toothed belt axis and spindle axis
• Optional: protected guide
• Large profile with optimised
cross section
• High torque resistance
• Flexible motor mounting, on
toothed belt axis
Additional details about the
axis EGC can be found starting on
page 6
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 24
Electric gantry axes EGC ELGA-TB-G DGE DGE-ZR-RF
Size 50/70/80/120/185 70/80/120 8/12/18/25/40/63 25/40/63
Drive Spindle drive/ Toothed belt drive Spindle drive/ toothed belt drive
toothed belt drive toothed belt drive
Guide Recirculating ball Easy plain-bearing Without guide
bearing guide guidance Recirculating ball
bearing guide
Heavy-duty guide
Max. stroke [mm] 5000/8500 (10000) 8500 4500 5000
Max. speed [m/s] 2/5 5 1.2/5 10
Repetition accuracy [mm] 0.1 ... 0.02 0.08 ±0.02/0.08/0.1 ±0.1
Max. force Fx [N] 2500/3000 1300 1600 1500
Max. torque load Mx [Nm] 529 20 580 65
Max. torque load My [Nm] 1820 120 1820 340
Max. torque load Mz [Nm] 1820 40 1820 600
Options
252011/07 – Subject to change – Handling system overview
• Guide axis
• Extended slide
• Additional slide
• Protected version
• Central lubrication
• Guide axis
• Extended slide
• Additional slide
• Protected version
• Extended slide
• Guide axis
Internal roller guide
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 25
26 Handling system overview – Subject to change – 2011/07
Electric gantry axes
Electric toothed belt axis ELGR
• Ideal for applications with
comparatively low requirements
in terms of mechanical load,
dynamic response and precision
• Plain-bearing guide for low
loads
• Recirculating ball bearing guide,
backlash free for medium loads
and higher speeds
Electric toothed belt axis ELGG
• Toothed belt axis with two
opposing slides
• Single motor drives both slides
synchronously
• Plain-bearing guide for low
loads
• Recirculating ball bearing guide,
backlash free for medium loads
and higher speeds
Features
• Ideal for effective loads up
to 15 kg
• Optional central support for
higher rigidity, forces and
torques
• Long slide, additional right/left
slide for improved guidance
and higher forces
• Easy and reliable end-position
sensing using inductive
proximity sensor
Guide axis ELFR
• Driveless linear guide axis
with free moving slide
• Supports forces and torques
in multi-axis applications
• Reduces vibrations with
dynamic load
Features
• Plain-bearing guide for speeds
up to 1 m/s and with low load
• Backlash-free recirculating ball
bearing guide for speeds up
to 3 m/s and medium loads
• 3 sizes, strokes up to 1.5 m
Electric axes EGSK/EGSP
• EGSK: series for standard tasks
in the upper segment
• EGSP: caged ball bearings for
maximum precision and perform-
ance in high-end applications
Key features
• 100% steel housing is also
the guide rail
• Uniform and quiet running
properties
• Long service life
Features
• Ideal for effective loads up
to 15 kg
• 1 or 2 optional free moving
additional slides for extended
guidance
• Easy and reliable end-position
sensing using inductive
proximity sensor
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 26
272011/07 – Subject to change – Handling system overview
Electric gantry axes ELGR ELGG EGSK/EGSP
Size 35/45/55 35/45/55 15/20/26/33/46
Drive Toothed belt drive Toothed belt drive Spindle drive
Guide Plain-bearing guide Plain-bearing guide Recirculating ball bearing guide
Recirculating ball bearing guide Recirculating ball bearing guide Caged ball bearings
Max. stroke [mm] 1500 1200 (per slide) 800
Max. speed [m/s] 3 3 1.05/2
Repetition accuracy [mm] ±0.1 0.1 ±0.003/0.005/0.01
Max. force Fx [N] 350 350 320/360
Max. torque load Mx [Nm] 15 15 1400/1390
Max. torque load My [Nm] 124 124 547/579
Max. torque load Mz [Nm] 124 124 547/579Options • Extended
slide
• Additional slide
• Extended
slide
• Additional slide
• Central support
• Standard slide
• Short slide
• Additional slide
• Spindle cover
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 27
28 Handling system overview – Subject to change – 2011/07
Pneumatic gantry axes
Rodless drive DGC
• Excellent guide qualities
• Maximum characteristic load
values and torque resistance
• Minimised installation space
• Proximity sensors built into
the profile
Features
• Optionally with shock absorber
and second slide
• Accessible from one side:
precision end-position adjust-
ment, sensors, mounting
attachments, air connections
and pneumatic end-position
cushioning
Rodless drive unit DGP/DGPL
• Dynamic
• Minimal space requirement
• High torque resistance
• Recirculating ball bearing
guide: maximum precision
and load capacity
Features
• Space gained through opti-
mised stroke/overall length
ratio
• Integratable proximity
sensors
• Long service life
• Low leakage
• Easy to install
• Choice of air connections
Rodless slide SLG
• Flat, quick and precise
• Ideal for dynamic movements
in a small space
• Perfect for the precision
mechanics and electronics
industries
Features
• Extremely precise thanks to
recirculating ball bearing guide
• Precision adjustment of
stroke length as required
• Air supply on one
or two sides
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 28
Pneumatic gantry axes DGC DGP/DGPL SLG
Size 8/12/18/25/32/40/50/63 18/25/32/40/50/63/80 8/12/18
Guide Without guide Without guide Recirculating ball bearing guide
Plain-bearing guide Plain-bearing guide
Recirculating ball bearing guide Recirculating ball bearing guide
Heavy-duty guide
Max. stroke [mm] 5000 3000 900
Max. speed [m/s] 3 3 1.5
Max. force Fx at 6 bar [N] 1870 3016 153
Max. torque load M x [Nm] 26/96/529/375 32/100/745/375 7
Max. torque load M y [Nm] 150/450/1157/560 750/230/1545/560 23
Max. torque load M z [Nm] 48/187/1157/540 140/230/1545/540 23
Cushioning (at both ends) • Flexible, non-adjustable • Pneumatically adjustable • Flexible, non-adjustable
• Pneumatically adjustable • Self-adjusting hydraulic • Self-adjusting hydraulic
• Self-adjusting hydraulic shock absorber shock absorber
shock absorber
Options • Guide axis • Clamping unit • Intermediate-position module
• Protected version • Protected version • Clamping unit
292011/07 – Subject to change – Handling system overview
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30 Handling system overview – Subject to change – 2011/07
Electric cantilever axes
Electric piston rod cylinder
DNCE
• Lead screw for format adjust-
ments
• Ball screw drive for dynamic
push & pull applications
• With rod guide unit for cost-
optimised cantilever function
Features
• Maintenance free thanks
to lubrication for life
• Freely programmable
positions
• Stick-slip free
• Gentle acceleration
• Free programming and para-
meterisation of speed, travel,
acceleration and force control
Cantilever axis with spindle
EGSA
• Cantilever axis with spindle
• For short strokes, with high
dynamic response and preci-
sion
• For applications where the
axis needs to be retracted
from the working space
Features
• High dynamic response for
a large effective load
• High repetition accuracy
• Flexible motor mounting –
axial or parallel
• Long service life
Cantilever axis DGEA
with toothed belt drive
• Dynamic thanks to the reduc-
tion of the moving mass
• For long strokes and high loads
• Motor, gear unit and drive head
are permanently mounted
• Only the main profile is moved
with the load
Features
• Highly precise
• Can be accurately positioned
• Protected against contamina-
tion thanks to the bearing
guide integrated in the profile
• Flat and compact drive head
• Optional: right-angle gear unit
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 30
Electric cantilever axes DNCE EGSA DGEA
Size 32/40/63 50/60 18/25/40
Drive Spindle drive Spindle drive Toothed belt
(lead screw/ball screw)
Guide Plain-bearing guide Roller bearing guide Recirculating ball bearing guide
Max. stroke [mm] 800 300 1000
Max. speed [m/s] 0.06 ... 1 1.5 3
Repetition accuracy [mm] ±0.02/0.07 ±0.01 ±0.05
Max. effective load (horizontal) [kg] 100 10 40
Max. effective load (vertical) [kg] 30 6 50
Max. force Fx [N] 2500 240 1000
Max. torque load M x [Nm] 1.5 25 133
Max. torque load M y [Nm] 27 70 665
Max. torque load M z [Nm] 27 70 460
Options External guide – Double guide cartridge
Bellows
312011/07 – Subject to change – Handling system overview
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32 Handling system overview – Subject to change – 2011/07
Pneumatic cantilever axes
Linear module HMP-B
• Hardened steel guide barrel
• Preloaded and backlash-free
guide barrel bearings in recir-
culating ball bearing guides
• For handling and assembly
technology
Features
• Wear-resistant thanks to the
metallic end stop
• Precision adjustment
• Intermediate-position module
with swivel levers
• One-way flow control valves
that can be externally adjusted
• Integrated sensor strip
Handling axis HMPL
• Extremely flat and with two
guide rods
• Suitable as a precise stand-
alone module or can be quickly
combined into a pick & place
or gantry unit
Features
• Short travel times
• High repetition accuracy
• LEDs for optical display
of motion
• Flexible thanks to active
intermediate positions
• Reliable thanks to the optional
clamping cartridge
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 32
Pneumatic cantilever axes HMP-B HMPL
Size 16/20/25/32 12/16/20
Guide Recirculating ball Recirculating ball
bearing guide bearing guide
Max. stroke [mm] 400 200
Max. speed [m/s] 1.2 1.0
Repetition accuracy [mm] ±0.01 ±0.02
Max. effective load (horizontal at 6 bar) [kg] 50 10
Max. effective load (vertical at 6 bar) [kg] 15 5
Max. force Fx (at 6 bar) [N] 483 188
Max. torque load M x [Nm] 50 4
Max. torque load M y [Nm] 50 5
Cushioning (at both ends) • Self-adjusting • Self-adjusting
hydraulic shock absorber hydraulic shock absorber
Options • Intermediate-position • Intermediate-position
module module
• Clamping cartridge • Clamping cartridge
• Electric integration rail
for sensors
332011/07 – Subject to change – Handling system overview
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 33
34 Handling system overview – Subject to change – 2011/07
Electric mini slides
Electric mini slide EGSL
• Short-stroke slide function with
variable positioning
• High precision picking up and
insertion even with high
mechanical loads
• Excellent precision and
linearity
• High repetition accuracy
• Flexible motor mounting:
lateral (parallel) or axial with
3 x 90°
Features
• Precise and free positioning
with repetition accuracy of up
to ±0.015 mm
• Ideal for vertical applications
such as inserting or joining
• Reliable protection of small
parts thanks to completely
closed spindle
• Optional additional cover for
guide area
• Simple and low-cost sensing
with integrated sensor slots
on the right and left
Electromechanical
mini slide SLTE
Complete package: the flat elec-
tric mini slide SLTE with precise
and rigid guide for smooth
acceleration and braking using
a lead screw spindle for effective
loads up to 4 kg.
