Used Pfauter Pe 150 for sale (50)

Condition: good (used), Year of construction: 1975, max. wheel diameter 630 mm gear width 425 mm table hole 125 mm clamping table 550 mm max. module 10 axial-feeds 0,40 - 6,80 mm/U radial feeds 0,10 - 1,76 mm/U dist. cutter spindle - workpiece spindle 50 - 425 mm no. of teeth min. 8 milling cutter dia. x width 192 / 215 mm shifting 200 mm main drive motor 7,5 kW total power requirement 22,5 kVa weight of the machine ca. 8,2 t Machine equipment: - Universal milling head with tangential displacement - Pressure reducing valve for counterholder - Magnetic chip transport --> Working range Largest module to be milled (in steel 600 N/mm²): 10 mm --> Straight gear teeth: --> Largest workpiece diameter: 630 mm --> Largest axial slide travel (Z-axis): 425 mm --> Smallest number of teeth to be milled: 8 --> Dimensions Diameter of workpiece table: 550 mm --> Diameter of table bore: 125 mm --> Diameter of workpiece mandrel: 36 mm --> Largest milling cutter that can be clamped: --> Diameter: 192 mm --> Width: 220 mm --> Diameter of milling cutter mandrels: 32 mm --> Centre distance between milling cutter and workpiece: --> Maximum distance: 425 mm --> Minimum distance: 50 mm --> Drive taper for cutter mandrels: Morse taper 5 --> Maximum cutter displacement: 200 mm --> Speeds and feeds Cutter speeds: 45 - 280 rpm --> Axial feed (Z axis): 0.40 - 6.30 mm/rev --> Radial feed (X axis): 0.10 - 1.60 mm/rev --> Tangential feed (Y axis): 0.14 - 2.24 mm/rev Hsdpfxew A Am Ss Ah Ueg Translated with (free version)

Condition: used, TECHNICAL DETAILS - Part diameter : 100 [mm] - Nominal module * gear hobbing : approx. 3.0 [mm] * endless screw milling : approx. 5.0 [mm] - Max. axial movement : 320 [mm] - Cutting head orientation : -45 / + 115 [°] - Main mill max. diameter : 118 [mm] - Max. cut out length of the mail mill : 180 [mm] - Max. mill movement (Shifting) : 160 [mm] - Max. part-holder spindle speed : 3000 [t/mm] - Min./max. distance between axes : 10/100 [mm] - Cutting head motor power : 14 [kW] - Main mill speed : 50-12000 [t/mm] - Weight : 5000 [kg] EQUIPMENT Hjdpfx Ajx Ed A Roh Uog - CNC Siemens 840D - Cooling tank - Chip conveyor

Condition: used, Year of construction: 2001, Control SIEMENS table surface area 160 mm Hedsudc S Tspfx Ah Ujg weight of the machine ca. 10 t

Year of construction: 2007, condition: ready for operation (used), Control Unit Brand SIEMENS Model SIEMENS 840D Hedpfsx D E Skjx Ah Ujg Additional Equipment Siemens Path Control SINUMERIK 840 D, featuring 5 axes, 1 spindle, electronic gear, and integrated safety functions Motorized Milling Heads for internal and external gears with a swivel range of degrees External Gears: Min. Diameter: 950 mm / Max. Diameter: 2800 mm Cutter Arbor Cone: HSK-B160 (Hollow Shank Taper According to DIN 69063) This 5-axis CNC milling machine manufactured in 2007 features a Siemens SINUMERIK 840 D controller with electronic gear and integrated safety functions. It can handle workpieces up to 2800 mm in diameter and offers motorized milling heads with a swivel range of / degrees. Ideal for both internal and external gears, consider the opportunity to buy this Gleason Pfauter P 2800 CNC milling machine. Contact us for more information about this machine. Application Types Other Machine Tools

Condition: excellent (used), functionality: fully functional, table diameter: 400 mm, gear diameter: 400 mm, total width: 275 mm, spindle speed (max.): 500 rpm, overall weight: 6,200 kg, The machine is in very good condition. 6-module with change gears and attachment head. Operating manual included. The machine is under power. Hsdoxzn Atjpfx Ah Ueg

