Handling system overview

Multi-axis systems and drives

1
Table of contents
Mechatronic Motion
Solutions
Your task defines the solu-
tion!
Focus on electrical axis EGC 6
Pick and Place 10
• High-speed handling
module with link guidance,
electric or pneumatic
• YZ handling for short
strokes, electric and/or
pneumatic
Linear gantry –
two-dimensional systems
YZ handling for long strokes,
electric and/or pneumatic
2
4 Cantilever axes – 14
three-dimensional systems
Cartesian XYZ handling unit
for long horizontal strokes
and short vertical strokes,
electric and/or pneumatic
Three-dimensional gantry – 16
three-dimensional systems
Cartesian XYZ handling unit,
electric and/or pneumatic
Tripod – 18
three-dimensional system
XYZ handling for high speeds,
electric
12
Application-specific 20
solutions
• Gripper systems
• Frame options
Gantry axes, electric and 24 Grippers, electric and 38
pneumatic pneumatic

Cantilever axes, electric and 28 Vacuum technology 44

pneumatic

Motors, gear units and 46

Linear motor axes and 32 controllers
cylinders, electric

Multi-axis control systems 50

Mini slides, electric and 34
pneumatic

Compact Vision Systems 52

Rotary drives, electric and 36

pneumatic

Software tools, engineering, 54

ready-to-install solutions

Commissioning and 58
maintenance, after-sales
service

3
Mechatronic Motion Solutions
Mechatronic Motion Solutions
from Festo is a worldwide
unique system which comprises
components, modules, systems
and software. It combines all
types of pneumatic, servo-
pneumatic and electro-
mechanical automation motion,
geared to your task. Irrespective
of the control system environ-
ment you use, Mechatronic
Motion Solutions provides the
appropriate interfaces.
Your task defines the Either you concentrate on your
solution! core business and let Festo look
after your handling task – with
an extensive portfolio of tested
and ready-to-install multi-axis
systems supported by a highly
qualified project engineers and
advisors with many years of
experience.
4 Handling system overview – Subject to change – 2009/09
Mechatronics
Guarantees mechanical and elec-
trical compatibility at all levels.
All pneumatic and electric drives
are equipped with suitable inter-
faces for mechanical, data and
energy transmission, thus ensur-
ing that different technologies
can be combined in one system.
And it 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, precision,
etc.
Or you can choose the compo-
nents yourself and use the
sophisticated service packages.
They provide all the support you
need, from application-specific
advice, engineering and project
planning to startup and exten-
sive after-sales services.
Solutions
Represents Festo’s many years of
experience in the handling sector
across all industries and conti-
nents, as well as its expertise in
the development of
components and sophisticated
systems. They range from pre-
designed and calculated compo-
nents to subsystems all the way
to complete systems. The logical
answer to the demand for pre-
installed, customised systems
and solutions.
Thanks to excellent system
expertise, Festo is able to solve
your tasks in handling tech-
nology, from pick and place to
customised applications. Or you
can purchase the appropriate
components, whether pneu-
matic, servopneumatic, electric
or a mechatronic mix of compo-
nents. Everything is fully tested,
as a matter of course.
Define the level of cooperation
you want: step by step
Consulting
Common solution methods lead
to better overall solutions.
Software tools also provide
assistance with design and con-
figuration.
Quotation
A prompt, complete and detailed
quotation comprising:
• 3D drawing
• Parts lists
• Cycle and travel times
• Performance
• 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. Also included are CAD
drawings, circuit diagrams, parts
lists and detailed system
documentation.
Assembly
All functions and requested fea-
tures are fully tested, thus guar-
anteeing
• Quality
• Perfect fit
• Harmonised interfaces
(mechanical and electrical)
Commissioning
Festo offers fast and reliable
integration and commissioning
of complete subsystems –
directly in your machine.
Maintenance
The production industry is
focused on preventing produc-
tion stoppages. This is another
reason why our solutions provide
maximum reliability – and reduce
your process costs and time to
market.
A detailed description of our
services can be found starting
on page 54.

Consulting Quotation Ordering Engineering Assembly Commissioning Maintenance

Cost saving

Time saving

Enhancing process reliability

Engineering Supply Chain Assembly Operation

2009/09 – Subject to change – Handling system overview 5
Toothed belt and spindle axes EGC

The comprehensive electric axis Top performer

Toothed belt axis EGC-TB
Spindle axis EGC-BS
Guide axis EGC-FA
EGC is available in numerous
variants. Its many advantages
include: high dynamic response
and speed, newly defined rigi-
dity, high force resistance. All
in all, the new axis range in the
mechatronic multi-axis modular
system can be implemented
as an individual or complete
system solution.
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.
Generously sized profiles with an
optimised cross section afford
the drives maximum rigidity and
load capacity. Speed, accelera-
tion and torque resistance set a
new standard.
Economical
In addition to its technical fea-
tures, the EGC impresses with
its excellent price/performance
ratio. And thanks to its high per-
formance, a smaller size can
often be used, particularly in the
case of spindle axes!
Quicker planning
The integration of the EGC in the
Festo multi-axis and modular
positioning system offers stan-
dardised interfaces for other
drives and motor packages.
The PositioningDrives software
also simplifies the design and
ensures it is correctly dimen-
sioned without expensive
oversizing.

Dynamic Precise Load-bearing

6 Handling system overview – Subject to change – 2009/09


Slide variants:
Compatible motors and
controllers:
See Page 46
Extended slide Second slide
• Longer guide • 1 active and 1 passive (freely
• For a greater axial torque movable) slide
Compatible motor kits and • More mounting options • Adjustable, extended guide
gear units: • For greater axial and lateral
EAMM-A-... motor kit torques
• More mounting options
Safety thanks to optional
sensing
• Inductive proximity sensor
EMGA-..-P-.. gear unit SIES-8M
• Flush mounting of up to 2 sen-
sors in the profile slot – no pro-
truding edges outside of the
drive cross section
• Maximum of 4 sensors
2009/09 – Subject to change – Handling system overview
Flexible motor connection on
ECG-TB
• Motor can be attached on
4 sides, freely selectable
• Subsequent modifications
possible at any time
The benefits to you:
Define a standard attachment
variant with one part number
and modify to alternative
positions as and when needed
Protected slide
• Scrapers on both sides of the
slide
• Removes dirt particles and
liquids from the external guide
• For use in aggressive
environments
• Output status display:
2 yellow LEDs for better
visibility, regardless of
approach direction
• Repetition accuracy
≤ ±0.05 mm (radial)
7
Toothed belt and spindle axes EGC
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
8 Handling system overview – Subject to change – 2009/09
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.
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
precision and smooth running
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.
Newly defined rigidity
Load application point near the
guide for maximum torques and
forces
• Speeds up to 5 m/s
• Maximum stroke up to 10 m
• Repetition accuracy ±0.1 mm
• Maximum feed force 3000 N
(for additional technical details,
see page 25)
• Speeds up to 2 m/s
• Maximum stroke up to 5 m
• Repetition accuracy ±0.02 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
 50% more rigidity than previous
solutions!
The newly developed guide
system for the EGC axes provides
more running smoothness and
higher torque resistance. The
very rigid axis profile allows
longer unsupported strokes
without an additional guide axis.
The toothed belt/spindle axis
EGC is a high-performance com-
ponent for multi-axis applica-
tions, thanks to its positive
characteristics. Simpler designs
enable optimum integration and
reduce installation costs.
When combined with handling
and assembly systems from
Festo, like gripping or turning,
Individual handling systems
with frame
Complete, ready-to-install
systems not only consist of
gantries with axis mechanics,
but are often already mounted
on aluminium or steel frames.
Conventional frame Economical with EGC: frame
without cross bracing
2009/09 – Subject to change – Handling system overview
• Thanks to its performance, it is
often possible to use a smaller
size.
• Can also be used as a mono
system with higher loads. The
second axis can then be saved.
the range for new customised
design solutions is almost
limitless.
In addition:
Nominal stroke = effective stroke
• Smaller and more optimised
fitting space
• Excellent price/performance
ratio
Thanks to the considerably
enhanced performance of the
EGC axes, cross bracing is often
not needed for these frames.
• Simpler and lighter construc-
tion
• Improved efficiency
9
Pick and Place
Handling modules are ready-to-
install, complete solutions and
can be operated with electric or
pneumatic drives.
• Comprising a semi-rotary drive
with link guide system
• Precision through metallic end
positions combined with a
sturdy design
• Active waiting position
possible
• Freely positionable with the
electrical variant
• High repetition accuracy at end
positions
• 180° design and 90° pick and
place
Range of application:
• Effective load up to 1.6 kg
• For extremely short cycle times
(0.6 to 1.2 s)
• For tight installation spaces
• For short stroke ranges
Example: automotive
technology
Module in airbag assembly
Requirements
• Short cycle times
• Precision
• Waiting position
Solution
Handling module HSP-AE with
servo drive MTR-DCI and sturdy
parallel gripper HGPT-B
10
Pick and 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 application:
• Effective load up to 10 kg
• Stroke ranges up to 400 mm
• For applications where the
gripper unit needs to be
retracted from the area of
activity.
Example: sanitary engineering
Valve assembly for flush-
mounted systems
Requirements
• Slim design
• Jerk-free movement
• High degree of precision
• Easy to service
Complete solution
as pick and place with
• Pneumatic: HMPL/HMPL
• Or electric: EGSA/EGSA with
gripping/swivel unit
Handling system overview – Subject to change – 2009/09
 Type Important characteristics Construction Effective load Max. effective strokes Components

Link-guided, • Compact Completely Max. 1.6 kg Z: Pneumatic:

high-speed • High clock frequencies of up to assembled from 20 … 70 mm HSP-AP
pick and place 100 Hz handling Y: electric:
(180°) • Intelligent stroke adjustment module from 52 … 170 mm HSP-AE (with
• Waiting position, freely servo motor
programmable positions MTR-DCI)
(electrical)
• Easy to commission
• Easy to install

Link-guided, • Compact Completely Max. 1.6 kg Max. linear stroke Pneumatic:

high-speed • High clock frequencies of up to assembled 90 … 175 mm HSW-AP
pick and 100 Hz handling Working stroke electric:
place (90°) • Intelligent stroke adjustment module 9 ... 35 mm HSW-AE (with
• Waiting position, freely servo motor
programmable positions MTR-DCI)
(electrical)
• Easy to commission
• Easy to install

2D • Very rigid construction Module unit Max. 10 kg Z: DGSL

Pick and place • Short cycle times made up of a up to 400 mm SLT
handling • Precise mini slides DGSL slide and/or Y: SLTE
• High functionality with HMPL cantilever axis up to 400 mm EGSA
• Highly dynamic response and HMP
precision with long strokes HMPL
with EGSA and HME HME

