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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
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This manual is also valid for H-811.D2 and H-811.S2 Hexapod models, except for the information superseded by the H811T0019 Technical Note (this document).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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Table of contents
- 1 Introduction
- 1 Precision-Class 6-Axis Positioning System
- 1 Model Overview
- 1 Recommended Controller (to be ordered separately)
- 2 Other Applicable Documents
- 2 Scope of Delivery
- 3 Connecting the Hexapod to the C-887.5xx Controller
- 4 Dimensions
- 6 Technical Data
- 6 Data Table
- 7 Maximum Ratings
- 7 Ambient Conditions and Classifications
- 7 Pin Assignment
- 7 Power Supply
- 8 Data Transmission