Free positioning using motor
controller SFC-DC (page 51)
with protection class IP54.
Features
• Max. stroke: 150 mm
• Minimum speed: 2 mm/s
Electric mini slide EGSL 35 EGSL 45 EGSL 55 EGSL 65
Stroke [mm] 50 100/200 100/200/250 100/200/300
Max. speed [m/s] 0.5 1.0 1.0 1.3
Max. acceleration [m/s2] 25 25 25 25
Repetition accuracy [mm] ±0.015 ±0.015 ±0.015 ±0.015
Feed force [N] 75 150 300 450
Max. torque load M x [Nm] 6.2 18.6 33.1 67.4
Max. torque load M y [Nm] 6.0 16.3 33.3 47.1
Max. torque load M z [Nm] 6.0 16.3 33.3 47.1
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352011/07 – Subject to change – Handling system overview
Pneumatic mini slides
Mini slide DGSL
• Series with ball bearing cage
guide for maximum precision
and load capacity, in a compact
design and with very easy
installation
• Designed for high-precision
shifting, picking up and
inserting – even with high
mechanical loads
Features
• Innovative guide unit
• Repetition accuracy of 0.01 mm
• Linearity and parallelism in the
1/100 mm range
• Optional: clamping unit and
end-position locking
• Three adjustable end stop
variants
• Integrated proximity sensor
• Optional cover stops foreign
parts or dirt getting into the
guide
Mini slide SLT
• Double-acting cylinder
• System product for handling
and assembly technology
• Easy adjustment of end
positions: from one side
Features
• Powerful
• Two adjustable end-position
cushioning systems:
– Flexible cushioning components
– Hydraulic shock absorbers
• Versatile precision assembly
options: yoke, slide, housing
Pneumatic mini slide DGSL SLT
Size 4/6/8/10/12/16/20/25 6/10/16/20/25
Guide Ball bearing cage guide Ball bearing guided
parallel piston rods
Max. stroke [mm] 200 200
Max. speed [m/s] 0.8 0.8
Repetition accuracy [mm] ±0.01 ±0.02
Max. force Fx (at 6 bar) [N] 483 590
Max. torque load M x [Nm] 130 64
Max. torque load M y [Nm] 80 64
Max. torque load M z [Nm] 80 17
Cushioning (at both ends) • Flexible, non-adjustable • Flexible, non-adjustable
• Flexible, adjustable • Self-adjusting
• Self-adjusting hydraulic shock absorber
hydraulic shock absorber
Options • Clamping cartridge –
• End-position locking
• Cover
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36 Handling system overview – Subject to change – 2011/07
ELGL-LAS Size 30 64 120
Slide size [mm] 210 (S) 210 (S) 310 (M) 210 (S) 310 (M) 410 (L)
Max. stroke (1 slide) [mm] 740 1750 1650 1750 1650 1550
Max. feed force [N] 44 119 164 240 310 450
Continuous feed force [N] 44 110 160 217 282 330
Repetition accuracy [μm] ±10
Electric linear motor axes and cylinders
Linear motor axis
with air bearing ELGL-LAS
The electric linear drive ELGL is
a handling axis with air bearing
and built-in linear motor. The
drive elements and the air bear-
ing form a unit.
Wear-resistant
• Air bearing technology: the
slide floats contactlessly above
the axis
• The constant minimal air flow
through the air gap prevents
particles and dust from pene-
trating into the axis
Extremely flexible
• Locking brake built into the lin-
ear motor axis, thanks to the
magnetic preloaded air bearing
• Very accurate positioning and
linearity
• Minimum stroke <1 mm
• Several slides can move inde-
pendently of each other on one
axis
• Both opposing and synchro-
nous movements are possible
• No friction on the guide parts
• Maintenance-free and wear-
free
Suitable motor controller
CMMP-AS on page 48
Electric short-stroke cylinder
with linear motor ADNE-LAS
and motor controller CMFL
Highly dynamic with up to 14 Hz
between two end positions. The
speed of the pneumatics com-
bined with electrical precision
is ideal for pusher applications
or sorting tasks. Choose from
4 movement cycles and start –
that’s all it takes.
Advantages
• Positioning time from 30 ms
• Teach function for strokes
above 7.5 mm
• Long service life thanks to elec-
tronic end-position cushioning
• Impressive repetition accuracy
and constant force over the
entire stroke range
• Protection class IP65 allows
direct installation in the appli-
cation
Note:
The magnetic fields of the linear
motor axes and cylinders are
generally constructed and pro-
tected in such a way that iron
parts or chips will not be attract-
ed to them.
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372011/07 – Subject to change – Handling system overview
Electric linear motor
cylinder DNCE-LAS
The electric linear motor cylinder
is optimised for small loads. All
essential components such as the
linear motor, measuring system,
guide and reference switch are
combined to form a ready-to-use
axis.
Except for the long side, all
mechanical interfaces corres-
pond to the pneumatic cylinder
series DNC. Perfect for use with
existing accessories.
Can be configured and commis-
sioned using the Festo Configu-
ration Tool (FCT). Simply enter
the parameters and positioning
records on the motor controller
SFC-LACI (page 51) – that’s all
it takes.
Type DNCE-LAS DFME-LAS
Size 32 40 32 40
Max. stroke [mm] 100/200/320 100/200/320/400 100/200/320 100/200/320/400
Max. speed [m/s] 3 3 3 3
Min. speed [m/s] 0.02 0.02 0.03 0.05
Max. feed force [N] 141 202 141 202
Continuous feed force [N] 36 55 36 55
Repetition accuracy [μm] ±20 ±15
Electric guide axis
with linear motor DFME-LAS
The DFME-LAS electric guide axis
with linear motor is suitable for
maximum positioning precision
and excellent dynamic response
with small loads.
All essential components such as
the linear motor, measuring sys-
tem, guide and reference switch
form a ready-to-use guide axis.
The mechanical interfaces corres-
pond to the pneumatic cylinder
DFM. Depending on the design,
you can also use accessories
from the DFM on the electric
cylinder DFME-LAS.
The DFME-LAS is easily config-
ured and commissioned with the
Festo Configuration Tool (FCT).
Simply enter the parameters and
positioning records on the motor
controller SFC-LACI (page 51) –
that’s all it takes.
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 37
Electric rotary drive module ERMB-20/-25/-32
Rotation angle [°] Infinite
Positioning times (with servo motor) [s] <0.3 for 360°
Repetition accuracy [°]
– With servo motor EMMS-AS ±0.03
– With intelligent servo motor MTR-DCI ±0.05
– With stepper motors EMMS-ST ±0.08
Max. driving torque [Nm] 0.7/2.2/8.5
Max. output torque [Nm] 3.15/8.8/25.5
(depending on speed)
Max. input speed [rpm] 1350/1200/900
Max. output speed [rpm] 300
Drive shaft diameter [mm] 6/8/12
Hollow shaft diameter [mm] 20/24/28
Service life cycles [million] 15/20/20
Options Sensing module
38 Handling system overview – Subject to change – 2011/07
Electric rotary drive module ERMB
Rotary drive module ERMB
• Freely positionable
• For loads up to 15 kg
• As a rotary axis with any rota-
tion angle >360° or “stand-
alone” as a small numerically
controlled rotary table.
• Combination of two rotary
modules with multi-axis kine-
matics enables travel through
any spatial points
• Effectively minimises vibrations
in the multi-axis system thanks
to uniform movements and
user-defined acceleration
ramps
• Smooth and wear-resistant
movement into the end posi-
tions
Position sensing/
reference switch
• The sensing module EAPS,
available as an accessory,
enables impermissible areas to
be defined using 2 inductive
sensors and trip cams
• Sensing on the rotary module
is carried out using inductive
sensors. An index pin in the
retaining ring, which can be
adjusted in 90° increments,
is queried
• Choice for linear movement:
electric with DNCE or pneu -
matic with DNC
• Simple, convenient and reli-
able: hollow shaft with large
diameter for power supply
Very short positioning times
thanks to high dynamic response
for rotation: e.g. 0.25 s for
swivelling 1 kg load by 180°
Rotary/lifting module EHMB
The complete function unit for
linear and rotary movement, with
the two axes moving independ-
ently. The electric rotary and
linear movements are always
freely positionable.
