2-axis gantry ZP

Versatile 2-axis gantry for dynamic handling and precise horizontal and vertical movements

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The Güdel 2-axis gantry ZP combines high dynamics with a modular design for flexible automation across a wide range of applications. Its two-axis configuration enables fast and precise horizontal and vertical movements, making it ideal for handling, loading, and positioning tasks.

With a wide range of sizes and payload capacities, the ZP can be configured to meet the specific requirements of your process. Its modular design simplifies integration into new and existing automation systems and provides the flexibility to adapt to changing production requirements.

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2‐Axis: Type ZP

Find the right size for your payload

Versatile mounting options

Tapped holes at a 100 mm pitch enable flexible and universal fixing of components and parts. The standardized pitch simplifies positioning and installation and provides flexibility when integrating different applications.

Direct mounting of drip trays

Integrated supports allow easy and secure mounting of drip trays. They simplify integration into the gantry structure and ensure stable and reliable installation.

Clean integration of cable trays

Dedicated supports allow cable trays to be mounted directly on the gantry. This ensures organized cable routing and space-saving integration into the overall system.

Flexible mounting of gantry legs

Fixing plates enable stable and precise mounting of the gantry legs. They simplify integration into the system design and provide a reliable connection to the floor.

Flexible gantry system

Adaptable from initial planning to future modifications

The Güdel gantry system allows the legs to be positioned flexibly along the gantry beam. This provides greater freedom during system planning, especially when the final dimensions of machines or processes are not yet known.

The modular design also makes it easier to adapt the system when production requirements change. Standardized beam sections with precise joining elements allow a wide range of overall lengths and make future extensions or modifications possible without replacing the entire structure.

Videos

Railways Handling

Automated wheel, axle and wheelset handling

Downloads

Name	Category	Language	File Type
Robotics Catalog	Catalog	English	.pdf
Robotics Catalog	Catalog	French	.pdf
Robotics Catalog	Catalog	German	.pdf

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

Axis		y
Stroke	[mm]	sy ≤ 50000¹
max. payload F	[N]	200	310	500
Speed	*[m min ^-1]**	150	120	100
Acceleration	[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]	25,00	20,00	16,67
Acceleration time	[s]	0,417	0,400	0,417
Stroke of axis while accelerating	[m]	0,521	0,400	0,347
Motor speed *	[min-1]	6000	6000	6000
Stall torque of motor *	[Nm]	0,5	0,4	0,4
Max. torque of motor *	[Nm]	4,2	3,4	2,9
Red. inertia of axis *	[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 ^-1]**	120	90	75
Acceleration	[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]	25	20	16,70
Acceleration time	[s]	0,250	0,300	0,417
Stroke of axis while accelerating	[m]	0,250	0,225	0,260
Motor speed *	[min-1]	4800	4500	4500
Stall torque of motor *	[Nm]	2,2	2,3	2,6
Max. torque of motor *	[Nm]	4,8	3,7	3,6
Red. inertia of axis *	[kgm²]	8.6E-04	7.1E-04	6.6E-04
		High dynamic	Optimal	High load

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

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

2-axis gantry ZP

2‐Axis: Type ZP

Find the right size for your payload

Flexible gantry system

Videos

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Axis		y
Stroke	[mm]	sy ≤ 100030¹
max. payload F	[N]	300	300	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

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

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

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

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

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

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	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

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

Axis		y
Stroke	[mm]	sy ≤ 100098¹
max. payload F	[N]	12500	20000	31250
Speed	*[m min ^-1]**	150	100	100
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	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