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3 Product Description 

 

26

 

Version: 2.1.1

 

MS222E 

H-845 Hexapod System

 

 

 

 

3.  The W axis is commanded to move to position 10. 

The rotation takes place around the rotational axis W, which was tilted during the 
previous rotations. The W axis is always vertical to the platform level. 

The rotation around the W axis tilts the rotational axes U and V. 

 

Figure 10: Rotation around the W axis 

 

  Platform in reference position 

 

Platform position: U = 10, V = –10, W = 10 (U and V parallel to the 
platform level, W vertical to the platform level) 

 

For more data on the travel ranges, see the "Specifications" section (p. 59). 

 

Содержание H-845

Страница 1: ...r H 845 D21 Heavy duty hexapod for 1000 kg load travel ranges 170 mm X Y 105 mm Z max velocity 20 mm s with controller H 845 D31 Heavy duty hexapod for 500 kg load travel ranges 110 mm X Y 50 mm Z max...

Страница 2: ...GmbH Co KG Karlsruhe Germany The text photographs and drawings in this manual are protected by copyright With regard thereto Physik Instrumente PI GmbH Co KG retains all the rights The use of any tex...

Страница 3: ...during Transport 6 2 2 3 Safety Measures during Installation 6 2 2 4 Safety Measures during Start Up 8 2 2 5 Safety Measures during Maintenance 9 3 Product Description 11 3 1 Features and Applications...

Страница 4: ...47 7 1 Performing a Maintenance Run 47 7 2 Packing the Hexapod for Transport 48 7 3 Replacing the Fuses of the M850B0448 Power Supply 52 7 4 Cleaning the Hexapod 54 8 Troubleshooting 55 9 Customer Ser...

Страница 5: ...ransmission Connection 68 10 5 Pin Assignment Hexapod Controller 69 10 5 1 I O Connection 69 10 5 2 Supply Power for Controller 70 11 Old Equipment Disposal 71 12 Glossary 73 13 Appendix 77 13 1 Expla...

Страница 6: ......

Страница 7: ...rovides information about the following items H845B00xx hexapod mechanics H845B0021 hexapod controller M850B0448 power supply Cabling Further information on the hexapod system can be found in the docu...

Страница 8: ...oided the dangerous situation will result in damage to the equipment Actions to take to avoid the situation INFORMATION Information for easier handling tricks tips etc Symbol Meaning 1 2 Action consis...

Страница 9: ...s scope of delivery Various For details see the user manual for the C 887 5xx controller 1 4 Downloading Manuals INFORMATION If a manual is missing or problems occur with downloading Contact our cust...

Страница 10: ...protected contents via a registration page see above Click the links in the browser window to change to the content for your product and log in using the access data that you received General procedur...

Страница 11: ...d is only possible in conjunction with the hexapod controller which is part of the hexapod system and coordinates all motion of the hexapod and the hexapod power supply 2 2 General Safety Instructions...

Страница 12: ...hexapod system may only be installed started up operated maintained and cleaned by authorized and appropriately qualified personnel 2 2 2 Safety Measures during Transport There is a risk of injuries...

Страница 13: ...the hexapod by its struts to position it on a surface Before installing the load determine the limit value for the load of the hexapod with a simulation program p 35 Before installing the load determi...

Страница 14: ...t build up Allow at least 15 cm clearance from the front and the rear of the unit and 1 cm from the bottom ensured by the feet of the chassis 2 2 4 Safety Measures during Start Up There is a risk of i...

Страница 15: ...orkspace of the hexapod Do not place any objects in areas where they can get caught by moving parts Immediately stop the motion if a malfunction occurs in the hexapod controller see user manual of the...

Страница 16: ......

Страница 17: ...design of the hexapod offers the following advantages Positioning operations in six independent axes three translational axes three rotational axes with short settling times The center of rotation mo...

Страница 18: ...xapod for 500 kg load travel ranges 110 mm X Y 50 mm Z max velocity 40 mm s Cable set 9 m with 6 DOF controller for hexapods TCP IP and RS 232 interface H 845 D41 Heavy duty hexapod for 500 kg load tr...