2009/09 – Subject to change – Handling system overview 11

Linear gantries

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 desired inter-
mediate positions

Range of application:
• Ideal for long gantry strokes
• Often used for feeding
applications
• Workpiece masses up to 5 kg
(effective load up to 10 kg)
• Long gantry strokes up to 3 m
and heavy loads up to 10 kg
• High requirements on system
resistance to torsion

Example: construction materials Requirements

industry • High dynamic response
Handling, palletising and • Gentle acceleration and
packing of ceramic tiles braking
• Jerk-free movement
• Good positioning flexibility

Solution
• Linear gantry with toothed belt
axes and cantilever axis
• Complete solution, including
vacuum gripper

12 Handling system overview – Subject to change – 2009/09

 Type Important characteristics Axis design Effective load Max. effective strokes Components

• Linear gantry • High process reliability thanks Y: Mono: Y: Y:

as mono axis to installation integration Gantry axes 0 to 6 kg Up to 5000 mm DGC/EGC
• Free movement • Pneumatic and electric drives Z:
of the Z-axis (with freely programmable Slide Z: Z:
in the vertical positions) Cantilever axis Up to 300 mm DGSL
plane (2D) • Repetition-accurate, cen- EGSA
tralised direct axis connections

• Mini slide on the Z-axis for

maximum precision

• See above • See above, points 1 – 3 Y: Mono: Y: Y:

Gantry axes 0 to 5 kg Up to 5000 mm DGC/EGC
• Pneumatic cantilever axis on Z:
the Z-axis with high repetition Handling axis Z: Z:
accuracy, high dynamic Up to 200 mm HMPL
response and intermediate
positions

• See above • See above, points 1 – 3 Y: Mono: Y: Y:

Gantry axes 0 to 10 kg* Up to 5000 mm DGC/EGC
• Pneumatic handling axis on the Z:
Z-axis with high rigidity and Handling axis Z: Z:
intermediate positions Up to 400 mm HMP

• Linear gantry • See above, points 1 – 3 Y: Mono: Y: Y:

as mono or Gantry axes 0 to 15 kg Up to 5000 mm DGC/EGC
duo axis • Electric cantilever axis on the Z:
• Free movement Z-axis for large strokes, high Cantilever axis Duo: Z: Z:
of the Z-axis in dynamic response and low 0 ... 25 kg Up to 900 mm DGEA
the vertical moving dead weight
plane (2D)

Higher effective loads of up to 50 kg on request * With the pneumatic drive DGC, can be used as duo axis

2009/09 – Subject to change – Handling system overview 13

Cantilever axes

A cantilever system is made up

of 2 parallel drives, combined
with a pick and place unit.
• High mechanical rigidity and
sturdy design
• Pneumatic and electrical com-
ponents – freely combinable
• As electrical solution – variable
positioning/any desired inter-
mediate positions

Range of application:
• Cantilever axes are the best
3-axis solution for movements
in 3D or in the available space
where three-dimensional
gantries are too big or the
handling unit needs to be
retracted from the area of
activity
• Long strokes in horizontal
plane of up to 3 m
• Very high requirements on
system resistance to torsion

Example: assembly industry Requirements

Palletising of hinged housings • High dynamic response
• Good positioning flexibility
• Gentle acceleration and
braking

Solution
• Cantilever axes with pneumatic
axes DGC and handling
modules HMP
• Assembled complete
with tubing and electrical
connections

14 Handling system overview – Subject to change – 2009/09

 General Type Important characteristics Axis design Effective load Max. effective strokes Components

• Cantilever • High process reliability X: Gantry axes 0 to 6 kg X: Up to 3000 mm X: DGC/DGPL,

axis thanks to installation Y: Gantry axes or Y: Up to 3000 mm DGE/EGC
• Free move- integration cantilever axes Z: Up to 400 mm Y: DGC/DGPL, DGE,
ment of • Pneumatic and electric Z: Cantilever axes EGSA, HME, EGC,
Z-axis in drives or slides HMP/HMPL
the avail- • Repetition-accurate, Z: EGSA, DGSL
able space centralised direct axis SLT/SLTE, HMPL
(3D) connections

Standard sizes
Standardised • The simplest of designs X: Gantry axes 0 to 2 kg X: Up to 3000 mm X: DGC/DGPL,
cantilever by virtue of standard Y: Gantry axes or Y: Up to 200 mm DGE/EGC
axis in three combinations cantilever axes Z: Up to 1600 mm Y: HMPL
effective load Z: Cantilever axes Z: DGSL, HMPL, EGSA
categories or slides
• Size 1.0

• Size 2.0 0 to 4 kg X: Up to 3000 mm X: DGC/DGPL,

Y: Up to 400 mm DGE/EGC
Z: Up to 1600 mm Y: HMP, DGEA
Z: DGSL, HMPL,
DGEA, EGSA

• Size 3.0 0 to 6 kg X: Up to 3000 mm X: DGC/DGPL,

Y: Up to 400 mm DGE/EGC
Z: Up to 400 mm Y: HMP, DGEA, EGSA
Z: HMP, DGEA, EGSA

2009/09 – Subject to change – Handling system overview 15

Three-dimensional gantries
Planar surface gantry
The planar surface gantry
is equivalent to a three-
dimensional gantry, but with-
out a Z-axis and allows free
movement in the plane.
16
Example: automotive industry
Load handling in assembly
system for solenoids
Handling system overview – Subject to change – 2009/09
A three-dimensional gantry
consists 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 desired inter-
mediate positions
Range of application:
• For any movement in 3D space
• Very high requirements on
precision and/or very heavy
workpieces, with long strokes
at the same time
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
 Type Important characteristics Axis design Effective load Max. effective strokes Components

• Three- • Compact design X: Mono: X: X:

dimensional • High process reliability thanks to instal- Gantry axes 0 to 6 kg Up to 8500 mm DGE/EGC
gantry as lation integration Y: Y: Y:
mono axis • Pneumatic and electric drives Gantry axes Up to 1500 mm DGE/EGC
• Free move- • Repetition-accurate, centralised direct Z: Z: DGC/DGPL
ment of axis connections Slides Up to 300 mm Z:
Z-axis in the • Pneumatic and electric drives (with freely Cantilever axis DGSL
available programmable positions in X and Y) EGSA
space (3D)
• Very high dynamic response and
precision

• See above • See above, points 1 – 5 X: Mono: X: X:

Gantry axes 0 to 5 kg Up to 8500 mm DGE/EGC
• Z-axis with optional intermediate Y: Y: Y:
position (can be passed through) Gantry axes Up to 1500 mm DGE/EGC
and clamping unit Z: Z: DGC/DGPL
Cantilever axis Up to 200 mm Z: HMPL

• See above • See above, points 1 – 5 X: Mono: X: X:

Gantry axes 0 to 10 kg* Up to 8500 mm DGE/EGC
• Z-axis with optional intermediate Y: Y: Y:
position and clamping unit Gantry axes Up to 2000 mm DGE/EGC
Z: Z: DGC/DGPL
Cantilever axis Up to 400 mm Z: HMP

• Three-dimen- • See above, points 1 – 5 X: Mono: X: X:

sional gantry
Gantry axes 0 to 15 kg Up to 8500 mm DGE/EGC
as mono or
duo axis • Z-axis alternative guides and drive Y: Duo: Y: Y:
• Free movement concepts (motors) Gantry axes 0 to 25 kg Up to 2000 mm DGE/EGC
of Z-axis in the Z: Z: DGC/DGPL
available space Cantilever axis Up to 900 mm Z: DGEA
(3D)

• System solution for standardised three-dimensional gantries with * With the pneumatic drive DGC, can be used as duo axis
effective load up to 50 kg on request
• Long strokes in X direction up to 10 m on request

2009/09 – Subject to change – Handling system overview 17

Tripod
Tripod kinematics consisting of
electrical gantry axes, designed
in the form of a pyramid
• Technical mechatronics solution
from the modular system
• Free movements in available
space with standard components
• Ideal for 3D high-speed pick and
place tasks
• High rigidity and mechanical
stability of the overall system
• Small moving masses (no
motors or axes are moved):
high dynamic response
18
Special features:
• Essential for dynamic response:
axis control using servo motors
EMMS-AS and the associated
controller CMMP-AS
• Ideal system solution in combi-
nation with the effective contour
control of the robotic controller
CMXR
• Easy programming and commis-
sioning with the FCT software
and the handheld terminal
CDSA, with plain text language
and teach-in function
Handling system overview – Subject to change – 2009/09
Advantages:
• Complete system performance
from Festo – plug and work –
from engineering to commis-
sioning
• High rigidity, minimal vibra-
tions and small moving masses
when compared to other solu-
tions (Cartesian axis gantries
or robots): large effective loads
with high dynamic response
• Maximum acceleration of
100 m/s2 and speed of 6 m/s
with 1 kg load
• Up to three times quicker than
Cartesian systems and with
smaller dimensions/smaller
space requirement
• Effective loads of up to 5 kg
• Available in 4 standard sizes
with a working space of up to
1250 mm in diameter
Range of application:
• For any movements in 3D
space
• High-speed handling for pick
and place tasks
• Very high requirements on pre-
cision and dynamic response
Target applications:
Handling, equipping and palletis-
ing of small to medium-sized
parts and quite heavy work-
pieces, e.g. in the following
sectors:
• Photovoltaics/solar
• Electronic light assembly/
electronics industry
• Food packaging
 Type Important characteristics Axis design Effective load Work range Components

Fast tripod • Compact design • 3-axis pyramid 0 to 5 kg EXPT-45 DGE/EGC

handling • Minimum cycle times • Closed kine- Working space Ø 450 mm for Toothed belt
unit for with high repetition matics with Z stroke of 100 mm axes
reposition- accuracy high rigidity (Ø 350 mm for Z stroke of 170 mm)
ing small • Any intermediate EXPT-70 EMMS-AS
masses in positions Working space Ø 700 mm for Servo motor
space (3D) • Long paths in the XY Z stroke of 100 mm Servo motor
plane (Ø 600 mm for Z stroke of 156 mm)
• Optionally with servo- EXPT-95 CMMP-AS
electric rotary axis Working space Ø 950 mm for Motor con-
• Robotics system Z stroke of 100 mm troller
solution with software (Ø 700 mm for Z stroke of 251 mm)
and operator unit EXPT-120 CMXR
Working space Ø 1250 mm for Motion
Z stroke of 100 mm controller
(Ø 950 mm for Z stroke of 257 mm) (robotics)

