Simul_Hexapod User Manual
Contents
1. Experiences Suia 11 EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software EDH0313En1010 12 11 5 3 Setting the Hexapod s Coordinates Three coordinates systems are defined to allow easy positioning of the virtual hexapod Work and Tool Coordinate System Base Coordinate System Its origin is located at the center of the bottom side of the hexapod base and cannot be modified Work Coordinate System Its origin can be set in relation to the base coordinate s origin It is represented by a blue sphere Tool Coordinate System Its origin point can be set in relation to the center of the lower side of the carriage It is represented by a blue sphere SETUP Work Base amp Tool Carriage Work Base amp Tool Carriage Work Base amp Tool Carriage Work Base amp Tool Carriage 12 Coordinate Systems less Work da Bee i o OC y Emo 7 o TO H Camaya w o LM v poom ok lo Dase x MM o 0000 Work to Base HEET e 0000 lool lo Campos A OK CO Newport Experience Siia Simul_Hexapod Hexapod Control Simulation Software 5 4 Hexapod Displacement Control Simul_Hexapod software offers four ways to position the virtual hexapod 5 4 1 Absolute positioning in Work coordinates The Work Absolute panel of the manual control work bsolute window has 2 way2. HXP Users manual for a detailed discussion of combined motions of multiple axes Actuators Position Actuator Positioning L1 1 7556 The hexapod actuators corresponding theoretical positions are 7 1204 calculated based upon the current position of the virtual axes L3 171105 0 436 7 iy The reverse function can be used by changing the actuator per positions and pressing the Go button LS jossa 0 LE 0 7571 f Virtual hexapod display will reflect the corresponding position Go NOTE E Actuators Position Whenever an actuator position is out of the range defined in the Actuator panel of the Hexapod Mechanical Parameters Li arms 04808 EE 23 4095 Le 2 6487 15 EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software QO Newport EDH0313En1010 12 11 17 Newport Visit Newport Online at Www newpori com North America amp Asia Newport Corporation 1791 Deere Ave Irvine CA 92606 USA Sales Tel 800 222 6440 e mail sales newport com Technical Support Tel 800 222 6440 e mail tech newport com Service RMAs amp Returns Tel 800 222 6440 e mail rma service newport com Europe MICRO CONTROLE Spectra Physics S A S 1 rue Jules Guesde B t B ZI Bois de l pine BP189 91006 Evry Cedex France Sales Tel 33 0 1 60 91 68 68 e mail france newport fr com
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4. and release displays the menu X lt gt Y X lt gt Z or Y lt gt Z click one for a 2D view of the hexapod Center on 0 0 0 places the Hexapod Base 0 0 0 world coordinates in center of the screen Experience Suit 7 EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software 5 2 5 2 1 5 2 2 5 2 2 1 HEI Define mechanical pa Ms Carriage mork to Base x 0 0000 Y 0 0000 2 196 0000 Tool to Carriage x 0 0000 Y 0 0000 Z 50 0000 Height 196 0000 Actuat aah Body Length 167 54105 EDH0313En1010 12 11 Carriage Radius 100 0000 Carriage Thickness 25 0000 Work to Base panel Main Menu File This menu allows Text files Editing through a text editor Exiting Simul Hexapod software Setup menu This menu allows setting all Simul Hexapod software parameters using 5 commands Hexapod This sub menu opens up a window to set all mechanical parameters HXP100 parameters as an example Polar Radius fi 20 000000 Dead angle 15 000000 Actuator 1 angle 7 500000 Calculate Polar Radius 75 000000 Dead angle 20 000000 Actuator 1 angle 0 000000 Calculate Base Radius 150 0000 Base Thickness 25 0000 min max 0 9000 25 2000 to define the Work Coordinate origin location X Y amp Z relative to the Base centre Tool to Carriage panel to define the Tool coordinate ori