Страница 19: ...d Figure 1 Hexapod 1 Motion platform 2 Strut 3 Base plate 4 Socket for data transmission cable Controller Out 5 Socket for data transmission cable Controller In 6 Panel plug for power supply cable 24...

Страница 20: ...ently no function USB type A high insertion and pulling force USB interface for connecting the C 887 MC control unit from PI USB type A USB interface for connecting peripheral devices RJ45 socket Netw...

Страница 21: ...mplete and the controller is ready for normal operation Off The controller is switched off or the firmware is booting MAC LED green red Macro Lights up green Macro is running Lights up red Macro error...

Страница 22: ...green LED and yellow LED Without function RUN LED green Communication status of the EtherCAT master Off Master is in the INIT state Flashes 2 5 Hz Master is in the PRE OPERATIONAL state Flickers 10 H...

Страница 23: ...Hexapod controller ground connection Labeling Type Function M4 threaded pin Ground connection If potential equalization is required the controller can be connected to the grounding system 3 3 3 Power...

Страница 24: ...wer supply 1 Fuse carrier for two fuses with IEC rating T8AL 2 Power switch position power supply is switched off position power supply is switched on 3 Panel plug for line cord 4 Power LED Power 5 Fa...

Страница 25: ...apod mechanics consisting of Packaging materials Pallet Cardboard box lower part Cardboard box upper part Compound foil Hard foam insert for motion platform of hexapod Hard foam insert for base plate...

Страница 26: ...b D 3W3 f 1 1 9 m 000015165 Snap on ferrite suppressor Power supply Item ID Description M850B0448 Power supply for the hexapod and hexapod controller 110 230 V 24 V 700 VA 2 Sub D 3W3 f connectors 376...

Страница 27: ...a limit switch is activated the power source of the motor is switched off to protect the hexapod against damage from malfunctions 3 5 3 Brakes The brakes of the struts are activated by default The bra...

Страница 28: ...f 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...

Страница 29: ...ter of rotation always move together with the platform of the hexapod see also the example below for consecutive rotations A given rotation in space is calculated from the individual rotations in the...

Страница 30: ...xapod System 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 8 Rotation around the U axis Platform in reference position Platfo...

Страница 31: ...osition 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 9 Rotation around the...

Страница 32: ...ring the previous rotations The W axis is always vertical to the platform level The rotation around the W axis tilts the rotational axes U and V Figure 10 Rotation around the W axis Platform in refere...

Страница 33: ...by the hexapod NOTICE Impermissible mechanical load An impermissible mechanical load can damage the hexapod Only send the hexapod in the original packaging Only transport the hexapod using a crane The...

Страница 34: ...1 1 MS222E H 845 Hexapod System Unpacking the hexapod Figure 11 Hexapod package as delivered with lid cardboard removed 1 Open the cardboard box see figure above Figure 12 Hexapod package with upper...

Страница 35: ...emove the hard foam insert from the motion platform see figure above Figure 13 Hexapod package with surrounding cardboard box removed 3 Remove the cardboard box that surrounds the hexapod see figure a...

Страница 36: ...way that allows a future repacking of the hexapod 5 Fix three ring bolts to three M12 mounting holes with 24 mm depth in the rounded edges of the motion platform see Figure 15 below 6 Connect each ri...

Страница 37: ...board box 9 Remove the hard foam insert from the base plate of the hexapod 10 Compare the contents against the items covered by the contract and against the packing list If parts are incorrectly suppl...

Страница 38: ......

Страница 39: ...Depending on the tilting angle of the surface to which the hexapod is to be mounted the hexapod can slip tilt or fall from the surface There is a risk of injuries if parts of your body get caught by...

Страница 40: ...of the center of rotation Avoid high forces and torques on the motion platform during installation When the hexapod is mounted on a tilted surface Verify that the hexapod is lifted by the crane withou...

Страница 41: ...formation see the A000T0068 technical note Determining the workspace and permissible load of the hexapod Follow the instructions in the A000T0068 technical note to determine the workspace and the limi...

Страница 42: ...es 000015165 snap on ferrite included in the scope of delivery p 19 Permanently attaching the snap on ferrite 1 Put the power supply cable of the hexapod into the open snap on ferrite approx 10 to 15...

