Room gantry robot
For a wide variety of tasks, igus offers robot portals as surface, line and room portals. igus portals contain pre-configured drylin linear modules and linear axes with igus stepper motors as well as all components required for self-assembly.

Application examples
Typical applications of our drylin® room portal robots are pick and place, conveyor belt picking and stacking tasks in three-dimensional space. In most cases, the space portal robot provides the platform on which our customers build their application. Picking tasks can be implemented very quickly in connection with a gripper or suction cup.

X axes
consisting of: two drylin® ZLW-1040 toothed belt axes, standard version, toothed belt tension 200 N, feed 70 mm/rev, aluminum profile, surface: hard anodized, PU toothed belt with steel tension, white, guide carriage with a length of 100 mm, traverse made of plastic, driven by a igus stepper motor in size NEMA23 with encoder, mechanically synchronized by an aluminum vertical shaft AWMP-10

Y axis
consisting of: drylin® ZLW-1080 toothed belt axis, standard version, toothed belt tension 200 N, feed 70 mm/rev, aluminum profile, surface: hard anodized, PU toothed belt with steel tension, white, guide carriage with a length of 100 mm, aluminum traverse, driven by an igus NEMA23 size stepper motor with encoder

Z axis
Consisting of: drylin® GRW-0630 cantilever axis, feed 44 mm/rev, aluminum profile, surface: hard anodized, traverse made of aluminum, driven by an igus stepper motor in size NEMA17 with encoder

Control system
The igus® Robot Control software enables simple and intuitive robot control and programming and thus an easy entry into automation. The modular structure makes it possible to control different igus kinematics, such as delta robots. The portal robot can be controlled directly with all its advantages by our igus® Robot Control.
The free and license-free igus robot control software is integrated into the control 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 purchased from us as an option. A master control is not necessary.

If you want to use your own (robot) controller, that's no problem either.
Alternatively, it is also possible to operate each axis individually with a controller. For example with our igus® dryve D1 motor control. With this control architecture, you need a motor control and an additional master control for each linear axis or motor, which controls the coordination of the movement. You then have to program the inverse kinematics for the delta robot yourself in your development environment.
The motor controls are not part of the article and can be purchased from us as an option. A master controller is currently not 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-0001 sold separately.

Further information
The maximum payload is up to 2.5 kg. Here, the Z-axis motor is heavily loaded and wear increases. If you are unsure whether you can use the product as desired, please contact us. With a technical design, we can offer you different sizes with strokes of up to 6 m and a load capacity of 20 kg. Feel free to contact us or use our Linear robot configurator (beta).