6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface
- Integration into an automation system
- Synchronous motion in 6 axes
- Cycle time 1 ms
- Commanding in Cartesian coordinates
- Analog interfaces and motion stop optional
Digital controller with EtherCAT fieldbus interface
Digital controller for hexapods (6-axis parallel kinematics) with DC motors. Additional control for two further single axes is integrated. Can be integrated seamlessly into automation systems in industry and research. Performs coordinate transformation for parallel kinematics. Customer requires a higher-level PLC control for position commanding and feedback in Cartesian coordinates (EtherCAT master with CoE protocol).
Supported operating modes
Reference move of the hexapods to the middle position of all six axes. Absolute positioning in six Cartesian axes. Cyclic position commanding via PLC for synchronization with further automation components. Operation is possible via TCP/IP or RS-232 without PLC master. The controller functionality then corresponds to a C-887.52x. Commanding of the hexapods is then done directly via the PI GCS.
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. Motion is vectored. 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 programming. An autostart macro allows stand-alone operation. Connection of external input devices (HID) such as manual control unit. The controller supports motor brakes and absolute-measuring sensors with BiSS interface.
EtherCAT fieldbus interface. TCP/IP for remote control and remote maintenance. RS-232. USB connection for external input devices (HID).
- 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
- Control via manual control unit
- Collision checking for restricted space with PIVeriMove software
Extensive software for commanding the hexapod directly
PIMikroMove user software. Common command set for all PI positioning systems. Full set of drivers for use with NI LabVIEW. GUI input interfaces, configuration software, and graphically displayed scan routines.
Scope of delivery
The order is made together with suitable hexapod mechanics. The scope of delivery includes the hexapod, controller with software package, cable set, and power adapter. A PLC master controller is not in the scope of delivery!
Product Change Notification C-887.5xx Labeling
User Manual A000T0079
PI Simulation Models for CoppeliaSim / V-REP
User Manual C887T0036
C-887.MC2 Manual Control Unit
Short Instructions MS247EK
Hexapod Systems: H-xxx Hexapod with C-887.5xx Controller
User Manual MS244
C-887 Hexapod Controller, Models C-887.52, C-887.521, C-887.522, C-887.523, C-887.53, C-887.531, C-887.532, C-887.533
Technical Note A000T0068
PI Hexapod Simulation Tool. Determining the workspace and the permissible load of the hexapod.
User Manual C887T0011
EtherCAT Interface of C-887.53, .531, .532, .533 6D Hexapod Controllers
Technical Note C887T0021
Motion of the Positioner. Position and Orientation in Space, Center of Rotation.
User Manual C887T0007
Description of Coordinate Systems for Hexapod Microrobots and Parallel-Kinematic Positioners
User Manual E712T0016
Fast Multi-Channel Photonics Alignment. Hardware and Firmware for Fast Optical Alignment in Silicon Photonics Production.
User Manual C887T0001
Description of PIHexapodEmulator software
User Manual C887T0002
Description of C-887.VM1 PIVeriMove Software for the Collision Check
User Manual C887T0003
Description of C-887.MC Hexapod Control Unit
C-887 3-D model
General Software Documentation
User Manual A000T0075
Implementing a C-887 PI Controller in TwinCAT 3.1 for Motion and Coordinate System Activation
User Manual A000T0028
Updating PI Software with PIUpdateFinder
Software Manual SM146
GCS Array Data Format
Software Manual SM148
Software Manual SM151E
PI GCS2 DLL
Software Manual SM155
PI MATLAB Driver GCS 2.0
Software Manual SM156
PIStages3Editor for editing the PIStages3 database
User Manual A000T0067
Information on the PIStages3 database. What must be considered when changing from PIStages2 to PIStages3.
Software Manual SM157
PIPython - Programming PI Controllers with Python
Industrial Safety Device for Hexapods
How to Connect a Safety Light Barrier to a Hexapod System
Controlling Hexapods via EtherCAT®
Easy Integration of Six-Axis Robots into the Process Environment
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6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface, analog inputs
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface, motion stop