5 Installation
H-845 Hexapod System
MS222E
Version: 2.1.1
35
INFORMATION
The optionally available PIVeriMove software for collision checking makes it possible
to check mathematically for possible collisions between the hexapod, the load, and
surroundings. The use of the software is recommended when the hexapod is located
in a limited installation space and/or operated with a spatially limiting load. For details
on activation and configuration of PIVeriMove, see the C887T0002 technical note (in
the scope of delivery of the software).
5.2 Determining the Permissible Load and Workspace
Tools and accessories
PC with Windows operating system with the PI Hexapod Simulation Tool
installed. For further information, 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 limit value for the load of the hexapod with the simulation
program.
The limit values in the following table serve as a guide. They only apply when the
center of mass is at the origin of the default coordinate system (0,0,0).
Servo mode switched on
for hexapod –
max. load capacity
Servo mode switched off for
hexapod –
max. holding force
Mounting position of
the base plate
Mounted
horizontally
Any
orientation
Mounted
horizontally
Any
orientation
H-845.D11, .D21
1000 kg
300 kg
10000 N
3000 N
H-845.D31, .D41
500 kg
150 kg
5000 N
1500 N
H-845.D51, .D61
400 kg
120 kg
4000 N
1200 N
If you need help in determining the limit value for the load or determining the
workspace:
Contact our customer service department (p. 57).
