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MS222E
H-845 Hexapod System
User Manual
Version: 2.1.1
Date: 17.09.2019
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws
This document describes the following
products:
H-845.D11
Heavy-duty hexapod for 1000 kg load,
travel ranges ±110 mm (X, Y), ±50 mm (Z),
max. velocity 20 mm/s, with controller
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.
velocity 40 mm/s, with controller
H-845.D41
Heavy-duty hexapod for 500 kg load, travel
ranges ±170 mm (X, Y), ±105 mm (Z), max.
velocity 40 mm/s, with controller
H-845.D51
Heavy-duty hexapod for 400 kg load, travel
ranges ±110 mm (X, Y), ±50 mm (Z), max.
velocity 50 mm/s, with controller
H-845.D61
Heavy-duty hexapod for 400 kg load, travel
ranges ±170 mm (X, Y), ±105 mm (Z), max.
velocity 50 mm/s, with controller

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Summary of Contents for PI H-845

  • Page 1 Heavy-duty hexapod for 400 kg load, travel ranges ±170 mm (X, Y), ±105 mm (Z), max. velocity 50 mm/s, with controller Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Phone +49 721 4846-0, Fax +49 721 4846-1019, Email info@pi.ws, www.pi.ws...
  • Page 2 With regard thereto, Physik Instrumente (PI) GmbH & Co. KG retains all the rights. The use of any text, images and drawings is permitted only in part and only when indicating the source.
  • Page 3: Table Of Contents

    Contents About this Document Goal and Target Audience of this Manual ............1 Symbols and Typographic Conventions ............... 2 Other Applicable Documents ................3 Downloading Manuals ..................3 Safety Intended Use ......................5 General Safety Instructions .................. 5 2.2.1 Organizational Measures ..............6 2.2.2 Safety Measures during Transport .............
  • Page 4 Unpacking Installation General Notes on Installation ................33 Determining the Permissible Load and Workspace ...........35 Attaching the Snap-on Ferrite................36 Mounting the Hexapod on a Surface ..............36 Grounding the Hexapod and the Hexapod Controller ........38 Affixing the Load to the Hexapod ...............39 Optional: Removing the Coordinate Cube ............40 Connecting the Hexapod System ...............41 Start-Up...
  • Page 5 10.4 Pin Assignment Hexapod ...................68 10.4.1 Power Supply Connection ..............68 10.4.2 Data Transmission Connection ............68 10.5 Pin Assignment Hexapod Controller ..............69 10.5.1 I/O Connection ..................69 10.5.2 Supply Power for Controller ..............70 Old Equipment Disposal Glossary Appendix 13.1 Explanations of the Performance Test Sheet .............77 13.2 EU Declaration of Conformity ................78...
  • Page 7: About This Document

    Symbols and Typographic Conventions ................ 2 Other Applicable Documents ..................3 1.1 Goal and Target Audience of this Manual This manual contains information on the intended use of H-845 hexapod systems. It provides information about the following items:  H845B00xx hexapod mechanics ...
  • Page 8: Symbols And Typographic Conventions

    5 Cross-reference to page 5 RS-232 Labeling of an operating element on the product (example: socket of the RS-232 interface) Warning sign on the product which refers to detailed information in this manual. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 9: Other Applicable Documents

    1. Insert the product CD into the PC drive. 2. Switch to the Manuals directory on the CD. 3. In the Manuals directory, open the Release News (file including releasenews in the file name). H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 10  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 procedure: 1. Open the website www.pi.ws. 2. If access to the manuals is protected by a password: a) Click Login.
  • Page 11: Safety

    2.2 General Safety Instructions The H-845 hexapod system is built according to state-of-the-art technology and recognized safety standards. Improper use can result in personal injury and/or damage to the hexapod system.
  • Page 12: Organizational Measures

    There is a risk of injuries if parts of your body get caught be the hexapod, and the hexapod can be damaged.  Position the surface where the hexapod is to be mounted horizontally. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 13  Make sure that no collisions between the hexapod, the load to be moved and the surroundings are possible in the workspace of the hexapod.  Never cover any ventilation openings as this will impede ventilation. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 14: Safety Measures During Start-Up

    Thus you can check if the label on the rear panel is still correct.  Only operate the hexapod with a hexapod controller whose geometrical data is adapted to the hexapod. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 15: Safety Measures During Maintenance