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392011/07 – Subject to change – Handling system overview
Pneumatic semi-rotary drives
Swivel module DSM/DSM-B
• Semi-rotary vane drive with
shock absorber
Swivel module DSM/T-B with
tandem vanes
• Semi-rotary vane drive with
tandem vanes for double
torque up to 80 Nm
Common key features
• Infinite swivel angle adjust-
ment up to max. 270° with
positive locking attachment
• Precision end position via
internal hexagon
• All cushioning components
with advanced metal sleeve
as end stop, adjustable
• Shock absorber and elastomer
buffer
• Space-saving sensor
technology
With self-adjusting shock
absorber and fixed stop
With tandem vanes, elastic
cushioning and fixed stop
Twin piston semi-rotary drive
DRQD/DRQD-B
• Swivel angle up to 360°
• For handling and assembly
tasks, e.g. in the electronics
industry or in machine con-
struction
Features
• High repetition accuracy com-
bined with high torque
• Position sensing using proximity
sensor – end-position and
mid-position with the same
switch type
• Elastic end-position cushioning
and precision end-position
adjustment
Pneumatic semi-rotary drives DSM/DSM-B DSM-T-B DRQD/DRQD-B
Size 6/8/10/12/16/25/32/40/63 12/16/25/32/40/63 6/8/12/16/20/25/32/40/50
Swivel angle [°]
permanently set 90/180/240 – 90/180/360
as desired 270 max. (depending on 270 max. (depending on X angle (max. 360)
cushioning element) cushioning element)
Frequency of oscillation (at 6 bar [Hz] 3 ... 0.6 3 ... 0.6 5 ... 0.5
and max. swivel angle)
Max. torque (at 6 bar) [Nm] 0.15 ... 40 2.5 ... 80 0.16 ... 50
Repetition accuracy [°] <0.1/<1 <0.1 <0.05
Drive shaft Spigot shaft/flanged shaft Spigot shaft/flanged shaft Spigot shaft/flanged shaft
Cushioning (at both ends) • Flexible, non-adjustable • Flexible, non-adjustable • Pneumatically adjustable
• Self-adjusting hydraulic • Self-adjusting hydraulic • Self-adjusting hydraulic
shock absorber shock absorber shock absorber
Options • With built-in swivel • Freewheel unit • Mid-position module
angle measuring system • Energy through-feed,
• Freewheel unit pneumatic and electric
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40 Handling system overview – Subject to change – 2011/07
Pneumatic grippers – Standard
The DHx gripper family of
parallel, three-point, radial
or angle grippers
All the grippers together
• Double acting piston drive
• Maximum repetition accuracy
• Can be used as either a
double-acting or single-acting
gripper
• Gripping force retention
• Compression spring for sup-
porting the gripping forces
• Centring possible at the
gripper jaws
• Contactless end-position
sensing using sensors SMx-08
• Internal fixed flow control
Parallel gripper DHPS
High gripping force with small
dimensions, with opening
strokes of up to 25 mm. Sturdy
and precise T-slot guide of the
gripper jaws
Three-point gripper DHDS
High gripping force with small
dimensions, up to 50 mm grip-
ping diameter. Sturdy and pre-
cise T-slot guide of the gripper
jaws
Radial gripper DHRS
Large torque load thanks to
lateral support of gripper jaws,
total opening angle of 180°
Angle gripper DHWS
Optimised gripper jaw guide and
link guidance for angle grippers
with a total opening angle of 40°
Standard gripper DHPS DHDS DHRS DHWS
Size [mm] 6/10/16/20/25/35 16/32/50 10/16/25/32/40 10/16/25/32/40
Max. total gripping force (6 bar) [N] 970 840 – –
Max. total gripping torque (6 bar) [Ncm] – – 725 1500
Max. stroke per gripper finger [mm] 2/3/5/6.5/7.5/12.5 2.5/3.9/6 – –
Max. opening angle per gripper finger [°] – – 90 20
Repetition accuracy [mm] ≤0.02 ≤0.04 ≤0.1 ≤0.04
Max. operating frequency* [Hz] 2..4 4 2..4 4
* Depending on size
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412011/07 – Subject to change – Handling system overview
• Rectangular piston for
maximum gripping forces
• High repetition accuracy
• Centring possible at the
gripper jaws
• Gripping force retention
• Optionally without tubes
thanks to direct connection
• Optional sensing, mounted
flush in slot
Flat 2-jaw parallel gripper
DHPF
• Extremely flat with low weight,
high gripping forces and high
load bearing T-slot guide for
maximum forces and torques
• Double-acting gripper suitable
for external and internal grip-
ping
• Contactless end-position sens-
ing via the tried and tested
SMx-10- sensors
• Integrated throttling ports
ensure reduced opening and
closing speed
• Long service life thanks to life-
time lubrication
• Workpieces are gripped on the
outside as well as the inside
• Opening/closing times
<100 ms
Radial gripper HGRC and
angle gripper HGWC
• Compact and attractively
priced, flexible and reliable
• Die-cast zinc housing
• Driven by a robust rack and
pinion with low-backlash bear-
ing-supported gripper jaws
• The same constant gripping
force is available along the
entire movement
Standard gripper DHPF HGRC/HGWC
Size [mm] 20/25/32/40/50/63 12/16/20
Max. total gripping force/torque (6 bar) [N] / [Ncm] 180 ... 1660 13 ... 80
Max. stroke per gripper finger [mm] 2.5/4/5.1/7.5/10/15 –
Max. opening angle [°] – 30/80/180
Repetition accuracy [mm] ≤0.02 ±0.05
Max. operating frequency [Hz] 4 3..4
Gripping direction Internal, external Internal, external
Gripping force retention Yes No
HSUE_en_V06.qxp 28.11.2011 10:10 Uhr Seite 41
42
Pneumatic grippers – Robust
• With and without gripping
force backup
• Up to 4 positions sensed by
sensors integrated flush into
the housing slot
• Reliable operation in harsh
environments thanks to
sealing air
• Internal or external gripping
with one gripper type
• Tubeless compressed air sup-
ply via optional adapter plate
• Long service life of 10 million
switching cycles.
Handling system overview – Subject to change – 2011/07
Parallel gripper HGPT-B and
three-point gripper HGDT
• With oval piston surface and
robust and precise T-slot guid-
ance. High force version (..-F)
with half the stroke for double
the gripping force and reliabil-
ity.
• The force is transmitted direct-
ly to the linear movement of
the gripper jaws via an inclined
plane with forced guidance.
This synchronous movement is
provided by the backlash-free
plain-bearing guide with
ground T-slot jaws.
Parallel gripper HGPT-B
Three-point gripper HGDT
• Synchronous and forced linear
movement of gripper jaws
• Backlash-free movement
thanks to ground gripper jaws
• With and without gripping
force backup
• Integratable sensing, protected
and without protruding edges
Sealed parallel gripper HGPD
and sealed three-point gripper
HGDD
• Sturdy design with maximum
torque load thanks to high
forces or long gripper jaws.
• Completely sealed for trouble-
free operation in the toughest
conditions with dust or liquids.Parallel gripper HGPD
Three-point gripper
HGDD
Sturdy grippers HGPT-B HGPT-B-F HGPD HGDT HGDT-F HGDD
Gripper function Parallel 3-point
Sizes 16 … 80 25 … 63 35 … 80
Max. total gripping force * (6 bar) [N] 120 … 3230 220 … 6550 110 … 3920 290 … 2200 ** 710 … 4500 ** 370 … 2830
Stroke per gripper jaw [mm] 3 … 25 1.5 … 12.5 3 … 20 3 … 10 1.5 … 5 4 … 12
Repetition accuracy * [mm] ±0.01...0.025 ≤0.03...0.05 ≤0.03 ≤0.03...0.05
Max. operating frequency * [Hz] 2...3 4
Gripping direction Internal/external
* Depending on size ** With optional spring support / gripping force backup
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432011/07 – Subject to change – Handling system overview
The adjustable opening stroke
provides great flexibility because
you only need one gripper type
for different opening strokes.
And the process is faster thanks
to the optimised opening stroke.
In addition, it is suitable for
internal or external gripping.
Safe operation.
• The drive, using the sturdy rack
and pinion principle, enables
synchronous movement of
both gripper jaws. Two parallel
and opposing pistons move the
gripper jaws directly and with-
out loss of force
• Contactless end-position sens-
ing using the tried and tested
SMx-8/10 sensors in the slot
itself, without protruding edges
Long-stroke gripper HGPL
The double-acting long stroke
gripper has a highly precise and
extra long T-slot guide for the
gripper jaws, making it very
suitable for large forces or high
loads that need a long gripping
stroke.
Safety
• Sealing air for use under harsh
conditions, e.g. for protection
against drilling emulsion or
dust
• Sensing of up to two positions
with sensors integrated flush
or via an adapter on the out-
side of the housing
• Gripping force backup
(external)
Versatile
• Adapts perfectly to the appli-
cation: total opening angle of
max. 180°, freely adjustable
• One gripper type for gripping
externally or internally
• Tubeless compressed air sup-
ply via optional adapter plate
Radial gripper HGRT
Sturdy and precise gripping with
the radial gripper HGRT, provid-
ing a large gripping torque for
secure gripping even with longer
gripper fingers. Now with a long
service life of 10 million switch-
ing cycles.
