2-axis gantry ZP

Versatile 2-axis gantry

The highly dynamic ZP allows the legs to be flexibly positioned on the gantry beam. This simplifies the planning phase of your automation project, as you don't have to specify precise dimensions right from the outset. The ZP can be individually designed to meet the requirements of the processes or machines that you are automating.

2‐Axis: Type ZP

MEDIA

Experience our products

The FLEXIBLE GANTRY SYSTEM

Our gantry concept enables the legs to be flexibly positioned on the gantry beam

This is a huge advantage during the planning phase as the precise dimensions of the processes or machines to be automated are often only known at a relatively late stage.
This flexibility also allows the system to be modified at a resonable cost if adjustments to the production processes are desired at a later date.

The beams are available in standard lengths. They are equipped on both sides with exact joining elements, making almost any desired total length possible. Our flexible system even makes retrofitting your production line for new processes economical.

DOWNLOADS

Product	Type	Language	Payload (N)	Download

Robotics Catalog	Catalog	English	-	pdf
Robotics Catalog	Catalog	German	-	pdf
ZP-2	Data sheet	English	400	pdf
ZP-2	Data sheet	German	400	pdf
ZP-3	Data sheet	English	800	pdf
ZP-3	Data sheet	German	800	pdf
ZP-4	Data sheet	English	2000	pdf
ZP-4	Data sheet	German	2000	pdf
ZP-5	Data sheet	English	5000	pdf
ZP-5	Data sheet	German	5000	pdf
ZP-6	Data sheet	English	12500	pdf
ZP-6	Data sheet	German	12500	pdf
ZP-7	Data sheet	English	31250	pdf
ZP-7	Data sheet	German	31250	pdf
Product and solutions portfolio	Brochure	English	-	pdf
Product and solutions portfolio	Brochure	German	-	pdf
ZP-2	CAD models	English	400	zip
ZP-3	CAD models	English	800	zip
ZP-4	CAD models	English	2000	zip
ZP-5	CAD models	English	5000	zip
ZP-6	CAD models	English	12500	zip
ZP-7	CAD models	English	31250	zip

Related Products

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Type FP portal gantries are especially suited to applications where large work areas.

TrackMotion Overhead TMO

The overhead-trackmotion TMO allows mounting the robot in different positions.

TrackMotion Floor TMF

Linear Traversing Axis. The Trackmotion Floor (TMF) axis easily absorbs the dynamic fundamental loads of buckling arm robots in every direction. The robot transfer unit (RTU) is distinguished by its excellent stability and resistance to contamination.

Gearboxes

As a manufacturer of gearboxes, we offer a wide variety of types such as planetary- and angle gearboxes in various sizes and combinations.

Linear guideways

The basic elements of our linear systems include guideway rollers and guideway flat rails with or without built-in racks, pinions and and base supports.

Rack & pinion

Our racks and pinions are available in various designs and qualities, but we can also produce custom-made models on request.

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Carriage - Cable loop

	Position	Material	Description	Art. No.	Dim.	m
1	19	Alu	Laufwageneinheit kpl*			27 kg *
2	23	PAG	Energiekette Y-Achse	H4.42.11.150.0	42 x 108 mm	1,96 kg/m
3			Mounting bracket with tiewrap clamp	E40.420.11.2.C
4	25	PAG	Energiekette Z-Achse	H4.42.06.150.0	42 x 68 mm	1,86 kg/m
5			Mounting bracket with tiewrap clamp	E40.420.11.2.C

* Weight without motor, cabinet, cables.

