10 Technical Data
H-840 Hexapod Microrobot
MS201E
Version: 2.5.1
51
Positioning
H-840.D2I
H-840.G2I
Tolerance
Backlash in Y
1.5 µm
2 µm
typ.
Backlash in Z
0.25 µm
0.3 µm
typ.
Backlash in θX
4 µrad
5 µrad
typ.
Backlash in θY
4 µrad
5 µrad
typ.
Backlash in θZ
8 µrad
10 µrad
typ.
Drive properties
H-840.D2I
H-840.G2I
Tolerance
Drive type
Brushless DC motor
Brushless DC gear motor
Mechanical properties
H-840.D2I
H-840.G2I
Tolerance
Maximum holding force, base plate
in any orientation
5 N
25 N
Maximum holding force, base plate
horizontal
15 N
100 N
Maximum load capacity, base plate
in any orientation
3 kg
15 kg
Maximum load capacity, base plate
horizontal
10 kg
40 kg
Overall mass
12 kg
12 kg
Material
Aluminum, steel
Aluminum, steel
Miscellaneous
H-840.D2I
H-840.G2I
Tolerance
Connector for supply voltage
M12 4-pin (m)
M12 4-pin (m)
Recommended controllers / drivers C-887.5xx
C-887.5xx
Operating temperature range
-10 to 50 °C
-10 to 50 °C
Connector for data transmission
HD D-sub 78-pin (m)
HD D-sub 78-pin (m)
H-840.G2IHP
Motion
H-840.G2IHP
Tolerance
Active axes
X, Y, Z, θX, θY, θZ
Travel range in X
± 50 mm
Travel range in Y
± 50 mm
Travel range in Z
± 25 mm
Rotation range in θX
± 15 °