Sturdy grippers HGPL HGRT
Gripper function Parallel Radial
Sizes 14 … 63 16 … 50
Max. total gripping force (6 bar) [N] 160 … 2750 190 … 8425
Stroke per gripper jaw [mm] 20 … 150 –
Max. total opening angle [°] – 180 (freely adjustable)
Repetition accuracy [mm] ±0.015 ±0.01
Max. operating frequency [Hz] 1 3
Gripping direction Internal/external
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44 Handling system overview – Subject to change – 2011/07
Pneumatic grippers – Flexible
Variety
For a wide variety of applications
• 11 sizes, 8 to 85 mm gripping
diameter
• Bellows movement direction
upward or downward
• Various bellow materials:
EPDM for larger loads or sili-
cone for higher temperatures
• Lateral air connection via cen-
tre hole or from above
Safety
• Optimised process sequences
and greater quality as smooth
gripping and materials used
prevent scratching of work-
pieces
• Additional reliability thanks to
optional sensing via proximity
sensor or other sensors from
size 27.
Applications
Suitable for gripping glasses,
cups, bottles, test tubes or labo-
ratory glass instruments and
all other containers, including
plastic bottles. Also suitable for
other workpieces with a circular
opening.
Bellows movement direction “downward” or “upward” The bellows gripper grips and transports
Bellows gripper DHEB
For sensitive and reliable internal
gripping of fragile workpieces,
the single-acting bellows gripper
DHEB is the gripper of choice.
It is both multifunctional and
efficient as it is possible to carry
out a leak test at the same time
as the workpiece is being trans-
ported.
Adaptive gripper DHDG
Innovative: all-in-one bionic
gripping solution with mini-
mum weight for maximum
dynamic response. The gripper
is made up of a pneumatic
drive with three gripper fingers
and enables reliable and non-
destructive gripping of fragile
and irregularly shaped work-
pieces.
Innovation meets standards
Adaptive gripper finger and
series-produced gripper com-
bined.
Thanks to the standardised
interface for the gripper fin-
gers, they can be easily com-
bined, via adapters, with the
common series-produced grip-
pers from Festo.
Highlights
• SoftGrip: gentle gripping
with positive locking
• Flexible: gripper fingers
adapt to different shapes
and contours
• Economical: 80% lower
weight than comparable
series-produced grippers
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452011/07 – Subject to change – Handling system overview
Electric gripper HGPLE
Size 25
Max. total gripping force [N] 600
Max. total stroke [mm] 80
Max. speed [mm/s] 65
Max. acceleration [mm/s²] 500
Max. permissible force Fz [N] 1500
Max. permissible torque M x [Nm] 100
Max. permissible torque M y [Nm] 60
Max. permissible torque M z [Nm] 70
Electric grippers
Electric T-slot parallel gripper
HGPLE
• Free, speed-controlled selec-
tion of the gripper positions
with long stroke
• Perfect for soft or highly sen-
sitive workpieces thanks to
tactile gripping option
• Alternative: reliable gripping
of large and heavy workpieces
Features
• Sturdy design: T-slot for very
high torque resistance, with
high precision
• At least 5 million strokes –
guaranteed
• Reduced gripping times thanks
to “pre-holding positions”:
the gripper fingers stop just
in front the workpiece
• Short opening and closing-
times of 0.6 s including com-
plete stroke
• On-site control using the reli-
able motor controller SFC-DC
Note:
More details on the motor con-
troller SFC-DC can be found on
page 51.
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46 Handling system overview – Subject to change – 2011/07
Vacuum
Vacuum generator OVEM
• Various functions integrated
in a single unit
• Integrated air-saving function
• Safety function for de-ener-
gised vacuum generation
• Integrated non-return valve
for preventing pressure drop
• Built-in solenoid valves for acti-
vating the vacuum generator
and ejector pulse
Features
• Four performance classes
• LCD or LED display for easy
reading during operation
• Force of the ejector pulse can
be controlled
• High vacuum: up to 93%
• Protection class IP65
• Integrated filter with inspection
window
• Simple installation via electri-
cal M12 connection and pneu-
matic push-in connector
Vacuum generators VN
• Decentralised vacuum genera-
tion for minimum evacuation
times
• Three classes of vacuum
generators:
- lightweight and compact
- standard
- with vacuum sensor
Features
• Easy to install
• Integrated push-in fittings for
easy, pneumatic installation
of the ejector.
• The vacuum generator can be
used directly in the gripping
area.
• With integrated ejector pulse
Suction grippers ESG
Over 5000 variants – Suitable
for almost every workpiece in
almost every shape, even for
extremely small products with
irregular centres of gravity, rough
surfaces or awkward shapes.
Key features
• Flexible: the ESG modular
system offers the right suction
gripper for every application
• Resistant to chemicals
• Heat resistant
• Anti-static
• The suction gripper ESG con-
sists of the suction cup ESS
and suction cup holder ESH
Key features
• Suction cup insert made of
porous sintered material
• Five diameters:
10, 20, 30, 40, 50 mm
Suction cup inserts OASI
For transporting unstable, fragile
and thin workpieces gently and
safely.
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472011/07 – Subject to change – Handling system overview
1
Material Nitrile rubber Nitrile rubber Polyurethane Vulkollan® Silicone Fluoro
(antistatic) elastomer
Operating -10 ... +70 -10 ... +70 -20 ... +60 -10 ... +80 -30 ... +180 -10 ... +200
temperatures [°C]
Typical applications Conventional Electronics Rough Automotive Food industry Glass industry
sectors application industry surfaces industry
Food – – – – x –
Oily workpieces x x x x – x
Smooth surfaces x – x x – x
Rough surfaces – – x x – –
Antistatic – x – – – –
Minimal marking – x x x – –
® Vulkollan is a registered trademark of Bayer
OVEM VN VN-P
Efficiency Air-saving circuit • – –
Vacuum suction nozzles H/L •/• •/• •/•
Nozzle diameters (mm) 0.45 ... 1.4 0.45 ... 3 0.45 ... 0.95
Vacuum on/off • – –
Compact, low weight • • •
Reliability Monitoring of the • – •
workpiece transport
Ejector pulse, • – –
reliable placement
Monitoring of the evacuation• – –
time and ejector pulse
Convenient Low noise pollution• • •
in operation thanks to silencers
Low maintenance thanks to •/• •/– •/–
open silencer/filter
12
3
Technical features of suction gripper ESG
Pressure supply
Vacuum port
Open silencer 3
2
1
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48 Handling system overview – Subject to change – 2011/07
Motors and controllers
The controller and motor port-
folio from Festo covers a wide
range of servo and stepper
motor functions and is optimally
matched to all electric drives.
Servo motor controller
the fieldbus interface or the
intermediate circuit, results in a
decisive improvement in cost-
effectiveness.
They all feature reliable and con-
venient commissioning, SD card
slot, programming and parame-
terisation via software tools.
Integrated safe holding with
restart blocking for safety-relat-
ed applications.
Servo motor EMMS-AS
One servo motor for three con-
troller types. As a permanently
energised, brushless servo
motor with eight torque ranges,
this motor is designed for
dynamic positioning tasks.
Stepper motor controller
CMMS-ST
Stepper motor technology in a
genuine plug & work solution
package: the single-axis position
controller CMMS-ST combined
with the EMMS-ST stepper
motors, for single and multiple
axis handling with moving mass-
es of up to 20 kg.
In the ServoLite operating mode
the combination of CMMS-ST and
EMMS-ST provides you with a
closed-loop servo system with
maximum operational reliability
and fast dynamic response. This
set the stepper motor controller
CMMS-ST apart from conventional
controllers.
Stepper motor EMMS-ST
The stepper motor combines a
long service life and full position-
ing functionality with an attractive
price. It is designed with a high
degree of protection and with a
plug system suitable for industrial
use, optionally with brake and
integrated encoder.
CMMP-AS/CMMS-AS/CMMD-AS
For special requirements: the
highly functional controller
CMMP-AS. For standard functions:
the controller CMMS-AS and the
economical double controller
CMMD-AS.
The CMMP-AS is ideally suited for
cam disk control and highly dynam-
ic movements. The CMMS-AS
comes into its own in standard
applications and positioning tasks
with an I/O connection. The
CMMD-AS takes on the task of
guiding two servo motors inde-
pendently of each other. Combin-
ing internal components, such as
HSUE_en_V06.qxp 28.11.2011 10:11 Uhr Seite 48
The performance ranges of
the motors in conjunction with
Festo controllers
EMMS-AS + CMMP-AS
EMMS-AS + CMMS-AS/CMMD-AS
EMMS-ST + CMMS-ST
492011/07 – Subject to change – Handling system overview
30
20
15
10
5
0
0 1000 2000 3000 4000 5000rpm
Nm
CMMP-AS
CMMS-ST
CMMS-AS/CMMD-AS
• Infinitely variable positioning
Closed-loop operation
• Speed adjustment
• Position control
• Current regulation
• Torque control
Functions of the CMMS-ST
• SD card for parameters and
firmware
• Automatic motor brake
• External braking resistance
(optional)
• Jerk-free positioning
• Infinitely variable positioning
• Step resolution: Full steps up
to 4000 steps/revolution
• The digital inputs and outputs
are protected against short
circuit, overload and reverse
voltages
Functions of the CMMx-AS
• SD card for parameters and
firmware
• Automatic motor brake
• External braking resistance
(optional)
• Jerk-free positioning
Compatible accessories:
Gear unit EMGA-..-P-..
Motor kit EAMM-A-..