Stroke and drive data Typ ZP-2

Axis	y
Stroke[mm]	sy ≤ 30000¹
max. payload F[N]	160	250	400
*Speed[ m min ^-1]**	150	112,5	75
Acceleration[ms^-2]	6	5	2,5
*Gearbox ratio [-]**	3	4	6
*Size of Güdel gearbox type [-]**	045	045	045
Stroke of axis per motor revolution[mm]	33,33	25,00	16,67
Acceleration time[s]	0,417	0,375	0,500
Stroke of axis while accelerating[m]	0,521	0,352	0,313
*Motor speed [min-1]**	4500	4500	4500
*Stall torque of motor [Nm]**	0,51	0,42	0,34
*Max. torque of motor [Nm]**	3,71	2,65	1,25
*Red. inertia of axis [kgm²]**	2,50E-03	1,50E-03	8,10E-04
	High dynamic	Optimal	High load

Axis	z
Stroke[mm]	s_z ≤ 700¹
max. payload F[N]	160	250	400
*Speed[ m min ^-1]**	112,5	75	45
Acceleration[ms^-2]	12	5	1,5
*Gearbox ratio [-]**	4	6	10
*Size of Güdel gearbox type [-]**	045	045	045
Stroke of axis per motor revolution[mm]	25	16,67	10
Acceleration time[s]	0,156	0,25	0,5
Stroke of axis while accelerating[m]	0,146	0,156	0,188
*Motor speed [min-1]**	4500	4500	4500
*Stall torque of motor [Nm]**	1,46	1,33	1,2
*Max. torque of motor [Nm]**	3,29	2,04	1,4
*Red. inertia of axis [kgm²]**	5,30E-04	3,20E-04	1,80E-04
	High dynamic	Optimal	High load

* HPG

Repeatability

r = ± 0.02 mm

Bending and torsion values

	Axis	Material	*m [kg/m]**	*lx [cm⁴]**	*ly [cm⁴]**	lt [cm⁴]
1	Y	S355J2	45,20	1660	1550	2250
2	Z	EN AW-6063 T6	12,40	279	227	79

* with guideway bars

Carriage - Cable loop

	Position	Material	Description	Art. No.	Dim.	m
1	19	Alu	Laufwageneinheit kpl*			38 kg *
2	23	PAG	Energiekette Y-Achse	H4.42.20.200.0	42 x 200 mm	2.2 kg/m
3			Mounting bracket with tiewrap clamp	E4.420.20.1.2.C
4	25	PAG	Energiekette Z-Achse	H4.42.11.150.0	42 x 108 mm	1.96 kg/m
5			Mounting bracket with tiewrap clamp	E40.420.11.1.2.C

* Weight without motor, cabinet, cables.

Stroke and drive data Typ ZP-3

Axis	y
Stroke[mm]	sy ≤ 100030¹
max. payload F[N]	300	500	800
*Speed[ m min ^-1]**	150	112,5	75
Acceleration[ms^-2]	5,5	4	3
*Gearbox ratio [-]**	3	4	6
*Size of Güdel gearbox type [-]**	045	045	045
Stroke of axis per motor revolution[mm]	33,33	25,0	16,67
Acceleration time[s]	0,455	0,469	0,417
Stroke of axis while accelerating[m]	0,568	0,439	0,260
*Motor speed [min-1]**	4500	4500	4500
*Stall torque of motor [Nm]**	0,8	0,7	0,6
*Max. torque of motor [Nm]**	5,5	3,7	2,5
*Red. inertia of axis [kgm²]**	4.0E-03	2.6E-03	1.4E-03
	High dynamic	Optimal	High load

Axis	z
Stroke[mm]	s_z ≤ 1000¹
max. payload F[N]	300	500	800
*Speed[ m min ^-1]**	112,5	75	45
Acceleration[ms^-2]	10	2,5	1,5
*Gearbox ratio [-]**	4	6	10
*Size of Güdel gearbox type [-]**	045	045	045
Stroke of axis per motor revolution[mm]	25,00	16,67	10,00
Acceleration time[s]	0,188	0,500	0,500
Stroke of axis while accelerating[m]	0,176	0,313	0,188
*Motor speed [min-1]**	4500	4500	4500
*Stall torque of motor [Nm]**	3,3	3,0	2,6
*Max. torque of motor [Nm]**	6,6	3,7	3,0
*Red. inertia of axis [kgm²]**	1.1E-03	6.9E-04	3.8E-04
	High dynamic	Optimal	High load

