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3 Product Description 

H-840 Hexapod Microrobot 

MS201E 

Version: 2.5.1 

13 

 

Figure 2: Coordinate system and rotations to the rotational coordinates U, V, and W. The coordinate 

system is depicted above the platform for better clarity 

 

Translation 

Translations are described in the spatially-fixed coordinate system. The translational axes X, Y, 

and Z meet at the origin of the coordinate system (0,0,0). For further information, see the 

glossary (p. 63). 
 

Содержание H-840 Series

Страница 1: ...lsruhe Germany Phone 49 721 4846 0 Fax 49 721 4846 1019 Email info pi ws www pi ws MS201E H 840 Hexapod Microrobot User manual Version 2 5 1 Date 20 09 2022 This document describes the following hexap...

Страница 2: ...emark of iC Haus GmbH 2022 Physik Instrumente PI GmbH Co KG Karlsruhe Germany The text photographs and drawings in this manual are protected by copyright With regard thereto Physik Instrumente PI GmbH...

Страница 3: ...ers 8 3 4 Product View 9 3 5 Scope of Delivery 9 3 6 Technical Features 11 3 6 1 Struts 11 3 6 2 Reference Switch and Limit Switches 11 3 6 3 Control 11 3 6 4 Motion 12 3 6 5 ID Chip 17 4 Unpacking 19...

Страница 4: ...rvice 45 10 Technical Data 47 10 1 Specifications 47 10 1 1 Data Table 47 10 1 2 Maximum Ratings 53 10 1 3 Specifications for Data Transmission and Power Supply Cables 54 10 2 Ambient Conditions and C...

Страница 5: ...Symbols and Typographic Conventions The following symbols and typographic conventions are used in this user manual CAUTION Dangerous situation Failure to comply could lead to minor injury Precautiona...

Страница 6: ...eed properties 1 4 Other Applicable Documents The devices and software tools from PI mentioned in this documentation are described in separate manuals Device program Document no Document content C 887...

Страница 7: ...ding Manuals 1 Open the website www pi ws 2 Search the website for the product number e g P 882 3 Click the corresponding product to open the product detail page 4 Click the Downloads tab The manuals...

Страница 8: ......

Страница 9: ...ult in personal injury and or damage to the H 840 Use the H 840 for its intended purpose only and only when it is in perfect technical condition Read the user manual Eliminate any malfunctions that ma...

Страница 10: ...Microrobot Install and operate the H 840 only after you have read and understood this user manual Personnel qualification The H 840 may only be installed started operated maintained and cleaned by aut...

Страница 11: ...g cables are not included in the scope of delivery and must be ordered separately H 840 G2I Precision hexapod microrobot brushless DC gear motor incremental rotary encoder 40 kg load capacity 2 5 mm s...

Страница 12: ...xes EtherCAT interface analog inputs C 887 532 6 axis controller for hexapods TCP IP RS 232 benchtop device incl control of two additional axes EtherCAT interface motion stop C 887 533 6 axis controll...

Страница 13: ...m 2 Strut 3 Coordinate cube 4 Panel plug for power supply cable 5 Panel plug for data transmission cable 6 Base plate 3 5 Scope of Delivery Order number Components H 840 Hexapod according to your orde...

Страница 14: ...on cable available lengths C 815 82D02 Data transmission cable for hexapods drag chain compatible HD D sub 78 m f 2 m C 815 82D03 Data transmission cable for hexapods drag chain compatible HD D sub 78...

Страница 15: ...onnecting 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...

Страница 16: ...eference 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 f...

Страница 17: ...he rotational coordinates U V and W The coordinate system is depicted above the platform for better clarity Translation Translations are described in the spatially fixed coordinate system The translat...

Страница 18: ...nsecutive rotations A given rotation in space is calculated from the individual rotations in the order U V W For further information on the center of rotation see the glossary p 63 INFORMATION The dim...

Страница 19: ...rsion 2 5 1 15 1 The U axis is commanded to move to position 10 The rotation around the U axis tilts the rotational axes V and W Figure 3 Rotation around the U axis Platform in reference position Plat...

Страница 20: ...position 10 The rotation takes place around rotational axis V which was tilted during the previous rotation The rotation around the V axis tilts the rotational axes U and W Figure 4 Rotation around t...

Страница 21: ...3 6 5 ID Chip The hexapod has an ID chip that contains data on the type of hexapod its serial number and the date of manufacture The data is loaded from the ID chip when the controller is switched on...

Страница 22: ......

Страница 23: ...ng Only hold the hexapod by the transport safeguard or the base plate 4 1 Unpacking the Hexapod 1 Open the outer box 2 Remove the foam cover 3 Open the inner box 4 Remove the foam cover 5 Grip the hex...