Controller comparison table
Motor controller CMMP-AS CMMS-AS/CMMD-AS CMMS-ST
for motor type Servo motor Servo motor Stepper motor
Torque at standstill [Nm] ~25 ~4.7 ~8.5
Peak torque [Nm] ~48 ~9.2 ~8.5
Rotational speed [rpm] ~10000 ~10000 ~3000
Positioning records 255 63 63
Measuring system Incremental/absolute Incremental/absolute Incremental
Extended I/O interface Flexible configuration 4 operating modes 4 operating modes
Notification of remaining distance Separately for all positions 1 for n 1 for n
Torque reduction Separately for all positions No No
Record linking With branching Linear Linear
Safe stop EN 61508/SIL2, EN 13849/PLd EN 61508/SIL2, EN 13849/PLd EN 138449/PLd, EN 61508/SIL2
Primary voltage Single-phase: 100 ... 230 V AC 100 ... 230 V AC 24 ... 48 V DC
Three-phase: 230 ... 480 V AC
Motor current Single-phase: 2.5 and 5 A CMMS-AS: 4 A (single-phase) 8 A (peak 12 A)
Three-phase: 5 and 10 A CMMD-AS: 2x 4 A (can be
adjusted as desired up to 2 A/6 A)
Integrated positioning records 256 64 64
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50 Handling system overview – Subject to change – 2011/07
Intelligent servo motor MTR-DCI
This innovative servo motor with
its wide torque range is ideally
suited for positioning tasks. It
combines all necessary compo-
nents into one: motor, gear unit,
motor controller and power elec-
tronics.
Its integrated power electronics
and controller remove the need
for long motor cables, thus
improving the electromagnetic
compatibility. Additional, inte-
grated monitoring functions
ensure optimised reliability and
system availability and make
troubleshooting easier.
Another impressive feature of
the MTR-DCI is the fact that it
requires minimal wiring due to
the integration of the controller;
only one voltage source and only
one fieldbus connection or multi-
pin plug are required.
Electrical data – Motor Size
32 42 52 62
Nominal voltage [V DC] 24 ± 10% 48 -10 %/+5 %
Nominal current (motor) [A] 0.73 2 5 6.19
Peak current [A] 2.1 3.8 7.7 20
Mechanical data – Motor Size
32 42 52 62
Gear ratio G7 G14 G7 G14 G7 G14 G7 G14 G22
Gear unit output speed [rpm] 481 237 444 218 444 218 504 248 153
Gear unit output torque [Nm] 0.15 0.29 0.59 1.13 1.62 3.08 3.78 7.2 11.66
Radial shaft load [N] 40 70 160 230 200 320 240 360 360
Axial shaft load [N] 10 20 50 80 60 100 50 70 70
The entire commissioning
process is performed on-site or
from a PC using a simple teach-
in function, thanks to an optional
LC display and clear menus, and
is supported by the FCT (Festo
Configuration Tool) software.
Functions
• Compact design with integrat-
ed display
• Complete unit with integrated
gear unit and position con-
troller
• Smooth profile prevents the
ingress of dirt
• Closed-loop operation
• DC motor with planetary gear
unit and encoder
• Protection class IP54
• Activation via I/O or fieldbus
Positioning functionality
• 16 positioning records
(including homing)
• Constant acceleration and
braking
• Homing mode:
– Left or right until the
switching signal
– Left or right until the
mechanical stop (preferable)
• Position control
Protective functions
• Temperature monitoring
• Current monitoring
• Voltage failure detection
• Following error monitoring
• Software end-position detection
HSUE_en_V06.qxp 28.11.2011 10:11 Uhr Seite 50
2011/07 – Subject to change – Handling system overview 51
Motor controllers
face or using the computer-aided
Festo Configuration Tool. Perfect
as a Festo plug & work® ready-
to-install solution in combination
with the electric gripper HGPLE
(see page 45) or electric slide
SLTE (see page 34).
Motor controller SFC-DC
Simple selection and commis-
sioning with the SFC-DC concept.
It includes easy entry of position-
ing records on the controller
using the human-machine inter-
and position can be set inde-
pendently of one another.
As many as 31 travel profiles can
be saved directly in the SFC-LACI
for the two linear motor cylinders
DNCE-LAS and DFME-LAS
(see page 37).
Position controller SFC-LACI
The position controller com-
prises the additional power elec-
tronics needed to control linear
motor drives. The speed, power
Both together
Both single-field controllers offer
simple configuration, parameteri-
sation and commissioning using
FCT software: just enter the
parameters and positioning
records, and you’re ready to go.
• Basic parameterisation of the
mechanical system, the posi-
tion controller and the posi-
tioning records
• Positioning run
• Teach-in operation
• Homing and commissioning
• Diagnostic function
Advantages
• Thanks to the protection class
IP54, the SFC can be mounted
close by, either:
– with central supports
– with H-rail
• The motor controller SFC is
available with or without con-
trol panel
• Easy actuation via:
– I/O interface
– Fieldbus
Motor controller SFC-DC without control
panel
Motor controller SFC-LACI with control
panel
Electrical data SFC-DC SFC-LACI
General Rated output [W] 75 480
Load supply Nominal voltage [V DC] 24 ± 10% 48 +5/-10%
Nominal current [A] 3 10
Peak current [A] 5 20
Logic supply Nominal voltage [V DC] 24 ± 10% 24 ± 10%
Nominal current [A] 0.1 0.5
Peak current [A] 0.8 3.8
Max. current per output [A] 0.5 0.5
(digital logic outputs)
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52 Handling system overview – Subject to change – 2011/07
Compact vision systems
Intelligent Compact Vision
System SBOC-Q/SBOI-Q
Intelligent vision system for pre-
cision positioning of axes, type
identification, position detection
and 2D quality inspection of
moving parts and parts at rest.
Plus: OCR and reading 1-/2D
code.
The camera contains not only the
sensor system for capturing the
image data, but also the entire
electronic evaluation unit for
image processing, an integrated
PLC and the interfaces for com-
munication with master con-
trollers.
Highlights
• Integrated PLC runtime system
(CoDeSys 2.3)
• CANopen master functionality
in conjunction with CoDeSys
• Standardised software inter-
faces using Ethernet, as well as
integrated 24V I/O
• Up to 256 inspection programs,
each with up to 256 features
• Up to 16 part types with up to
8 orientations.
Type SBOC-Q-R1 SBOI-Q-R1 SBOC-Q-R3 SBOI-Q-R3 SBOC-Q-R2 SBOC-M SBOI-M
Sensor resolution [pixels] 640 x 480 752 x 480 1.280 x 1024 640 x 480
Exposure time [ms] 0.039 ... 1000 0.018 ... 200 0.008 ... 1000 0.04 ... 1000
Frame rate [fps] 150 60 27 185
(full image)
Sensor type Monochrome Monochrome Monochrome Monochrome
Colour Colour Colour
Lens mounting C mount Integrated C mount Integrated C mount C mount Integrated
CS mount lens CS mount lens CS mount CS mount lens
Operating distance [mm] Depending on 22 ... 1000 Depending on 20 ... 500 Depending on Depending on 22 ... 1000
selected lens selected lens selected lens selected lens
Field of vision [mm] Depending on 14 x 10 ... Depending 7,9 x 5.5 ... Depending on Depending on 14 x 10 ...
selected lens 520 x 390 selected lens 195 x 125 selected lens selected lens 520 x 390
Intelligent Compact Vision
System SBOC-M/SBOI-M
Intelligent camera to support
during diagnostics and commis-
sioning and for monitoring fast
motion sequences. The innova-
tive and low-cost alternative to
conventional high-speed cam-
eras.
Compact design with integrated
electronics for recording and
storing motion sequences. The
small dimensions and low weight
allow easy integration into exist-
ing systems. Commissioning is
carried out easily using PC soft-
ware.
Highlights
• Several cameras can be linked
and synchronised via Ethernet
• Frame rate up to 2100 fps
(depending on resolution)
• Recording of I/O processes
synchronously to images using
integrated I/Os
• Protection class IP65/IP67
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Multi-axis control systems
CMXR-C2 for control of
all 3 handling systems
Teach pendant CDSA for robotic
controller CMXR
Robotic controller
CMXR-C1/C2
This robotic controller is at the
heart of the complete kinematic
system solution and enables free
path control in 3D. With up to
6 degrees of freedom, it provides
extremely short travel times for
path applications such as bond-
ing and sealing tasks.
Common features:
• Optional wrist axes
• Motion path smoothing
• Definition of tools and their
end points (TCP)
• Different acceleration ramps
• Constant path speed
• Reduced speed in manual
operation
• Parameterisation using the
Festo Configuration Tool (FCT)
• Programming with Festo Teach
Language (FTL)
Teach pendant CDSA
The integrated teach-in function
enables even complex applica-
tions to be programmed easily
using CDSA.
The CMXR and CDSA robotic con-
trol systems both use the Festo
Teach Language (FTL).
Simple dialogue-based teach-in
programming
When creating the motion pro-
gram, the destination position of
the gripper or the set down posi-
tion is often unknown. This can
be determined by a precise
approach during commissioning.
Teaching is carried out easily and
quickly using the teach-in func-
tion.
Extended functionality: -C2
• Integrated CoDeSys PLC,
with digital and analogue I/O
expansion modules
• Intelligent dynamic limiter for
monitoring physical axis limits
• Speed-independent path
switching points
• Individual programming of
speed, acceleration and jerk
• Tracking of moving objects
• Direct integration of compact
vision systems
Characteristics:
• Emergency stop switch
• Two confirmation buttons
3 levels / 2 channels
• Buttons for jog mode
• Integrated user management
system for defining access
rights
• Integrated alarm system and
signal monitor for diagnostics
and monitoring of peripheral
signals.