Condition: good (used), Year of construction: 2005, functionality: unexamined, machine/vehicle number: 29406, Lot consists of: (1)CNC Gear Shaping Machine Position consists of: (1) CNC gear shaping machine Technical Details/Technical Details: English: max dia 130mm, max face width 25mm, min/max module 0.5-4, strokes 500 - 2,500 1/min, spindle dia 85mm, CNC Siemens Sinumerik 840D, 400V 50Hz 49kW, LxWxH 6.4x4.5x4.4m, weight 12to Hedpfx Asv R Tmtsh Ujg Parts Gantry System and/or Cranes are not included in the scope. German: max. diameter 130mm, max. face width 25mm, min./max. Module 0.5-4, strokes 500-2,500 rpm, spindle diameter 85 mm, CNC Siemens Sinumerik 840D, 400 V 50 Hz 49 kW, LxWxH 6.4 x 4.5 x 4.4 m, weight 12 tons Parts gantry system and/or cranes are not included in the scope of delivery.

Condition: ready for operation (used), Year of construction: 2008, functionality: fully functional, GP300 CNC gear hobbing machine, WET AND DRY MACHINING available as required. Both options are freely selectable. Hodpfjxqn Tqsx Ah Uog Siemens 840D Solution Line, 5-axis system, suitable for shaft and disc-type workpieces. Max. Ø300 mm, max. module 6, swivel range ±45°, axial travel 440 mm, hobbing power 15 kW, HSK-B80, table Ø300 mm, direct drive, speed 90–900 rpm. High precision, digital drive technology (Sinamics S120), automatic head positioning 0.001°, linear guides, safety retraction, temperature compensation, full enclosure.

Condition: used, Year of construction: 2004, Technical details: max. wheel diameter: 130 mm gear width: 25 mm module max. : 3 module min. : 0,5 control: Siemens 840D work-spindle diameter: 85 mm strokes - infinitely variable: 500 - 2500 Hub/min stroke: 30 mm total power requirement: 48 kVA weight of the machine ca.: 11,5 t space requirements approx. LxWxH: 4,7 x 3,0 x 3,3 m Equipment: -Counterholder with tip -chip conveyor Hedpovi Ninefx Ah Ujg -hydraulically operated counterholder arm and linear guides *

Condition: excellent (used), Year of construction: 2002, max. wheel diameter 130 / 80 mm gear width 180 mm max. module 4 Hjdpfx Ajxlug Heh Ujg min. module 0,5 spindle turning speed - stepless 300 - 3000 U/min control Siemens 840 D x-travel 200 mm y-travel 170 mm z-travel 250 mm milling head -swivable +/- 45 ° table diameter 168 mm table hole 65 mm clamping length max. 245 mm table turning speeds 0 - 1000 U/min total power requirement 51 kW weight of the machine ca. 9,2 t dimensions of the machine ca. 4,5 x 4,0 x 3,2 m

Year of construction: 1970, condition: ready for operation (used), Wheel diameter: 160mm, max. wheel width: 355mm, module range: 0.5-4.5, max. cutter diameter: 115mm, max. cutter length: 105mm, cutter head swivel range: 120°, speed: 400rpm, distance between centers: 410mm. Machine dimensions X/Y/Z: approx. 2000mm/1500mm/2000mm, weight: approx. 3500kg. An on-site inspection is possible. Hjdpfx Aexph Skeh Ujg

Condition: ready for operation (used), Year of construction: 2000, functionality: fully functional, gear diameter: 180 mm, travel distance Z-axis: 300 mm, shaft length: 640 mm, TECHNICAL DETAILS Wheel diameter - max.: 180 mm Module - max.: 4 Carriage travel axial (Z-axis): 300 mm Shaft length - max.: 490-640 mm Y-axis travel: 33 - 193 mm MACHINE DETAILS Total power requirement: 14 kW Machine weight: 8 t Hedpew T R Abofx Ah Uog Workpiece counter: 886,067 pieces