Perfect in combination with the

Compact Vision System for
Higher-
SBOx-Q:
order
• Position and orientation
control
detection
• Type identification
• Reliable inspection results Compact
including quality test Vision
• Tracking function in connection System,
with the robotics controller Mechanical image pro-
CMXR – Contact our experts! design cessing

Handheld
Robotic
terminal
controller
CDSA
CMXR

Valve terminal,
remote I/O

Drive Gripper
technology vacuum
2009/09 – Subject to change – Handling system overview 19
Application-specific solutions – Gripper systems
Parallel gripper HGPL-40-40
• With stroke reduction
HGPL-HR-40
• With proximity sensor SME-10
in the sensor slot
Parallel gripper HGPT-63-A-G2
• With position transmitter SMAT
for evaluating the entire grip-
per stroke
Gripper jaws
• With interchangeable plastic
inserts
• Category: GBT 3
Gripper jaws
• Category: GBL 4
Benefits
• Ready-to-install gripper
system, customised to your
individual application
• No problems with interface to
the handling system
• Easy to install and assemble
• Complete CAD data for fast
design
20
Scope of services
Festo plans and designs gripper
systems for the front end unit on
the basis of your requirements.
With an extensive modular
system of mechanical grippers
and suction grippers, Festo
offers the right solution for every
application. Individual adapta-
tions according to your speci-
fications, such as ejectors, multi-
ple grippers, gripper fingers and
gripper jaws, round off the offer.
Application examples
Crankshaft handling system
Handling system overview – Subject to change – 2009/09
Z-axis:
• Mini slide DGSL-25-80-Y3A
• With integrated clamping unit
Parallel gripper HGPT-63-A-G2
• With external sensing using
inductive proximity sensor M12
Gripper jaws
• With interchangeable plastic
inserts
• Category: GBT 3
Semi-rotary drive
DRQD-16-90-YSRJ-A-ALFW-E422
Energy throughfeed
• electric
• pneumatic
Vacuum gripper system for paper
and cardboard boxes
Application-specific solutions – Individual handling systems

Two independently
positionable X-axes for
horizontal transport

Load interface at the

front end unit for cus-
tomer applications

Complete energy chain

for X/Y/Z axes

Complete
energy chain for
X/Y/Z axes

Benefits Scope of services Application examples

• Optimised performance
• Every customised solution is
possible
• Short lead times for planning,
design and assembly
• Optional: gripper systems
In addition to the flexible stan- Handling and processing of rod
dard solutions from the multi- material
axis modular system, Festo also
offers individual handling solu-
tions designed in accordance
with your specifications.
Adaptations, such as freely
definable axis dimensions,
facilitate shorter cycle times
or integration in machines with
a minimal space requirement.

2009/09 – Subject to change – Handling system overview 21

Aluminium and steel frames

Aluminium frames Effective load* Standard dimensions

Linear gantry Three-dimensional gantry
Profile
Z
Small load 80 x 80 mm
High load 100 x 100 mm

X Y

Up to 6 kg 0-4000
0-1500
0-1000
0-3000
0-2000

Up to 15 kg 0-5000
0-1500
0-2000
0-3000
0-1000

Up to 25 kg 0-6000
0-1500
0-2000
0-3000
0-1000

Steel frames Effective load* Standard dimensions

Material Linear gantry Three-dimensional gantry

Steel structural hollow section to Z
EN 10210 or EN 10219

X Y

0-5000
Up to 15 kg 0-2500
0-2000
0-5000
0-2500

Up to 25 kg 0-5000
0-2500
0-2000
0-5000
0-2500

Up to 50 kg 0-5000
0-1000
0-1500
= length of the frame 0-5000
0-1000

22 * Effective load = mass at front end of the handling system Handling system overview – Subject to change – 2009/09
Five steps to a complete system!
How to choose your standardised
substructure quickly and easily,
suitable for your handling system.
Step 1: Handling: Select accord-
ing 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,
i.e. steel or aluminium
Step 5: Specify the dimensions.
Length, height, width or axis
distance
Design
All frames are calculated with
respect to their rigidity, using Information
finite element software.
Illustration of FEM software
This means that only truly
essential stiffeners are installed.
Deformation due to the acting
The benefit to you: a 100% cost forces, amplified by a factor of
optimisation. 2000.
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.
Three-dimensional gantry
The benefit to you: 100% design 5 m long, 2.5 m high,
certainty. 2 m wide
Individual special solutions!
If you haven’t yet found the right
solution, let us know. We’ll be
happy to help.
23
Electrical gantry axes
> > > Toothed belt and spindle axes
EGC
• Comprehensive series with
many variants
• As a single or complete solu-
tion in a system
• Integrated in the mechatronic
modular system
• Thanks to its high performance
(feed force and torques),
the EGC can often be used in
a smaller size than was
previously possible.
> > > Electrical axis DGE
• Reliable, comprehensive
standard series of electrical
gantry axes in several sizes
• Many stroke ranges with
several guide types
• High-quality toothed belt drive
or precision ball screw spindle
> > > Electrical toothed belt axis
DGE-ZR-RF
• High-speed variant of the
DGE series
• With internal roller bearing
guide
• Three sizes
> > > Electrical axes EGSK/EGSP
• Perfect when precision, repeti-
tion accuracy, compactness
and rigidity are required
• EGSK: series for standard tasks
in the upper segment
• EGSP: greater precision and
performance for high-end
applications
24 Handling system overview – Subject to change – 2009/09
Features
• Toothed belt axis and spindle
axis
• Optional: protected guide
• Large profile with optimised
cross section
• Maximum rigidity and load
capacity
• High torque resistance
• Flexible motor attachment for
the toothed belt axis, also pos-
sible at a later date
Additional details about the
EGC can be found starting on
page 6.
Features
• High speeds
• High repetition accuracy
• Max. stroke 5000 mm
• High torque and force resist-
ance with recirculating ball
bearing guide and heavy-duty
guide
Features
• Very high speed up to 10 m/s
• Minimal noise generation
• Integrated lubrication for
service-free running perform-
ance of 10,000 km
Features
• Uniform design
• The 100% steel housing also
serves as the guide rail
• Constant, smooth running char-
acteristics
• Long service life
• Recirculating ball bearing guide
with ball bearing chain for great
precision
Electrical gantry axes EGC DGE DGE-ZR-RF EGSK/EGSP
Size 50/70/80/120/185 8/12/18/25/40/63 25/40/63 15/20/26/33/46
Drive Spindle drive/ Spindle drive/ Toothed belt drive Spindle drive
Toothed belt drive Toothed belt drive
Guide Recirculating ball Without guide Internal Recirculating ball
bearing guide Recirculating ball roller guide bearing guide
bearing guide Ball bearing chain
Heavy-duty guide
Max. stroke [mm] 5,000/8,500 (10,000) 4,500 5,000 800
Max. speed [m/s] 2/5 1.2/5 10 1.05/2
Repetition accuracy [mm] ±0.1..0.02 ±0.02/0.08/0.1 ±0.1 ±0.003/0.005/0.01
Max. force Fx [N] 2,500/3,000 1,600 1,500 320/360
Max. torque load Mx [Nm] 529 580 65 1,400/1,390
Max. torque load My [Nm] 1,820 1,820 340 547/579
Max. torque load Mz [Nm] 1,820 1,820 600 547/579
Options • Guide axis • Guide axis • Standard slide • Standard slide
• Extended slide • Extended slide • Extended slide • Short slide
• Additional slide • Additional slide • Guide axis • Additional slide
• Protected design • Protected design • Cover
• Central lubrication

2009/09 – Subject to change – Handling system overview 25

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
> > > Rodless drive unit DGP/DGPL
• Dynamic
• Minimal space requirement
• High torque resistance
• Recirculating ball bearing
guide: maximum precision and
load capacity
> > > Rodless slide SLG
• Flat, quick and precise
• Ideal for dynamic movements
in a small space
• Perfect for the precision
mechanics and electronics
industries
26 Handling system overview – Subject to change – 2009/09
Features
• Optionally with shock absorber
and second slide
• Accessible from one side: pre-
cision end-position adjust-
ment, sensors, mounting, air
connections and pneumatic
end-position cushioning
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
Features
• Extremely precise, thanks to
recirculating ball bearing guide
• Precision adjustment of stroke
length possible as required
• Air supply on one or two sides
 Pneumatic gantry axes DGC DGP/DGPL SLG
Size 8/12/18/25/32/40/50/63 18/25/32/40/50/63/80 8/12/18
Guide Without guide Without guide Recirculating ball bearing guide
Plain-bearing guide Plain-bearing guide
Recirculating ball bearing guide Recirculating ball bearing guide
Heavy-duty guide
Max. stroke [mm] 5,000 3,000 900
Max. speed [m/s] 3 3 1.5
Max. force Fx at 6 bar [N] 1,870 3,016 153
Max. torque load M x [Nm] 26/96/529/375 32/100/745/375 7
Max. torque load M y [Nm] 150/450/1,157/560 750/230/1,545/560 23
Max. torque load M z [Nm] 48/187/1,157/540 140/230/1,545/540 23
Cushioning (at both ends) • Flexible, non-adjustable • Pneumatic, adjustable • Flexible, non-adjustable
• Pneumatic, adjustable • Self-adjusting hydraulic • Self-adjusting hydraulic
• Self-adjusting hydraulic shock absorber shock absorber
shock absorber
Options • Guide axis • Guide axis • Intermediate-position module
• Extended slide • Extended slide • Extended slide
• Additional slide • Additional slide • Additional slide
• Protected design • Clamping unit • Clamping unit
• Central lubrication • Protected design • Protected design