5. ICO ra Oi 11 Confidentiality amp Proprietary Rights 11 Simul Hexapod Windows Description sssssssscccccsssssssscsscccccssssssees 1 Newport Hexapod Conventions esccecsssssseeccccosssssececoccosssseeoocsssssceceessossos 2 Simul Hexapod Software Installation ssssscssccccssssssssssssscccccscsesees 5 ACE SIMULER AO ee A R ESEA 6 Using SAMU ER ADO sayascxcvexanecovavevecceesanscssessvesteansaacsechevaveecessacseesavevseccseacars 7 VAS ADO DE D aaa ara Nar n eTR Eror 7 5 1 1 Virtual hexapod conventions cece cccccccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees r 5 1 2 Mouse control and features 1 A M A a a oo 8 A DE RR 8 TL Semp Ch eee E en een emer 8 De O UI INDO ia esate A T A E tite 11 Setting the Hexapod s Coordinates riaan nT a Ta Rai aiani 12 Hexapod Displacement Control sciccccsccdasusssd ncveseeteanvsneveviesesvessesnceesendnacevaasnedessaensersneeuceesecserert 13 5 4 1 Absolute positioning in Work coordinates 13 5 4 2 Relative positioning in Work coordinates 13 5 4 3 Relative positioning in Tool coordinates 2 0 ccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 15 5 4 4 Actuator Positioning iii 15 iii EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software QO Newport EDH0313En1010 12 11 iv Simul_Hexapod Hexapod Control Simulation Software Simul_Hexapod Hexapod Control
6. Simul Hexapod Hexapod Control _ E Simulation Software WORK Absolute Actuators Position x 25951 Home x L1 11 7556 Y 7 9236 ae L2 7 1204 z 7 0300 L3 17 1105 E RX 1 9805 x10 x L4 8 4367 a te RY 6 0024 Go L5 0 5512 Work to Base Az 1 0597 L6 0 7571 E j x o 0000 mulation HXP100 Go Save Current Pos Go ae FE Y 0 0000 WORK Relative Translation WORK Relative Rotation RES co z 1960000 A A a EEE TOOL Relative Translation u los 5 vfs gt vf lt lt lt gt gt gt TOOL Relative Rotation Tool to Carriage x 0 0000 Y 0 0000 Z 50 0000 OK AAA A A A Vv v v SIMULATION Manual Control M Show references Axes color X Red Y Green Z Blue Exit User s Manual Newport Experience Solutions For Motion Think Newport Simul_Hexapod Hexapod Control Simulation Software Preface EDH0313En1010 12 11 Confidentiality amp Proprietary Rights Reservation of Title The Newport Programs and all materials furnished or produced in connection with them Related Materials contain trade secrets of Newport and are for use only in the manner expressly permitted Newport claims and reserves all rights and benefits afforded under law in the Programs provided by Newport Corporation Newport shall retain full ownership of Intellectual Property Rights in and to all
7. Simulation Software 1 0 Simul_Hexapod Windows Description Simul_Hexapod software includes 3 main windows e A Virtual Hexapod display window e A Manual Control window e A reference setting window The Manual control window can be displayed or hidden by checking the Manual Control Box located at the bottom right of the Virtual hexapod display window Virtual hexapod display Manual Control Coordinates Main menu Virtual hexapod Display Area Hexapod Actuators Position WORK Absolute Actuators Position x 2 5951 Home L1 1 7556 Y 17 9236 Go Y 0 0000 z 7 0300 L3 117 RX 1 9805 x10 x L4 8 4367 196 0000 RY 6 0024 Go L5 0 5512 E ior t 07571 Tool to Carriage x 10 0000 Go Save Current Pos Y 0 0000 WORK Relative Translation WORK Relative Rotation Z 50 0000 x rob uia ob ep b vis O Sar A lt lt lt gt gt gt TOOL Relative Translation Iw Manual Control lor X Bed Y G Z Bl V ShoNeferences ion E a SIMULATION Manual Control Exit Button Joystick Control Area Coordinate Setting EDH0313En1010 12 11 1 costas a Simul_Hexapod Hexapod Control Simulation Software 2 0 Newport Hexapod Conventions e Hexapod is used to move an object relatively to another Fixed Reference Attached to the base Work Moving Object Attached to the carriage Tool e Position and orientation of fixed object Work and mov
8. Tor Misra Control Showeslerences fer color MsFled Talinsen Delitos Fe hiara Control lines color fed Yaren 2a y SIMULATION RS eee _ Aw Example W rotation in Work coordinates NOTE When using multiple axes control buttons 3 arrows the theory of commutativity does not apply so hexapod will not return to the starting position after a positive move followed by a negative move of the same distance Refer to the HXP Users manual for a more detailed discussion of combined motion of multiple axes CO Newport ne 13 EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software EDH0313En1010 12 11 5 4 2 2 Through Joystick Simul_Hexapod automatically detects any joystick connected to a USB port and recognized by Windows Once detected the image to the right appears at the bottom left of the screen Checking the Enable Joystick box enables the following actions _ Enable Joystick Button 1 fire toggle up virtual machine display and joystick 2 axes control X Z Y Z U V W X Y button 2 fire toggle down virtual machine display and joystick 2 axes control X Y W U V Y Z X Z Button 3 fire not used Button 4 trigger fire to enable joystick 2 directions Button 5 throttle to adjust Joystick speed Button 6 8 directions to position virtual camera does not work in X Z mode Axis 2 ZM Axis 1 Ce LE X 733U Joystick NOTE O
