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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.

Topics

Technical data Application videos Downloads Product Finder Contact

2‐Axis: Type ZP

APPLICATION VIDEOS

Automation in action

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.

Fexible positioning of the Legs of the Gantry beam for EP, ZP, CP, FP Modules | © Güdel Group AG

GANTRY FINDER

Find the perfect gantry for your application

The Gantry Finder helps you identify the ideal gantry solution for your specific requirements. Simply define the number of axes, payload, and axis reach to discover the right solution from our modular, high-performance portfolio.

DOWNLOADS

Product	Type	Language	Download

Robotics	Catalog	German	pdf
Robotics	Catalog	French	pdf
Robotics	Catalog	English	pdf
Product and solutions portfolio	Brochure	French	pdf
Product and solutions portfolio	Brochure	Czech	pdf
Product and solutions portfolio	Brochure	German	pdf
Product and solutions portfolio	Brochure	English	pdf
Product and solutions portfolio	Brochure	Spanish	pdf
Product and solutions portfolio	Brochure	Italian	pdf
Product and solutions portfolio	Brochure	Polish	pdf
Product and solutions portfolio	Brochure	Chinese	pdf

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overhead robot, robot top loader, rail mounted robot, gantry toploader, rtu, wall mount, ceiling mount, elevated, underslung robots, sideslung robots, robot slides | © Güdel Group AG

TrackMotion Overhead TMO

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High-precision planetary gearboxes

Due to their outstanding properties, planetary gearboxes are used in all kind of industrial applications.

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Carriage - Cable loop

Position	Material	Description	Art. No.	Dim.	Mass
19	Alu	Carriage*			37 kg *
23	PAG	Cable loop Y axes	H4Q.44.108.150	44 x 108 mm	1,49 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.108.1.12.C
25	PAG	Cable loop Z axes	H4Q.44.087.150	44 x 87 mm	1,45 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.087.1.12.C

* Weight without motor, cabinet, cables.

Stroke and drive data Typ ZP-2

Axis		y
Stroke	[mm]	sy ≤ 50000¹
max. payload F	[N]	200	310	500
*Speed[ m min ]**	*[m min ^-1]**	150	120	100
Acceleration[ms]	[ms^-2]	6	5	6
*Gearbox ratio [-]**	[-]	3	4	6
*Size of Güdel gearbox type [-]**	[-]	045	045	045
Stroke of axis per motor revolution[mm]	[mm]	25,00	20,00	16,67
Acceleration time[s]	[s]	0,417	0,400	0,417
Stroke of axis while accelerating[m]	[m]	0,521	0,400	0,347
*Motor speed [min-1]**	[min-1]	6000	6000	6000
*Stall torque of motor [Nm]**	[Nm]	0,5	0,4	0,4
*Max. torque of motor [Nm]**	[Nm]	4,2	3,4	2,9
*Red. inertia of axis [kgm]**	[kgm²]	1.8E-03	1.3E-03	1.1E-03
		High dynamic	Optimal	High load

Axis		z
Stroke	[mm]	s_z ≤ 1000¹
max. payload F	[N]	200	310	500
*Speed[ m min ]**	*[m min ^-1]**	120	90	75
Acceleration[ms]	[ms^-2]	8	5	3
*Gearbox ratio [-]**	[-]	4	5	6
*Size of Güdel gearbox type [-]**	[-]	045	045	045
Stroke of axis per motor revolution[mm]	[mm]	25	20	16,70
Acceleration time[s]	[s]	0,250	0,300	0,417
Stroke of axis while accelerating[m]	[m]	0,250	0,225	0,260
*Motor speed [min-1]**	[min-1]	4800	4500	4500
*Stall torque of motor [Nm]**	[Nm]	2,2	2,3	2,6
*Max. torque of motor [Nm]**	[Nm]	4,8	3,7	3,6
*Red. inertia of axis [kgm]**	[kgm²]	8.6E-04	7.1E-04	6.6E-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]
Y	S355J2	45,20	1660	1550	2250
Z	EN AW-6063 T6	12,40	279	227	79

