5 Installation
20
Version: 2.3.0
MS207E
H-820 Hexapod Microrobot
INFORMATION
The optionally available PIVeriMove hexapod software for collision checking makes it possible
to check mathematically for possible collisions between the hexapod, load, and surroundings.
The use of the software is recommended when the hexapod is located in a limited installation
space and/or operated with a spatially limiting load. For details on activation and configuration
of PIVeriMove, see the C887T0002 technical note (in the scope of delivery of the software).
5.2
Determining the Permissible Load and Workspace
Tools and Accessories
PC with Windows operating system with the PI Hexapod Simulation Tool installed. For
further information, see the A000T0068 technical note.
Determining the workspace and the permissible load of the hexapod
Follow the instructions in the A000T0068 technical note to determine the workspace
and the limit value for the load of the hexapod with the simulation program.
The limit values in the following table are for orientation. They only apply when the center of
mass is at the origin of the default coordinate system (0,0,0).
Servo mode switched on for
hexapod –
max. load capacity
Servo mode switched off for
hexapod –
max. holding force
Mounting position of
the base plate
Mounted
horizontally
Mounted as
desired
Mounted
horizontally
Mounted as
desired
H-820.D2
20 kg
10 kg
200 N
100 N
If you need help in determining the limit value for the load or determining the workspace:
Contact our customer service department (p. 39).