2009/09 – Subject to change – Handling system overview 27

Electrical cantilever axes
> > > Handling axis HME with
integrated linear motor
• Complete axis with integrated
linear motor, displacement
encoder and guide
• Ready-to-install system for
greater flexibility, precision and
dynamic response
> > > Cantilever axis with spindle
EGSA
• Cantilever axis with spindle
• For short strokes, with high
dynamic response and
precision
• For applications where the axis
needs to be retracted from the
working space
> > > Cantilever axis DGEA
with tooth 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
> > > Electrical piston rod cylinder
DNCE
• Lead screw for format adjust-
ments
• Ball screw drive for dynamic
push and pull applications
• With rod guide unit for cost-
optimised cantilever function
28 Handling system overview – Subject to change – 2009/09
Features
• Maximum freedom of movement
since position, acceleration,
speed and force can be easily
adjusted
• On-site control with the motor
controller SFC-LAC (see page 48)
Features
• High dynamic response for a
large effective load
• High repetition accuracy
• Flexible motor mounting – axial
or parallel
• Long service life
Features
• Outstanding precision
• 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
Features
• Maintenance-free thanks to life-
time lubrication
• Freely programmable positions
• Stick-slip-free
• Gentle acceleration
• Free programming and para-
metrisation of speed, travel and
acceleration, as well as force
control
Electrical cantilever axes HME EGSA DGEA DNCE
Size 16/25 50/60 18/25/40 32/40/63
Drive Linear direct drive Spindle drive Toothed belt Spindle drive
(lead screw/ball screw)
Guide Recirculating ball Roller bearing guide Recirculating ball Plain-bearing guide
bearing guide bearing guide
Max. stroke [mm] 400 300 1,000 800
Max. speed [m/s] 3 1.5 3 0.06 ... 1
Repetition accuracy [mm] ±0.015 ±0.01 ±0.05 ±0.02/0.07
Max. effective load (horizontal) [kg] 25 (with 100 mm stroke) 10 40 100
Max. effective load (vertical) [kg] –– 6 50 30
Max. force Fx [N] 257 (peak feed force) 240 1,000 2,500
Max. torque load M x [Nm] – 25 133 1.5
Max. torque load M y [Nm] – 70 665 27
Max. torque load M z [Nm] – 70 460 27
Options – – Double External guide
guide cartridge

2009/09 – Subject to change – Handling system overview 29

Pneumatic cantilever axes
> > > Linear module HMP-B
• Hardened steel guide tube
• Preloaded and backlash-free
recirculating ball bearing
guides
• For handling and assembly
systems
> > > Handling axis HMPL
• Extremely slender and with
2 guide rods
• Suitable as a precise stand-
alone module or can be quickly
combined into a pick and place
or gantry unit
30 Handling system overview – Subject to change – 2009/09
Features
• Wear-resistant thanks to the
metallic end stop
• Precision adjustment
• Intermediate-position module
with swivel levers
• Externally adjustable one-way
flow control valves
• Integrated sensor rail
Features
• Short travel times
• High repetition accuracy
• LEDs for optical display of
movements
• Active intermediate positions
provide flexibility
• Secure, thanks to optional
clamping cartridge
 Pneumatic cantilever axes HMP-B HMPL
Size 16/20/25/32 12/16/20
Guide Recirculating ball Recirculating ball
bearing guide bearing guide
Max. stroke [mm] 400 200
Max. speed [m/s] 1.2 1.0
Repetition accuracy [mm] ±0.01 ±0.02
Max. effective load (horizontal at 6 bar) [kg] 50 10
Max. effective load (vertical at 6 bar) [kg] 15 5
Max. force Fx (at 6 bar) [N] 483 188
Max. torque load M x [Nm] 50 4
Max. torque load M y [Nm] 50 5
Cushioning (at both ends) • Self-adjusting hydraulic • Self-adjusting hydraulic
shock absorber shock absorber
Options • Intermediate-position • Intermediate-position
module module
• Clamping cartridge • Clamping cartridge
• Electric integration rail
for sensors

2009/09 – Subject to change – Handling system overview 31

Electrical linear motor axes and cylinders

> > > Linear motor 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
bearing form a unit.
Wear-resistant
• Thanks to air bearing tech-
nology the slide hovers over
the axis without touching it.
• The constant air flow out of the
air gap prevents particles and
dust from penetrating into the
axis.
• Magnetic fields are screened to
keep metal parts and chips
out.
Extremely flexible
• Locking brake built into the
linear motor axis, thanks to the
magnetic preloaded air cushion
bearing
• This enables very exact posi-
tioning and excellent 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 in guide parts
• Maintenance-free and wear-
resistant
• Dirt-free thanks to air bearing

Size ELGL-LAS 30 64 120

Motor controllers Slide size [mm] 210 (S) 210 (S) 310 (M) 210 (S) 310 (M) 410 (L)
CMMP-AS 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

More infor-
mation about
compatible motor controllers
can be found on page 46.

32 Handling system overview – Subject to change – 2009/09

 > > > Electrical 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, form
a ready-to-use axis.
The DNCE-LAS is designed so that
all strong magnetic fields are
screened and metal parts or chips
are not attracted.
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
Configuration Tool (FCT).

> > > Electrical 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 required 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. Simply
enter the parameters and posi-
tioning records and you’re done!

Type DNCE-LAS DFME-LAS

Motor controllers Size 32 40 32 40
SFC-LACI 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

You can find more information

about compatible motor con-
trollers on page 48.

2009/09 – Subject to change – Handling system overview 33

Electrical mini slides

> > > Electromechanical mini slide
SLTE
• Precise and rigid guide
• Freely positionable
• Short positioning times
• Through-holes from above and
below
• Sensors can be integrated
• Silent lead screw spindle
• Gentle starting and stopping
• Effective loads of up to 4 kg
• Constant travel speeds of
2 … 200 mm/s
• Available: motors with
integrated encoder
The mini slide SLTE and motor
controller SFC-DC form a unit.
• Thanks to the protection class
IP54, the SFC-DC can be
mounted close to the SLTE,
either:
- on central supports
- with H-rail
• Only one cable required
between SLTE and SFC-DC
• Motor controller SFC-DC avail-
able with or without control
panel
• Easy actuation via:
- I/O connection
- fieldbus connection
Parametrisation possible via:
• Control panel:
- Suitable for simple position
sequences
• FCT configuration package
(Festo Configuration Tool):
- Parametrisation using RS 232
interface
- PC interface in Windows,
Festo Configuration Tool
Note:
More details on the motor
controller SFC-DC can be found
on page 48.

Electrical mini slide SLTE-10 SLTE-16

Guide Roller bearing guide Roller bearing guide
Stroke [mm] 50/80 50/80/100/150
Max. speed [m/s] 0.17 0.21
Min. speed [m/s] 0.002 0.002
Repetition accuracy [mm] ±0.1 ±0.1
Max. effective load (horizontal at Vmax ) [kg] 1.5 4
Max. effective load (vertical at Vmax ) [kg] 0.35 0.7
Max. torque load M x [Nm] 4.3 12.6
Max. torque load M y [Nm] 4.3 12.6
Max. torque load M z [Nm] 1.5 3.5

34 Handling system overview – Subject to change – 2009/09

Pneumatic mini slides

> > > Mini slide DGSL Features

• 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
• 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
• 3 adjustable end stop variants
• Integratable proximity sensor

> > > Mini slide SLT Features

• Double-acting cylinder • Powerful
• System product for handling • Two adjustable end-position
and assembly technology cushioning systems:
• Easy adjustment of end - Flexible cushioning
positions from one side components
- Hydraulic shock absorbers
• Versatile and precise assembly
options:
- Yoke
- Slide
- Housing

Pneumatic mini slides 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 absorbers
hydraulic shock absorbers
Options • Clamping cartridge –
• End-position locking

2009/09 – Subject to change – Handling system overview 35

Electrical rotary drive module ERMB

> > > Rotary drive module ERMB
• Freely positionable
• For loads up to 15 kg
• As a Ф-axis with any rotation
angle >360° or “stand-alone”
as a small NC controlled rotary
table
• Combination of two rotary
modules with multi-axis kine-
matics enables travel through
any spatial points
• Dynamic yet precise thanks
to the toothed belt with pre-
loading roller
• Standardised adapter plates
as a connection between linear
axes and grippers
• Mounting interfaces on all
sides
• Fixed rotary flange with large
hollow shaft diameter
• Effectively minimises vibrations
in the multi-axis system thanks
to uniform movements and
user-defined acceleration
ramps
• Smooth and wear-resistant
movement in the end positions
Available: harmonised range
of motors
• Servo motors
• Stepper motors
• Standardised controller design
and software platform simplify
commissioning and control.
Position sensing/reference
switch
• The sensing module EAPS,
available as an accessory,
enables impermissible areas to
be defined using two inductive
sensors and trip cams
• Sensing on the rotary module
is done using inductive sensors
type SIEN-M8. An index pin in
the retaining ring, which can be
adjusted in 90° increments, is
queried

Electrical rotary drive module ERMB-20 ERMB-25 ERMB-32

Rotation angle [°] Infinite
Positioning times (with servo motor) [s] <0.3 for 360°
Repetition accuracy [°] ±0.03 with servo motor EMMS-AS
±0.05 with intelligent servo motor MTR-DCI
±0.08 with stepper motors EMMS-ST
Max. driving torque [Nm] 0.7 2.2 8.5
Max. driving torque [Nm] 3.15 8.8 25.5
(depending on speed)
Max. input speed [rpm] 1,350 1,200 900
Max. output speed [rpm] 300 300 300
Drive shaft diameter [mm] 6 8 12
Hollow shaft diameter [mm] 20 24 28
Service life cycles [million] 15 20 20
Options Sensing module Sensing module Sensing module

36 Handling system overview – Subject to change – 2009/09

Pneumatic semi-rotary drives
> > > Swivel module DSM/DSM-B
> > > Twin piston semi-rotary drive
Pneumatic semi-rotary drives
Size
Swivel angle
permanently set
as desired
Frequency of oscillation (at 6 bar
and max. swivel angle)
Max. torque (at 6 bar)
Repetition accuracy
Drive shaft
Cushioning (at both ends)
Options
2009/09 – Subject to change – Handling system overview
• Semi-rotary vane drive with
shock absorber
• With space-saving sensor
technology
DRQD/DRQD-B
• Swivel angle up to 360°
• For handling and assembly
tasks, e.g. in the electronics
industry or in mechanical
engineering
DSM/DSM-B
6/8/10/12/16/25/32/40/63
[°]
90/180/240
270 max. (depending on
cushioning element)
[Hz] 3 ... 0.6
[Nm] 0.15 ... 40
[°] <0.1/< 1
Spigot shaft/flanged shaft
• Flexible, non-adjustable
• Self-adjusting hydraulic
shock absorber
• With built-in swivel
angle measuring system
• Freewheel unit
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
• Shock absorber and elastomer
buffer
Features
• High repetition accuracy even
when torque is high
• Compact design
• Position sensing via proximity
sensor – end position and mid-
position with the same switch
type
• Flexible end-position cushioning
and precision end-position
adjustment
DRQD/DRQD-B
6/8/12/16/20/25/32/40/50
90/180/360
X angle (max. 360)
5 ... 0.5
0.16 ... 50
<0.05
Spigot shaft/flanged shaft
• Pneumatically adjustable
• Self-adjusting hydraulic
shock absorber
• Mid-position module
• Energy throughfeed,
pneumatic and electric
37
Electrical gripper

> > > Electrical T-slot parallel gripper Features

HGPLE
• Free, speed controlled selec-
tion of the gripping positions
with long stroke
• Perfect for soft or highly
sensitive workpieces thanks
to tactile gripping options
• Alternative: reliable gripping of
large and heavy workpieces
• 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, even for the
entire stroke
• It is controlled on-site using
the reliable motor controller
SFC-DC

Note:
More details on the motor
controller SFC-DC can be found
on page 48.