Страница 43: ...rping of the base plate Incorrect mounting can warp the base plate Warping of the base plate reduces the accuracy Mount the hexapod on an even surface The recommended evenness of the surface is 100 m...

Страница 44: ...erted on the hexapod 4 Fasten the screws in the selected counter sunk holes of the hexapod base plate 5 Disconnect the hexapod from the crane a Disconnect the three shackles from the crane b Remove th...

Страница 45: ...the motion platform during installation Make sure that no collisions between the hexapod the load to be moved and the surroundings are possible in the workspace of the hexapod NOTICE Excessively long...

Страница 46: ...g the screws Affixing the load 1 Align the load so that the selected mounting holes in the motion platform can be used to affix it 2 Use the screws to affix the load to the selected mounting holes in...

Страница 47: ...ories Cable set that belongs to the hexapod system p 12 Power supply that belongs to the hexapod system p 12 Connecting the hexapod system 1 Connect the Port 1 EtherCAT RJ45 socket of the controller t...

Страница 48: ...apod System Figure 18 Connection diagram for cable set K060B0060 Power supply cable for hexapod Sub D 3W3 m to Sub D 3W3 f 9 m K060B0206 Power supply cable for controller Sub D 3W3 m to M12 f 3 m 0000...

Страница 49: ...ration data used by the hexapod controller e g geometrical data and servo control parameters must be adapted to the hexapod If incorrect configuration data is used the hexapod can be damaged by uncont...

Страница 50: ...occurs INFORMATION The output voltage of the M850B0448 power supply is decreased when the internal temperature sensor detects a temperature above 50 C As a result the servo mode of the controller is...

Страница 51: ...ower supply is switched off Requirements You have read and understood the General Notes on Start Up p 43 You have correctly installed the hexapod system according to the instructions in Installation p...

Страница 52: ...5 Hexapod System 6 3 Switching Off the Hexapod System 1 Switch off the hexapod controller Thus the servo mode is switched off and the brakes are activated 4 Switch off the M850B0448 power supply by mo...

Страница 53: ...osen screws according to the instructions in this manual Depending on the operational conditions and the period of use of the hexapod the following maintenance measures are required 7 1 Performing a M...

Страница 54: ...lts and shackles NOTICE Impermissible mechanical load An impermissible mechanical load can damage the hexapod Only send the hexapod in the original packaging Only transport the hexapod using a crane T...

Страница 55: ...1 Command the hexapod to move to the reference position X Y Z U V W 0 2 Prepare to uninstall the hexapod system a Power down the hexapod controller b Switch off the power supply c Remove the load fro...

Страница 56: ...can be exerted on the hexapod in the next step 6 Uninstall the hexapod from the surface to which it is mounted When the hexapod is mounted on a tilted surface Carefully lift the hexapod by the crane...

Страница 57: ...il in which the hexapod was delivered 9 Place the hard foam insert for the base plate of the hexapod on the pallet Figure 21 Hexapod wrapped in foil with lower hard foam insert on a pallet 10 Place th...

Страница 58: ...e hard foam insert for the motion platform of the hexapod in the cardboard box see figure above 15 Close the cardboard box with the cardboard lid 16 Secure the box on the pallet 7 3 Replacing the Fuse...

Страница 59: ...45 Hexapod System MS222E Version 2 1 1 53 Figure 24 Location of fuses at the rear panel of the M850B0448 power supply Figure 25 How to exchange fuses Tools and accessories A suitable tool to pry open...

Страница 60: ...ry out the fuse carrier see Figure 25 above 5 Be sure to replace both fuses with fuses of the suitable type 100 to 240 V 2 x IEC T 8 AL with 250 V rated voltage L Low breaking T Time lag Note that IEC...

Страница 61: ...ait a few minutes to let the power supply cool down 2 Switch the power supply off and on again At least one limit switch of a strut is activated Start a reference move by sending an FRF command Imperm...

Страница 62: ...unication error between hexapod and controller Controller busy due to communication with PC software e g polling done by PIMikroMove Power supply is undersized or reacts too slowly Faulty limit switch...

