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CR-NX Models

Three models. The right move for your process.

From the injection molding machine to the formation of the pallet: learn about the structures of the CR-NX line and the operations in which each one is most used.

Compare the line

A structure for each application.

The structure is the starting point. Axes, strokes, gripper, load and cycle are configured from the operation.

1 column

CR-NX-1C

Injector outputs

Model with one column, mainly used to remove products from the injection molding machines.

What to evaluate in the process

  • Geometry and gripping condition of the part.
  • Pickup point and destination after extraction.
  • Synchronization with the injector cycle.
Technical configuration
Structure
1 column
Main use
Injector outputs
Axes and travel ranges
Defined according to movements and layout.
Control
Delta AX-308, with CODESYS and EtherCAT.
Drive
ASDA-B3 Delta Servosystem; power scaled per axis.
Operation
Delta DOP-110WS HMI, with 10.1 inch screen.
Transmissions
Ball screw, rack and pinion or timing belt, on linear guides.
Load and gripper
Dimensioned together. Mechanical, pneumatic or vacuum handle, depending on the product.
Cycle and repeatability
Specified in the configuration proposal.
Get to know the control and components
Assess your application
1 portico

CR-NX-1P

Pick & place

Model with a gantry, mainly used in operations to pick up, transfer and position products.

What to evaluate in the process

  • Product origin and destination positions.
  • Trajectory, orientation and stability of the load.
  • Throughput and integration with the stations.
Technical configuration
Structure
1 portico
Main use
Pick & place
Axes and travel ranges
Defined according to movements and layout.
Control
Delta AX-308, with CODESYS and EtherCAT.
Drive
ASDA-B3 Delta Servosystem; power scaled per axis.
Operation
Delta DOP-110WS HMI, with 10.1 inch screen.
Transmissions
Ball screw, rack and pinion or timing belt, on linear guides.
Load and gripper
Dimensioned together. Mechanical, pneumatic or vacuum handle, depending on the product.
Cycle and repeatability
Specified in the configuration proposal.
Get to know the control and components
Assess your application
2 porches

CR-NX-2P

Palletizing

Model with two gantries for palletizing, with X, Y, Z movements and rotation of the gripper in the reference configuration. The Carioli system calculates layers and positions based on the product dimensions.

What to evaluate in the process

  • Dimensions and mass of products and pallets.
  • Layer formation and stacking height.
  • Arrival of products and exchange of pallets.
Technical configuration
Structure
2 porches
Main use
Palletizing
Axes and travel ranges
Defined according to movements and layout.
Palletizing
X, Y, Z and rotation of the gripper in four degrees of freedom configuration.
Control
Delta AX-308, with CODESYS and EtherCAT.
Drive
ASDA-B3 Delta Servosystem; power scaled per axis.
Operation
Delta DOP-110WS HMI, with 10.1 inch screen.
Transmissions
Ball screw, rack and pinion or timing belt, on linear guides.
Load and gripper
Dimensioned together. Mechanical, pneumatic or vacuum handle, depending on the product.
Cycle and repeatability
Specified in the configuration proposal.
Get to know the control and components
Assess your application

From selection to integration

The model follows the process.

The main applications guide the first conversation. The selection also considers pick-up and delivery points, product characteristics, available space and production pace.

The robot can form a cell integrated with existing conveyors, devices and equipment, depending on the needs of the operation.

Understand the robotic cell

Data to choose the configuration

Product and gripper
Weight, dimensions and handling condition of the product, including the gripping tool.
Movement and cycle
Axis travel, positions, orientation and time available for each stage.
Layout and interfaces
Useful area, access and communication with process equipment.
Prepare the survey

Palletizing with the CR-NX-2P

New products.
The same operating logic.

The Carioli system calculates positions, layers and trajectories based on the product dimensions. In the configurations covered, the operator changes parameters through the HMI, without teaching each movement point manually.

Discover the Carioli system
Load orientation
The gripper's swivel allows you to orient the product and alternate its position in the pallet's layers.
Handle compensation
The mathematical model considers the box's picking point to calculate the deposit position.
Axis mechanics
The configuration can combine different transmissions to suit travel, load and dynamics.

Technology and components

Know the components of the configuration.

AX-308 controller, ASDA-B3 servo system and DOP-110WS HMI: the Delta base is combined with the tools, transmissions and system developed by Carioli.

The range combines Delta technology with Carioli engineering. Power ratings, axis travel, tooling and enabled features are defined for the application and detailed in the technical proposal.