Electrical 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

38 Handling system overview – Subject to change – 2009/09

Servopneumatic gripper

> > > Servopneumatic proportional • Synchronous, central move-

gripper HGPPI
• For handling tasks which call
for adjustable gripping forces
• For dealing flexibly with chang-
ing workpiece sizes and shapes
Features
• Free and independent position-
ing of both gripper fingers
• Force/travel control
• Metering of the gripping force
• Integrated controller
Positioning functionality
ment of the gripper fingers
• Gripper detects when the stop
is being approached
• Gripper can grip eccentrically
and then centre
• The speed, gripping force and
gripper finger position can be
controlled independently for
each gripper jaw as needed.
• Evaluation of the path signal
• Evaluation of the gripping force

Electrical gripper HGPPI

Size 12
Max. total gripping force [N] 120
Max. deviation from setpoint
gripping force [N] <6
Max. stroke per gripper jaw [mm] 10
Min. positioning stroke [mm] 0.2
Min. positioning speed [mm/s] 1
Typical positioning time [ms] 150 ... 250
Repetition accuracy [mm] ±0.1
Operating pressure [bar] 5 ... 6
Max. permissible force Fz [N] 70
Max. permissible torque M x [Nm] 3
Max. permissible torque M y [Nm] 3
Max. permissible torque M z [Nm] 3
Nominal voltage (load and logic) [V DC] 24
Max. current consumption, load [mA] 70
Max. current consumption, logic [mA] 200
Fieldbus coupling Profibus DP
Electrical power supply connection M12x1, 4-pin
Electrical fieldbus connection Sub-D socket, 9-pin

2009/09 – Subject to change – Handling system overview 39

Pneumatic grippers

> > > T-slot gripper HGPT-B Features

• Parallel gripper
• Synchronous movement of the
gripper jaws thanks to force-
guided motion sequence of
both gripper fingers
• Design with backlash-free,
sturdy plain-bearing guide in
the T-slot
• Used in heavy mechanical
engineering for all gripping
tasks
• High-force variant, double the
force at half the stroke
• Contamination-resistant, since
the sealing air connection pro-
tects the gripper against
drilling emulsion, dust and dirt,
for example, in very rough
surroundings
• Piston with oval piston area
• The compression spring pro-
vides gripping force backup
and ensures that a secure grip
is guaranteed in the event of
pressure failure. The compres-
sion spring additionally sup-
ports the gripping force.
• Proximity sensors fit flush with
the housing or slot.
• Sensing of up to 4 positions
• Sealing air connection prevents
dust from getting into the grip-
per jaw guide
• Tubeless compressed air sup-
ply thanks to optional adapter
plate
• Precise gripping thanks to the
optional use of centring rings
and pins
• High reliability and very long
service life with up to 10 mil-
lion switching cycles.

Sizes 16 20 25 35 40 50 63 80
Standard Stroke per jaw (mm) 3 4 6 8 10 12 16 20
version Total gripping force (N) 85 170 300 550 740 1290 1860 3175
Force Stroke per jaw (mm) 1.5 2 3 4 5 6 8 10
version Total gripping force (N) 160 375 670 1230 1650 2890 4160 7080
Standard Repetition accuracy ±0.03
and (mm)
force Torques M x (Nm) 9 15 50 80 100 120 160 180
version Torques M y (Nm) 12 15 45 60 90 120 180 220
Torques M Z (Nm) 6 8 35 50 75 100 140 170
Sensor slot Yes

40 Handling system overview – Subject to change – 2009/09

 > > > Long-stroke parallel gripper
HGPL
• With T-slot plain-bearing guide
for high forces and torques on
the gripper jaws
• For general mechanical
engineering
• Parallel movements of both
fingers during long strokes
Features
• Adjustable opening stroke
• Sensing via proximity sensors
• T-slot guide for absorbing high
torques and forces
• Synchronised forced movement of
both gripper fingers via an inter-
nal pinion drive for reliable, pre-
cise centred gripping

> > > Precision parallel grippers Features

HGPP
• Backlash-free gripper jaw roller
bearing
• Perfect gripping and repetition
accuracy at the highest permis-
sible torque load
• For precise positioning and
mounting
• Synchronised gripper jaw
movement
• Maintenance-free operation
and long service life – approx.
20 million cycles without relu-
brication
• For use as a single-acting grip-
per requiring only one com-
pressed air connection using
compression springs
• Gripping force backup
open/closed

Pneumatic grippers HGPL HGPP

Size 14/25/40 10/12/16/20/25/32
Max. total gripping force (at 6 bar) [N] 120 ... 1210 80 ... 830
Max. total stroke [mm] 40 ... 80 4 ... 25
Repetition accuracy [mm] <0.03 0.01 ... 0.02
Max. operating frequency [Hz] 1 4
Opening/closing time (at 6 bar) [ms] 86 ... 438 22 ... 173
Gripping direction Internal, external Internal, external
Gripping force backup No Yes
Position sensing With proximity sensor With proximity sensor
Max. force Fz [N] 500 ... 2,500 40 ... 720
Max. torque load M x [Nm] 35 ... 125 2 ... 50
Max. torque load M y [Nm] 35 ... 80 2 ... 50
Max. torque load M Z [NM] 35 ... 100 2 ... 50
Options Sensing with Hall sensor

2009/09 – Subject to change – Handling system overview 41

Pneumatic grippers

> > > Radial gripper HGRC and angle Features

gripper HGWC
• Compact and attractively priced,
flexible and reliable
• Optimised design
• Die-cast zinc ensures optimal
price/performance ratio
• Driven by a sturdy rack and
pinion with low-backlash,
bearing-supported gripper jaws
• The same constant gripping
force is available along the
entire movement
• Contactless end-position sens-
ing via reliable 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
• Sensor slot: for integration of
proximity sensors SME-10/
SMT-10 without projecting
edges

> > > Parallel grippers HGP

• For standard tasks in handling
and assembly systems
• Double-acting piston drive
(external/internal gripping)

> > > Micro parallel grippers HGPM

• For gripping very small parts or
in tight spaces
• Single-acting (spring return)
• Internal or external gripping

Pneumatic grippers HGRC/HGWC HGP HGPM

Size [mm] 12/16/20 6/10/16/20/25/35 8/12
Max. total gripping torque (6 bar) [Ncm] 13 ... 80 20 ... 750 44 ... 126
Max. total stroke [mm] – 4 ... 25 4/6
Mx. opening angle [°] 30/80/180 – –
Repetition accuracy [mm] ±0.05 <0.04 <0.05
Max. operating frequency [Hz] 4/3/3 4 4
Gripping direction Internal, external Internal, external Internal, external
Gripping force backup No Yes No
Position sensing With proximity sensor With proximity sensor No
Max. force Fz [N] 40 ... 80 14 ... 380 10/30
Max. torque load M x [Nm] 2.5 ...8 0.1 ... 25 0.15/0.5
Max. torque load M y [Nm] 0.6 ...1.9 0.1 ... 25 0.15/0.5
Max. torque load M z [Nm] 2 ... 6.7 0.1 ... 25 0.15/0.5

42 Handling system overview – Subject to change – 2009/09

 > > > 3-jaw T-slot grippers
HGDT/HGDT-F
• For mechanical and plant
engineering
• High-power variant (HGDT-F)
with double the force at half
the stroke
• Grips reliably with a maximum
of 4000 N, even in highly
dynamic applications
• Force-guided triple-wedge
mechanism for the synchronous
movement of all three jaws
• Sturdy T-slot guide for gripper
fingers to absorb maximum
torques and forces
Features
• Sealing air protects against
dust and drilling emulsions in
critical environments
• Flexible thanks to sensing of
up to 3 positions
• Gripping force backup
opening/closing
• Built into the housing: sensing
with proximity sensors

> > > Three-point gripper HGD Features

• Double-acting piston drive
• For standard use on rotationally
symmetrical parts
• Variable gripping direction
(external/internal gripping)
• High holding forces
• Sensors: adaptable Hall
sensors for small standard
grippers, and integratable
proximity sensors for the
medium and large grippers
• Maximum precision

Pneumatic grippers HGDT HGDT-F HGD

Size 25/35/40/50/63 25/35/40/50/63 16/32/50
Max. total gripping force (at 6 bar) [N] 228 ... 2,172 510 ... 4,000 90 ... 970
Max. total stroke [mm] 6 ... 20 3 ... 10 5 ... 12
Repetition accuracy [mm] ±0.03 ±0.03 ±0.04
Max. operating frequency [Hz] 4 4 4
Opening/closing time (at 6 bar) [ms] 25 ... 246 15 ... 130 5 ... 10
Gripping direction Internal, external Internal, external Internal, external
Gripping force backup Yes Yes No
Position sensing With proximity sensor With proximity sensor With proximity sensor
Max. force Fz [N] 350 ... 2500 510 ... 4000 34 ... 173
Max. torque load M x [Nm] 7 ... 80 7 ... 80 0.5 ... 4.7
Max. torque load M y [Nm] 10 ... 50 10 ... 50 0.8 ... 8.1
Max. torque load M z [Nm] 5 ... 60 5 ... 60 0.5 ... 5.3

2009/09 – Subject to change – Handling system overview 43

Vacuum
> > > Vacuum generator OVEM
• Wide range of functions – can
be individually chosen, built
into one unit
• Three performance classes and
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
> > > Vacuum generators VN
• Decentralised vacuum
generation for minimum
evacuation times
• Three classes of vacuum
generators:
- lightweight and compact
- standard
- with vacuum sensor
• With integrated ejector pulse
> > > Suction grippers ESG
Suitable for almost every work-
piece in almost every shape, even
for extremely small products with
irregular centres of gravity, rough
surfaces or awkward shapes.
> > > Suction cup insert OASI
For transporting unstable, fragile
and thin workpieces gently and
safely
44 Handling system overview – Subject to change – 2009/09
Features
• LCD display, numerical and as
bar graph, for the constant
monitoring of all important
values
• Intensity of the ejector pulse
can be controlled
• High vacuum: up to 85%
• Protection class IP65
• Integrated filter with inspection
window
• Very simple installation via
electrical M12 connection and
pneumatic plug connector
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
Features
• Versatile: in the modular ESG
system, you can find the right
suction gripper for every appli-
cation
• Resistant to chemicals
• Heat resistant
• Antistatic
• The suction gripper ESG con-
sists of the suction cups ESS
and suction cup holder ESH
Features
• Suction cup insert made of
porous sintered material
 VN VN-P OVEM
Efficiency Air-saving circuit – – •
Vacuum generators H/L •/• •/• •/•
3
Nozzle diameter (mm) 0.45 ... 3 0.45 ... 0.95 0.45 ... 1.4
Vacuum On/Off – – •
2 Compact, low weight • • •
1 Reliability Monitoring of the
– • •
workpiece transport
Ejector pulse,
– – •
reliable set-down
Monitoring of the evacuation
– – •
time and ejector pulse
1 Pressure supply Convenient Low noise pollution
• • •
operation thanks to silencers
2 Vacuum port for suction cup
Low maintenance thanks to
3 Open silencer •/– •/– •/•
open silencer/filter

Technical data for suction gripper ESG

Material Nitrile rubber Nitrile rubber Polyurethane Vulkollan® Silicone Fluoro elastomer
(antistatic)
Operating -10 ... +70 -10 ... +70 -20 ... +60 -10 ... +80 -30 ... +180 -10 ... +200
temperatures [°C]
Typical applications Conventional Electronic Rough Automotive Food Glass
industry surfaces industry industry 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.