Convenient configuration –
fast, reliable and easy
The robotic control system CMXR
is configured using the Festo
Configuration Tool (FCT). Three
parameters are defined: electri-
cal variables such as inputs and
outputs, mechanical variables
and the kinematics. The clear
structure assists the user with
configuring multi-axis systems
quickly and easily.
The motion programs are pro-
grammed using the text-based
macro programming tool in the
Festo Teach Language (FTL).
This powerful programming tool
contains macros for
• Motions
• Dynamic settings I/O
• Processing of peripheral
devices, e.g. a gripper
The programming, based on FTL
which was specifically developed
for the CMXR, can be carried out
online using the teach pendant
CDSA or offline using the FTL
programming editor. This is
integrated in the Festo Configu-
ration Tool (FCT).
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CoDeSys embedded controller
CPX-CEC-M1
The intelligent remote I/O termi-
nal in IP65/IP67 can be mounted
directly on the machine. With its
PLC functionality, it provides
decentralised control of up to
8 electric axes synchronously
in 2.5D.
• Integrated CANopen master
• Synchronous control of 8 elec-
tric axes, 2 with circular and
6 with linear interpolation
• Flexible electronic cam disk
function
• Diagnostics and condition
monitoring
• Rapid commissioning using the
optional handheld CPX-MMI
• CoDeSys programming soft-
ware complying with
IEC 61131-3 for easy commis-
sioning, fast programming and
parameterisation
• Softmotion library for motion
control and interpolation up
to 2.5D
• Communication on CPX termi-
nal using Ethernet
(Modbus/TCP, EasyIP, TCP/IP)
• Communication on CPX termi-
nal using fieldbus, e.g.
PROFINIT, Ethernet/IP, Ether-
CAT, Profibus or DeviceNet
Powerful:
Control unit CECX
The modular control unit CECX
expands the control range to
include fieldbus master function-
alities and electric actuation
options.
Simple commissioning, program-
ming and servicing: the CoDeSys
software supplies a powerful
programming environment via
the SoftMotion module for the
control of all electric drives with
CANopen fieldbus connections.
Additionally available: module
libraries, configuration tools and
drivers.
The IEC 61131-3 standard means
that CECX is flexible and open,
and compatible with all types of
control tasks. Whether you want
individual control of electric
drives or interpolation with
2.5 degrees of freedom, CECX
is the perfect combination of
control and motion.
Advantages
• Control of electric drives with
CANopen fieldbus connection
• Certified for CE, UL/CSA
• Standard CoDeSys software
• For PLC functions and multi-
axis motions with interpolation
• Full compatibility through
Profibus, CANopen and
Ethernet
• Compact assembly, easy to
handle
• Can be mounted on an H-rail
Module selection
CPU unit
• Power PC 400 MHz
• Ethernet
• CAN bus
• RS 485
• USB
CPX-CEC-M1 for control of the
T gantry
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Multi-axis interface CPX-CMXX
Perfect CPX module for uniform
parameterisation and control of
electric drives Designed for easy
commissioning and integration
of multi-axis systems into all
commonly used control systems.
• Faster cycles thanks to simply
coordinated multi-axis move-
ments
• Designed for quick and easy
installation, as well as parame-
terisation, thanks to the Festo
Configuration Tool (FCT)
• The decentralised motion con-
trol in the CPX-CMXX relieves
the higher-order PLC
• Connection to additional field-
buses and networks that are not
available in the individual axis
controllers, for example:
– EtherNet/IP
– Ethernet TCP/IP
– EasyIP
– ProfiNet
– Interbus
– CC-Link
Interface for electric drives
CPX-CM-HPP
The CPX module for the standard
control of up to 4 electric Festo
drive units via the Festo Hand-
ling and Positioning Profile
(FHPP) via the fieldbus gateway.
Ideally suited for integrating
single-axis applications (point-
to-point, asynchronous) to field-
• Adapted for motion applica-
tions with up to 31 electric
drives
• Complete flexibility: modular
I/O system, up to 512 I/Os,
CAN master functionality
• On-site remote control: pre-
processing on all common
fieldbus/Ethernet protocols
• The only comprehensive
automation platform in the
world in IP65: for standard,
proportional and servo pneu-
matics, sensors and motion
control with up to 31 electric
drives
• Stand-alone open and closed-
loop control: economical
automation, e. g. for manual
workstations
bus/Ethernet. It also provides
faster commissioning and
reduced downtime.
• Highly flexible: compatible
with all electric drive units
from Festo
• Reduced complexity: no pro-
gramming of the CPX-CM-HPP
module required
• Simplified engineering: shorter
commissioning, reduced down-
time, standardised control
• Improved diagnostics: based
on plain text error messages,
reading the actual position,
etc.
• Outstanding efficiency: up to
4 individual axes per module
(8 in the system) can be con-
trolled
Integrated controller
CPX-CEC-C1
• As an intelligent remote I/O
terminal in IP65/IP67 directly
on the machine, CPX-CEC-C1
reduces installation costs
• Diagnostics and condition
monitoring, thanks to an exten-
sive CoDeSys function library
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Software tools – faster project planning and design, commissioning and operation
More intelligent automation
Festo continuously focuses on
ongoing analysis and identifica-
tion of potential.
This has resulted in combining
the new FHPP software platform
FCT software – Festo configura-
tion tool for commissioning
• All the drives in a system can
be managed and saved in a
common project
• Project and data management
for all supported device types
FHPP – Festo Handling and
Positioning Profile
Festo has developed an opti-
mised data profile, the “Festo
Handling and Positioning Profile
(FHPP)” that is tailored to hand-
ling and positioning applications.
with the tried and tested Festo
Configuration Tool (FCT). It
ensures uniform operation and
ideal interface management of
all motor controllers, from the
fieldbus to the drive system.
• Simple to use thanks to graph-
ically supported parameter
entry
• Universal mode of operation
for all drives
• Work offline at your desk or
online on the machine
The FHPP data profile permits
the actuation of Festo motor
controllers, using a fieldbus
interface, via standardised
control and status bytes.
Available to you
You can download software tools
from our website: www.festo.com
Free access to all
parameters – read
and write
SpeedMode Position
Fieldbus communication
Record selection Parameter channelDirect mode
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The PositioningDrives software
tool prevents design errors and
energy waste by helping you to
choose the right components.
Designing drive mechanics, gear
units and motors separately can
increase safety factors or result
in oversized electric drive units
and wasted energy.
Toothed belt drives, spindle
drives or direct drives, servo
motors, stepper motors or DC
motors, ball bearing guides or
plain-bearing guides – the
plethora of options to choose
from presents the user with a
major challenge: calculating
the correct drive.
Once a few application details
have been entered, the
PositioningDrives software calcu-
lates the ideal combination from
the extensive, harmonised range
of electric linear axes, motors,
gear units, controllers and soft-
ware. By specifying various proj-
ect parameters, the tool also cal-
culates the characteristic load
values for the selected drive
quickly and reliably.
Typical program interfaces
Enter the application parameters
such as mounting position, mass,
stroke and precision. You also
have the option of specifying the
required process time and prese-
lecting the drive technology.
Select the required solution
package
For easy selection, these are
sorted by motor and axis tech-
nology, component utilisation,
cycle time or price.
Detailed results
The program also provides
detailed results such as motor
characteristic curve, dynamic
characteristic values, system
data, product data and parts list.
These results are saved as a file
and can be used for ordering
and machine documentation.
PositioningDrives
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58 Handling system overview – Subject to change – 2011/07
All-inclusive advantages – ready-to-install solutions
Individually or complete –
your decision
Build it yourself, or have it built –
it’s up to you. But complete sys-
tems can save you as much as
50%. With ready-to-install hand-
ling systems you can dispense
with virtually all the complex
processes involved in the
development and construction of
such systems. Tell us what your
requirements are and we will
design, order, compile, test and
deliver. We can also assemble
and commission your system on
request.
You concentrate on your core
tasks; we take care of the rest.
That not only saves time and
money, but brings maximum
reliability in terms of function
and optimum settings.
We offer:
• Engineering
• Documentation
• Assembly
• Testing and test runs
• Commissioning
• Servicing during the
operating phase
Documentation
Documentation for your
handling system.
• Detailed documentation on
your handling system, in the
required language
• Construction drawing as
instructions for assembly,
including parts list
• Circuit diagrams in EPLAN
or Promis
• Easy to reproduce with the
documentation on CD or on
paper
Engineering
Competent engineers support
you right from the outset.
• Technical advice
• Expert knowledge based
on the latest technological
stand-ards
• Management of all engineering
tasks
• Designs from the mechatronic
multi-axis modular system
• Always suitable: frames made
of aluminium or steel structural
hollow sections
• Customised solutions for
handling systems and frames
• Expertise in vacuum systems
and gripper fingers
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592011/07 – Subject to change – Handling system overview
Control cabinets for controllers
Festo made-to-measure control
cabinets provide a protected
housing for the control compo-
nents of single and multi-axis
systems: from solutions for sim-
ple control tasks right through to
complex control systems for
highly dynamic movements.
Supported kinematics and
Cartesian systems for demand-
ing and highly dynamic handling
tasks:
• Tripod EXPT
• H-gantry EXCH
• T-gantry EXCT
Supported kinematics and
Cartesian systems for simpler
handling tasks:
• Three-dimensional gantries
• Cantilever gantries
• Planar surface gantries
• Linear gantries
• Pick & place
• Application-specific combina-
tion of components
• A single order number for
the entire control cabinet
• 100% tested, with test
certificate
• Delivered ready to install –
directly to the place of use
if required
The control cabinets are individ-
ually tailored, designed and
constructed for a specific appli-
cation. They take account of
specific industry needs and
requirements, such as those for
the food or the pharmaceutical
industry.