Страница 63: ...on ready Product and serial numbers of all products in the system Firmware version of the controller if available Version of the driver or the software if available Operating system on the PC if avail...

Страница 64: ......

Страница 65: ...X Y Z X Y Z X Y Z Travel range X Y 110 110 110 170 170 170 mm Travel range Z 50 50 50 105 105 105 mm Travel range X Y 15 15 15 20 20 20 Travel range Z 30 30 30 30 30 30 Actuator design resolution 0 04...

Страница 66: ...300 500 150 400 120 kg max Motor type BLDC motor BLDC motor BLDC motor BLDC motor BLDC motor BLDC motor Miscellaneous H 845 D11 H 845 D31 H 845 D51 H 845 D21 H 845 D41 H 845 D61 Unit Tole rance Opera...

Страница 67: ...erk limited generation of dynamics profile with linear interpolation Processor Intel Atom dual core 1 8 GHz Servo cycle time 100 s Encoder input AB differential TTL signal 50 MHz Stall detection Servo...

Страница 68: ...anel plug m 24 V 8 A 10 1 5 Data Table M850B0448 Power Supply M850B0448 Power Supply Output voltage 24 V DC 20 A max Input voltage 110 230 V AC 50 60 Hz Input power 700 W Output power 500 W Fuses 2 x...

Страница 69: ...ion For indoor use only Maximum altitude 2000 m Air pressure 1100 hPa to 780 hPa corresponds to roughly 825 torr to 0 075 torr 10 2 2 Hexapod Controller Degree of pollution 2 Transport temperature 25...

Страница 70: ...orr to 592 5 torr Line voltage fluctuations Max 10 of the line voltage Overvoltage category II transient overvoltages as typical for public power supply 10 3 Dimensions Dimensions in mm Note that the...

Страница 71: ...10 Technical Data H 845 Hexapod System MS222E Version 2 1 1 65 10 3 1 Hexapod Figure 26 H 845 D11 D31 D51 hexapod dimensions in mm Figure 27 H 845 D21 D41 D61 hexapod dimensions in mm...

Страница 72: ...10 Technical Data 66 Version 2 1 1 MS222E H 845 Hexapod System 10 3 2 Hexapod Controller Figure 28 H845B0021 hexapod controller...

Страница 73: ...10 Technical Data H 845 Hexapod System MS222E Version 2 1 1 67 10 3 3 M850B0448 Power Supply Figure 29 M850B0448 power supply...

Страница 74: ...at base plate of hexapod Pin Function A1 GND A2 24 V DC A3 GND Shell Shield 10 4 2 Data Transmission Connection Controller In M12 socket at base plate of hexapod Pin Function 1 E_CAT_1_RD 2 E_CAT_1_RD...

Страница 75: ...Analog input 1 1 Analog input 2 19 Analog input 3 11 Analog input 4 2 GND analog 20 GND 12 Reserved 3 Reserved 21 Reserved 13 Reserved 4 Reserved 22 GND 14 Reserved 5 Reserved 23 Reserved 15 Reserved...

Страница 76: ...tal inputs Input impedance 10 k Input voltage 0 to 5 5 V Schmitt trigger input min max VT switching threshold with rising input voltage 1 3 V 2 2 V VT switching threshold with falling input voltage 0...

Страница 77: ...ternational national and local rules and regulations To meet the manufacturer s product responsibility with regard to this product Physik Instrumente PI GmbH Co KG ensures environmentally correct disp...

Страница 78: ......

Страница 79: ...ordinate system and the center of rotation are used the center 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 6...

Страница 80: ...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 Figure...

Страница 81: ...12 Glossary H 845 Hexapod System MS222E Version 2 1 1 75 Figure 31 H 810 hexapod the platform of which has been moved in X 1 Cable exit...

Страница 82: ......

Страница 83: ...ce test sheet is included in the scope of delivery The following figure shows the test setup used Figure 32 Test setup for measuring the X or Y axis 1 Laser interferometer 2 Mirror 3 Bench The followi...

Страница 84: ...onformity For the H 845 hexapod system an EU Declaration of Conformity has been issued in accordance with the following European directives EMC Directive RoHS Directive The applied standards certifyin...

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