2009/09 – Subject to change – Handling system overview 45

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.
Compatible motor kits and
gear units:
EAMM-A-... motor kit
EMGA-..-P-.. gear unit
46
> > > Servo motor controller
CMMP-AS/CMMS-AS/CMMD-
AS and servo motor EMMS-AS
For special requirements: the
highly functional controller CMMP-
AS. For standard functions: the
controller CMMS-AS and the effi-
cient double-controller CMMD-AS.
The CMMP-AS is very well suited
for cam disk controllers and
highly dynamic movements. The
CMMS-AS comes into its own in
standard applications and posi-
tioning tasks with an I/O connec-
tion. The CMMD-AS takes on the
task of guiding two servo motors
independently of each other.
By combining internal modules,
such as the fieldbus interface
or the intermediate circuit,
efficiency is considerably
improved.
> > > Stepper motor controller CMMS-
ST and stepper motor EMMS-ST
Stepper motor technology in a
genuine plug and work solution
package: the single-axis position
controller CMMS-ST combined
with a stepper motor EMMS-ST,
for single and multi-axis hand-
ling, with moving loads of up to
20 kg.
Handling system overview – Subject to change – 2009/09
They all have safe and con-
venient commissioning, SD card
slot, programming and para-
metrisation via software tools.
Integrated safe holding system
with restart blocking for safety-
related applications.
Servo motors 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.
In the ServoLite operating mode,
the combination of CMMS-ST
and EMMS-ST provides you with
a closed-loop servo system with
maximum operating reliability
and fast dynamic response.
This sets 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 attrac-
tive 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.
Functions of the CMMx-AS
• SD card for parameters and
firmware
• Automatic motor brake
• External braking resistor
(optional)
• Jerk-free positioning
• 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 resistor
(optional)
• Jerk-free positioning
• Infinitely variable positioning
• Step resolution: Full step up to
4000 steps/revolution
• The digital inputs and outputs
are protected against short
circuit, overload and reverse
voltages

30
The performance ranges of the
motors in conjunction with Festo 20
CMMP-AS
controllers
15
Nm

10
5 CMMS-AS/CMMD-AS

0 CMMS-ST
EMMS-AS + CMMP-AS
EMMS-AS + CMMS-AS/CMMD-AS 0 1000 2000 3000 4000 5000
rpm
EMMS-ST + CMMS-ST

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
Speed [rpm] ~10000 ~10000 ~3000
Positioning records 255 63 63
Measuring system Incremental/absolute Incremental/absolute Incremental
Extended I/O interface Flexibly configurable 4 working modes 4 working modes
Notification of remaining distance Separate for all positions 1 for n 1 for n
Torque reduction Separate for all positions No No
Record linking With branching Linear Linear
Safe stop In accordance with EN 954-1 Cat3 In accordance with EN 954-1 Cat3 –
Primary voltage 100 ... 230 V AC 100 ... 230 V AC 24 ... 75 V DC
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

2009/09 – Subject to change – Handling system overview 47

Motor controllers
Single-field controllers: SFC-DC,
SFC-LAC and SFC-LACI
These single-field controllers
offer simple configuration and
commissioning using FCT soft-
ware for parametrisation and
commissioning. Just enter the
parameters and positioning
records, and you’re ready to go.
> > > Motor controller SFC-DC
The motor controller SFC-DC
together with SLTE or HGPLE
form a ready-to-install solution.
> > > Position controller SFC-LAC
The position controller SFC-LAC
and handling axis HME form a
ready-to-install solution.
> > > Position controller SFC-LACI
The position controller SFC-LACI
and the linear motor cylinders
DNCE-LAS and DFME-LAS form a
ready-to-install solution.
48 Handling system overview – Subject to change – 2009/09
• Basic parametrisation of
mechanics, position controller
and the positioning records
• Positioning run and teach
mode
• Homing and commissioning
• Diagnostic function
• Thanks to the protection class
IP54, the SFC can be mounted
close to the drive, either:
- with central supports
- with H-rail
• Only one cable needed
• The SFC motor controller is
available with or without
a control panel
• Activation via I/O or fieldbus
Note: More details on the elec-
tric gripper HGPLE can be found
on page 38.
Note: More details on the elec-
tric slide SLTE can be found on
page 34.
Note: More details on the hand-
ling axis HME can be found on
page 28.
Note: More details on the linear
motor cylinders can be found on
page 32.
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 in one: motor, gear unit,
motor controller and power
electronics.
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 convincing 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. The entire
commissioning process is per-
formed on-site or from a PC
using a simple teach-in function,
thanks to an optional LC display
and clearly structured menus,
and is supported by the FCT
(Festo Configuration Tool) soft-
ware.
Functions
• Compact design with integrated
display
• Complete unit with integrated
gear unit and position
controller
• 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 up to switching
signal
- left or right up to the mech-
anical stop (preferable)
• Position control
Protective functions
• Temperature monitoring
• Current monitoring
• Voltage failure detection
• Following error monitoring
• Software end-position detec-
tion

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 unit 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

2009/09 – Subject to change – Handling system overview 49

Multi-axis control systems
> > > Robotic controller CMXR
The robotic controller CMXR is
the core of a complete kinematic
system solution in the field of
handling technology. It combines
mechanics, electric drive tech-
nology and control technology,
thanks to integrated and adapt-
ed interfaces. In its function as a
control system for the main,
manual and secondary axes,
the CMXR is compatible with
Cartesian and tripod kinematics.
> > > Handheld terminal CDSA for
robotic controller CMXR
When adapted to the CMXR
robotic control system, the hand-
held terminal CDSA allows the
CMXR to be easily programmed
at the highest level.
> > > Modular controller CECX
The modular controller CECX
with fieldbus master functionali-
ty and electric control options in
the upper segment, including
simple configuration.
> > > Integrated controller FED-CEC
The integrated controller FED-CEC
is a space-saving control concept.
The processor module is based on
the CoDeSys software platform
and can be integrated in the front-
end display series 50 to 5000.
Display unit and controller are
combined in one housing.
50 Handling system overview – Subject to change – 2009/09
• Real 3D functionality for free
path control, similar to a robotic
functionality
• PLC interface with I/O: for
reduced functions
• PLC interface via Profibus: for
various functions or external
operation
• Modular design for up to
8 extension modules, e.g.
inputs and outputs
• Communication interface:
CANopen and Ethernet
• With touch screen, emergency
stop and confirm buttons
• Simple programming in the
Festo Teach Language (FTL),
operation and diagnostics, incl.
teach-in function. Also avail-
able: matching software pack-
ages for user-friendly system
configuration and program-
ming
• Two product versions
- Modular master controller
with CoDeSys software
- Motion controller with
CoDeSys software and the
SoftMotion module
• Module libraries, configuration
tools and drivers
• Numerous communication
interfaces, such as Profibus,
CANopen and Ethernet
• Very simple project planning
and programming with
CoDeSys and FED Designer (via
Ethernet or serial interface)
• Easy control of electric drives
and CANopen slave products
(integrated CANopen master
interface)
• Parameters entered directly
into the machine controller
 > > > Integrated controller
CPX-CEC-C1 for CPX
• 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
• Adapted for motion applica-
tions with up to 31 electric
drives
> > > Multi-axis interface CPX-CMXX
Perfect CPX module for uniform
parametrisation and electric
drive control. 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 para-
metrisation, thanks to the
Festo Configuration Tool (FCT)
> > > 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
Handling and Positioning Profile
(FHPP) via the fieldbus gateway.
Ideally suited for integrating
single-axis applications (point-
to-point, asynchronous) to field-
bus/Ethernet. It is easy to com-
mission and reduces downtime.
• Highly flexible: compatible
with all electric drive units
from Festo
2009/09 – Subject to change – Handling system overview
• Complete flexibility: Modular
I/O system, up to 512 I/Os,
CAN master functionality
• On-site remote control: pre-
processing on all conventional
fieldbus/Ethernet protocols
• With IP65 protection, one-of-
a-kind integral automation
platform: For standard, propor-
tional and servo pneumatics,
sensors and motion control
with up to 31 electric drives
• Stand-alone open and closed-
loop control: Efficient automa-
tion
E. g. of manual workstations
• 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
• Simplified engineering: shorter
commissioning, reduced down-
time, standardised control
• Reduced complexity: no pro-
gramming of the CPX-CM-HPP
module required
• Improved diagnostics: based
on plain text error messages,
reading out the actual
position, etc.
• Outstanding efficiency:
up to 4 individual axes per
module (8 in the system) can
be controlled
51
Compact Vision Systems

> > > Intelligent Compact Vision
System SBOC-Q/SBOI-Q
Used for quality assurance, it
delivers guaranteed reliable
inspection results, including
a quality test. The areas of
application range from position
and orientation detection of
parts and type identification to
precision axis positioning.
• Compact design and low
weight
• Easy integration and commis-
sioning via parametrisation
• Teach-in of up to 256 work-
pieces

The sensor system for image data

acquisition as well as the com-
plete electronic evaluation unit
and the interfaces (Ethernet/CAN)
for communication with master
controllers (PLCs) are already inte-
grated in the system.