They include complete system
documentation, which you can
quickly and easily integrate into
your overall documentation:
• Assembly drawings
• Parts lists
• Circuit diagrams
(EPLAN/Promis)
• Operating instructions for
components
Performance and options
• Complete system for immedi-
ate use – plug & work®
• For 1 … 31 axes
• Protection class IP54
• Harmonised safety concept:
safe stop in automatic mode
PL “d”
• Additional digital inputs and
outputs
• Optional integration of
pneumatic functions
Teach pendant CDSA
with teach-in function
Version complying with:
• EN 60204-1
• ATEX Zone 1 and 21 (pneumatic only),
• ATEX Zone 2 and 22 (electrical and electro-pneumatic)
• UL-508A
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60 Handling system overview – Subject to change – 2011/07
Commissioning service for axis systems
Getting there quicker
For maximum system productivi-
ty, the smooth interaction of the
axis system and the rest of the
equipment is critical. The selec-
tion and assembly of an axis sys-
tem is one thing – fast and reli-
able commissioning of an axis
system is another. What at first
only appears to be a small step
can, in reality, repeatedly prove
to be a real marathon. In order
for everything to run as it should,
we recommend the Festo com-
missioning service for axis sys-
tems.
Services at a glance
• For reliable operation: checking
of wiring, connections, travel
paths and energy chains
• For optimum paths: configura-
tion and parameterisation of
axes
• For maximum performance:
optimisation of the control
parameters and homing
• For tested safety: actuation
of the axes in test mode
• For safeguarded knowledge:
data backup and documenta-
tion
• For reliable operation: instruct-
ing the machine operators, e.g.
on error diagnostics and elimi-
nation of errors or on changing
the position values
Fast
Time-saving commissioning for
maximised efficiency is a matter
of course for our experts and
completion of your system on
schedule is guaranteed.
Reliable
Our experts know exactly what
they have to watch out for when
commissioning, thus ensuring
that your axis system operates
reliably at all times.
Optimally adapted
Maximum performance of axis
system, e.g. in terms of cycle
time, thanks to optimum configu-
ration, parameterisation as well
as homing.
We support you during com-
missioning, regardless of the
number of axes.
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The production industry is
focussed on economy of opera-
tion and 100% system availabili-
ty. Another reason for ensuring
maximum reliability. And that’s
what our services are designed
to do. They are available in
176 countries worldwide, and
can be fully integrated into your
Total Productive Maintenance
(TPM) concept.
• Technical hotline
Guaranteed availability via
telephone or e-mail.
• Spare parts service
Accessible at any time online:
comprehensive spare parts
lists with all consumable and
wearing parts.
• Repair service
We repair complex components
and modules. If needed, we
can also carry out express
repairs.
• 24-hour emergency service
No waiting times for registered
customers: you will receive
urgently required parts within
a few hours by express courier
(this does not apply to order-
specific parts).
• After-sales service on-site
Professional inspection, main-
tenance, repairs and commis-
sioning, directly on your sys-
tem.
• Modular service contracts
Ideal support for preventive
maintenance, but also in an
emergency.
After-Sales Service – worldwide
Other services for efficient
system operation
Festo Energy Saving Services
help system operators determine
their savings potential with
regard to compressed air and
help them utilise this to the full.
The result is up to 60% energy
and cost savings with increased
productivity.
Condition Monitoring Service
Monitor critical processes con-
tinually and avoid expensive,
unplanned machine down-
times. Festo specialists will
develop and design an individ-
ual condition monitoring solu-
tion for your system and will
help you implement it.
Would you like to learn more
about our services? Ask our
specialists!
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62 Handling system overview – Subject to change – 2011/07
The first step towards a
CAD model for your application.
Send us your requirements and
within 1 -2 days you will receive
the following:
• Standard designs from our
mechatronic multi-axis modu-
lar system
• Simple modifications, e.g.
adjustment of the strokes
• 3D models as STEP, IGES, SAT
or Parasolid file
• 2D drawings as DWG, DXF or
PDF file
Engineering – CAD hotline
Linear gantry
with cantilever axis (Z)
Heavy-duty linear gantry with
toothed-belt axis (Y) and spindle
axis (Z)
Three-dimensional gantry
with toothed belt axis (XY)
and spindle axis (Z)
Examples of CAD models from
the standard multi-axis modular
system
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632011/07 – Subject to change – Handling system overview
Innovation is not a coincidence!
The fact that Festo occupies a
prominent position in industrial
automation with Mechatronic
Motion Solutions is no coinci-
dence.
8.5% of the company’s turnover
(2010) is invested in research
and development. Consistent
innovation management ensures
that products are brought to
market quickly.
This is why the development of
the Bionic Handling Assistant
was rewarded with the German
Future Award 2010 by the coun-
try’s President. We believe that
every new product incorporates
part of this award, as Festo
wants each new product to pro-
vide optimum functionality and
pioneering technology.
The great inspiration: bionics
The Bionic Learning Network is
a collaboration between Festo
and leading universities, institu-
tions and research companies.
It is closely linked to the innova-
tion processes in learning com-
panies and also part of our com-
mitment to technical training
and education. Festo’s projects
are setting trends, from reliable
automation to energy-efficient
biomechatronics solutions and
green production. Future gripping
The flexible tripod has a wide
operating and can be used for
energy-efficient sorting and
movement, offering flexible and
resilient human/ machine inter-
action in all spatial directions.
System with wrist axis and
adaptive gripper DHDG
(page 44) – controlled with
a CPX-CEC-M1 (page 54) or
robotic controller CMXR
(page 53) and CoDeSys
Softmotion library.
Winner 2010
1. Controls
Control technology
for sub-systems
2. Control
Proportional valve technology
3. Sensors
SMAT sensors
4. Gripping
Adaptive
gripper DHDG
Bionic
Handling Assistant
HSUE_en_V06.qxp 28.11.2011 10:12 Uhr Seite 63
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Festo worldwide
ArgentinaFesto S.A.Edison 2392(1640) MartínezProv. Buenos AiresTel. +54 (011) 4717 82 00,Fax +54 (011) 47 17 82 82E-mail: [email protected]
AustraliaFesto Pty. Ltd.Head Office (Melbourne)179-187 Browns RoadP.O. Box 261Noble Park Vic. 3174Call Toll Free 1300 88 96 96Fax Toll Free 1300 88 95 95Tel. +61(0)3 97 95 95 55,Fax +61(0)3 97 95 97 87E-mail: [email protected]
AustriaFesto Gesellschaft m.b.H.Linzer Straße 2271140 WienTel. +43 (0)1 910 75-0, Fax +43 (0)1 910 75-250E-mail: [email protected]
BelarusIP FestoMasherov avenue, 78220035 MinskTel. +375 (0)17 204 85 58,Fax +375 (0)17 204 85 59E-mail: [email protected]
BelgiumFesto Belgium saRue Colonel Bourg 1011030 BruxellesTel. +32 (0)2 702 32 11, Fax +32 (0)2 702 32 09E-mail: [email protected]
BelgiumFesto Belgium nvKolonel Bourgstraat 1011030 BrusselTel. +32 (0)2 702 32 11, Fax +32 (0)2 702 32 09E-mail: [email protected]
BrazilFesto Brasil LtdaRua Guiseppe Crespi, 76KM 12,5 - Via Anchieta04183-080 São Paulo SP-BrazílTel. +55 (0)11 50 13 16 00,Fax +55 (0)11 50 13 18 68E-mail: [email protected]
