GR-1750 series◆ Long Stroke◆ High Speed◆ Standardized Wide Variety◆ Adaptable to Heavy Duty

GR-1750 series
175 mm● Frame size
● Travel stroke
100 mm ~ 100 m● Operation speed 1 m/s ~ 5 m/s● Maximum payload 250 kg* These values may vary depending on the use conditions and environment.

Product Features◆ Standardized Wide Variety Answers Customers' Needs
Long Stroke(Proven stroke: 100mm ~ 100m)◆ Rail power feeding apparatus◆ Robot controller-equipped self-traveling drive◆ Optical I/O interface

Low ceiling and long stroke withUp/Down axis telescopic function

Standardized wide variety◆ Payload 20kg ~ 250kg◆ Maximum axis speed 0.5m/s ~ 5m/s

Head variations corresponding to various applications
Swivel turning unit

1Erecting/tilting turning unit

Chuck unit

ATCSeries Configuration
Gantry robot can be configured by flexibly combining modules whose payload isfrom 50kg to 100kg to the tip of Up/Down axis. It can be also used as single axis
module.
In various fields, the robot provides high reliability and performance backed by
the resources and expertise of, a pioneer in production equipment.

Main applications

Main business activities

Loader/unloader
Palletizing/depalletizing
Automatic assemblingmachine tool, molding machine, pressing
machine, tier, shipbuilding, consumer
electronics, automobile, medical equipment,
food, aircraft, housing, flat panel, etc.

SAMPLE SYSTEM LAYOUT

2Lineup

GR-1750 series
GR-1750- Y - □GR-1750- XY - □YYX

Payload
90kg, 250kg (vertical load)
2 types

Payload
90kg, 250kg (vertical load)
2 typesGR-1750- YZ - □GR-1750- XYZ - □Traveling
2-axistypeTravelingsingle axis
typeYZYZX

Payload
35kg, 50kg, 100kg
3 types

Payload35kg, 50kg, 100kg
3 typesGR-1750- YZW - □GR-1750- XYZW - □YYWZXZWPayload
20kg, 40kg, 85kg
3 types

3Payload
20kg, 40kg, 85kg
3 types

Selection Procedure
1. From the production lineup on the previous page, select an axis configuration type which meetsrequired specifications. (For example, in the case of GR-1750 series, 4-axis XYZW configuration,
select GR-1750-XYZW type.)
2. On the page [Performance and Specifications], from 4-axis XYZW configuration (XYZW type), basedon the payload, stroke, speed, and the other conditions, decide the robot type.
(For example, in the case of workpiece+hand weight: 65kg, required traveling speed: 1.5m/s,required strokes X-axis: 10m, Y-axis: 1.5m, Z-axis: 1.0m, select ”XYZW-4”.)
3. On the page [Performance and Specifications], check the dimensions of main body and thecalculations of allowable moment and inertia to decide options.
4. Referring to Product Number Definition shown below, decide the final product number.
(For example, GR-1750-XYZW-10000・1500・1000 - L)

Product Number Definition<Example of product number>

GR-1750 - XYZW -- 5000 ・ 2000 ・ 1000 -4

Operation axes

X-axisstrokeY-axis
strokeZ-axis
stroke----- (The stroke is stated for operation axes only.) ----Specification(Select from [Performance and Specifications].)

Option of traveling unit
No symbol : cable bearing (standard)
L : linear motion guide (option)<XYZ configuration dimensions>4Performance and Specifications

Traveling Single Axis Type

GR-1750- Y - □GR-1750- YZ - □GR-1750- YZW - □Axis

XYZ
WXYZ
WXYZWXYZW
X
YZ
W
X
Y
Z
W
X
Y
Z
W
X
Y
Z
W

TypeMax.
Payload(kg)*1Allowable
Moment(kgf・m)
*2

Y-1

9040

Y-225040

YZ-13529

YZ-25029

YZ-4

10029

YZW-1

2026

YZW-2

4026

YZW-4

85

26

Axis TypeMax. Speed
X・Y・Z (m/s)
W (deg/s)