    2.2.5 Safety Measures during Maintenance The hexapod can become misaligned as a result of improper maintenance. The specifications (p. 59) can change as a result.  Only loosen screws according to the instructions in this manual. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 17: Product Description

    Technical Features ...................... 21 3.1 Features and Applications The various models (p. 12) of the H-845 hexapod that are offered differ with respect to the maximum velocity and load capacity. The parallel-kinematic design of the hexapod offers the following advantages: ...
  • Page 18: Model Overview

    TCP/IP and RS-232 interface H-845.D61 Heavy-duty hexapod for 400 kg load, travel ranges ±170 mm (X, Y), ±105 mm (Z), max. velocity 50 mm/s. Cable set 9 m, with 6-DOF controller for hexapods, TCP/IP and RS-232 interface Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 19: Product View

    Socket for data transmission cable (Controller Out) Socket for data transmission cable (Controller In) Panel plug for power supply cable (24 VDC) Coordinate cube “Risk of crushing“ warning sign Figure 2: Connections at hexapod base plate H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 20: Hexapod Controller

    Display port For future use; currently no function. USB type A, high USB interface for connecting the C-887.MC insertion and control unit from PI pulling force USB type A USB interface for connecting peripheral devices RJ45 socket Network connection via TCP/IP...
  • Page 21 Without function 24 V Out 7 A 4-pin M12 socket Not to be used 24 V In 8 A 4-pin M12 panel Connector for the supply voltage of the controller plug (m) (p. 70) H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 22 Motor A Sub-D 15 (f) Without function Motor B E-Stop M12-SPEEDCON Without function 8-pin (f) Toggle switch Power on/off switch:  position: Controller is switched off*  | position: Controller is switched on Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 23: Power Supply

    Function M4 threaded pin Ground connection If potential equalization is required, the controller can be connected to the grounding system. 3.3.3 Power Supply Figure 5: Front panel of M850B0448 power supply Power LED (Power) H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 24 Panel plug for line cord Power LED (Power) Sub-D 3W3 socket (Power Out 2) for 24 V DC output Sub-D 3W3 socket (Power Out 1) for 24 V DC output Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 25: Scope Of Delivery

    3 Product Description 3.4 Scope of Delivery Hexapod Item ID Description Hexapod mechanics, one of the following models (according to the order): H845B0008 System component of H-845.D11 H845B0014 System component of H-845.D21 H845B0024 System component of H-845.D31 H845B0034 System component of H-845.D41 H845B0016 System component of H-845.D51...
  • Page 26 Hexapod controller Item ID Description H845B0021 Hexapod controller C-815.563 Cross-over network cable C-815.553 Straight-through network cable C-815.34 Null-modem cable for connection to the PC via RS-232 C-887.CD CD with PC software and documentation Packaging material Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 27: Technical Features

    The hexapod controller calculates the settings for the individual struts from the target positions given for the translational and rotational axes. The velocities and accelerations of the struts are calculated in such a way that all struts start and stop at the same time. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 28: Motion

    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. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 29 For a clearer view, the figures have been adapted as follows:  Round platform replaced by T-shaped platform  Coordinate system shown shifted  Center of rotation in the top left corner of the platform H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 30 The rotation around the U axis tilts the rotational axes V and W. Figure 8: Rotation around the U axis Platform in reference position Platform position: U = 10 (U parallel to spatially fixed X axis) Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 31 The rotation around the V axis tilts the rotational axes U and W. Figure 9: Rotation around the V axis Platform in reference position Platform position: U = 10, V = –10 (U and V parallel to the platform level) H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 32 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). Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 33 Figure 15 on p. 30. Accessories  3 ring bolts of appropriate size  3 shackles of appropriate size  Crane appropriate to carry a load of 150 kg H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 34 4 Unpacking 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 hard foam insert removed Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 35 2. Remove 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 above. Figure 14: Unwrapped hexapod, keep the foil for repacking H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 36 Figure 15 below. 6. Connect each ring bolt with a shackle. Ring bolt Shackle Figure 15: Lifting the hexapod at its motion platform using three ring bolts and three shackles Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 37 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 supplied or missing, contact PI immediately. 11. Inspect the hexapod for signs of damage. If you notice signs of damage, contact PI immediately.
  • Page 39: Installation

     Keep any part of your body away from areas where they can get caught by the hexapod.  Disconnect the hexapod from the crane only when the base plate of the hexapod is securely affixed to the surface. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 40  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).  Never cover any ventilation openings as this will impede ventilation. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 41: Determining The Permissible Load And Workspace