Страница 24: ...d accessories Open end wrench AF 10 Open end wrench AF 13 Removing the transport safeguard 1 Loosen the 4 nuts M8 used for securing the transport safeguard s cover to the struts 2 Remove the nuts and...

Страница 25: ...21 5 Remove the transport safeguard s cover 6 Unscrew the 4 struts of the transport safeguard from the hexapod s base plate M8 thread 7 Keep the transport safeguard as well as all screws flat washers...

Страница 26: ......

Страница 27: ...s between the hexapod the load to be moved and the surroundings are possible in the workspace of the hexapod For variants with absolute encoder NOTICE Sensor malfunction due to unplugging connectors U...

Страница 28: ...ding force Mounting position of the base plate Mounted horizontally Mounted in any direction Mounted horizontally Mounted in any direction H 840 G2A G2I G2IHP 30 kg 10 kg 100 N 25 N H 840 D2A D2I 10 k...

Страница 29: ...read and understood the general notes on installing p 23 Tools and accessories Hex key 5 0 and six of the supplied screws p 9 Optional two locating pins for easy alignment of the hexapod suitable for...

Страница 30: ...long screws The hexapod can be damaged by screws that are inserted too deeply When selecting the screw length observe the thickness of the motion platform or the depth of the mounting holes p 57 toget...

Страница 31: ...in the motion platform or in the load c Place the load on the motion platform so that the locating pins are inserted into the corresponding locating holes on the other side The layout of the mounting...

Страница 32: ...as accessories Connecting the hexapod to the controller Connect the hexapod and the controller to each other Pay attention to the assignment specified on the labeling of the sockets plug connectors a...

Страница 33: ...bot MS201E Version 2 5 1 29 Controller Refer to Suitable Controllers p 8 Hexapod H 840 A Power adapter from the scope of delivery of the controller 24 V DC output 1 Data transmission cable 2 Power sup...

Страница 34: ......

Страница 35: ...d 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 I...

Страница 36: ...d the general notes on starting and operating p 31 You have correctly installed the hexapod i e you have mounted the hexapod onto a surface fixed the load to the hexapod and connected the hexapod to t...

Страница 37: ...und service benefits NOTICE Damage due to improper maintenance The hexapod can become misaligned as a result of improper maintenance The specifications can change as a result p 47 Only loosen screws a...

Страница 38: ...of the hexapod are blocked do not move the hexapod by hand If you move the hexapod by hand do not use high forces Accessories Transport safeguard p 19 Original packaging p 9 Electrostatic dissipative...

Страница 39: ...of the transport safeguard a Screw the struts with the shorter thread into the hexapod s base plate as shown in the figure b Tighten the struts by hand Securing nuts and flat washers a Screw an M8 nut...

Страница 40: ...form so that the ends of the 4 struts protrude through the corresponding holes in the cover b Attach the cover to the motion platform using the four M6x16 screws that you previously pushed a 6 4 flat...

Страница 41: ...uter box onto the pallet b Lay a 740 x 740 x 130 mm foam cushion into the outer box Make sure that the recess for the inner box points upwards while the feet point downwards c Insert the inner box int...

Страница 42: ...igure 7 Close the inner box 8 Put a 740 x 740 x 130 mm foam cushion onto the inner box see figure 9 Put the cover onto the outer box see figure 10 Secure the outer box on the pallet with two parallel...

Страница 43: ...840 Hexapod Microrobot MS201E Version 2 5 1 39 Step 6 Only necessary when a cushion made of folded corrugated cardboard is part of the original packaging Step 8 Step 9 Step 11 The upper box contains...

Страница 44: ...Cleaning the Hexapod Requirements You have removed the cables for data transmission and the power supply from the hexapod Cleaning the hexapod If necessary clean the surfaces of the hexapod with a cl...

Страница 45: ...he entire travel range p 33 External disturbances Make sure that no vibrations are not transmitted to the system Make sure that forces e g also through dragged cables do not affect the movement of the...

Страница 46: ...e the power good check using parameter 0x19004000 Contact our customer service department p 45 The hexapod does not move The servo was switched off by a malfunction Query the servo status using SVO If...

Страница 47: ...response shows the hexapod to which the controller is adapted Set the correct hexapod using DBG choosehexapod type of hexapod Send the ERR command Error code 233 in the answer indicates that the confi...

Страница 48: ...s not start a reference move The hexapod is equipped with absolute measuring encoders The FRF command does not start a reference move for axes with absolute measuring sensors but sets the target posit...

Страница 49: ...formation Product and serial numbers of all products in the system Firmware version of the controller if applicable Version of the driver or the software if applicable Operating system on the PC if ap...

Страница 50: ......

