10 Technical Data
H-845 Hexapod System
MS222E
Version: 2.1.1
61
10.1.2 Maximum Ratings Hexapod
The hexapod is designed for the following operating data:
Maximum
Operating
Voltage
Maximum Opera-
ting Frequency
(Unloaded)
Maximum
Power
Consumption
24 V DC
500 W
10.1.3 Data Table Hexapod Controller
H845B0021
Function
6-axis controller for hexapods
Drive type
Servo motors
Motion and control
Servo characteristics
32-bit PID filter
Trajectory profile modes
Jerk-limited generation of dynamics profile with linear
interpolation
Processor
Intel Atom dual core (1.8 GHz)
Servo cycle time
100 µs
Encoder input
AB differential TTL signal, 50 MHz
Stall detection
Servo off, triggered by position error
Reference point switch
TTL
Interface and operation
Communication interfaces
TCP/IP, RS-232
Hexapod connection
RJ45 socket (EtherCAT)
Supply voltage connection
M12 (m)
I/O lines
HD D-sub 26 (f):
4 × analog input (-10 to 10 V, via 12-bit A/D converter)
4 × digital input (TTL)
4 × digital output (TTL)
Command set
PI General Command Set (GCS)
User software
PIMikroMove
Software drivers
API for C / C++ / C# / VB.NET / MATLAB / Python,
drivers for NI LabVIEW