    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 ...
  • Page 42: Attaching The Snap-On Ferrite

    When positioning the hexapod on a surface there is a risk of minor injuries due to the mass of the hexapod.  When you hold the hexapod by the base plate to position it on a surface: Ensure that your hands remain in a position where they cannot be squeezed. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 43 6 M12x60 screws and Allen wrench 10.0, included in the scope of delivery (p. 19)  Alternative: 6 M16x60 screws and suitable tool, for rotationally symmetrical affixing of screws, not included in the scope of delivery H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 44: Grounding The Hexapod And The Hexapod Controller

    Use one of the mounting holes in the motion platform (p. 65) for connection. − If the motion platform and the load are connected conductively to each other, connect the load to the grounding system. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 45: Affixing The Load To The Hexapod

     Only mount the hexapod and the load on the mounting fixtures (holes) intended for this purpose. Requirements  You have read and understood the General Notes on Installation (p. 33).  You have determined the permissible load and the workspace of the hexapod (p. 35). H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 46: Optional: Removing The Coordinate Cube

    Tools and accessories  Hex key AF 2.0 Removing the coordinate cube Figure 17: Removing the Coordinate Cube 1. Loosen the threaded pin M4x8. 2. Pull the coordinate cube upwards away from the base plate. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 47: Connecting The Hexapod System

    Sub-D 3W3 sockets of the power supply using the K060B0206 power cable. 2. Connect the 24 V DC Sub-D 3W3 panel plug of the hexapod to the remaining Power Out Sub-D 3W3 socket of the power supply using the K060B0060 power cable. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 48 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 000056207 Data transmission cable, RJ45 to M12 (m), 9 m Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 49: Start-Up

     Once you have established communication via TCP/IP or RS-232, send the CST? command. The response shows the hexapod to which the controller is adapted.  Only operate the hexapod with a hexapod controller whose configuration data is adapted to the hexapod. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 50 2. When the servo mode is switched off automatically due to overheating of the power supply: Wait a few minutes to let the power supply cool down. 3. Switch the power supply off and on again. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 51: Starting Up The Hexapod System

    3. Switch on the M850B0448 power supply by moving the power switch into the position. 4. Start up the hexapod controller (see documentation of the hexapod controller). 5. Perform a few motion cycles for testing purposes (see documentation of the hexapod controller). H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 52: Switching Off The 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 moving the power switch into the position. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 53: Maintenance

     Perform a maintenance run over the entire travel range at regular intervals (see documentation of the hexapod controller). The more often motion is performed over a limited travel range, the shorter the time has to be between the maintenance runs. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 54: Packing The Hexapod For Transport

    If the surface where the hexapod is mounted cannot be positioned horizontally:  Lift the crane carefully while loosening the screws with which the base plate of the hexapod is mounted to the surface. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 55 3. Fix three ring bolts to three M12 mounting holes with 24 mm depth in the rounded edges of the motion platform, see figure below. 4. Connect each ring bolt with a shackle. Figure 19: Lifting the hexapod at its motion platform using three ring bolts and three shackles H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 56 Loosen the screws with which the hexapod is mounted on the surface. b) Remove the screws. Figure 20: Lifting the hexapod by a crane Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 57 10. Place the hexapod into the hard foam insert on the pallet, see figure above. 11. Remove the hexapod from the crane. 12. Remove shackles and ring bolts from the motion platform of the hexapod. Figure 22: Hexapod package with surrounding cardboard box H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 58: Replacing The Fuses Of The M850B0448 Power Supply

    7.3 Replacing the Fuses of the M850B0448 Power Supply NOTICE Damage of power supply! The M850B0448 power supply can be damaged if unsuitable fuses are used.  Check and replace both fuses if there is a fault. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 59 7 Maintenance 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 the fuse carrier H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 60: Cleaning The Hexapod

     You have disconnected the hexapod from the power supply. Cleaning the hexapod  If necessary, clean the surfaces of the hexapod with a cloth that is lightly dampened with a mild cleanser or disinfectant. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 61: Troubleshooting

    (p. 36). The recommended evenness of the surface is 100 µm.  Carry out a maintenance run over Increased wear Only small motions over a long period of time the entire travel range (p. 47). H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 62 Faulty limit switches SRG?, ERR?, DBG GETLOG, POS? If the problem with your hexapod is not listed in the table or it cannot be solved as described, contact our customer service department (p. 57). Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 63: Customer Service

