PI H-840 Series, User Manual

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3 Product Description
H-840 Hexapod Microrobot MS201E Version: 2.5.1 7
3.1 Features and Applications
The various models (p. 7) of the H-840 hexapod that are offered differ with respect to the
sensor type, maximum velocity, and load capacity.
The parallel-kinematic design of the hexapod offers the following advantages:

Positioning operations in six independent axes (three translational axes, three
rotational axes) with short settling times

The center of rotation moves together with the motion platform

High accuracy and step resolution in all axes

No accumulation of errors of individual axes

No friction and torques from moving cables
The hexapod is controlled with a controller that can be ordered separately from PI (p. 8). The
position commands to the controller are entered as Cartesian coordinates.
3.2 Model Overview
Model Designation
H-840.G2A Precision hexapod microrobot, brushless DC gear motor, absolute encoder, 40 kg
load capacity, 2.5 mm/s velocity. Connecting cables are not included in the scope
of delivery and must be ordered separately.
H-840.G2I Precision hexapod microrobot, brushless DC gear motor, incremental rotary
encoder, 40 kg load capacity, 2.5 mm/s velocity. Connecting cables are not
included in the scope of delivery and must be ordered separately.
H-840.G2IHP High-precision hexapod microrobot, minimum incremental motion X,Y 40 nm,
minimum incremental motion Z 20 nm, minimum incremental motion θX, θY 0.2
µrad, minimum incremental motion θZ, 0.4 µrad, measurement log included in
the scope of delivery, brushless DC gear motor, incremental rotary encoder, 40
kg load capacity, 2.5 mm/s velocity. Connecting cables are not included in the
scope of delivery and must be ordered separately.
H-840.D2A Motion hexapod microrobot, brushless DC motor, absolute encoder, 10 kg load
capacity, 60 mm/s velocity. Connecting cables are not included in the scope of
delivery and must be ordered separately.
H-840.D2I Motion hexapod microrobot, brushless DC motor, incremental rotary encoder,
10 kg load capacity, 60 mm/s velocity. Connecting cables are not included in the
scope of delivery and must be ordered separately.
3 Product Description