9. axis by the Yaw angle W Clockwise rotation about the New Y axis Y by the Pitch angle V Clockwise rotation about the new X axis X by the Roll angle U e Hexapod construction parameter definitions The schematic below describes the standard conventions actuator number axes definitions and planes of Newport hexapods Z Carriage Alpha Carriage Diameter Base Diameter Base Thickness Base Alpha NOTE Black points represent the theoretical positions of the twelve joints of a hexapod Plain circular lines represent the hexapod planes passing through the joints and dotted circular lines represent the hexapod reference planes upper side of the carriage and lower side of the base e Newport Hexapod HPX 100 dimensions Base and Carriage thickness 25 mm Actuator length 166 to 192 mm Distance between the reference planes of the joints when actuators are at 166 mm 144 23 mm CO Newport Experience Solutions EDH0313En1010 12 11 4 Simul_Hexapod Hexapod Control Simulation Software 3 0 Simul Hexapod Software Installation GO Newport Expa enca Solutions Insert the Simul Hexapod CD into your CD or DVD ROM drive Proceed as follows e Click Start on the Windows taskbar e Select Run from the Start menu e Click Browse and locate your CD or DVD ROM drive to view the files in the CD e Find the installer program named SETUP EXE and double click this f
10. development process align or assembly technologies developed and other derivative work that may be developed by Newport Customer shall not challenge or cause any third party to challenge the rights of Newport Preservation of Secrecy and Confidentiality and Restrictions to Access Customer shall protect the Newport Programs and Related Materials as trade secrets of Newport and shall devote its best efforts to ensure that all its personnel protect the Newport Programs as trade secrets of Newport Corporation Customer shall not at any time disclose Newport s trade secrets to any other person firm organization or employee that does not need consistent with Customer s right of use hereunder to obtain access to the Newport Programs and Related Materials These restrictions shall not apply to information 1 generally known to the public or obtainable from public sources 2 readily apparent from the keyboard operations visual display or output reports of the Programs 3 previously in the possession of Customer or subsequently developed or acquired without reliance on the Newport Programs or 4 approved by Newport for release without restriction 2011 Newport Corporation 1791 Deere Ave Irvine CA 92606 USA 949 863 3144 CON Expa enca Solutions ii Simul_Hexapod Hexapod Control Simulation Software Table of Contents GO Newport Experience Suit 1 0 2 0 3 0 4 0 5 0 5 1 5 2 5 3 5 4 R
11. dinate origin size Effect is immediate NOTE The top of the carriage includes a ruler PTT oi BEBE O TTL ee Human of dts O E an E EM EE SESS I EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software 5 2 2 3 Displacements Saved positions This sub menu allows defining or modifying specific positions through a dedicated window 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 10 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 10 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 10 0000 0 0000 0 0000 0 0000 0 0000 0 0000 13 0000 0 0000 0 0000 0 0000 Number 6 X Cancel OK Each saved position includes a name and the 6 virtual position values Saved position parameters name X Y Z U V amp W positions can be simply edited and then saved by clicking OK to close the window A position can be added to the bottom of the list by increasing the Number Reducing the number deletes the last position Cancel button closes the window disregarding any change The virtual hexapod can be moved to such position through the Go buttons of the Manual control window In the manual control window the Save current position button automatically creates and saves the new position at the bottom of the list SIMULATION Li Enable Joystick 5 2 2 4 Language Hexapod software supports French and E