Type SBOC-Q-R1B SBOC-Q-R1C SBOI-Q-R1B SBOI-Q-R1C SBOC-Q-R2B SBOC-Q-R2C

Sensor resolution [pixels] 640 x 480 1 280 x 1 024
Exposure time [ms] 0.027 ... 1,000 0.008 ... 1,000
Frame rate (full image) [fps] 150 27
Lens mounting C mount Integrated lens C mount
Sensor type Monochrome Colour Monochrome Colour Monochrome Colour
Working distance [mm] Dependent on the lens selected 22 ... 1.000 Dependent on the lens selected
Field of vision [mm] Dependent on the lens selected 14 x 10 ... 520 x 390 Dependent on the lens selected
Max. no. of test programs 256
Sorting function Up to 16 types per test program

52 Handling system overview – Subject to change – 2009/09

 > > > Intelligent Compact Vision
System SBOC-M/SBOI-M
Innovative and cost-effective
alternative to traditional high-
speed cameras. Designed for
support during diagnostics and
commissioning as well as for
monitoring fast motion
sequences.
• Simple fault localisation thanks
to reliable analysis and diag-
nostics of individual or cyclical
high-speed motion sequences
• Integrated electronics for
recording and saving motion
sequences
• Small dimensions and low
weight enable easy integration
into an existing system

Type SBOC-M-R1B SBOI-M-R1B

Lens mounting C mount Integrated lens
Working distance [mm] Dependent on the lens selected 22 ... 1,000
Field of vision [mm] Dependent on the lens selected Ca. 14 x 10 ... approx. 520 x 390
Sensor resolution [pixels] 640 x 480
Frame rate/full image [fps] 185
Exposure time [ms] 0.04 ... 1,000
Protection class IP65/67
Bus connection Ethernet 100 Mbit/s; M12
Temperature range [°C] -10 ... +50
Dimensions (W x H x L) [mm] 45 x 45 x 136.7 45 x 45 x 83.7
(incl. lens shield tube)

2009/09 – Subject to change – Handling system overview 53

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

More intelligent automation

Festo consistently relies on fre- Available to you:
quent analysis and identification Software tools for down-
of potential. loading from the Internet at:
www.festo.com
This has resulted in combining
the new FHPP software platform
combined with the tried and
tested FCT Festo configuration
tool. It ensures uniform opera-
tion and ideal interface manage-
ment of all motor controllers,
from the fieldbus to the drive
system.

FCT software – Festo

Configuration Tool for
commissioning
• All system drives can be
managed and archived in a
common project
• Project and data management
for all supported device types
• Simple to use thanks to
graphically supported para-
meter entry
• Universal mode of operation
for all drives
• Work offline at your desk or
online at the machine

FHPP – Festo Handling and

Positioning Profile
Festo has developed an opti-
mised data profile, the “Festo
Handling and Positioning Profile
Fieldbus communication
(FHPP)”, specifically tailored
Record selection Direct mode Parameter channel
to handling and positioning
Mode Position Speed
Free access to all
applications.
parameters – The FHPP data profile enables
read and write Festo motor controllers to be
controlled, with fieldbus inter-
face, via standardised control
and status bytes.

54 Handling system overview – Subject to change – 2009/09

Designing with PositioningDrives

The PositioningDrives software Typical program interfaces

tool prevents design errors and
improves energy efficiency by
helping you to choose the right
components. Designing drive
mechanics, gear units and motors
separately increases safety fac-
tors, resulting in overdimen-
sioned electric drive units and
wasted primary energy.
Application parameters,
such as mounting position,
mass, stroke and precision need
to be entered. You also have the
option of specifying the required
process time and preselecting
the drive technology.

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 different options to Select the desired solution
choose from presents the user package
with a major challenge: calculat- For easy selection, these are
ing the correct drive. sorted by motor and axis tech-
nology, component utilisation,
Once a few application details cycle time or price.
have been entered, the
PositioningDrives software
calculates the ideal combination
from the extensive, harmonised
range of electric linear axes,
motors, gear units, controllers
and software. By specifying
various project parameters,
the tool also calculates the
characteristic load values for
the selected drive quickly and Detailed results
reliably. The program also provides
detailed results such as motor
This is also suitable for third- characteristic curve, dynamic
party motors, once the technical characteristic values, system
parameters have been entered. data, product data and parts list.
These results are saved as a file
and can be used for ordering
and machine documentation.

2009/09 – Subject to change – Handling system overview 55

Engineering – CAD hotline

The first step to a CAD model

for your application.

Send us your requirements and

within 1 -2 days you will receive
the following:
• Standard designs from the
mechatronic multi-axis
modular 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

Examples of CAD models from the standard multi-axis modular system

Linear gantry with cantilever axis (Z) Heavy-duty linear gantry with toothed-belt Three-dimensional gantry with toothed belt
axis (Y) and spindle axis (Z) axis (XY) and spindle axis (Z)

56 Handling system overview – Subject to change – 2009/09

All-inclusive advantages – ready-to-install solutions
Build it yourself, or have it built –
it’s up to you. But complete
systems can save you as much
as 50%.
With ready-to-install handling
systems you almost completely
avoid laborious development
and construction and complex
working processes. Tell us what
your requirements are and we
will design, order, commission,
test and deliver. We can also
assemble your system and put it
into operation, on request.
2009/09 – Subject to change – Handling system overview
You concentrate on your core
tasks. We take care of the rest.
That not only saves time and
money, but brings maximum
reliability with regard to function
and optimal settings.
We offer you the following:
• Engineering
• Documentation
• Assembly Individually or completely – your
• Testing and test runs decision
• Commissioning
• Servicing during the operating
phase
Engineering Documentation
Qualified engineers support you Documentation for your handling
right from the outset. system.
• Technical advice • Detailed documentation on
• Expert knowledge based on the your handling system, in the
latest technological standards required language
• Managing all engineering tasks • Construction drawing as
• Designs from the mechatronic instructions for assembly,
multi-axis modular system including parts list
• Always suitable: frames made • Circuit diagrams in EPLAN or
of aluminium or steel structural Promis
hollow sections • Easy to reproduce with the
• Customised solutions for documentation on CD or on
handling systems and frames paper
• Expertise in vacuum systems
and gripper fingers
57
Commissioning service for axis systems

Getting there quicker Fast

Smooth interaction of the axis Time-saving commissioning for
system with the overall system is maximised efficiency is a matter
decisive for maximum system of course for our experts and
productivity. The selection and completion of your system on
assembly of an axis system is schedule is guaranteed.
one thing – fast and reliable
commissioning of an axis system Reliable
is another. What at first only Our experts know exactly what
appears to be a small step can, they have to watch out for when
in reality, repeatedly prove to commissioning, thus ensuring
be a real marathon. In order for that your axis system operates
everything to run as it should, reliably at all times.
we recommend the Festo
commissioning service for axis Optimally adapted
systems. Maximum axis system per-
formance, e.g. with regard to
Services at a glance cycle time, thanks to optimum
• For reliable operation: checking configuration, parametrisation
of wiring, connections, as well as homing.
travel paths and energy chains
• For optimum paths: axis config- We will support you during
uration and parametrisation commissioning, regardless of
• For maximum performance: the number of axes.
optimisation of the control
parameters and homing
• For tested safety: actuation of
the axes in test mode
• For safeguarded knowledge:
data backups and documenta-
tion
• For reliable operation: briefing
machine operators, e.g. on
error diagnostics and trouble-
shooting or on changing the
position values

58 Handling system overview – Subject to change – 2009/09

After-Sales Service – worldwide
The production industry is
focused on efficiency and 100%
system availability. This means
ensuring maximum reliability is a
must.
And that’s what our services are
designed to do. They are avail-
able in 176 countries around
the world and can be completely
integrated in your total produc-
tive 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
Other services for efficient sys-
tem operation
Festo Energy Saving Services
help system operators determine
their savings potentials with
regard to compressed air and
help them utilise this to the full.
The result: up to 60% energy
and cost savings with increased
productivity.
2009/09 – Subject to change – Handling system overview
We will repair complex compo-
nents and sub-assemblies.
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,
maintenance, repairs and
commissioning, directly on
your system.
• Modular service contracts
Ideal support for preventive
maintenance, but also in an
emergency.
Condition Monitoring Service
Monitor critical processes
continually and avoid expen-
sive, unplanned machine
downtimes.
Festo specialists will develop
and design a condition moni-
toring solution especially for
your system and help you to
implement it.
Would you like to learn more
about our services? Ask our
specialists!
59
 Festo worldwide

