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gantryRobot: Control Systems
Choose from two control systems for GÜDEL's gantryRobot:
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gantryRobot
Güdel Robotics
Machine tool automation
Learn more about loader concepts, grippers and metarial flow systems.
Pallet store system
Learn more about the palleting system with integrated six-axis industrial robot.
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ABB IRC5 Robot Controller
 IRC5 is ABB’s fifth generation robot controller. It sets new standards with its modular concept, a completely new ergonomically designed portable interface unit, the FlexPendant and fully synchronous multiple (up to four) robot control through the MultiMove function.
IRC5 has the ability to control multiple robots with the potential to reduce costs, improve quality, increase productivity and expand robot applications. MultiMove allows applications that were previously impossible – all thanks to the perfect coordination of complex motion patterns.
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HARD- AND SOFTWARE
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Control hardware
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Multi-processor system
PCI bus
Flash disk or hard disk for mass memory
Energy back-up for power failure handling
USB memory interface
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Control software
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Object-oriented design
High-level RAPID robot programming language
Portable, open, expandable
PC-DOS file format
RobotWare software products
Pre-loaded software. Also available on CD-ROM
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ELECTRICAL REQUIREMENTS
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Supply voltage
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200 - 600 V; 50/60 Hz
Integrated transformer or direct mains connection
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ENVIRONMENT
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Ambient temperature
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- Gantry
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5 °C to 50 °C
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- Controller IRC5
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5 – 45°C (41 –112°F), optional 52 °C (125°F)
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Relative humidity
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max. 95%
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Degree of protection
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- Gantry
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IP54
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- Controller S4Cplus
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IP54
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Noise level
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max. 75 dB (A)
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Emission
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EMC/EMI-shielded
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Safety
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Double circuits with supervision, Emergency stops and safety functions, 3-position enable device
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MACHINE INTERFACES
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Inputs/Outputs
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up to 2,048 signals
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Digital
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24 V DC or relay signals
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Analog
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2 x 0-10V, 3 x ±10V, 1 x 4-20mA
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Serial channel
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RS 232/RS 422
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Network
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2x Ethernet (10/100 Mbit/s)
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Fieldbuses
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DeviceNet
Interbus
Profibus DP
Allen-Bradley Remote I/O
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Process interfaces
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Connections for signals to manipulator upper arm
Space in controller for extra equipment
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Encoder
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Up to 6 channels
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SENSOR INTERFACES
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- Search stop with automatic program shift
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- Seam tracking
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- Contour Tracking
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- Conveyor tracking
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USER INTERFACES
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Control panel
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On cabinet or external
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Flex pendant
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Weight 1.3 kg
Graphical colour touch screen
Joystick
Emergency stop
8 hard keys only
Hot plug
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Maintenance
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Status LEDs
Diagnostic software
Recovery procedures
Logging with time stamp
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Safety
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Safety and emergency stops
2-channel safety circuits with supervision
3-position enabling device
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ROBOT CONTROL SYSTEM
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Processor unit
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KUKA PC with Pentium or comparable
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Programming
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Technology-orientated application programming
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CONTROL CABINET
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Type
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KR C2
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Standards and specifications
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73/23/EG, 89/336/EG, 98/37/EG, DIN EN 292-1, DIN EN 292-2, DIN EN 418, DIN EN 614-1, DIN EN 775, EN 954-1, DIN EN 6100-6-4, DIN EN 6100-6-2 , DIN EN 55011, DIN EN 60204-1, DIN EN 61000-4-4, DIN EN 61000-4-5, DIN EN 61800-3
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Protection classification
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IP 54
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Ambient temperature during operation
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278 K -318 K (278 K-328 K with cooling unit)
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Maximum number of axes
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6-8
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Weight approx.
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185 kg without transformer
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Rated supply voltage acc. to DIN IEC 38
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3 AC 400 V ± 10%
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Power frequency
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49-61 Hz
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Rated input power
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7,3 -13,5 kW
depends on drive class
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Mains-side fusing
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min. 3 x 25 A slow-blowing
max. 3 x 32 A slow-blowing
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Networks
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ETHERNET, CAN, INTERBUS S (Option), Profibus
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Noise level acc. to DIN 45635-1
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67 dB (A)
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