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- 1. 2015 NEW GÜDEL TRACKMOTION OVERHEAD
TECHNOLOGY
REPORT
GUDEL, INC. ©2015
4881 RUNWAY BOULEVARD
ANN ARBOR, MICHIGAN
48108 USA
PH: 734.214.0000
EMAIL: info@us.gudel.com
WEB: www.gudel.com/us
- 2. NEWTRACKMOTION OVERHEAD (TMO) MODULES GÜDEL, INC. TECHNOLOGY WHITE PAPER
PAGE 2 GÜDEL, INC. ©2015
Also, with an elevated track supported by Güdel’s
various leg options, floor space can be kept free for
other processes.
Güdel’s newest generation of TMO modules offers
substantial performance improvements over the
previous offering. These include a new guideway
system, a new roller system, a redesigned carriage
plate, a helical rack and pinion, robot adapter plates,
and a new automatic lubrication system.
As with Güdel’s other offerings, standardized
components are used, allowing short delivery times
and facilitating any future changes or extensions.
Each module is sized for the particular application,
to minimize wear and tear on moving components.
With rated operational capacity of over 100,000
km (62,000 miles), the TMO has a very long service
life. And when it comes time for replacement,
components are designed for quick and easy change
outs, reducing down-time.
The latest generation of articulated robots can
be mounted in any orientation, allowing flexibility
in the configuration of manufacturing processes.
Güdel has responded to this development by intro-
ducing the next generation Trackmotion Overhead
(TMO) modules.
This family of universal linear axis modules can
move practically any industrial robot currently on
the market, whether ceiling-mounted, wall-mounted,
or elevated. Due to its excellent load-carrying
capacity and high rigidity, the TMO can move
robots (or other machinery) weighing up to
5,000 kg (5.5 tons).
Process tasks that have previously been possible
only with complicated machinery or multiple robots
can now be performed with just a single articulated
robot mounted on an overhead track.
Whether it is welding from above, painting from the
side, or palletizing heavy containers, the TMO allows
every task to be carried out in an optimal fashion.
GÜDEL TRACKMOTION OVERHEAD
OPTIMUM CONFIGURATION AND USE OF FLOOR SPACE
- 3. NEWTRACKMOTION OVERHEAD (TMO) MODULES GÜDEL, INC. TECHNOLOGY WHITE PAPER
PAGE 3 GÜDEL, INC. ©2015
THREE CONFIGURATIONS
FOUR SIZES
The TMO module is available in four sizes:
1 (smallest) through 4 (largest), to accommodate
the majority of industrial robots currently on
the market.
Sizes 1 to 3 feature beams made of square steel
tubing, from 220mm (8.7”) to 400mm (15.7”)
square. Size 4 incorporates a fabricated steel beam,
590mm (23.2”) square, with internal structure for
maximum flexural rigidity and stiffness.
Carriage sizes range from 610mm (24.0”) long for
size 1 through 1520mm (59.8”) long for size 4.
The size 1 carriage is a flat steel plate, while sizes
2-4 incorporate a welded structure for maximum
rigidity and strength (more details below).
TMO-E
(elevated position)
The elevated position of
the robot leaves the floor
free for other process tasks.
Additionally, an elevated
TMO can be substituted for
floor-mounted tracks with
tall robot risers.
TMO-W
(wall-mounted)
With the wall-mounted
option, the working area
of the robot is at the side,
which enables the full height
of the building to be used.
TMO-C
(ceiling-mounted)
An inverted robot mounting
maximizes the robot’s work
envelope over the top and
sides of the workpiece.
Type B L H X Y
TMO-1 420 610 282 220 220
TMO-2 650 840 428 350 350
TMO-3 900 1200 523 400 400
TMO-4 1100 1520 ~800 590 590
- 4. NEWTRACKMOTION OVERHEAD (TMO) MODULES GÜDEL, INC. TECHNOLOGY WHITE PAPER
PAGE 4 GÜDEL, INC. ©2015
NEW GUIDEWAY SYSTEM
The new generationTMO features guideway rails that are set in
machined recesses on the sides of the beam, rather than bolted to
the top of the beam.
This allows all forces on the guideways to be transferred directly
to the beam itself, resulting in much higher rigidity and low deflec-
tion, even under very large loads. Stresses on the guideways and
guideway bolts are reduced, allowing for a smaller guideway profile
and smoother operation. Guideways are hardened and ground, for
maximum precision.
IMPROVEMENTS IN THE NEW TMO DESIGN
Despite its small cross-sectional area, the guideway can cope with forces of
up to 20 kN (4,500 lbf) per roller. Due to its outstanding rigidity and preci-
sion, it permits speeds of up to 8.0 m/s (26 ft/s) at a positional repeatability of
±0.02mm (±1 thousandth).
Guideways are kept lubricated with Güdel H1 grease, applied via foam wipers
incorporated into the roller block housing. A brass guideway scraper is avail-
able as an option for dirty environments, such as welding applications. The
guideways can also be given a full Armoloy®
chromium coating, preventing
corrosion and reducing friction (available upon request).