* HPG

Repeatability

r = ± 0.02 mm

Bending and torsion values

	Axis	Material	*m [kg/m]**	*lx [cm⁴]**	*ly [cm⁴]**	lt [cm⁴]
1	Y	S355J2	61,90	3048	2884	4011
2	Z	EN AW-6063 T6	18,2	1379	1254	1440

* with guideway bars

Carriage - Cable loop

	Position	Material	Description	Art. No.	Dim.	m
1	19	Alu	Laufwageneinheit kpl*			60 kg *
2	23	PAG	Energiekette Y-Achse	H4.42.17.200.0	42 x 200 mm	2.2 kg/m
3			Mounting bracket with tiewrap clamp	E4.420.17.2.C
4	25	PAG	Energiekette Z-Achse	H4.42.11.150.0	42 x 108 mm	1.96 kg/m
5			Mounting bracket with tiewrap clamp	E4.420.20.2.C

* Weight without motor, cabinet, cables.

Stroke and drive data Typ ZP-4

Axis	y
Stroke[mm]	sy ≤ 100050¹
max. payload F[N]	800	1250	2000
*Speed[ m min ^-1]**	200	120	75
Acceleration[ms^-2]	5	4	2
*Gearbox ratio [-]**	3	5	8
*Size of Güdel gearbox type [-]**	060	060	060
Stroke of axis per motor revolution[mm]	44.43	26.66	16.66
Acceleration time[s]	0.667	0.500	0.625
Stroke of axis while accelerating[m]	1.111	0.500	0.391
*Motor speed [min-1]**	4502	4502	4502
*Stall torque of motor [Nm]**	1.8	1.3	1.1
*Max. torque of motor [Nm]**	11.1	6.8	3.4
*Red. inertia of axis [kgm²]**	1.2E-02	5.1E-03	2.6E-04
	High dynamic	Optimal	High load

Axis	z
Stroke[mm]	s_z ≤ 1200¹
max. payload F[N]	800	1250	2000
*Speed[ m min ^-1]**	120	75	45
Acceleration[ms^-2]	7.5	2.5	1
*Gearbox ratio [-]**	5	8	13.33
*Size of Güdel gearbox type [-]**	060	060	060
Stroke of axis per motor revolution[mm]	26.66	16.66	10.0
Acceleration time[s]	0.267	0.500	0.750
Stroke of axis while accelerating[m]	0.267	0.500	0.281
*Motor speed [min-1]**	4502	4502	4502
*Stall torque of motor [Nm]**	7.0	6.1	5.6
*Max. torque of motor [Nm]**	12.1	7.6	6.2
*Red. inertia of axis [kgm²]**	2.6E-03	1.4E-03	7.6E-04
	High dynamic	Optimal	High load

* HPG

Repeatability

r = ± 0.02 mm

Bending and torsion values

	Axis	Material	*m [kg/m]**	*lx [cm⁴]**	*ly [cm⁴]**	lt [cm⁴]
1	Y	S355J2	88.3	8576	8151	11168
2	Z	EN AW-6063 T6	23	1510	1370	1442

* with guideway bars

Carriage - Cable loop

	Position	Material	Description	Art. No.	Dim.	m
1	19	Alu	Laufwageneinheit kpl*			175 kg *
2	23	PAG	Energiekette Y-Achse	H4.42.20.200.0	42 x 200 mm	2.2 kg/m
3			Mounting bracket with tiewrap clamp	E4.420.20.1.2.C
4	25	PAG	Energiekette Z-Achse	H4.42.11.150.0	42 x 108 mm	1.96 kg/m
5			Mounting bracket with tiewrap clamp	E4.420.11.1.2.C

* Weight without motor, cabinet, cables.