Страница 51: ...mum velocity in Y 60 mm s 2 5 mm s Maximum velocity in Z 60 mm s 2 5 mm s Maximum angular velocity in X 700 mrad s 30 mrad s Maximum angular velocity in Y 700 mrad s 30 mrad s Maximum angular velocity...

Страница 52: ...3 m typ Unidirectional repeatability in Y 0 3 m 0 3 m typ Unidirectional repeatability in Z 0 1 m 0 1 m typ Unidirectional repeatability in X 1 5 rad 2 5 rad typ Unidirectional repeatability in Y 1 5...

Страница 53: ...rivers 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 X2I Motion H 840 D2I H 840 G2I Tolerance Active a...

Страница 54: ...in X 14 7 Hz Amplitude frequency product in Y 14 7 Hz Amplitude frequency product in Z 41 Hz Amplitude error 10 max Phase error 60 max Maximum frequency 30 Hz Positioning H 840 D2I H 840 G2I Toleranc...

Страница 55: ...5 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...

Страница 56: ...mrad s Positioning H 840 G2IHP Tolerance Integrated sensor Incremental rotary encoder Unidirectional repeatability in X 0 3 m typ Unidirectional repeatability in Y 0 3 m typ Unidirectional repeatabili...

Страница 57: ...pin m Recommended controllers drivers C 887 5xx Operating temperature range 10 to 50 C Connector for data transmission HD D sub 78 pin m Technical data specified at 22 3 C The maximum travel ranges o...

Страница 58: ...5 82P07A C 815 82P07E C 815 82D10 C 815 82P10A C 815 82P10E C 815 82D20 C 815 82P20A C 815 82P20E The models differ with respect to the following features 1 Cable type 2 Length 3 Connector type power...

Страница 59: ...n a drag chain 72 94 mm Minimum bending radius with the fixed installation 36 57 mm Outer diameter 7 2 7 5 mm Connector M12 m f Data transmission cable Unit Minimum bending radius in a drag chain 107...

Страница 60: ...10 Technical Data 56 Version 2 5 1 MS201E H 840 Hexapod Microrobot Degree of protection according to IEC 60529 IP20 Area of application For indoor use only Maximum altitude 2000 m...

Страница 61: ...orobot MS201E Version 2 5 1 57 10 3 Dimensions Dimensions in mm Note that a comma is used in the drawings instead of a decimal point Figure 9 H 840 G2A G2I D2A D2I hexapod models dimensions in mm at z...

Страница 62: ...the default settings for the coordinate system and center of rotation are used and the hexapod is at position X Y Z U V W 0 10 4 Pin Assignment 10 4 1 Power Supply Connection Power supply via 4 pin M...

Страница 63: ...CH3 LimN OUT 28 CH3 A OUT 67 CH3 B OUT 9 CH3 A OUT 48 CH3 B OUT 29 GND 68 GND 10 CH4 Sign IN 49 CH4 MAGN IN 30 CH4 Ref OUT 69 CH4 LimP OUT 11 nc 50 CH4 LimN OUT 31 CH4 A OUT 70 CH4 B OUT 12 CH4 A OUT...

Страница 64: ...10 Technical Data 60 Version 2 5 1 MS201E H 840 Hexapod Microrobot Pin Pin Signal Pin Pin Signal 19 ID Chip 58 Brake Enable drive 39 GND 78 GND 20 24 V input 59 Power Good 24 V output...

Страница 65: ...national national and local rules and regulations In order to fulfill its responsibility as the product manufacturer Physik Instrumente PI GmbH Co KG undertakes environmentally correct disposal of all...

Страница 66: ......

Страница 67: ...of rotation after a reference move is located at the origin of the coordinate system 0 0 0 see the dimensional drawing of the hexapod p 57 The center of rotation always moves together with the platfo...

Страница 68: ...ot The Z axis is perpendicular to the base plate of the hexapod The following example figures of the H 810 hexapod show that the coordinate system does not move along with motion of the platform Figur...

Страница 69: ...12 Glossary H 840 Hexapod Microrobot MS201E Version 2 5 1 65 Figure 11 H 810 hexapod the platform of which has been moved in X 1 Cable exit...

Страница 70: ......

Страница 71: ...mance test sheet is included in the scope of delivery The following figure shows the test setup used Figure 12 Test setup for measuring the X or Y axis 1 Laser interferometer 2 Mirror 3 Bench The foll...

Страница 72: ......

Страница 73: ...arations of Conformity For the H 840 declarations of conformity were issued according to the following European statutory requirements EMC Directive RoHS Directive The applied standards certifying the...

Страница 74: ...Certificate The models H 840 D2x have been from the Camera Imaging Products Association CIPA was certified as vibration equipment according to the CIPA DC 011 Measurement and Description Method for Im...

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