* with guideway bars

Downloads Typ ZP-2

Robotics [German] Catalog Robotics [French] Catalog Robotics [English] Catalog Product and solutions portfolio [French] Brochure Product and solutions portfolio [Czech] Brochure Product and solutions portfolio [German] Brochure Product and solutions portfolio [English] Brochure Product and solutions portfolio [Spanish] Brochure Product and solutions portfolio [Italian] Brochure Product and solutions portfolio [Polish] Brochure Product and solutions portfolio [Chinese] Brochure

Carriage - Cable loop

Position	Material	Description	Art. No.	Dim.	Mass
19	Alu	Carriage*			38 kg *
23	PAG	Cable loop Y axes	H4Q.44.200.200	44 x 200 mm	1,7kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.200.1.12.C
25	PAG	Cable loop Z axes	H4Q.44.108.150	44 x 108 mm	1.49 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.108.1.12.C

* Weight without motor, cabinet, cables.

Stroke and drive data Typ ZP-3

Axis		y
Stroke	[mm]	sy ≤ 100030¹
max. payload F	[N]	300	300	800
*Speed[ m min ]**	*[m min ^-1]**	150	112,5	75
Acceleration[ms]	[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]	[mm]	33,33	25,0	16,67
Acceleration time[s]	[s]	0,455	0,469	0,417
Stroke of axis while accelerating[m]	[m]	0,568	0,439	0,260
*Motor speed [min-1]**	[min-1]	4500	4500	4500
*Stall torque of motor [Nm]**	[Nm]	0,8	0,7	0,6
*Max. torque of motor [Nm]**	[Nm]	5,5	3,7	2,5
*Red. inertia of axis [kgm]**	[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 ]**	*[m min ^-1]**	112,5	75	45
Acceleration[ms]	[ms^-2]	45	2,5	1,5
*Gearbox ratio [-]**	[-]	4	6	10
*Size of Güdel gearbox type [-]**	[-]	045	045	045
Stroke of axis per motor revolution[mm]	[mm]	25,00	16,67	10,00
Acceleration time[s]	[s]	0,188	0,500	0,500
Stroke of axis while accelerating[m]	[m]	0,176	0,313	0,188
*Motor speed [min-1]**	[min-1]	4500	4500	4500
*Stall torque of motor [Nm]**	[Nm]	3,3	3,0	2,6
*Max. torque of motor [Nm]**	[Nm]	6,6	3,7	3,0
*Red. inertia of axis [kgm]**	[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]
Y	S355J2	61,90	3048	2884	4011
Z	EN AW-6063 T6	18,2	1379	1254	1440

* with guideway bars

Downloads Typ ZP-3

Robotics [German] Catalog Robotics [French] Catalog Robotics [English] Catalog Product and solutions portfolio [French] Brochure Product and solutions portfolio [Czech] Brochure Product and solutions portfolio [German] Brochure Product and solutions portfolio [English] Brochure Product and solutions portfolio [Spanish] Brochure Product and solutions portfolio [Italian] Brochure Product and solutions portfolio [Polish] Brochure Product and solutions portfolio [Chinese] Brochure