Stroke and drive data Typ ZP-5

Axis	y
Stroke[mm]	sy ≤ 100050¹
max. payload F[N]	2000	3100	5000
*Speed[ m min ^-1]**	150	100	60
Acceleration[ms^-2]	5	3.5	2
*Gearbox ratio [-]**	4	6	10
*Size of Güdel gearbox type [-]**	090	090	090
Stroke of axis per motor revolution[mm]	50.00	33.33	20.00
Acceleration time[s]	0.500	0.476	0.500
Stroke of axis while accelerating[m]	0.625	0.397	0.250
*Motor speed [min-1]**	3000	3000	3000
*Stall torque of motor [Nm]**	3.9	3.1	2.5
*Max. torque of motor [Nm]**	24.4	14.9	8.0
*Red. inertia of axis [kgm²]**	3.0E-02	1.6E-02	7.8E-03
	High dynamic	Optimal	High load

Axis	z
Stroke[mm]	s_z ≤ 1600¹
max. payload F[N]	1600	3100	5000
*Speed[ m min ^-1]**	100	60	37.5
Acceleration[ms^-2]	8.0	2.0	1.0
*Gearbox ratio [-]**	6	10	16
*Size of Güdel gearbox type [-]**	090	090	090
Stroke of axis per motor revolution[mm]	33.33	20.00	12.50
Acceleration time[s]	0.208	0.500	0.625
Stroke of axis while accelerating[m]	0.174	0.250	0.195
*Motor speed [min-1]**	3000	3000	3000
*Stall torque of motor [Nm]**	16.0	13.4	12.9
*Max. torque of motor [Nm]**	29.4	16.4	14.5
*Red. inertia of axis [kgm²]**	8.2E-03	4.3E-03	2.7E-03
	High dynamic	Optimal	High load

* HPG

Repeatability

r = ± 0.02 mm

Bending and torsion values

	Axis	Material	*m [kg/m]**	*lx [cm⁴]**	*ly [cm⁴]**	lt [cm⁴]
1	Y	S355J2H	156.8	28840	27365	36650
2	Z	EN AW-6063 T6	43.1	5840	5450	4913

* with guideway bars

Carriage - Cable loop

	Position	Material	Description	Art. No.	Dim.	m
1	19	Alu	Laufwageneinheit kpl*			377 kg *
2	23	PAG	Energiekette Y-Achse	H4.42.20.250.0	42 x 200 mm	2.2 kg/m
3			Mounting bracket with tiewrap clamp	E4.420.11.1.2.C
4	25	PAG	Energiekette Z-Achse	H4.42.11.150.0	42 x 108 mm	1.96 kg/m
5			Mounting bracket with tiewrap clamp	E4.420.11.1.2.C

* Weight without motor, cabinet, cables.

Stroke and drive data Typ ZP-6

Axis	y
Stroke[mm]	sy ≤ 100074¹
max. payload F[N]	5000	8000	12500
*Speed[ m min ^-1]**	200	120	75
Acceleration[ms^-2]	4.0	3.0	2.0
*Gearbox ratio [-]**	3	5	8
*Size of Güdel gearbox type [-]**	120	120	120
Stroke of axis per motor revolution[mm]	71.11	42.67	26.67
Acceleration time[s]	0.833	0.667	0.625
Stroke of axis while accelerating[m]	1.389	0.667	0.391
*Motor speed [min-1]**	2813	2813	2813
*Stall torque of motor [Nm]**	6.8	5.3	4.6
*Max. torque of motor [Nm]**	63.7	39.0	24.4
*Red. inertia of axis [kgm²]**	1.5E-01	6.9E-02	3.6E-02
	High dynamic	Optimal	High load

