Technical Note

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Technical Note

BRo, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

H-811.D2 and H-811.S2 Hexapod Microrobots

Contents

Introduction ...................................................................................................................................... 1

Precision-Class 6-Axis Positioning System ................................................................................... 1

Model Overview ............................................................................................................................ 1

Recommended Controller (to be ordered separately) .................................................................... 1

Other Applicable Documents ............................................................................................................ 2

Scope of Delivery ............................................................................................................................. 2

Connecting the Hexapod to the C-887.5xx Controller ....................................................................... 3

Dimensions ...................................................................................................................................... 4

Technical Data ................................................................................................................................. 6

Data Table .................................................................................................................................... 6

Maximum Ratings ......................................................................................................................... 7

Ambient Conditions and Classifications ........................................................................................ 7

Pin Assignment ................................................................................................................................ 7

Power Supply ................................................................................................................................ 7

Data Transmission ........................................................................................................................ 8

Introduction

Precision-Class 6-Axis Positioning System

Parallel-kinematic design for six degrees of freedom making it significantly more compact and stiff than serialkinematic systems, higher dynamic range, no moved cables: Higher reliability, reduced friction

Model Overview

H-811.D2 Miniature Hexapod Microrobot, Direct Drive,

10 mm/s, 5 kg Load, 2 m Cable, HD Sub-D Connector

H-811.S2 Miniature Hexapod Microrobot, Direct Drive,

20 mm/s, 5 kg Load, 2 m Cable, HD Sub-D Connector

Recommended Controller (to be ordered separately)

C-887.5xx 6D Hexapod Controller, TCP/IP, RS-232,

Bench-Top Device, Control of Two Additional Servo-

Motor Axes Included; various models available

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Page 2 / 9

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Other Applicable Documents

Description

H-811 Hexapod

Microrobot

Document

MS199E user manual for H-811.D1 Hexapod models.

This manual is also valid for H-811.D2 and H-811.S2 Hexapod models, except for the information superseded by the H811T0019 Technical Note (this document).

 Refer to the MS199E user manual for the following information:

− Safety instructions and product description

− Instructions for unpacking, installation, start-up, and maintenance of the Hexapod

− Overview for troubleshooting

C-887.5xx

Hexapod

Controller

C-887 Wave

Generator

Functions

MS204E user manual

Technical Notes for the individual controller models

Documentation for the PC software that comes with the Hexapod controller

C887T0013 Technical Note, included in the controller CD C-887.CD (relevant for corresponding operation of H-811.S2; e.g. shaker applications)

Scope of Delivery

Order Number Items

H-811 Hexapod according to your order, cable permanently installed

000015165 Steward snap-on ferrite suppressor

Packaging, consisting of:

Outer box

Inner box

Two pads for sliding onto the inner box

Internal cushion, bottom

Internal cushion, cover

Pallet

Documentation, consisting of:

H811T0019 Technical Note for H-811.D2 and H-811.S2 Hexapod models (this document)

H811T0001

MS199E

Technical Note on unpacking the Hexapod

User manual for the Hexapod

Screw sets:

000020110 Mounting accessories:

6 M4x25 hex-head cap screws ISO 4762

1 Allen wrench 3.0 DIN 911

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Page 3 / 9

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Order Number Items

000036450 Accessories for connection to the grounding system:

1 flat-head screw with cross recess M4x8 ISO 7045

2 washers, form A-4.3 DIN 7090

2 safety washers, Schnorr Ø 4 mm N0110

Connecting the Hexapod to the C-887.5xx Controller

1. Read and observe the following installation instructions:

• Instructions in the user manual of the Hexapod, especially sections „General Notes on Installation“,

„Determining the Permissible Load and Working Space“, „Attaching the Snap-On Ferrite

Suppressor“, „Grounding the Hexapod“, „Mounting the Hexapod on a Surface“ and „Affixing the

Load to the Hexapod“.

• Instructions in the user manual of the Hexapod controller, especially sections „General Notes on

Installation“ and „Determining the Working Space and Permissible Load of the Hexapod“.

2. Make sure that the Hexapod controller is switched off (see user manual of the Hexapod controller).

3. Connect the H-811 Hexapod to the Hexapod controller: a) Connect the HD Sub-D 78 (m) connector of the data transmission cable to the Hexapod socket of the controller. b) Connect the M12 connector of the power supply cable to the 24 V Out 7 A socket of the controller.

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Page 4 / 9

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Dimensions

All figures show the Hexapod in the reference position. Dimensions in mm. Note that the decimal places are separated by a comma in the drawings.

The (0,0,0) coordinates refer to the origin of the XYZ coordinate system. When the default settings of the Hexapod controller are used and the Hexapod is in the reference position, the pivot point is located at the origin of the XYZ coordinate system.

