The Apiro rotary unit is an inexpensive option for adding a further degree of freedom to a multi-axis gantry robot. The additional rotation axis offers the possibility to rotate or swivel the end effectors and components around their own axis. This axis can be controlled via the igus Robot Control in combination with an additional motor module and integrated into the program flow. 

Control system
The igus Robot Control enables simple and intuitive robot control and programming, making it easy to get started with automation. The modular design makes it possible to control different igus kinematics, for example delta robots. The gantry robot can be controlled directly by our igus® Robot Control with all its advantages.
The free and license-free igus Robot Control software is integrated into the control system 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 obtained from us as an option. A master controller is not necessary.

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

Optional accessories
Initiators, connection cables, energy chains and controllers are available on request.