3 Product Description
12
Version: 2.5.1
MS201E
H-840 Hexapod Microrobot
The controller calculates the settings for the individual struts from the target positions given for
the translational and rotational axes. The velocities and accelerations of the struts are
calculated so that all struts start and stop at the same time.
Every time the controller of a hexapod equipped with incremental encoders is switched on or
rebooted, the hexapod must complete a reference move, in which each strut moves to its
reference switch. After the reference move, the motion platform is in the reference position
and can be commanded to move to absolute target positions.
A reference move is not required for a hexapod with absolute-measuring sensors.
For further information, see the user manual for the controller.
3.6.4
Motion
The platform moves along the translational axes X, Y, and Z and around the rotational axes U, V,
and W.
Using the controller, custom coordinate systems can be defined and used instead of the default
coordinate system.
Default and user-defined coordinate systems are always right-handed systems. It is
not
possible
to convert a right-handed system to a left-handed system.
The following is a description of how the hexapod behaves with the default coordinate system.
Work with user-defined coordinate systems is described in the C887T0007 technical note.
