6 Startup
H-840 Hexapod Microrobot
MS201E
Version: 2.5.1
31
6.1
General Notes on Startup
CAUTION
Risk of crushing by moving parts!
There is a risk of minor injuries from crushing between the moving parts of the hexapod and a
stationary part or obstacle.
Keep your fingers away from areas where they can get caught by moving parts.
NOTICE
Incorrect configuration of the controller!
The configuration data used by the controller (e.g., geometrical data and servo control
parameters) must be adapted to the hexapod. If incorrect configuration data is used, the
hexapod can be damaged by uncontrolled motion or collisions.
When the controller is switched on or rebooted, the configuration data is adapted using the
data that is loaded from the ID chip.
Once you have established communication via TCP/IP or RS-232, send the
CST?
command. The response shows the hexapod, to which the controller is adapted.
Only operate the hexapod with a controller whose configuration data is adapted to the
hexapod.
NOTICE
Damage due to collisions!
Collisions can damage the hexapod, the load to be moved, and the surroundings.
Make sure that no collisions are possible between the hexapod, the load to be moved, and
the surroundings in the workspace of the hexapod.
Do not place any objects in areas where they can be caught by moving parts.
Stop the motion immediately if a controller malfunction occurs.
6
Startup