NEW ROLLER SYSTEM
Each robot carriage includes at least four Güdel roller blocks:
one on each of the four corners. Each roller block incorporates
three integrated rollers (cam followers), suited for high axial and
radial loads, high moment ratings, high
rigidity, and quiet operation.
The individual rollers can be replaced
quickly and easily, without having to remove
other parts or components.To replace a roller assembly, simply adjust the eccentric
cam to remove roller loading, remove four bolts, and insert the new roller.
Production stoppages are short and maintenance costs kept to a minimum.
The outside diameter of the rollers are crowned, which keeps the loads evenly
distributed and acts to disperse any contaminants on the guideway surface.The
roller bearings are sealed and internally greased, with a central lubrication nipple for
regreasing. Bearing relubrication is recommended every 10,000 km (6,200 mi).
For exceptionally high loads often encountered with the largest robots, a Double
Roller Block (DRB) is available. Each DRB incorporates a pivot block to distribute
loading, and features dual rollers on the top and bottom, allowing it to cope with
forces of up to 40 kN (9,000 lbf).
Güdel Roller Block
Güdel Guideway
- 5. NEWTRACKMOTION OVERHEAD (TMO) MODULES GÜDEL, INC. TECHNOLOGY WHITE PAPER
PAGE 5 GÜDEL, INC. ©2015
NEW CARRIAGE PLATE WITH
MOUNTING PADS
Rather than a simple flat plate, the TMO size 2-4
carriages are welded steel fabrications for maximum
stiffness and rigidity. This design minimizes carriage
deflection under high robot loading conditions and
helps to distribute loads evenly to the Güdel roller
blocks mounted at the corners.
IMPROVEMENTS IN THE NEW TMO DESIGN
Carriage plates are machined with a standard hole
pattern to which robot adapter pads can be bolted
in any configuration.This allows maximum flexibility
when choosing (or replacing) a robot or other
machine tool, without requiring re-machining
of the carriage.
HELICAL RACK & PINION
The new TMO
features hardened
helical racks of
module 3 (track
sizes 1-2) or 4 (track
sizes 3-4). Helical
racks offer two main
advantages over
straight (or “spur”)
racks. First, they have
a higher contact
ratio (the number of effective teeth engaged) than
straight, which increases the load-carrying capacity
for a given size rack. Second, helical rack and pinion
systems run quieter (less than 75 dB) than straight
tooth systems, especially at higher speeds.
Rack accuracy is very good, with a cumulative pitch
error of only 0.08mm (3 thou) per meter.
Racks are protected from
contamination by a cover
plate and lubricated with
Güdel H1 grease by a foam
pinion applicator, piped from
a central lubrication unit. As
with the guideway rails, an
optional Armoloy®
coating
may be added to provide corrosion protection and
reduced friction.
Engagement of the rack and pinion is adjusted with
an eccentric ring on the Güdel AE gearbox, keeping
backlash to 3-6 arc minutes (0.05° to 0.1° degrees).
The precision and minimal backlash of the Güdel
drive components allows the Trackmotion modules
to achieve a linear repeatability of ±0.02mm (±1
thou). Such accuracy is required for rapid machine
tool processes, or high precision applications such
as laser welding or metrology.
- 6. NEWTRACKMOTION OVERHEAD (TMO) MODULES GÜDEL, INC. TECHNOLOGY WHITE PAPER
PAGE 6 GÜDEL, INC. ©2015
FLEXXPUMP LUBRICATION SYSTEM
The Flexxpump is a compact automatic system which automatically
lubricates the rack and guideways of the TMO. This unit distributes the
Güdel H1 grease through a piston pump with programmable time period
and delivery rate. Grease is applied to the rack and guideways through
low-density polyurethane foam applicators, ensuring the correct film
thickness for optimum lubrication.
Each Flexxpump unit features a 500cc refillable reservoir and four
outlets for multipoint lubrication. The Flexxpump unit is powered by
24VDC, or an optional internal battery. Remote operation monitoring
and setup is available through a 4-pin M12 connector connected to a
PLC or robot controller.
CONCLUSION
Quality, precision, high speed and efficiency – only those companies that
achieve the optimum configuration of the production process can remain
competitive. GÜDEL makes it all possible.This new Track Motion Overhead linear axis module family
provides many new possible robot orientation solutions for systems integrators, line builders, and end
users. With Güdel support to “right size” the module to your application, new and higher levels of auto-
mation efficiency and cost effectiveness are quickly and reliably achieved.
Credit for written content of this document: Don Bromley, Senior Applications Engineer, Güdel, Inc.
- 7. Güdel TrackMotion family
Vertical integration of Güdel linear motion technology from cam rollers, racks
and rails and every component needed in standard modules for dynamic and
static payloads. Pictured:TMO overhead configurations for ceiling mount (C);
wall mount (W); Elevated (E); andTMF floor mount.
Copyright ©2015. All rights reserved. No portion of this whitepaper can be reproduced
without approval from the management at Güdel Inc.
4881 RUNWAY BOULEVARD
ANN ARBOR, MICHIGAN
48108 USA
PH: 734.214.0000
EMAIL: info@us.gudel.com
WEB: www.gudel.com/us