Condition: used, Year of construction: 2007, control Siemens Sinumerik 840 D weight 57.000 kg voltage 400 V Gleason PFAUTER CNC gear hobbing machine P 2400/2800 Hodpfxjwzyp Ie Ah Ujg for gear cutting of cylindrical and worm gears as well as all other regularly occurring rollable profiles and shapes on the cylindrical workpiece circumference. Large gear hobbing machines from Gleason offer maximum productivity for roughing and finishing cylindrical gears for many industries: wind turbines, industrial gearboxes, mining and shipbuilding, gear machining and many more. The power range of the drive takes future tool developments into account. Of course, the gear hobbing head drive is also backlash-free. These machines are particularly well suited for use with state-of-the-art, cutting materials, regardless of whether dry or wet machining is preferred. The machine can be used for dry or wet machining and is also equipped with the appropriate chip conveyor for both machining methods. The machine is equipped with an internal profile milling head as a motorised milling head. --> Working range and technical data Nominal workpiece diameter: 2.400 mm --> Largest millable diameter approx.: 2.800 mm --> Smallest/largest distance between cutter and workpiece axis: 100/1.200 mm --> Largest axial slide travel (special design): 1.300 mm --> Largest clampable cutter (internal milling head): --> Diameter max: 440 mm --> Max. cutter width: 90 mm --> Swivel range of the internal profile milling head/vertical axis: +/- 15° --> Milling mandrel taper: HSK-B160 --> Maximum milling cutter travel: 300 mm --> Table diameter: 2.500 mm --> Part wheel diameter: 2.200 mm --> Table bore --> Diameter: 800 mm --> Depth: 875 mm --> Maximum table load approx.: 40.000 kg --> Max. feed and rapid traverse speeds: --> axial (Z-axis): 4.000 mm/min --> radial (X-axis): 3.000 mm/min --> tangential (Y-axis): 3.000 mm/min --> Milling cutter cooling lubrication device/electric centrifugal pump: approx. 150 l/min --> Increased drop height of magnetic chip conveyor: 1,600 mm --> Increased main stand: 1,300 mm axial slide travel --> Internal profile milling head as motor milling head instead of standard motor milling head --> Max. millable profile depth in steel with approx. 600 N/mm² strength: approx. 65 mm --> Infinitely variable milling speed: 50 - 150 min?¹ --> Max. milling cutter diameter: 440 mm --> Min. milling cutter base circle diameter: 310 mm --> Max. milling cutter width: 90 mm --> Min. internal diameter at 0° bevel angle: 800 mm+) --> Max. workpiece height at 0° bevel angle: 600 mm --> Max. workpiece ring thickness (including clamping device): 500 mm

Condition: like new (used), Year of construction: 2004, More Photos coming soon hob cutter: -Largest permissible tip circle diameter: 80 mm Largest toothed length: 70 mm Largest total length: 240 mm Taper for trimming with counter bearing steep taper 1:3, 4286 Mounting diameter of the collet: 32 mm Sliding paths: Radial (X-axis): 100 mm Tangential (Y-axis): 160 mm Axial (Z-axis): 300 mm Tailstock (Z4 axis): 350 mm Loading gantry (X5 axis) 3800 mm Largest milling head swivel angle: Direction +A: 40 degrees Direction A: 40 degrees Workpiece spindle: Outer diameter: 160 mm Bore: 63 mm Overall dimensions of the machine: Length: 9130 mm Width: 3895 mm Height: 3200 mm Gain of the machine: 8400 kg Feed rates: X and Z axes: 1 to 10000 mm/min Y axis: 1 to 5000 mm/min Hedoqpf Ifepfx Ah Ujg Rapid traverse: X, Z and Z4 axes: 10000 mm/min Y axis: 5000 mm/min X5 axis: 150 mm/min Speeds: Tool: 300 to 4000 min^-1 Workpiece spindle: 0 to 1000 min^-1 Operating voltage: 400 V Supply voltage: 230 V Control voltage: 24 V Frequency: 50 Hz Connected load of the machine: 48 kVA Cable cross-section: 35 mm2 Fuse protection: 70A wälzfräser: -Großter zulassiger Kopfkreissdurchmesser: 80 mm Groste verzanne Lange: 70 mm Größte Gesamtange: 240 mm Kegel zum Abstutzen m Gegenlager Steilkegel 1:3, 4286 Aufnahmedurchmesser der Spannzange: 32 mm Schlitterwege: Radial (X-Achse): 100 mm Tangential (Y-Achse): 160 mm Axial (Z-Achse): 300 mm Reitstock (Z4-Achse): 350 mm Ladeportal (X5-Achse) 3800 mm Größter Fräskopfschwenkwinkel: Richung +A: 40 Grad Richtung-A: 40 Grad Werkstückspindel: Außendurchmesser: 160 mm Bohrung: 63 mm Gesamtabmessungen der Maschine: Lange: 9130 mm Breite: 3895 mm Höhe: 3200 mm Gewinnt der Maschine: 8400 Kg Vorschübe: Achsen X und Z: 1 bis 10000 mm/min Achse Y: 1 bis 5000 mm/min Eilgänge: Achsen X, Z und Z4: 10000 mm/min Y.Achse: 5000 mm/min X5-Achse: 150 mm/min Drehzahlen: Werkzeug: 300 bis 4000 min^-1 Werkstückspindel: 0 bis 1000 min^-1 Betriebsspannung: 400 V Versorgungspannung: 230 V Steuerspannung: 24 V Frequenz: 50 Hz Anschlußwert der Maschine: 48 kVA Kabelquerschnitt: 35 mm2 Absicherung: 70A

