YZ Gantries

A YZ gantry is a cartesian robot made of one horizontal (Y) linear actuator and one vertical (Z) actuator. The vertical actuator rides on the horizontal one, so the gripper or tool moves side to side and up and down within a single vertical plane.

Choose a YZ gantry when all pick and place positions fall along one horizontal line, such as a conveyor feeding a machine or a row of trays. If parts need to reach positions spread across an area, like layer patterns across a pallet, you'll need the third direction of travel an XYZ gantry provides. A conveyor or indexing table can sometimes supply that third direction, so a YZ gantry can handle tasks that would otherwise call for an XYZ system.

Because it uses fewer actuators and motors, a YZ gantry costs as little as half the price of an XYZ gantry with comparable specs.

Common applications include transferring parts between conveyors, loading and unloading machines and test stations, and placing parts into boxes or trays lined up in a row. They're also used for sorting parts into bins along a line and for labeling, measuring, or inspecting parts as they pass along a line.

The standard YZ gantry carries up to 2.5 kg (5.5 lb) when horizontally mounted. Higher load options that can handle up to 10 kg (22 lb) are also available.

Standard YZ gantries offer workspaces up to 800 x 500 mm. Larger versions extend to as much as 2,000 x 1,000 mm. Custom stroke lengths are available on request.

YZ gantries reach speeds up to 1 m/s with positioning accuracy of approximately ±0.2–0.5 mm.

Yes, when products are stacked in a single row or at a fixed position. To build full layer patterns across a pallet, use the XYZ gantry palletizer.

YZ gantries run on stepper motors with optional encoders. You can program them with the free igus Robot Control software, which uses a 3D digital twin to check motions before running them on the real system. To run the gantry from an existing PLC, you can use the dryve D1 motor controller.

Yes. You can adjust stroke lengths and add accessories such as motor flanges, couplings, inductive sensors, mechanical switches, assembly plates, and motor cables. Use the gantry configurator, or contact an automation expert about a custom design for your application and installation space.