Delta AX-308E motion controller with connection terminals and communication interfacesDelta AX-308E motion controllerCoordinated movement in EtherCATDelta AX-308 Controller

Motion controller from the AX-3 family, based on CODESYS. Coordinates the CR-NX axes and the exchange of signals with the line's machines.

Schedule
CODESYS, with IEC 61131-3 languages and PLCopen motion functions.
Timing
Up to 8 servo axes via EtherCAT on the controller. The amount used depends on the robot configuration.
Trajectories
Multi-axis interpolation, electronic gearing and electronic cam to coordinate movements.
Integration
OPC UA, EtherNet/IP and Modbus for communication with supervisors and other systems, according to the project interfaces.
Expansion
16 onboard digital inputs and 8 outputs, with expansion via AS series modules.
Delta Documentation · AX-308E
Delta DOP-110WS touchscreen interface, with 10.1-inch widescreen displayDelta DOP-110WS · operation interface10.1-inch screen operationDelta DOP-110WS HMI

The touchscreen interface concentrates commands, parameters and process information. The operator follows the machine and configures the application data on the screen.

Screen
10.1-inch widescreen TFT, 1024 × 600 resolution and integrated Ethernet.
Operation
Recipes, trend graphs and alarm history, depending on the configured screens and functions.
Monitoring
VNC server and browser monitoring of registrars. Access depends on the network and configured permissions.
Remote access
It can be restricted to monitoring, without remote commands, depending on the interface configuration.
Records
Features for sending alarms by email and time synchronization via NTP, when enabled in the project.
Delta Documentation · DOP-110WS
Delta ASDA-B3 family servodrive and servomotorDelta ASDA-B3 · drive and servomotor24-bit position feedbackASDA-B3 Delta Servo System

The drive and servomotor assembly transforms the calculated trajectories into movement. Each axis is dimensioned according to the load, the axis travel and the application cycle.

Encoder
24-bit resolution: 16,777,216 positions per motor revolution. The repeatability of the robot also depends on the mechanics and application.
Tuning
Autotuning and vibration suppression features support adjusting the drive to load dynamics.
Sizing
Power and torque selected for each axis, considering the product, gripper, drive system and path.
Security
Safe Torque Off (STO) integrated into the safety chain, according to the specified drive and system design.
Delta Documentation ASDA-B3
Example of cylindrical inductive sensor with threaded metal body and connectorInductive sensor · reference imageHoming and limit switchesInductive sensors

Non-contact mechanical detection provides position references for the axes and travel limit signals to the controller.

Reference
Axis homing combined with servomotor encoder reading.
Limits
Limit switch signals and software travel limits help control the motion envelope.
Selection
Model, range and environmental protection defined for assembly and operating conditions.
Reference image · ifm electronic
Gripper example of vacuum area for product handlingVacuum gripper · reference imageMechanical, pneumatic or vacuumGrippers and tools

The tool is designed for the product: boxes, bags, trays, bales or parts. Grip form, retention and orientation are evaluated together.

Mechanics
Driven by motor or servo, with opening and force adjusted according to the tool. The handle can dispense compressed air.
Pneumatics
Actuators and valves for grip and release; pressure and air consumption defined for the application.
Vacuum
Suction cups for gripping the surface, with assessment of sealing, porosity, packaging resistance and load retention.
Guidance
The rotation of the gripper guides the product during the cycle and layer formation. Drive and positions are defined in the project.
Reference image · Schmalz
Example of light curtain assembly with emitter, receiver and mounting bracketsLight curtain · reference imageLayout, access and requirements of NR-12Operation protection

Protective measures are defined by risk assessment, considering the layout, supply and frequency of access to the machine.

Grating
Physical barriers and interlocking access, according to the needs of the operation.
Light curtain
Optical detection at planned accesses. Distances, stopping and restarting are defined in the safety analysis.
Laser scanner
Monitoring of areas with zones configured for the chosen layout and security architecture.
Set
Protections, interlocks and stop functions are integrated and validated to meet applicable NR-12 requirements.
Reference image · SICK
Request configuration for your project
Overview of the Carioli Cartesian robot with conveyors and safety enclosure at Midiograf
Carioli installation at Midiograf. Installation registration provided by Carioli.

In industry · Midiograf

More rhythm. Less manual effort.

In the operation reported by Nivaldo Benvenho, the team went from 5 to 3 people and the line speed went from 240 to up to 300 m/min, in the context of small boxes.

Discover the application and the complete report from those who follow the production.

See the case results

Which model suits your operation?

Share the product, movements and expected cycle. Our engineering evaluates the structure and configuration for your process.

Request an assessment and quote

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