Argentina Finland Latvia Slovenia

Festo S.A. Festo OY Festo SIA Festo d.o.o. Ljubljana
Edison 2392 Mäkituvantie 9, P.O. Box 86 A. Deglava iela 60 IC Trzin, Blatnica 8
(B1640 HRV) Martinez 01511 Vantaa 1035 Riga 1236 Trzin
Prov. Buenos Aires Tel. ++358 (09)/87 06 51, Fax 87 06 52 00 Tel. ++371 67/57 78 64, Fax 57 79 46 Tel. ++386 (0)1/530 21 00, Fax 530 21 25
Tel. ++54 (0)11/47 17 82 00, Fax 47 17 82 82 E-mail: info_fi@festo.com E-mail: info_lv@festo.com E-mail: info_si@festo.com
E-mail: info@ar.festo.com
France Lithuania
Australia South Africa
Festo E.U.R.L. Festo UAB
Festo Pty. Ltd. Festo (Pty) Ltd.
ZA des Maisons Rouges Karaliaus Mindaugo pr. 22
Head Office (Melbourne) 8 rue du Clos Sainte Catherine 3000 Kaunas 22-26 Electron Avenue, P.O. Box 255
179-187 Browns Road, P.O. Box 261 94367 Bry-sur-Marne cedex Tel. ++370 (8)7/32 13 14, Fax 32 13 15 Isando 1600
Noble Park Vic. 3174 Numéro Indigo Tel. 0820/20 46 40, Fax 20 46 41 E-mail: info_lt@festo.com Tel. ++27 (0)11/971 55 00, Fax 974 21 57
Call Toll Free 1300 88 96 96 Tel. ++33 (0)1/48 82 64 00, Fax 48 82 64 01 E-mail: info_za@festo.com
Fax Toll Free 1300 88 95 95 E-mail: info_fr@festo.com Malaysia
Tel. ++ 61(0)3/97 95 95 55, Fax 97 95 97 87 Festo Sdn.Berhad Spain
E-mail: info_au@festo.com.au Germany 10 Persiaran Industri Festo Pneumatic, S.A.U.
Festo AG & Co. KG Bandar Sri Damansara, Wilayah Persekutuan Avenida Granvia, 159
Austria Postfach 52200 Kuala Lumpur Distrito Económico Granvia L'H
Festo Gesellschaft m.b.H. 73726 Esslingen Tel. ++60 (0)3/62 86 80 00, Fax 62 75 64 11
Linzer Straße 227 08908 Hospitalet de Llobregat, Barcelona
Ruiter Straße 82 E-mail: info_my@festo.com Tel. 901243660, Fax 902243660
1140 Wien 73734 Esslingen
Tel. ++43 (0)1/910 75-0, Fax 910 75-250 Tel. ++ 3493/261 64 00, Fax 261 64 20
Tel. ++49 (0)711/34 70, Fax 347 21 44 Mexico
E-mail: automation@festo.at E-mail: info_es@festo.com
E-mail: info_de@festo.com Festo Pneumatic, S.A.
Av. Ceylán 3
Belarus Sweden
Greece Col. Tequesquinahuac
IP Festo Festo AB
Festo Ltd. 54020 Tlalnepantla, Edo. de México
220035 Minsk Stillmansgatan 1, Box 21038
40 Hamosternas Ave., P.C. 11853 Tel. ++52 (01)55/53 21 66 00, Fax 53 21 66 55
Prospekt Masherova , 78 200 21 Malmö
Athens E-mail: festo.mexico@mx.festo.com
Belarus Tel. ++46 (0)20/38 38 40, Fax 38 38 10
Tel. +30 210/341 29 00, Fax 341 29 05
Tel. +375 (0)17/204 85 58, Fax 204 85 59
E-mail: info_gr@festo.com Netherlands E-mail: order@festo.se
E-mail: info_by@festo.com
Festo B.V.
Belgium Hong Kong Schieweg 62 Switzerland
Festo Belgium sa/nv Festo Ltd. 2627 AN Delft Festo AG
Rue Colonel Bourg 101 6/F New Timely Factory Building, Tel. ++31 (0)15/251 88 99, Fax 251 88 67 Moosmattstrasse 24
1030 Bruxelles/Brussel 497 Castle Peak Road, E-mail: info@festo.nl 8953 Dietikon ZH
Tel. ++32 (0)2/702 32 11, Fax 702 32 09 Kowloon, Hong Kong Tel. ++41 (0)44/744 55 44, Fax 744 55 00
E-mail: info_be@festo.com Tel. ++ 852/27 43 83 79, Fax 27 86 21 73 New Zealand E-mail: info_ch@festo.com
E-mail: info_hk@festo.com Festo Limited
Brazil 20 Fisher Crescent
Taiwan
Festo Automação Ltda. Hungary MT. Wellington
Festo Kft. Auckland NZ Festo Co., Ltd.
Rua Guiseppe Crespi, 76 Head Office
KM 12,5 - Via Anchieta Csillaghegyi út 32-34. Tel. ++64 (0)9/574 10 94, Fax 574 10 99
1037 Budapest E-mail: info_nz@festo.com 24450, No. 9, Kung 8th Road,
04183-080 São Paulo SP-Brazíl
Tel. ++55 (0)11/50 13 16 00, Fax 50 13 18 68 Tel. ++36 1/436 51 11, Fax 436 51 01 Linkou 2nd Industrial Zone
E-mail: info_br@festo.com E-mail: info_hu@festo.com Nigeria Linkou Hsiang, Taipei Hsien,
Festo Automation Ltd. Taiwan, R.O.C.
Bulgaria India Motorways Centre, First Floor, Block C Tel. ++886 (0)2 26 01-92 81,
Festo EOOD Festo Controls Private Ltd. Alausa, Ikeja, Fax ++886 (0)2 26 01 92 86-7
1592 Sofia 237B, Lagos, NIGERIA E-mail: festotw@festo.com
Bul. Christophor Kolumb 9 Bommasandra Industrial Area, Tel. ++234 (0)1/794 78 20, Fax 555 78 94
Tel. +359 (0)2/960 07 12, Fax 960 07 13 Bangalore Hosur Highway, E-mail: info@ng-festo.com Thailand
E-mail: info_bg@festo.com Bangalore 560 099 Festo Ltd.
Tel. ++91 (0)80/22 89 41 00, Fax 783 20 58 Norway 67/1 Moo 6 Phaholyothin Road
Canada E-mail: info_in@festo.com Festo AS
Klong 1, Klong Luang,
Festo Inc. Ole Deviks vei 2
5300 Explorer Drive Indonesia 0666 Oslo Pathumthani 12120
Mississauga, Ontario L4W 5G4 PT. Festo Tel. ++47 22 72 89 50, Fax ++47 22 72 89 51 Tel. ++66 29 01 88 00, Fax ++66 29 01 88 33
Tel. ++1 (0)905/624 90 00, Fax 624 90 01 JL. Sultan Iskandar Muda No.68 E-mail: info_no@festo.com E-mail: info_th@festo.com
E-mail: info_ca@festo.com Arteri Pondok Indah
Jakarta 12240 Peru Turkey
Chile Tel. ++62 (0)21/27 50 79 00, Fax 27 50 79 98 Festo S.R.L. Festo San. ve Tic. A.S.
Festo S.A. E-mail: info_id@festo.com Calle Amador Merino Reyna #480 Tuzla Mermerciler Organize
Avenida Américo Vespucio 760, San Isidro Sanayi Bölgesi 6/18
Pudahuel, Santiago Iran Lima, Perú 34956 Tuzla - Istanbul/TR
Tel. +56 2 690 28 00, Fax +56 2 690 28 60 Festo Pneumatic S.K. Tel. ++51 (0)1/222 15 84, Fax 222 15 95 Tel. ++90 (0)216/585 00 85, Fax 585 00 50
E-mail: info.chile@cl.festo.com # 2, 6th street, 16th avenue, E-mail: festo.peru@pe.festo.com E-mail: info_tr@festo.com
Teheran 1581975411
China Km 8, Special Karaj Road, Philippines
Festo (China) Ltd. Ukraine
P.O.Box 15815-1485 Festo Inc.
1156 Yunqiao Road Festo Ukraina
Teheran 1389793761 KM 18, West Service Road
Jinqiao Export Processing Zone, Pudong, DP Festo
Tel. ++98 (0)21 44 52 24 09, South Superhighway
201206 Shanghai, PRC Fax ++98 (0)21 44 52 24 08 1700 Paranaque City, Metro Manila ul. Borisoglebskaya, 11
Tel. +86 (0)21/60 81 51 00, Fax 58 54 03 00 E-mail: Mailroom@festo.ir Tel. ++63 (0)2/776 68 88, Fax 823 42 19 Kiev, 04070, Ukrainia
E-mail: info_cn@cn.festo.com E-mail: info_ph@festo.com Tel. +380 (0)44/239 24 33, Fax 463 70 96
Ireland E-mail: info_ua@festo.com
Colombia Festo Limited Poland
Festo Ltda. Unit 5 Sandyford Park Festo Sp. z o.o. United Kingdom
Avenida El Dorado No. 98-43 Sandyford Industrial Estate Janki k/Warszawy, ul. Mszczonowska 7 Festo Limited
Bogotá
Dublin 18 05090 Raszyn Applied Automation Centre, Caswell Road
Tel. ++57 (0)1/404 80 88, Fax 404 81 01
Tel. ++ 353(0)1/295 49 55, Fax 295 56 80 Tel. ++48 (0)22/711 41 00, Fax 711 41 02 Brackmills Trading Estate
E-mail: festo@festo.com.co
E-mail: info_ie@festo.com E-mail: info_pl@festo.com Northampton NN4 7PY
Croatia Tel. ++44 (0)1604/66 70 00, Fax 66 70 01
Israel Romania E-mail: info_gb@festo.com
Festo d.o.o.
Festo Pneumatic Israel Ltd. Festo S.R.L.
Nova Cesta 181
P.O. Box 1076, Ha'atzma'ut Road 48 St. Constantin 17
10000 Zagreb United States
Tel. ++385 (0)1/619 19 69, Fax 619 18 18 Yehud 56100 010217 Bucuresti
Tel. ++972 (0)3/632 22 66, Fax 632 22 77 Tel. ++40 (0)21/310 29 83, Fax 310 24 09 Festo Corporation (New York)
E-mail: info_hr@festo.com 395 Moreland Road, P.O. Box 18023
E-mail: info_il@festo.com E-mail: info_ro@festo.com
Hauppauge, N.Y. 11788
Czech Republic Call Toll-free 800/993 3786
Festo, s.r.o. Italy Russia
Festo SpA OOO Festo-RF Fax Toll-free 800/963 3786
Modranská 543/76
147 00 Praha 4 Via Enrico Fermi 36/38 Michurinskiy prosp., 49 Tel. ++ 1(0)314/770 01 12, Fax 770 16 84
Tel. ++420 261 09 96 11, 20090 Assago (MI) 119607 Moskow E-mail: customer.service@us.festo.com
Fax ++420 241 77 33 84 Tel. +39 02/45 78 81, Fax 488 06 20 Tel. +7 495/737 34 00, Fax 737 34 01
E-mail: info_cz@festo.com E-mail: info_it@festo.com E-mail: info_ru@festo.com Venezuela
Festo C.A.
Denmark Japan Singapore Av. 23, Esquina calle 71, No. 22-62
Festo A/S Festo K.K. Festo Pte. Ltd. Maracaibo, Edo. Zulia
Islevdalvej 180 1-26-10 Hayabuchi, Tsuzuki-ku 6 Kian Teck Way Tel. ++58 (0)261/759 09 44, Fax 759 04 55
2610 Rødovre Yokohama 224-0025 Singapore 628754
E-mail: festo@festo.com.ve
Tel. ++45 70 21 10 90, Fax ++45 44 88 81 10 Tel. ++81 (0)45/593 56 10, Fax 593 56 78 Tel. ++65/62 64 01 52, Fax 62 61 10 26
E-mail: info_dk@festo.com E-mail: info_jp@festo.com E-mail: info@sg.festo.com
Vietnam
54355 en 2009/11

Estonia Korea South Slovakia Festo Co., Ltd (Cong Ty Tnhh Festo)
Festo OY AB Eesti Filiaal Festo Korea Co., Ltd. Festo spol. s r.o. No. 206 Tran Nao Street
Laki 11B 470-1 Gasan-dong, Geumcheon-gu Gavlovicová ul. 1 Ward Binh An, District 2
12915 Tallinn Seoul #153-803 83103 Bratislava 3 Ho Chi Minh City, Vietnam
Tel. ++372 666 15 60, Fax ++372 666 15 61 Tel. ++82 (0)2/850 71 14, Fax 864 70 40 Tel. ++421 (0)2/49 10 49 10, Fax 49 10 49 11 Tel. +84 (0)8/740 69 09, Fax 740 69 10
E-mail: info_ee@festo.com E-mail: info_kr@festo.com E-mail: info_sk@festo.com E-mail: info_vn@festo.com