3 Product Description
22
Version: 2.1.1
MS222E
H-845 Hexapod System
Every time the controller of a hexapod equipped with incremental encoders is
switched on or rebooted, the hexapod must complete a reference move, in which each
strut moves to its reference point switch. After the reference move, the motion platform
is in the reference 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 more information, see the MS244E user manual.
Note that the hexapod controller in the scope of delivery provides neither data
recorder nor wave generator.
3.5.5 Motion
The platform moves along the translational axes X, Y, and Z and around the rotational
axes U, V, and W.
Using the controller, custom coordinate systems can be defined and used instead of
the default coordinate system.
Default and user-defined coordinate systems are always right-handed systems. It is
not possible to convert a right-handed system to a left-handed system.
The following is a description of how the hexapod behaves with the default coordinate
system. Work with user-defined coordinate systems is described in the C887T0007
technical note.
Figure 7: XYZ coordinate system and rotations to the rotational coordinates U, V and
W. The coordinate system is depicted above the platform for better clarity.