GRY-L
GRY-M
GRY-L
HMZ175L
GRY-M
HMZ175L
GRY-M
HMZ175H
GRY-L
HMZ175L
HMW-100
GRY-M
HMZ175L
HMW-100
GRY-M
HMZ175H
HMW-100

5
2.55
1.5
2.5
1.5
2.5
15
1.5150°2.5
1.5150°
2.5
1150°

Max.
Stroke
X・Y・Z (m)W (deg)*3202020
120
1.5
201.5
20
1300°
201.5
300°
201.5300°

Repeatability
X・Y・Z (mm)W (deg)MotorPower
(kW)

±0.2
±0.2
±0.2
±0.1
±0.2
±0.1
±0.2
±0.1
±0.2
±0.1
±0.1°
±0.2
±0.1
±0.1°
±0.2
±0.1
±0.1°

3.5
2.0
3.5
2.0
2.0
2.0
2.0
2.0
3.5
2.0
0.4
2.0
2.0
0.4
2.0
2.0
0.4

*1 Payload: For Z-axis equipped type, the value is when Z-axis stroke is 300mm. The conversion value is 2kg / 100ST.
*2 Allowable moment: For the calculation formula, refer to the technical material.
*3 Maximum stroke: For Y-axis stroke longer than 20m, please consult with Hirata.

5Performance and Specifications

Traveling 2-Axis Type

GR-1750- XY - □GR-1750- XYZ - □GR-1750- XYZW - □Axis

X
Y
Z
W
X
Y
Z
W
X
Y
Z
W
X
Y
Z
W
X
Y
Z
W
X
Y
Z
W
X
Y
Z
W
X
Y
Z
W
X
Y
Z
W

TypeMax.
Payload(kg)*1AllowableMoment(kgf・m)*2XY-19040

XY-29040

XY-325040

XYZ-13529XYZ-25029

XYZ-410029

XYZW-12026

XYZW-24026

XYZW-48526

Axis TypeMax. Speed
X・Y・Z (m/s)
W (deg/s)

GRX-M
GRY-L
GRX-H
GRY-L
GRX-H
GRY-M
GRX-H
GRY-L
HMZ175L
GRX-H
GRY-M
HMZ175L
GRX-H
GRY-M
HMZ175H
GRX-H
GRY-L
HMZ175L
HMW-100
GRX-H
GRY-M
HMZ175L
HMW-100
GRX-H
GRY-M
HMZ175H
HMW-100

2.55
2.5
5
2.5
2.5
2.55
1.5
2.5
2.5
1.5
2.5
2.5
12.55
1.5150°2.5
2.5
1.5150°
2.5
2.5
1150°

Max.
Stroke
X・Y・Z (m)W (deg)
*320
3.9
20
5.1
20
3.6
20
5.1
120
5.1
1.5
20
5.1
1.5
20
5.1
1300°
20
5.1
1.5
300°
20
5.1
1.5300°Repeatability
X・Y・Z (mm)W (deg)

Motor
Power
(kW)

±0.2
±0.2
±0.2
±0.2
±0.2
±0.2
±0.2
±0.2
±0.1
±0.2
±0.2
±0.1
±0.2
±0.2
±0.1
±0.2
±0.2
±0.1
±0.1°
±0.2
±0.2
±0.1
±0.1°
±0.2
±0.2
±0.1
±0.1°

2.0
3.5
3.5
3.5
3.5
2.0
3.5
3.5
2.0
3.52.0
2.0
3.5
2.0
2.0
3.5
3.5
2.0
0.4
3.5
2.0
2.0
0.4
3.5
2.0
2.0
0.4

*1 Payload: For Z-axis equipped type, the value is when Z-axis stroke is 300mm. The conversion value is 2kg / 100ST.
*2 Allowable moment: For the calculation formula, refer to the page [Technical Materials].
*3 Maximum stroke: For Y-axis stroke longer than 20m, please consult with Hirata.