Carriage - Cable loop

Position	Material	Description	Art. No.	Dim.	Mass
19	Alu	Carriage*			60 kg *
23	PAG	Cable loop Y axes	H4Q.44.200.200	44 x 200 mm	1.7 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.200.1.12.C
25	PAG	Cable loop Z axes	H4Q.44.108.150	44 x 108 mm	1.49 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.108.1.12.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 ]**	*[m min ^-1]**	200	120	75
Acceleration[ms]	[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]	[mm]	44.43	26.66	16.66
Acceleration time[s]	[s]	0.667	0.500	0.625
Stroke of axis while accelerating[m]	[m]	1.111	0.500	0.391
*Motor speed [min-1]**	[min-1]	4502	4502	4502
*Stall torque of motor [Nm]**	[Nm]	1.8	1.3	1.1
*Max. torque of motor [Nm]**	[Nm]	11.1	6.8	3.4
*Red. inertia of axis [kgm]**	[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 ]**	*[m min ^-1]**	120	75	45
Acceleration[ms]	[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]	[mm]	26.66	16.66	10.0
Acceleration time[s]	[s]	0.267	0.500	0.750
Stroke of axis while accelerating[m]	[m]	0.267	0.500	0.281
*Motor speed [min-1]**	[min-1]	4502	4502	4502
*Stall torque of motor [Nm]**	[Nm]	7.0	6.1	5.6
*Max. torque of motor [Nm]**	[Nm]	12.1	7.6	6.2
*Red. inertia of axis [kgm]**	[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]
Y	S355J2	88.3	8576	8151	11168
Z	EN AW-6063 T6	23	1510	1370	1442

* with guideway bars

Downloads Typ ZP-4

Robotics [German] Catalog Robotics [French] Catalog Robotics [English] Catalog Product and solutions portfolio [French] Brochure Product and solutions portfolio [Czech] Brochure Product and solutions portfolio [German] Brochure Product and solutions portfolio [English] Brochure Product and solutions portfolio [Spanish] Brochure Product and solutions portfolio [Italian] Brochure Product and solutions portfolio [Polish] Brochure Product and solutions portfolio [Chinese] Brochure

Carriage - Cable loop

Position	Material	Description	Art. No.	Dim.	Mass
19	Alu	Carriage*			175 kg *
23	PAG	Cable loop Y axes	H4Q.44.200.200	44 x 200 mm	1.7 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.200.1.12.C
25	PAG	Cable loop Z axes	H4Q.44.108.150	44 x 108 mm	1.49 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.108.1.12.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 ]**	*[m min ^-1]**	150	100	60
Acceleration[ms]	[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]	[mm]	50.00	33.33	20.00
Acceleration time[s]	[s]	0.500	0.476	0.500
Stroke of axis while accelerating[m]	[m]	0.625	0.397	0.250
*Motor speed [min-1]**	[min-1]	3000	3000	3000
*Stall torque of motor [Nm]**	[Nm]	3.9	3.1	2.5
*Max. torque of motor [Nm]**	[Nm]	24.4	14.9	8.0
*Red. inertia of axis [kgm]**	[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 ]**	*[m min ^-1]**	100	60	37.5
Acceleration[ms]	[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]	[mm]	33.33	20.00	12.50
Acceleration time[s]	[s]	0.208	0.500	0.625
Stroke of axis while accelerating[m]	[m]	0.174	0.250	0.195
*Motor speed [min-1]**	[min-1]	3000	3000	3000
*Stall torque of motor [Nm]**	[Nm]	16.0	13.4	12.9
*Max. torque of motor [Nm]**	[Nm]	29.4	16.4	14.5
*Red. inertia of axis [kgm]**	[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]
Y	S355J2H	156.8	28840	27365	36650
Z	EN AW-6063 T6	43.1	5840	5450	4913

* with guideway bars

Downloads Typ ZP-5

Robotics [German] Catalog Robotics [French] Catalog Robotics [English] Catalog Product and solutions portfolio [French] Brochure Product and solutions portfolio [Czech] Brochure Product and solutions portfolio [German] Brochure Product and solutions portfolio [English] Brochure Product and solutions portfolio [Spanish] Brochure Product and solutions portfolio [Italian] Brochure Product and solutions portfolio [Polish] Brochure Product and solutions portfolio [Chinese] Brochure

