3 Product Description
H-840 Hexapod Microrobot
MS201E
Version: 2.5.1
11
Order Number
Power Supply Cables, Available Lengths
C-815.82P07A
Power supply cable for hexapods, drag-chain compatible, M12 m/f angled,
7.5 m
C-815.82P10A
Power supply cable for hexapods, drag-chain compatible, M12 m/f angled,
10 m
C-815.82P20A
Power supply cable for hexapods, drag-chain compatible, M12 m/f angled,
20 m
To order, contact our customer service department (p. 45).
3.6
Technical Features
3.6.1
Struts
The hexapod has six adjustable-length struts. Each strut carries out linear motion. Each set of
settings of the six struts defines a position of the motion platform in six degrees of freedom
(three translational axes and three rotational axes).
Each strut is equipped with the following components:
One actuator
Reference and limit switches
Joints for connecting to the base plate and motion platform
The actuator contains the following components:
H-840.G2A: Brushless DC motor with gearhead and absolute-measuring encoder,
spindle
H-840.G2I: Brushless DC motor with gearhead and incremental encoder, spindle
H-840.G2IHP: Brushless DC motor with gearhead and incremental encoder, spindle
H-840.D2A: Brushless DC motor with absolute-measuring encoder and spindle
H-840.D2I: Brushless DC motor with incremental encoder and spindle
3.6.2
Reference Switch and Limit Switches
The reference switch of a strut functions independently of the angular positions of the strut
ends and the lengths of the other struts.
When a limit switch is activated, the power source of the motor is switched off to protect the
hexapod against damage from malfunctions.
3.6.3
Control
Der hexapod is intended for operation with a suitable controller from PI (p. 8). The controller
makes it possible to command motion of individual axes, combinations of axes or all six axes at
the same time in a single motion command.