Axis	z
Stroke[mm]	s_z ≤ 1600¹
max. payload F[N]	5000	8000	12500
*Speed[ m min ^-1]**	120	75	45
Acceleration[ms^-2]	3.0	2.0	1.0
*Gearbox ratio [-]**	5	8	13.33
*Size of Güdel gearbox type [-]**	120	120	120
Stroke of axis per motor revolution[mm]	42.67	26.67	16.00
Acceleration time[s]	0.667	0.625	0.750
Stroke of axis while accelerating[m]	0.667	0.391	0.281
*Motor speed [min-1]**	2813	2813	2813
*Stall torque of motor [Nm]**	54.0	51.1	47.4
*Max. torque of motor [Nm]**	70.7	62.0	52.6
*Red. inertia of axis [kgm²]**	3.4E-02	2.0E-02	1.1E-02
	High dynamic	Optimal	High load

* HPG

Repeatability

r = ± 0.02 mm

Bending and torsion values

	Axis	Material	*m [kg/m]**	*lx [cm⁴]**	*ly [cm⁴]**	lt [cm⁴]
1	Y	S355J2H	192.5	43880	46765	55383
2	Z	EN AW-6063 T6	62.6	14105	13315	11280

* with guideway bars

Carriage - Cable loop

	Position	Material	Description	Art. No.	Dim.	m
1	19	Alu	Laufwageneinheit kpl*			603 kg *
2	23	PAG	Energiekette Y-Achse	H4.42.20.250.0	42 x 200 mm	2.2 kg/m
3			Mounting bracket with tiewrap clamp	E4.420.20.1.2.C
4	25	PAG	Energiekette Z-Achse	H4.42.11.150.0	42 x 108 mm	1.96 kg/m
5			Mounting bracket with tiewrap clamp	E4.420.11.1.2.C

* Weight without motor, cabinet, cables. In the standard execution each second segment has a vertical divider. Shelves for cable loops on request.

Stroke and drive data Typ ZP-7

Axis	y
Stroke[mm]	sy ≤ 100098¹
max. payload F[N]	12500	20000	31250
*Speed[ m min ^-1]**	150	100	60
Acceleration[ms^-2]	4.0	3.0	2.0
*Gearbox ratio [-]**	4	6	10
*Size of Güdel gearbox type [-]**	120	120	120
Stroke of axis per motor revolution[mm]	53.33	35.56	21.33
Acceleration time[s]	0.625	0.556	0.500
Stroke of axis while accelerating[m]	0.781	0.463	0.250
*Motor speed [min-1]**	2813	2813	2813
*Stall torque of motor [Nm]**	10.3	9.4	8.2
*Max. torque of motor [Nm]**	96.1	68.3	42.7
*Red. inertia of axis [kgm²]**	1.7E-01	1.0E-01	5.0E-02
	High dynamic	Optimal	High load

Axis	z
Stroke[mm]	s_z ≤ 1600¹
max. payload F[N]	12500	20000	31250
*Speed[ m min ^-1]**	75	45	30
Acceleration[ms^-2]	3.0	2.0	1.0
*Gearbox ratio [-]**	16	25	35
*Size of Güdel gearbox type [-]**	240*	240*	240*
Stroke of axis per motor revolution[mm]	25.00	16.00	11.43
Acceleration time[s]	0.417	0.375	0.500
Stroke of axis while accelerating[m]	0.260	0.141	0.125
*Motor speed [min-1]**	3000	2813	2625
*Stall torque of motor [Nm]**	67.9	64.1	68.0
*Max. torque of motor [Nm]**	89.5	78.4	90.0
*Red. inertia of axis [kgm²]**	2.7E-02	1.7E-02	3.9E-02
	High dynamic	Optimal	High load

* HPG

Repeatability

r = ± 0.02 mm

Bending and torsion values

	Axis	Material	*m [kg/m]**	*lx [cm⁴]**	*ly [cm⁴]**	lt [cm⁴]
1	Y	S355J2	261.8	78565	81055	81055
2	Z	EN AW-6063 T6	90.1	30855	29905	25692

* with guideway bars