Gantry robots 
igus offers robot gantries for a wide variety of tasks. igus gantries contain preconfigured drylin linear actuators and linear axes with igus BLDC / EC motors as well as all components required for self-assembly.
 
Application examples
Typical applications of our gantry robots are pick and place, conveyor belt picking and stacking tasks in three-dimensional space. In most cases, the spatial gantry robot provides the platform on which our customers build their application. In conjunction with a gripper or suction cup, picking tasks can be implemented very quickly.
 
X-axes
consisting of: two drylin® ZLW-1040 toothed belt axis, standard version, toothed belt tension 200 N, feed 70 mm/rev, aluminium profile, surface: hard anodized, PU toothed belt with steel tension, white, guide carriage length 150 mm, plastic crossbeam, driven by an igus stepper motor in size NEMA24 with encoder, mechanically synchronized by an aluminium AWMR-12 king shaft, king shaft supported with KSTM-12 pedestal bearings
 
Y-axis
consisting of: drylin® ZLW-1080 toothed belt axis, standard version, toothed belt tension 200 N, feed 70 mm/rev, aluminium profile, surface: hard anodized, PU toothed belt with steel tension, white, guide carriage length 150 mm, aluminium crossbeam, driven by an igus stepper motor in size NEMA24 with encoder

Z-axis
consisting of: drylin® GRR-1280 cantilever axis, AWMR hollow shafts, feed: 72.26 mm/rev, aluminum shafts, guide carriage in length 100 mm, incl. adjustable housing bearings, aluminum traverse, driven by an igus stepper motor in size NEMA23 in the version with M12 connectors and encoder
 
Control system
The igus Robot Control software enables simple and intuitive robot control and programming, making it easy to get started with automation. The modular design makes it possible to control different igus kinematics, for example Delta robots. The gantry robot can be controlled directly by our igus® Robot Control with all its advantages. The free and license-free igus Robot Control software is integrated into the control system and thus uses a uniform operating concept and consistent communication services for many components of a system. This means less project planning effort and faster commissioning.  The igus Robot Control is not part of the article and can be obtained from us as an option. A master controller is not necessary.

You are welcome to use your own (robot) controller.
Alternatively, it is also possible to operate each axis individually with a controller. For example with our igus® dryve D1 motor controller. With this control architecture, you need one motor controller per linear axis or motor and an additional master controller that controls the coordination of the movement. You must then program the inverse kinematics for the delta robot yourself in your development environment.
The motor controllers are not part of the article and can be obtained from us as an option. A master controller is not currently offered by igus.
 
Optional accessories
Cable set for 3-axis kinematics in 3, 5 or 10 m, igus® Robot Control for Gantry robots, Other dimensions available upon request or e-chain set for DLE-RG-0014 sold separately.
 
Further information
In addition, further strokes up to 3 m are available as standard and, after technical testing, also up to 6 m and 20 kg.