6Performance and Specifications

Traveling Axis X-Axis

1. Specifications
AllowableMax.
Repeatability
Moment Max. Speed
Accel Time(kgf・m)
(m/s)
(mm)
(mm/s)*1Max.
Stroke(m)*2MotorPower(kW)Weight(kg)Axis TypeMax.
Payload(kg)GRX-M

250402.50.3±0.2202.0190 (1000ST)（+100kg / +1000ST）

GRX-H

400

402.50.5±0.2

203.5

192 (1000ST)（+100kg / +1000ST）*1 For the calculation of moment, refer to the page [Application].
*2 For the maximum stroke longer than 20m, please consult with Hirata.

2. External Dimensions
BOXMOTOR

CABLE
BEAR

STOPPER

A-A

Supporting mechanism oftraveling unit
Standard specification: bearing
Option: linear motion guide(For details, refer to Y-axis.)

INSTALLATION
FACE

7

Performance and Specifications

Traveling Axis Y-Axis

1.Specificati
onsAxis TypeMax.
Payload(kg)

GRY-L

90

AllowableMax.
Repeatability
Moment Max. Speed
Accel Time(mm)
(kgf・m)(m/s)(mm/s)
*1

40

50.5

Max.
Stroke(m)*220(Combined with X-

±0.2

Motor
Power
(kW)

Weight(kg)3.580(1000ST)(+50kg / +1000ST)

2.085(1000ST)(+50kg / +1000ST)

axis: 5.1m)

GRY-M

250

40

2.5

0.320
(Combined with X-±0.2

axis: 5.1m)*1For the calculation of moment, refer to the page [Application].
*2For the maximum stroke longer than 20m, please consult with Hirata.

2. External Dimensions

BOX

CABLE BEARMOTORSLIDER

Supporting mechanismof traveling unit

REDUCER
2-φ10H7

STOPPERINSTALLATION
FACE

940 + STROKE
982 + STROKE

4-M12 TAPRACK AND GUIDERACKOption

Standard specification
GUIDE

BEARING(BEARING CASE)

LINEARGUIDE*For the linear guide type, the maximum speed is 1.8m/s.
8Performance and Specifications

Traveling Axis Z-Axis

1. Specifications
Axis TypeMax.
Payload(kg)※1HMZ175L

50

HMZ175H

100

AllowableMax.
Repeatability
Moment Max. Speed
Accel Time(mm)(kgf・m)(m/s)(mm/s)*1
M1 = 43
M2 = 40
M1 = 43
M2 = 40

Stroke Range(mm)MotorPower(kW)Weight(kg)1.5

0.2±0.1

300 ～ 1500

2.059（300ST）（+2.5kg / +100ST）

10.4

±0.1

300 ～ 1500

2.059（300ST）（+2.5kg / +100ST）

2. External Dimensions

CABLE
BEAR
STOPPER
241 + STROKE
473 + STROKEMOTORMOMENTCENTER

REDUCER

2-Φ10H7
DEPTH 10

2-φ10H7
4-φ13

STOPPERAPPLICATION

9INSTALLATION
FACE

4-φ13

Performance and Specifications

Traveling Axis W-Axis

1. SpecificationsAxis TypeMax.
Payload(kg)*1

AllowableMoment(kgf・m)*1 *2

HMW-100

100

26

AllowableInertia
Max.
Repeatability
Max. Speed<GD>
Accel Time(deg)(deg/s)2(mm/s)(kgf・m )*227.5

150

0.5

±0.1

Max.
Stroke(deg)MotorPower(W)Weight(kg)

300

400

15

*1 The payload and allowable moment are those of the single unit of W-axis.
When use it with another axis, refer to the page [Performance and Specifications].
*2 For the calculations of allowable moment and inertia, refer to the page [Application].