BulgariaFesto EOOD1592 SofiaBul. Christophor Kolumb 9Tel. +359 (0)2 960 07 12,Fax +359 (0)2 960 07 13E-mail: [email protected]
CanadaFesto Inc.5300 Explorer DriveMississauga, Ontario L4W 5G4Tel. +1 (0)905 624 90 00,Fax +1 (0)905 624 90 01E-mail: [email protected]
ChileFesto S.A.Avenida Américo Vespucio, 760PudahuelSantiagoTel. +56 2 690 28 00, Fax +56 2 690 28 60E-mail: [email protected]
ChinaFesto (China) Ltd.1156 Yunqiao Road,Jinqiao Export Processing Zone,Pudong,201206 ShanghaiTel. +86 21 60 81 51 00, Fax +86 21 58 54 03 00E-mail: [email protected]
ColombiaFesto Ltda.Autopista Bogotá - Medellín Km 6 (costado sur)Tenjo, CundinamarcaTel. +57 (1) 865 77 88,Fax +57 (1) 865 77 88 Ext.287E-mail: [email protected]
CroatiaFesto d.o.o.Nova Cesta 18110000 ZagrebTel. +385 (0)1 619 19 69,Fax +385 (0)1 619 18 18E-mail: [email protected]
Czech RepublicFesto, s.r.o.Modřanská 543/76147 00 Praha 4Tel. +420 261 09 96 11, Fax +420 241 77 33 84E-mail: [email protected]
DenmarkFesto A/SIslevdalvej 1802610 RødovreTel. +45 70 21 10 90, Fax +45 44 88 81 10E-mail: [email protected]
EstoniaFesto OY AB Eesti FiliaalLaki 11B12915 TallinnTel. +372 666 15 60, Fax +372 666 15 61E-mail: [email protected]
FinlandFesto OYMäkituvantie 9P.O. Box 8601511 VantaaTel. +358 (09) 87 06 51,Fax +358 (09) 87 06 52 00E-mail: [email protected]
FranceFesto EurlZA des Maisons Rouges8 rue du clos sainte Catherine94360 Bry-sur-MarneTel. +33 (0) 820 20 46 40 (numéro indigo),Fax +33 (0) 820 20 46 41E-mail: [email protected]
GermanyFesto AG & Co. KGPostfach73726 EsslingenRuiter Straße 8273734 EsslingenTel. +49 (0)711 347 0, Fax +49 (0)711 347 26 28E-mail: [email protected]
GreeceFesto Ltd.40 Hamosternas Ave.P.C. 11853 AthensTel. +30 210 341 29 00, Fax +30 210 341 29 05E-mail: [email protected]
Hong KongFesto Ltd.6/F New Timely Factory Building,497 Castle Peak Road,Kowloon, Hong KongTel. + 852 27 43 83 79, Fax + 852 27 86 21 73E-mail: [email protected]
HungaryFesto Kft.Csillaghegyi út 32-34.1037 BudapestHotline +36 1 436 51 00Tel. +36 1 436 51 11, Fax +36 1 436 51 01E-mail: [email protected]
IndiaFesto Controls Private Ltd.237B,Bommasandra Industrial Area,Bangalore Hosur Highway,Bangalore 560 099Tel. +91 (0)80 22 89 41 00,Fax +91 (0)80 27 83 20 58 / 27 83 33 62E-mail: [email protected]
IndonesiaPT. FestoJL. Sultan Iskandar Muda No. 68Arteri Pondok IndahJakarta 12240Tel. +62 (0)21 27 50 79 00,Fax +62 (0)21 27 50 79 98E-mail: [email protected]
IranFesto Pneumatic S.K.# 2, 6th street, 16th avenue,Km 8, Special Karaj RoadP.O.Box 15815-1485Teheran 1389793761Tel. +98 (0)21 44 52 24 09,Fax +98 (0)21 44 52 24 08E-mail: [email protected]
IrelandFesto LimitedUnit 5 Sandyford ParkSandyford Industrial EstateDublin 18Tel. +353 (0)1 295 49 55,Fax +353 (0)1 295 56 80E-mail: [email protected]
IsraelFesto Pneumatic Israel Ltd.P.O. Box 1076Ha'atzma'ut Road 48Yehud 56100Tel. +972 (0)3 632 22 66,Fax +972 (0)3 632 22 77E-mail: [email protected]
ItalyFesto SpAVia Enrico Fermi 36/3820090 Assago (MI)Tel. +39 02 45 78 81, Fax +39 02 488 06 20E-mail: [email protected]
JapanFesto K.K.1-26-10 HayabuchiTsuzuki-kuYokohama 224-0025Tel. +81 (0)45 593 56 10 / -5611,Fax +81 (0)45 593 56 78E-mail: [email protected]
Korea SouthFesto Korea Co., Ltd.470-1 Gasan-dongGeumcheon-guSeoul #153-803Tel. +82 (0)2 850 71 14, Fax +82 (0)2 864 70 40E-mail: [email protected]
LatviaFesto SIAA. Deglava iela 601035 RigaTel. +371 67 57 78 64, Fax +371 67 57 79 46E-mail: [email protected]
LithuaniaFesto, UABPartizanų 63M50306 KaunasLietuvaTel. +370 (8)7 32 13 14, Fax +370 (8)7 32 13 15E-mail: [email protected]
MalaysiaFesto Sdn. Berhad10 Persiaran IndustriBandar Sri DamansaraWilayah Persekutuan52200 Kuala LumpurTel. +60 (0)3 62 86 80 00,Fax +60 (0)3 62 75 64 11E-mail: [email protected]
MexicoFesto Pneumatic, S.A.Av. Ceylán 3,Col. Tequesquináhuac54020 TlalnepantlaEstado de MéxicoTel. +52 (01)55 53 21 66 00,Fax +52 (01)55 53 21 66 55E-mail: [email protected]
NetherlandsFesto B.V.Schieweg 622627 AN DelftTel. +31 (0)15 251 88 99,Fax +31 (0)15 251 88 67E-mail: [email protected]
New ZealandFesto Ltd.20 Fisher CrescentMount WellingtonAucklandTel. +64 (0)9 574 10 94, Fax +64 (0)9 574 10 99E-mail: [email protected]
NigeriaFesto Automation Ltd.Motorways Centre, First Floor, Block CAlausa, Ikeja,LagosTel. +234 (0)1 794 78 20,Fax +234 (0)1 555 78 94E-mail: [email protected]
NorwayFesto ASOle Deviks vei 20666 OsloTel. +47 22 72 89 50, Fax +47 22 72 89 51E-mail: [email protected]
PeruFesto S.R.L.Amador Merino Reyna 480San IsidroLimaTel. +51 (1) 219 69 60, Fax +51 (1) 219 69 71E-mail: [email protected]
PhilippinesFesto Inc.Festo BuildingKM 18, West Service RoadSouth Superhighway1700 Paranaque CityMetro ManilaTel. +63 (0)2 776 68 88, Fax +63 (0)2 823 42 19E-mail: [email protected]
PolandFesto Sp. z o.o.Janki k/Warszawyul. Mszczonowska 705090 RaszynTel. +48 (0)22 711 41 00,Fax +48 (0)22 711 41 02E-mail: [email protected]
PortugalFesto – Automação, Unipessoal, Lda.Rua Manuel Pinto De Azevedo, 567Apartado 80134109-016 PortoContact Center: 707 20 20 43Tel. +351 22 615 61 50, Fax +351 22 615 61 89E-mail: [email protected]
RomaniaFesto S.R.L.St. Constantin 17010217 BucurestiTel. +40 (0)21 310 31 90,Fax +40 (0)21 310 24 09E-mail: [email protected]
RussiaOOO Festo-RFMichurinskiy prosp., 49119607 MoscowTel. +7 495 737 34 00, Fax +7 495 737 34 01E-mail: [email protected]
SingaporeFesto Pte. Ltd.6 Kian Teck WaySingapore 628754Tel. +65 62 64 01 52, Fax +65 62 61 10 26E-mail: [email protected]
SlovakiaFesto spol. s r.o.Gavlovicová ul. 183103 Bratislava 3Tel. +421 (0)2 49 10 49 10,Fax +421 (0)2 49 10 49 11E-mail: [email protected]
SloveniaFesto d.o.o. LjubljanaIC Trzin, Blatnica 81236 TrzinTel. +386 (0)1 530 21 00,Fax +386 (0)1 530 21 25E-mail: [email protected]
South AfricaFesto (Pty) Ltd.22-26 Electron AvenueP.O. Box 255Isando 1600Tel. +27 (0)11 971 55 00,Fax +27 (0)11 974 21 57E-mail: [email protected]
SpainFesto Pneumatic, S.A.U.Avenida Granvia, 159Distrito Económico Granvia L'H08908 Hospitalet de LlobregatBarcelonaTel.: 901243660, Fax: 902243660Tel. +34 93 261 64 00, Fax +34 93 261 64 20E-mail: [email protected]
SwedenFesto ABStillmansgatan 1Box 21038200 21 MalmöTel. +46 (0)20 38 38 40, Fax +46 (0)40 38 38 10E-mail: [email protected]
SwitzerlandFesto AGMoosmattstrasse 248953 Dietikon ZHTel. +41 (0)44 744 55 44,Fax +41 (0)44 744 55 00E-mail: [email protected]
TaiwanFesto Co., Ltd.Head Office244509, Kung 8th RoadLinkou 2nd Industrial ZoneLinkou Dist., New Taipei CityTaiwan, R.O.C.Tel. +886 (0)2 26 01-92 81,Fax +886 (0)2 26 01 92 86-7E-mail: [email protected]
ThailandFesto Ltd.67/1 Phaholyothin Rd.,T. Klong 1, A. KlongluangPathumthani 12120Tel. +66 29 01 88 00, Fax +66 29 01 88 30E-mail: [email protected]
TurkeyFesto San. ve Tic. A.S.Tuzla Mermerciler OrganizeSanayi Bölgesi 6/1834956 Tuzla - Istanbul/TRTel. +90 (0)216 585 00 85,Fax +90 (0)216 585 00 50E-mail: [email protected]
UkraineFesto UkrainaDP Festovul. Borisoglebskaya,1104070, KievTel. +380 (0)44 239 24 30,Fax +380 (0)44 463 70 96E-mail: [email protected]
United KingdomFesto LimitedApplied Automation CentreCaswell RoadBrackmills Trading EstateNorthampton NN4 7PYTel. ++44 (0)1604 / 66 70 00,Fax ++44 (0)1604 / 66 70 01E-mail: [email protected]
United StatesFesto Corporation (New York)395 Moreland RoadP.O. Box 18023Hauppauge, NY 11788Call Toll-free 800/993 3786Fax Toll-free 800/963 3786Tel. +1(631) 435 08 00, Fax +1(631) 435 80 26E-mail: [email protected]
VenezuelaFesto C.A.Av. 23 esquina con calle 71N° 22-62, Edif. Festo.Sector ParaísoMaracaibo - VenezuelaTel. +58 (261) 759 11 20/759 41 20/759 44 38,Fax +58 (261) 759 04 55E-mail: [email protected]
VietnamFesto Co., Ltd (Cong Ty Tnhh Festo)No. 206 Tran Nao StreetWard Binh AnDistrict 2Ho Chi Minh CityTel. +84 (0)8 740 69 09, Fax +84 (0)8 740 69 10E-mail: [email protected]
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