C-887.52x Hexapod Motion Controller
Compact Bench-Top Device for Controlling 6-Axis Systems
• Sophisticated controller using vector algorithms • Commanding in Cartesian coordinates
• Changes of the reference system with a simple command • Analog interfaces and Motion Stop
• Extensive software support
Digital controller for 6-axis parallel kinematics
High-performance digital controller for hexapods with DC motors. Additional control for two further single axes with integrated ActiveDrive.
Functions
Position input via Cartesian coordinates, coordinate transformation handled by the controller. To simplify integration of the hexapod, the reference system (Work, Tool) can be quickly and easily changed. The real-time operating system prevents jitter and therefore guarantees constantly low response times. Stable, virtual pivot point can be freely defined in space. Data recorder for recording operating parameters such as motor control, velocity, position or position errors. Macro command language. An autostart macro allows stand-alone operation. The controller supports motor brakes and absolute-measuring sensors with BiSS interface.
Interfaces
Ethernet for remote control and remote maintenance. RS-232. USB connection for external input devices (HID).
Additional interfaces (depending on version):
• Motion Stop: The supply voltage of the hexapod drive can be switched off using the external switch connected to the controller. The sensor technology remains active so that position information continues to be available and a reference move is not necessary when the drive is reactivated.
• Analog inputs
Optional
• Control via manual control unit
• Collision checking for restricted space with PIVeriMove software
Extensive software
PIMikroMove user software. Common command set for all PI positioning systems. Dynamic libraries for Windows and Linux. Complete set of LabVIEW VI’s. Graphical user interfaces, configuration software and graphically displayed scan routines.
Scope of Delivery
The order is made together with suitable hexapod mechanics. Delivery comprises the Hexapod Motion Controller, an hexapod, a cable set, and a power supply as power source.
Specifications
C-887.52 C-887.521 C-887.522 C-887.523
Function
6-axis controller for hexapods, incl. control of two additional single axes
Compact benchtop
Extending the functionality of C-887.52:
C-887.521: Additional Analog Inputs
C-887.522: Additional Motion Stop
C-887.523: Additional Motion Stop and Analog Inputs
Drive type
Servo motors (hexapod and single axes)
Motion and control
Servo characteristics
32-bit PID controller
Trajectory profile modes
Jerk-controlled generation of dynamics profile with linear interpolation
Processor
Intel Atom dual core (1.8 GHz)
Servo cycle time
100 µs
Encoder input
AB (quadrature) differential TTL signal, 50 MHz BiSS
Stall detection
Servo off, triggered by position error
Reference point switch
TTL
Electrical properties
Hexapod control
12-bit PWM signal, TTL, 24 kHz
Hexapod power source
24 V
Maximum output current
7 A
Interfaces and operation
Interface / communication
TCP/IP, RS-232
USB (HID, manual control unit)
Hexapod connection
HD Sub-D 78-pin (f) for data transfer
M12 4-pin (f) for power supply
Connectors for single axes
Sub-D 15-pin (f)
I/O lines
HD Sub-D 26-pin (f):
4 × analog input (-10 to 10 V, via 12-bit A/D converter)
4 × digital input (TTL)
4 × digital output (TTL)
Analog inputs, only C-887.521 and C-887.523
2 × BNC, -5 V to 5 V, via 16-bit A/D converter, 5 kHz bandwidth
Input for Motion Stop, only C-887.522 and C-887.523
M12 8-pin (f)
Command set
PI General Command Set (GCS)
User software
PIMikroMove
Software drivers
LabVIEW driver, dynamic libraries for Windows and Linux
Manual operation
Optional: C-887.MC manual control unit for hexapods
Miscellaneous
Operating voltage
24 V external power supply for 100 to 240 VAC, 50 / 60 Hz, in the scope of delivery
Maximum current consumption
8 A
Operating temperature range
5 to 40 °C
Mass
2.8 kg
Dimensions
280 (320) mm × 150 mm × 103 mm
Power supply:
170 mm × 85 mm × 42.5 mm
Ordering Information
C-887.52
6-Axis Hexapod Controller, TCP/IP, RS-232, Benchtop Device, Control of Two Additional Servo-Motor Axes Included
C-887.521
6-Axis Hexapod Controller, TCP/IP, RS-232, Benchtop Device, Control of Two Additional Servo-Motor Axes Included, Analog Inputs
C-887.522
6-Axis Hexapod Controller, TCP/IP, RS-232, Benchtop Device, Control of Two Additional Servo-Motor Axes Included, Motion Stop
C-887.523
6-Axis Hexapod Controller, TCP/IP, RS-232, Benchtop Device, Control of Two Additional Servo-Motor Axes Included, Motion Stop, Analog Inputs
Accessories
C-887.MC Manual control unit for hexapods, USB connection, 3 m Cable
C-887.VM1 PIVeriMove hexapod software for Collision Check