5 Installation
H-850 Hexapod Microrobot
MS202E
Version: 2.3.0
23
In this Chapter
General Notes on Installation ...................................................................................................... 23
Determining the Permissible Load and Workspace ..................................................................... 24
Attaching the Snap-on Ferrite...................................................................................................... 25
Grounding the Hexapod ............................................................................................................... 26
Mounting the Hexapod on a Surface ........................................................................................... 26
Fixing the Load to the Hexapod ................................................................................................... 28
Optional: Removing the Coordinate Cube ................................................................................... 29
Connecting the Hexapod to the Controller.................................................................................. 30
5.1
General Notes on Installation
The hexapod can be mounted in any orientation.
NOTICE
Impermissible mechanical load and collisions!
Impermissible mechanical load and collisions between the hexapod, the load to be moved, and
the surroundings can damage the hexapod.
Only hold the hexapod by the base plate.
Before installing the load, determine the limit value for the load of the hexapod with a
simulation program (p. 24).
The limit values determined with the simulation program are only valid when the
controller has the servo mode switched on for the axes of the motion platform of the
connected hexapod.
Before installing the load, determine the workspace of the hexapod with a simulation
program (p. 24).
The limits of the workspace vary according to the current position of the hexapod
(translational and rotational coordinates) as well as the active coordinate system and the
current coordinates of the center of rotation.
Avoid high forces and torques on the motion platform during installation.
To avoid unintentional deactivation of the hexapod system and resulting position changes
of the hexapod system, make sure that the power supply is not interrupted.
Make sure that no collisions between the hexapod, the load to be moved, and the
surroundings are possible in the workspace of the hexapod.
5
Installation