    9 Customer Service Customer Service For inquiries and orders, contact your PI sales engineer or send us an email (mailto:service@pi.de).  If you have questions concerning your system, have the following information ready: − Product and serial numbers of all products in the system −...
  • Page 65: Technical Data

    Backlash Z µm typ. Backlash θ , θ µrad typ. Backlash θ µrad typ. Repeatability X, Y ±2 ±4 ±5 ±2 ±4 ±5 µm typ. Repeatability Z ±0.5 ±1 ±2 ±0.5 ±1 ±2 µm typ. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 66 , θ ) are interdependent. The data for each axis in this table shows its maximum travel range, where all other axes and the pivot point are at the reference position. Ask about customized versions. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 67: Maximum Ratings Hexapod

    4 × analog input (-10 to 10 V, via 12-bit A/D converter) I/O lines 4 × digital input (TTL) 4 × digital output (TTL) Command set PI General Command Set (GCS) PIMikroMove User software API for C / C++ / C# / VB.NET / MATLAB / Python, Software drivers...
  • Page 68: Maximum Ratings Hexapod Controller

    4.7 kg 10.1.6 Maximum Ratings M850B0448 Power Supply The power supply is designed for the following operating data: Maximum Operating Maximum Operating Maximum Output Power Voltage Frequency (Unloaded) 230 V AC 60 Hz 500 W Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 69: Ambient Conditions And Classifications

    IEC 60529: Area of application: For indoor use only Maximum altitude: 2000 m Air pressure: 1100 hPa to 0.1 hPa Line voltage fluctuations: Max. ±10 % of the line voltage Overvoltage category: Protection class: H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 70: M850B0448 Power Supply

    The (0,0,0) coordinates indicate the origin of the coordinate system. When the default settings for the coordinate system and center of rotation are used, and the hexapod is at position X=Y=Z=U=V=W=0, the center of rotation is at the origin of the coordinate system. Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 71: Hexapod

    10 Technical Data 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 H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 72: Hexapod Controller

    10 Technical Data 10.3.2 Hexapod Controller Figure 28: H845B0021 hexapod controller Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 73: M850B0448 Power Supply

    10 Technical Data 10.3.3 M850B0448 Power Supply Figure 29: M850B0448 power supply H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 74: Pin Assignment Hexapod

    Shell Shield 10.4.2 Data Transmission Connection Controller In M12 socket at base plate of hexapod Function E_CAT_1_RD+ E_CAT_1_RD- E_CAT_1_TD+ E_CAT_1_TD- Controller Out M12 socket at base plate of hexapod Function E_CAT_2_RD+ E_CAT_2_RD- E_CAT_2_TD+ E_CAT_2_TD- Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 75: Pin Assignment Hexapod Controller

    Digital input 2 (TTL) Digital input 1 (TTL) Digital output 4 (TTL) Digital output 3 (TTL) Digital output 2 (TTL) Digital output 1 (TTL) Analog inputs: -10 V to 10 V, 12-bit; 15 kΩ input impedance H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 76: Supply Power For Controller

    (switching threshold with falling input voltage) 0.6 V 1.3 V ∆V 0.4 V 1.1 V (Hysteresis; V 10.5.2 Supply Power for Controller M12 4-pin panel plug (m) Signal 24 V DC 24 V DC Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 77: Old Equipment Disposal

    Instrumente (PI) GmbH & Co. KG ensures environmentally correct disposal of old PI equipment that was first put into circulation after 13 August 2005, free of charge. If you have old PI equipment, you can send it postage-free to the following address: Physik Instrumente (PI) GmbH & Co. KG Auf der Römerstr.
  • Page 79: Glossary

    The X, Y and Z axes are also referred to as translational axes. The intersection of the axes X, Y, and Z of the spatially fixed Cartesian coordinate system (0,0,0) is referred to as the origin. H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 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 30: H-810 hexapod in the reference position. Cable exit Version: 2.1.1 MS222E H-845 Hexapod System...
  • Page 81 12 Glossary Figure 31: H-810 hexapod, the platform of which has been moved in X. Cable exit H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 83: Appendix

     Movement over the entire travel range with at least 20 measuring points, in at least five cycles.  Movement over partial sections, e. g. ±1 mm in increments of for example, 10 µm H-845 Hexapod System MS222E Version: 2.1.1...
  • Page 84: Eu Declaration Of Conformity

    13 Appendix 13.2 EU Declaration of Conformity 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 certifying the conformity are listed below.

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