12. gin location X Y amp Z relative to the Carriage centre NOTE These settings are also accessible through the Hexapod Coordinates Setting window Height Distance between joints reference planes when actuators are at their minimum position Carriage panel to define the positions of the carriage end of the actuator joints Base panel to define the positions of the base end actuator joints positions NOTE Joint positions can be defined using XY or polar coordinates In case of Polar coordinates the Calculate button must be pressed after entering angles to update the XY coordinates Actuators panel to define the actuators length and travel range LO Newport Expenencd Soila 8 Simul_Hexapod Hexapod Control Simulation Software Experience Suit 5 2 2 2 Display This sub menu allows setting of the following parameters Change will take effect after saving the configuration and Number of digits displayed in the Actuators position panel of the Manual control window NOTE restarting Simul Hexapod Transparent plates when checked the bottom and upper plates are transparent instead of plain grey carriage and purple base Effect is immediate Background color can be selected through a new window Define custom colors button allows wider color selection Effect is immediate Nodes size to set the sizes of the red Tool coordinate origin and blue points Work coor
13. ile then click OK in the Run dialog e Follow on screen instructions to install Simul_Hexapod software The following directories will be automatically created e C Simul Hexapod containing following files Simul hexapod exe Simul hexapod exe shortcut Simul hexapod ini Simul hexapod LANGUAGE 1 ini Simul hexapod LANGUAGE 2 in1 e C Simul_ Hexapod CFG containing following files HXP100 CFG HXP1000 CFG In the C Simul Hexapod directory click and drag the simul hexapod exe shortcut to your desktop 5 EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software 4 0 Starting Simul Hexapod On your desktop double click on simul hexapod exe shortcut A message appears prompting the user to select the hexapod configuration to be loaded Select config file HXP100 CFG After 20 secondes without selection the last confiquration will be automatically loaded A pull down list displays the available configurations HXP1000 CFG OK NOTE Newport standard hexapods HXP100 HXP1000 etc are default Other configurations can be defined and saved by the user See Save Current Configuration chapter Click OK to launch Simul Hexapod with the selected configuration NOTE If not selection is made within 20 seconds the last saved configuration will be automatically loaded EDH0313En1010 12 11 6 Simul_He
14. ing object Tool are defined by coordinates systems linked to them Work Coordinate System Tool Coordinate System Experience Suis EDH0313En1010 12 11 2 Simul_Hexapod Hexapod Control Simulation Software e Work amp Tool coordinates system have to be defined relatively to the Hexapod f Configuration saved in HXP system ini file f if t Work A TF 4 Coordinate System ES Tool x Coordinate System Work and Base are Vig defined relative to a E 4 Ns 4 reference called World Tool is define relative BEA el f quo a 7 l jo Carriage Da 07 9 E 200 5 Al 7 1 E Y F no SB TA Le D CARRIAGE HET 25 f E SA Se EF I So ca ee 7 6 os i E a al h ST 24 is pr j ne Fa World Reference 7 72 05 196 1 pil HEXAPOD AT UT AE DEFAULT ile hf ZERO POSITION f o A Saas oy DO BASE eT ON 3 Y 38 Y n Seat 25 A e Hexapod Position X Y Z U V W Position amp Orientation of Tool in Work Work Coordinate System Tool Coordinate System X Y Z Coordinates of the origin of Tool in Xw Yw Zw U V W Orientation of Xt Yt Zt directions relative to Xw Yw Zw directions Bryant Angles Hexapod Absolute Move Motion to Hexapod Absolute Position Experiences Suia 3 EDH0313En1010 12 11 Simul_Hexapod Hexapod Control Simulation Software e Orientation U V W Bryant angles Clockwise rotation about the Z
15. nglish languages All displayed menus and messages are saved in text files e Hexapdo simul LANGUAGE 1 for French e Hexapdo simul LANGUAGE 1 for English NOTE These text files can be modified to accommodate another language GO Newport Experience Solutions EDH0313En1010 12 11 10 Simul_Hexapod Hexapod Control Simulation Software 5 2 2 5 ave Current Configuration This sub menu allows saving all current Hexapod_Simul parameters such as e Hexapod mechanical configuration e Virtual Hexapod current position orientation colors zooms etc e Manual control enabling state and control values e Windows positions and sizes e Etc When saving the configuration a default name current date is proposed with the CFG extension Configuration name The user can enter another name and click OK to save this new configuration in the C Simul Hexapod CFG directory WARNING An existing configuration file will be overwritten It is recommended to save other configurations with a unique file name 5 2 3 About Menu This menu provides software information through the following commands 5 2 3 1 About This menu provides information on current software version and designers About Simul_Hexapod x ia SIMUL_HEXAPOD Version 1 03 Hexapod Simulation software 10 July 2011 MICRO Te JPG SERVICES GBC Ferro 5 2 3 2 Help File Provides access to this document pdf format