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Page 5 / 9

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Figure 1: H-811.x2 Hexapod dimensions

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Page 6 / 9

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Technical Data

Data Table

Active axes

Motion and positioning

Travel range* X, Y, Z

Travel range* θ

X

, θ

Y

, θ

Z

Single-actuator design resolution

Min. incremental motion X, Y

Min. incremental motion Z

Min. incremental motion θ

X

, θ

Y

, θ

Z

Backlash X, Y

Backlash Z

Backlash θ

X

, θ

Y

Backlash θ

Z

Repeatability X, Y

Repeatability Z

Repeatability θ

Repeatability θ

X

Z

, θ

Y

Max. velocity X, Y, Z

Max. velocity θ

X

, θ

Y

, θ

Z

Typ. velocity X, Y, Z

Typ. velocity θ

X

, θ

Y

, θ

Z

Mechanical properties

Stiffness X, Y

Stiffness Z

Load (base plate horizontal / any orientation)

Holding force, de-energized (base plate horizontal / any orientation)

Motor type

Miscellaneous

Operating temperature range

Material

Mass

Cable length

10

250

5

120

0.2

3.6

3.5

1

0.2

10

15

±0.3

±0.1

±4

±8

H-811.D2

X, Y, Z, θ

X

, θ

Y

, θ

Z

±17, ±16, ±6.5

±10, ±10, ±21

40

0.5

0.2

5 / 2.5

15 / 2.5

20

500

10

250

0.2

3.6

7

2

0.5

20

30

±0.3

±0.1

±4

±8

H-811.S2

X, Y, Z, θ

X

, θ

Y

, θ

Z

±17, ±16, ±6.5

±10, ±10, ±21

80

1

0.5

5 / 2.5

15 / 2.5

Brushless DC motor Brushless DC motor

0 to 50 0 to 50 °C

Stainless steel, aluminum

2.2

2

Stainless steel, aluminum

2.2

2 kg m

Unit mm

° nm

µm

µm

µrad

µm

µm

µrad

µrad

µm

µm

µrad

µrad mm/s mrad/s mm/s mrad/s

N/µm

N/µm kg

N

±5 %

±10 mm

Technical data specified at 20±3°C.

* The travel ranges of the individual coordinates (X, Y, Z,

θ

X

,

θ

Y

,

θ

Z

) are interdependent. The data for each axis in this table shows its maximum travel, where all other axes are at their zero positions. If the other linear or rotational coordinates are not zero, the available travel may be less. typ. typ. typ. typ. typ. typ. typ. typ. typ.

Tolerance typ. typ. max. max.

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Page 7 / 9

Maximum Ratings

The Hexapod is designed for the following operating data:

Maximum operating voltage

Maximum operating frequency (unloaded)

24 V DC

Ambient Conditions and Classifications

Degree of pollution: 2

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Maximum current consumption

5 A

Transport temperature: –25°C to +85°C

Storage temperature: 0 °C to 70 °C

Humidity: Maximum relative humidity of 80% at temperatures of up to 31°C, linearly decreasing until relative humidity of

50% at 40°C

Degree of protection according to IEC 60529: IP20

Area of application: For indoor use only

2000 m Maximum altitude:

Pin Assignment

Power Supply

1

2

3

4

4-pin M12 connector

Pin Function

GND

GND

24 V DC

24 V DC

4

1

3

2

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Page 8 / 9

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Data Transmission

HD Sub-D 78 (m) connector

1

21

40

60

20

39

59

78

Pin* Pin* Signal* Pin* Pin*

1 CH1 Sign 40

21 CH1 Ref 60

2 CH1 VDD 41

22 CH1 A+ 61

3 CH1 A- 42

23 GND 62

4 CH2 Sign 43

24 CH2 Ref 63

5 CH2 VDD 44

25 CH2 A+ 64

6 CH2 A- 45

26 GND 65

7 CH3 Sign 46

27 CH3 Ref 66

8 CH3 VDD 47

28 CH3 A+ 67

9 CH3 A- 48

29 GND 68

10 CH4 Sign 49

30 CH4 Ref 69

11 CH4 VDD 50

31 CH4 A+ 70

12 CH4 A- 51

32 GND 71

13 CH5 Sign 52

33 CH5 Ref 72

14 CH5 VDD 53

34 CH5 A+ 73

15 CH5 A- 54

35 GND 74

16 CH6 Sign 55

36 CH6 Ref 75

17 CH6 VDD 56

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

Signal*

CH1 MAGN

CH1 LimP

CH1 LimN

CH1 B+

CH1 B-

GND

CH2 MAGN

CH2 LimP

CH2 LimN

CH2 B+

CH2 B-

GND

CH3 MAGN

CH3 LimP

CH3 LimN

CH3 B+

CH3 B-

GND

CH4 MAGN

CH4 LimP

CH4 LimN

CH4 B+

CH4 B-

GND

CH5 MAGN

CH5 LimP

CH5 LimN

CH5 B+

CH5 B-

GND

CH6 MAGN

CH6 LimP

CH6 LimN

Page 9 / 9

Bro, MMa, 2015-10-29

H811T0019, valid for H-811.D2 and H-811.S2

Pin*

18

Pin*

37

Signal*

CH6 A+

CH6 A-

Pin*

57

Pin*

76

Signal*

CH6 B+

CH6 B-

19

38

39

GND

Reserved

GND

58

77

78

GND

Brake/Enable drive

GND

20 24 V output 59 Power good 24 V input

* Pin assignment of the C-887.5xx Hexapod controller. Since not all signals are required for all Hexapod models, some pins may be not assigned with your Hexapod model.

Physik Instrumente (PI ) GmbH & Co. KG_Auf der Römerstraße 1_76228 Karlsruhe/Germany

Telefon +49 721 4846-0, Telefax +49 721 4846-1019 E-Mail [email protected], www.pi.ws

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