Condition: like new (used), Year of construction: 2021, functionality: fully functional, inner diameter: 250 mm, outer diameter: 300 mm, For the production of internally and externally toothed cylindrical gears and other rolling profiles and shapes that regularly occur on the cylindrical workpiece circumference, as well as for the production of profiles using the single part process. incl. robot automation: coordinated Fanuc robot for loading and unloading TECHNICAL DETAILS CNC control: Siemens SINUMERIK 840 D sl External toothing: 300 mm Internal toothing: 250 mm Largest workpiece orbital diameter: 450 mm Nominal machine module: 8 mm Largest toothing width: 100 mm Shaping spindle stroke rate range Special version: 85 - 850 rpm Spindle diameter: 95 mm Mounting: HSK-B80 taper Distances and adjustment ranges Smallest pitch height of the hydrostatic inclined guide: 400 mm Smallest/largest distance between tool and workpiece axis: -70 / +230 mm Stroke position adjustment range (manual): 75 mm Stand lateral offset range: ±25 mm MACHINE DETAILS Weight of the machine: approx. 7,000 kg CONTROL AND DRIVE CNC control: Siemens SINUMERIK 840 D sl Control group: NCU 720.3PN with PLC 317-3PN/DP Drive system: SINAMICS S120 (digital drive technology) Measuring systems: - Absolute encoders for linear and rotary axes (except endless rotary axes) - Incremental measuring systems for C-axis NC axes: - Spindle stroke drive (A) - Workpiece rotation (C) - Tool rotation (C2) - Radial axis (X) shank and tool table Max. Shaping spindle speed: 12 rpm Max. Table speed: 300 rpm Max. Table torque: 220 Nm Table bore: diameter 150 mm, depth 253 mm Free support diameter: 365 mm (4 T-slots, M12 threaded holes) Radial drive: Max. Feed speed: 3,000 mm/min COOLING AND LUBRICATION SYSTEM Coolant tank capacity: approx. 550 l Cutting wheel cooling lubricant delivery rate: approx. 150 l/min Magnetic chip conveyor: - Nominal width: 230 mm - Discharge height: approx. 900 mm Lubrication and hydraulic system Tank volume: approx. 160 l Number of pumps: 2 (lubrication, hydraulic and hydrostatic) Hsdevdtx Nopfx Ah Ujg POWER SUPPLY Operating voltage: 400 V Control voltage: 24 V DC Frequency: 50 Hz Total connected load: approx. 25 kVA PROGRAMMING Standard dialog program: plain text operator guidance (German, English, Italian) Program functions: Single-cut cycle Multi-cut cycle (max. 3 cuts) Dimensional corrections Linear or degressive infeed EQUIPMENT 1 basic machine(s) AM 250 1 power clamping device 1 main column intermediate plate (150 mm high) 1 special ram head 0 - 110 mm stroke length 1 HSK-B80 tool holding cone 1 counter column with fixed counter support arm 1 counter column intermediate plate (100 mm high) 1 set of vibration isolators at no extra charge 1 Electronic handwheel 1 Extended software for fault diagnosis at no extra charge 1 Internet diagnostics system 1 Flow monitor 1 Flushing gun 1 150 mm diameter pipe socket 1 counterholder tip - rotating 1 draw tube and attachment bush AUTOMATION: 1 standard interface 1 Internal flushing of clamping top parts 1 Automatic loading door