16. s to position the virtual hexapod 0 0000 AE Go 0 0000 13 0000 0 0000 x10 x 0 0000 z 2 By selecting a Saved position in one of the two drop C __ down lists and then pressing the corresponding Go Go ave Current Pas button below po 1 By setting each axis position value and then pressing the Go button below ee RO IN ES Oe NOTE Save current position button automatically creates and saves the new position at the bottom of the saved position list 5 4 2 Relative positioning in Work coordinates 5 4 2 1 Through push buttons E WORK Relative Translation WORK Relative Rotation Work Relative Translation and Rotation x JI u d gt panels of the manual control window offer 2 ways ea to position the virtual hexapod Axis by axis or three axes at a time Enter each axis value and click on an arrow button Left for negative motion and right for positive motion MB Hexapod Control Simutaton CSS fle Setup About 2 Hexapod o trol Simul tic file Setup About WIRE ali on Arania Pop ceri E RE L1 11 0427 fom e z ramo a 00H cs po E same BE o fimo w EEE te frise Ga San Dumani Pin Ga ADR Fiebatroe Trai WORE lebre Roia x a E u ela JF vj z IP wipe ene PES one TOOL Halin Titviladarir TOOL Fielaines Holati E e ve z jf wis 2
17. ther USB compatible joysticks may have different action button assignments LO Newport 14 Experience Solutions Simul_Hexapod Hexapod Control Simulation Software 5 4 3 Relative positioning in Tool coordinates Tool Relative Translation and Rotation panels of the manual control window offer 2 ways to position the virtual hexapod Axis by axis or three axes at a time TOOL Relative Translation e cas O eit ES TOOL Relative Rotation sp gt DES 2 Va gt lt lt lt gt gt gt lt lt lt gt gt gt c Hexapod or nel Simul ia gk Ene Setup Abuan Fr Henia Certos Show references 5 4 4 GO Newport Experience Suit Peace Sed Yen a fire the background color turns red L2 fi 7509 Enter each axis value and click on an arrow button Left for negative motion and right for positive motion E Manual Control IT em Actuators Posion ur 240037 E Hexapos contro since i i a ES aa FA iz 1598 E 11000 14 3737 File Sen About u Ron pao asas y ii mth us 233425 w a LE 7 1090 fi j Ga Gave Curent Pos Ge ADRIE Flitren Fist its ef gt v ips z p gt ws ee on FD rc ER E pera ey eus Poem Voie Zoo fes Example W rotation in Tool coordinates NOTE When using multiple axes control buttons 3 arrows the theory of commutativity does not apply Refer to the
18. xapod Hexapod Control Simulation Software 5 0 Using Simul Hexapod The main window opens up and displays the virtual Hexapod using parameters from the selected configuration file Window Size position Hexapod size position orientation etc The manual control window may also be displayed if it was enabled in the configuration file The user can perform the following actions e Set the Virtual hexapod display parameters e Access Main menu functions e Set Coordinates origin point e Move the virtual hexapod 5 1 Virtual Hexapod Display The virtual hexapod is displayed and can be controlled as described below 5 1 1 Virtual hexapod conventions e Axescolors X Red Y Green Z Blue U Rx around Red axis V Ry around Green axis W Rz around Blue axis e Red point The Tool Coordinate System s origin is defined in the Hexapod Coordinates Setting window Tool to Carriage panel e Blue point The Work Coordinate System s origin is defined in XYZ in the Hexapod Coordinates Setting window Work to Base panel 5 1 2 Mouse control and features e Mouse scroll up or down anywhere in the screen zoom in or out e Mouse left click anywhere and drag rotates the virtual hexapod 2 directions e Mouse left double click on a point re center this point in the screen e Mouse right click anywhere and drag moves the virtual hexapod left right Up down e Mouse right click anywhere
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