C-887.3 • C-887.4 Hexapod Motion Controller

Hexapod controller for industrial use

Compact controller with integrated drivers for controlling hexapods for industrial applications. This controller is ideally suited for the operation of parallel kinematics that are equipped with BLDC motors and do not contain motor drivers. Hexapods with motor brakes and encoder connection via BiSS C are supported. Depending on the version and in combination with suitable hardware, the controller can meet the requirements of SIL 3 in accordance with EN IEC 62061 and thus guarantee a high level of functional safety for safety-related applications.

Operation

Operation of the hexapod system is simple and intuitive, as the position is entered in Cartesian coordinates. In each servo cycle, the controller calculates the control of the hexapod kinematics from the target positions entered. For customized integration of the hexapod system, the coordinate systems (Work, Tool) can be adapted by the user to the individual installation situation. The center of rotation can be freely defined in space. A data recorder can record operating data, e.g., motor control, velocity, position, or position error. The execution of macros and Python scripts on the controller enables standalone operation.

Interfaces

For use with the GCS 2.0 command set for PI positioning systems:

• TCP/IP for network-based control and maintenance
• RS-232 for serial connection to a PC
• Connector for optional manual control unit.

Depending on the version:

• Interface for safety relay for use with the STO and SS1-t safety functions; hardware and wiring must be provided by the customer.
• High-resolution and extremely fast analog inputs which are ideal for fast alignment routines
• EtherCAT interface for connecting to a PLC device; requires an EtherCAT master with CoE protocol to be provided by the customer.

Extensive software assistance

For control via GCS-based interfaces. For example, PIMikroMove user software enables fast alignment routines to be depicted graphically. Extensive set of drivers, e.g., for use with C, C++, C#, NI LabVIEW, MATLAB, and Python. PIHexapodEmulator for virtual startup and operation without hardware.

Scope of delivery

The delivery includes the controller and a software package. A power adapter is not included in the scope of delivery. PI offers a 24 V power supply as an accessory (order number C-501.24250D3W3), which allows the controller to be operated as a laboratory device.

It is recommended to order the hexapod mechanics and a suitable hexapod cable set together with the controller so that the components can be matched before delivery. To be provided by the customer depending on the controller version:

• Safety relay, emergency stop device, contactors, and their wiring to the controller
• PLC master controller