Condition: excellent (used), Year of construction: 2002, functionality: fully functional, feed length X-axis: 230 mm, feed length Y-axis: 25 mm, feed length Z-axis: 150 mm, workpiece diameter (max.): 300 mm, TECHNICAL DETAILS Control: Siemens 840 D Nominal module in steel with approx. 600 N/mm² tensile strength: 4 Largest tooth width: 25 mm Largest nominal diameter: 130 mm Largest helix angle when using 125 mm diameter cutting wheels: ± 45° Workpiece with internal gearing Nominal module in steel with approx. 600 N/mm² tensile strength: 4 mm Largest tooth width: 25 mm Largest swing diameter: 300 mm Largest inner diameter: 130 mm Tool Hjdpfx Ahjwc Tg Ns Uog Largest permissible cutting wheel diameter: 175 mm Cutting wheel holder – diameter: 1.5 inches Cutting wheel holder – taper in the shaping spindle: PKP 45 hollow steep taper – Bauer Travel paths Radial (X-axis): 230 mm Manual transverse column adjustment (Y-axis): ± 25 mm Adjustment range of the axial slide (Z-axis): 150 mm Workpiece table Outer diameter: 168.14 mm Bore: 65.532 mm Spindle spindle Largest stroke length (V-axis): 30 mm Spindle axis adjustment range: ± 0.25° MACHINE DETAILS Length: 6,435 mm Width: 4,560 mm Height: 4,400 mm Weight: approx. 11,000 kg

Condition: used, Year of construction: 1979, max. wheel diameter 350 mm gear width 350 mm max. module 8 Hjdpfx Ahet Hwxze Ujg min. module total power requirement 7,5 - 22 kW weight of the machine ca. t dimensions of the machine ca. m Gear hobber with gear shaping device, 2-cut cycle

Condition: used, Year of construction: 2002, functionality: fully functional, wheel diameter: 130 mm, workpiece height (max.): 170 mm, TECHNICAL DETAILS Control: Sinumerik 840D Tip diameter: 80 mm Toothed length: 170 mm Overall length of hob cutter: 245 mm Collet diameter: 32 mm Tool speed: 300 - 3000 rpm Gear diameter: max. 130 mm Gear width: 170 mm Module: 0.5 - 3 Slide travel radial / tangential / axial: 200 / 170 / 250 mm Milling head swivel angle: ± 45° Workpiece table: Ø 168.14 mm Bore: 65.532 mm Table speed: 0 - 1000 rpm Table bore: 65.532 mm Hjdpfx Ahev I Tmus Usg Feed X/Z: 1 - 6000 mm/min Rapid traverse X, Z / Y: 6 / 5 m/min MACHINE DETAILS Total power requirement: 48 kVA Operating voltage: 3 x 400 V, 50 Hz Machine weight: approx. 9 t Space requirement: approx. 7.64 x 3.14 x 3.25 m

Condition: used, Year of construction: 2007, control Siemens 840D Hjdpfxswzypue Ah Ueg

Condition: used, Year of construction: 2008, control Siemens 840D Hedpfxjwzypne Ah Ueg

Condition: good (used), Year of construction: 1998, Max. Pitch circle diameter External gearing 300 mm Max. Pitch circle diameter internal gearing 300 mm Max. Outer diameter of workpiece (equipment) 450 mm max. module 6 Hsdpfx Aevu E Nujh Ujg gear hobbing width -max. 100 mm Max. Helix angle (with tool Ø 125 mm) +/- 45 ° strokes - infinitely variable 130 - 1300 Hub/min workpiece weight 1000 kg Minimum distance table top - tool spindle -55 / +300 mm Maximum distance table top - tool spindle 200 mm Maximum distance table top - tool spindle 350 mm Manual Upright side shift +/- 25 mm Manual swivelling angle of the tool spindle +/- 0,5 ° Max. Tool speed 15 UpM Max. Workpiece speed 27 UpM Max. Tool diameter 7 Zoll voltage 400 V frequency 50 Hz Max. Line power 70 A total power requirement 48 kW weight of the machine ca. 11 t dimensions of the machine ca. 4,27 x 3,11 x 2,87 m taper in main spindle SK 45 table hole 40 mm control Siemens Sinumerik 840 C Gleason PFAUTER gear shaping machine Mod. PSA 300 The CNC modular gear shaping machine with skiving cutter for the machining of external and internal cylindrical gears, with straight or helical involute with straight or helical involute toothing, as well as any other profile splitting process. The work cycle is controlled by a CNC unit, with specific software for machining the gears, machining. Field of application --> The PSA 300 has been designed for the production of: - Gears with straight external teeth - Gears with straight internal teeth - Gears with external helical teeth - Gears with internal helical teeth