2. External Dimensions

INSTALLATIONFACE(FOR HMW100)
INSTALLATION FACE(FOR HAND)

2-φ6H7 DEPTH 8

4-φ13, S’FACE
φ20 DEPTH 13

6-M8 TAP DEPTH 15
PCD100(hexasection)

10

Application Specifications
1. Air Hose, I/OCable
I/O Cable

Standard

To the backside of slider
30 cores×1piece
To the end of Z-axis
30 cores×1piece(These cables are not connected
at the slider.)OptionAir Hose

End of Z-axis

Air Hose JointTo the backside of slider: 1piece(blade hose φ16)
From the backside of slider to theend of Z-axis
φ10×1piece, φ8×2pcs

To the backsie of slider
tap 2pcs×PT3/8
To the end of Z-axis
One-touch fitting φ8×2pcs
One-touch fitting φ10×1piece

1 piece can be added to thebackside of slider (blade hoseφ16)
From the backside of slider to theend of Z-axis
φ10 X7pcs (max.) or equivalent canbe added.
(φ8 or smaller is also possible.)To the end of Z-axis
One-touch fitting φ8×2pcs
One-touch fitting φ10×1piececan be added.

2. T-slot Dimensions
X/Y-axis frame

3. Mounting surface
at end of Z-axis
With W-axis

Without W-axis

11Z-axis frame

Cable bear guideSymbolABCDEFGH

S

952

75

322T

107375577U

20

13

8.5

14

9.5

9.5

13

11V

116.66

6.6

5

5.8

97

4. Slider Mounting Surface
Top face

Front face

The tap with symbols is usable when no device is attached.
SymbolSize

DeviceX

M12X-axis

GY

M10

Y-axis traveling reducer

M

M8

Y-axis same as aboveZ

M12

Z-axisGX

M10

X-axis traveling reducer

DM8X-axis connection shaft

Technical Materials
1. Moment Approximate Calculation Formula2. Inertia Approximate
Calculation Formula
GW2 = W x D2 kgf・m2
W : weight [kg]D2 : rotation diameter [m2]M = W x ( L + 0.06 )When equipped with Z, W-axis
M = W x ( ℓ + 0.19 )W: weight [kg]L・ℓ : distance [m]Rotation axis

3. Allowable Frame Deflection(Note that the moment varies depending on the strength of column.)

4. Aluminum frame cross section
secondary moment
X/Y-axis frame

Z-axis frame

Maximum deflection

Center distancelX cm2lY cm2X・Y-axes

3498

3604

Z-axis10151041

Payload (work weight+Z・W-axis weight)/frame

5. Precautions for System Up■Column position

The distance between columns should be 6m or less and they should be positioned ±1m within the joint of frame (standard length: 6m).
When places to install the columns are limited because of the layout, contact Hirata. Set the columns randomly to reduce the frame
deflection. (For the frame deflection, refer to the graph of [Allowable Frame Deflection].)When installing a column to the joint of frame, work out a design based on the dimensions shown in the figure below. (The design
should be different from the one when a column is installed to the frame directly.)■Number of Axes to Install
It is possible to attach multiple Z-axes to Y-axis, and multiple Y-axes to X-axis. In such cases, install the axes so that the maximum
frame deflection is 7mm or less.

12

Example of System Layout
1. Traveling Single Axis Type
Loader/unloader (GR-1750-XYZ)

Cable OUT
direction

Cable OUT direction

Conveyor

Lathe

Lathe

Conveyor

Conveyor sorting (GR-1750-Y)
Conveyor (fixed)
Workpiece
Conveyor (moving)

Conveyor (moving)

Conveyor (fixed)

13

Example of System Layout
2. Traveling 2-Axis Type
Conveyor transferring (GR-1750-YZ)

Cable OUT direction

Cable OUT direction

3. Special Specifications
Combination of traveling single axis and orthogonal type robot

14*Note: Illustration uses simulated image and may differ from an actual product .
*The contents of the catalog are subject to change without prior notice.

■ Contact

Robot Division, Hirata Corporation
2014/10/31

HRCT-1409-E01

111 Hitotsugi, Ueki, Kita, Kumamoto,mail robotics@hirata.co.jp tel861-0198 JAPANThe Global Production Engineering Company+81-96-272-3953