Carriage - Cable loop

Position	Material	Description	Art. No.	Dim.	Mass
19	Alu	Carriage*			377 kg *
23	PAG	Cable loop Y axes	H4Q.44.200.250.0	44 x 200 mm	1.7 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.200.1.12.C
25	PAG	Cable loop Z axes	H4Q.44.108.150.0	44 x 108 mm	1.49 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.108.1.12.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 ]**	*[m min ^-1]**	200	120	75
Acceleration[ms]	[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]	[mm]	71.11	42.67	26.67
Acceleration time[s]	[s]	0.833	0.667	0.625
Stroke of axis while accelerating[m]	[m]	1.389	0.667	0.391
*Motor speed [min-1]**	[min-1]	2813	2813	2813
*Stall torque of motor [Nm]**	[Nm]	6.8	5.3	4.6
*Max. torque of motor [Nm]**	[Nm]	63.7	39.0	24.4
*Red. inertia of axis [kgm]**	[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 ]**	*[m min ^-1]**	120	75	45
Acceleration[ms]	[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]	[mm]	42.67	26.67	16.00
Acceleration time[s]	[s]	0.667	0.625	0.750
Stroke of axis while accelerating[m]	[m]	0.667	0.391	0.281
*Motor speed [min-1]**	[min-1]	2813	2813	2813
*Stall torque of motor [Nm]**	[Nm]	54.0	51.1	47.4
*Max. torque of motor [Nm]**	[Nm]	70.7	62.0	52.6
*Red. inertia of axis [kgm]**	[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]
Y	S355J2H	192.5	43880	46765	55383
Z	EN AW-6063 T6	62.6	14105	13315	11280

* with guideway bars

Downloads Typ ZP-6

Robotics [German] Catalog Robotics [French] Catalog Robotics [English] Catalog Product and solutions portfolio [French] Brochure Product and solutions portfolio [Czech] Brochure Product and solutions portfolio [German] Brochure Product and solutions portfolio [English] Brochure Product and solutions portfolio [Spanish] Brochure Product and solutions portfolio [Italian] Brochure Product and solutions portfolio [Polish] Brochure Product and solutions portfolio [Chinese] Brochure

Carriage - Cable loop

Position	Material	Description	Art. No.	Dim.	Mass
19	Alu	Carriage*			Laufwageneinheit kpl*
23	PAG	Cable loop Y axes	H4Q.44.200.250.0	44 x 200 mm	1.7 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.200.1.12.C
25	PAG	Cable loop Z axes	H4Q.44.108.150.0	44 x 108 mm	1.49 kg/m
		Mounting bracket with tiewrap clamp	E4Q.440.108.1.12.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 ]**	*[m min ^-1]**	150	100	100
Acceleration[ms]	[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]	[mm]	53.33	35.56	21.33
Acceleration time[s]	[s]	0.625	0.556	0.500
Stroke of axis while accelerating[m]	[m]	0.781	0.463	0.250
*Motor speed [min-1]**	[min-1]	2813	2813	2813
*Stall torque of motor [Nm]**	[Nm]	10.3	9.4	8.2
*Max. torque of motor [Nm]**	[Nm]	96.1	68.3	42.7
*Red. inertia of axis [kgm]**	[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 ]**	*[m min ^-1]**	75	45	30
Acceleration[ms]	[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]	[mm]	25.00	16.00	11.43
Acceleration time[s]	[s]	0.417	0.375	0.500
Stroke of axis while accelerating[m]	[m]	0.260	0.141	0.125
*Motor speed [min-1]**	[min-1]	3000	2813	2625
*Stall torque of motor [Nm]**	[Nm]	67.9	64.1	68.0
*Max. torque of motor [Nm]**	[Nm]	89.5	78.4	90.0
*Red. inertia of axis [kgm]**	[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]
Y	S355J2	261.8	78565	81055	81055
Z	EN AW-6063 T6	90.1	30855	29905	25692

* with guideway bars

Downloads Typ ZP-7

Robotics [German] Catalog Robotics [French] Catalog Robotics [English] Catalog Product and solutions portfolio [French] Brochure Product and solutions portfolio [Czech] Brochure Product and solutions portfolio [German] Brochure Product and solutions portfolio [English] Brochure Product and solutions portfolio [Spanish] Brochure Product and solutions portfolio [Italian] Brochure Product and solutions portfolio [Polish] Brochure Product and solutions portfolio [Chinese] Brochure