Condition: used, Year of construction: 1992, max. wheel diameter 160 mm gear width 710 mm max. module 4,5 min. module 0,5 milling spindle speeds (infinitely variable) 70 - 400 U/min Hsdevz Edrjpfx Ah Ueg centre distance 800 mm total power requirement 11 kW weight of the machine ca. 4,7 t dimensions of the machine ca. 3,6 x 3,0 x 2,0 m 2-cut-cycle, shifting, very nice condition. Change gears, arbors.

Condition: good (used), max. wheel diameter 630 mm gear width 375 mm max. module 10 clamping table 550 mm table hole 125 mm milling spindle speeds infinitely variable 62 - 390 U/min taper MORSE 5 axial-feeds 0,40 - 6,80 mm/U radial feeds 0,10 - 1,76 mm/U Hsdpfjua It Uox Ah Uog dist. cutter spindle - workpiece spindle 50 - 425 mm no. of teeth min. 8 milling cutter dia. x width 192 / 215 mm shifting 200 mm main drive motor 7,5 kW total power requirement 21 kVa weight of the machine ca. 8,2 t Equipment of the machine: - Universal milling head with tangential displacement - Pressure reducing valve for counterholder - Magnetic chip transport - Year of construction approx. 1976

Condition: used, Year of construction: 1969, max. wheel diameter 160 mm gear width 355 mm max. module 4,5 min. module 0,5 centre distance 450 mm total power requirement 11 kW weight of the machine ca. 3,8 t dimensions of the machine ca. 2x17,1,6 m Wheel diameter - max. 160.175 mm Wheel width 355 mm Module - max. 4.5 Hjdpfsvz Ec Isx Ah Uog Spindle bore 75 mm Center distance 410 mm Number of teeth - min. 2, 3 Cutter diameter max. 115 mm Cutter length max. 105 mm Center distance between milling cutter and workpiece - max. 138 mm Center distance between milling cutter and workpiece - min. 30 mm Milling head - swivels 120 ° Milling cutter speeds 70 - 400 rpm Axial feeds 0.25 - 4.0 mm/rev Radial feeds 0.09 - 1.5 mm/rev Total power requirement approx. 9.5 kW Machine weight approx. 3.5 t Space requirement approx. 1730x1400x1440 mm Equipment/accessories: - Changing wheels - milling arbors - Clamping device Dra8M7 - documentation

Condition: used, Year of construction: 2004, max. module 3 mm max. workpiece diameter 65 mm spiral angle +45/-115 ° control SIEMENS 840 D Hodpfxoxfwbao Ah Usg clamping length max. 320 mm wheel diameter 140 mm weight of the machine ca. 4,8 t dimensions of the machine ca. 3,3 x 3,3 x 2,1 m

Condition: like new (used), Year of construction: 2017, max. wheel diameter 100 mm gear width 26 mm max. module 31 min. module 0,1 Control Siemens 840 D SL Hedpfx Ahjv Ehbbj Ueg Number of working hours 9598 h total power requirement 45 kW weight of the machine ca. 7 t dimensions of the machine ca. 4x3x2,5 m Gleason 100S gear shaping machine for the production of internally and externally toothed cylindrical gears and other cylindrical workpiece circumference regularly occurring profiles and moulds as well as for the production of profiles using the single part process. Technical data: Nominal workpiece diameter 100 mm Largest circumferential diameter 150 mm Machine nominal module approx. 3 mm (Guide value depending on the respective machining task.) Shaping spindle stroke speed range 0 - 3,000 1/min Stroke position adjustment range (manual) 20 mm Largest toothing width 26 mm Smallest pitch height of the hydrostatic inclined guide 400 mm Smallest/largest distance between tool axis - 20/+ 180 mm and workpiece axis Stand inclination range (manual) - 1/+ 11° Tool holder (manual clamping) HSK-D63 (hollow shank taper according to DIN 69063) Weight of the machine approx. 7,000 kg with robot cell