Technical Note H850T0012
Contents
1. SA NAND PRS Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws Page 5 8 Technical Data Data Table Active axes Motion and positioning Travel range X Y Travel range Z Travel range Ox Oy Travel range 0z Single actuator design resolution Min incremental motion X Y Min incremental motion Z Min incremental motion 8x Oy Hz Backlash X Y Backlash Z Backlash 8x Oy Backlash 0z Repeatability X Y Repeatability Z Repeatability Ox Oy Repeatability 87 Max velocity X Y Z Max velocity Ox Oy Oz Typ velocity X Y Z Typ velocity Ox Oy z Mechanical properties Stiffness X Y Stiffness Z Load base plate horizontal any orientation Holding force de energized base plate horizontal any orientation Motor type Miscellaneous Operating temperature range Material Mass Cable length H 850 H2 for higher loads and holding forces X Y Z Ox By Oz 50 25 15 30 0 005 i 0 5 5 4 1 15 30 1 0 3 5 9 0 5 6 0 3 3 7 100 250 50 2000 500 DC motor gearhead 10 to 50 Aluminum 17 3 Technical data specified at 20 3 C Pl 2015 09 22 H8501T0012 valid for H 850 G2 H 850 H2 H 850 G2 for higher velocity and precision X Y Z Ox By Oz 50 25 15 30 0 05 0 5 5 5 1 5 25 45 0 5 0 2 3 6 100 5 50 7 100 50 20 250 85 DC motor gearhead 10 to 50 Aluminum 17 3 Un2. Technical Note PI BRo 2015 09 22 H850T0012 valid for H 850 G2 H 850 H2 H 850 G2 H 850 H2 Hexapod Microrobots Contents Ideal Tee WE 1 Precision Class 6 AXiS Positioning System ccccceccceeeeceeeceeeceeeeeeeeseeessueeseeeeeeeeseeesseeeaeeesaneenaees 1 Vilefe Re TT 1 Recommended Controller to be ordered separate 1 Other Applicable Documents EE 2 SCOP ODEVI Y eea ee E E E EEEE E E E eee 2 Connecting the Hexapod to the C 887 with the Cable er 3 DIMENSI ONS e A EA 4 TCIM CA MN E 5 Daa WON capers ss aa ste sp nce tc tec eects ees nae nv none em enaeetate ee 5 Maximum Et Le 6 Ambient Conditions and Classifications ccccsccccsecceeeeteeeseneecseeeeeceteueeseeetenecsacessueeaeeteneeseeeeans 6 FAAS S TOI NN srera E emai toaesajondahons E E E O E 6 Bei Neie 6 Daa Tran IMIS SION E 7 Introduction Precision Class 6 Axis Positioning System Parallel kinematic design for six degrees of freedom making it significantly more compact and stiff than serial kinematic systems higher dynamic range no moved cables Higher reliability reduced friction Model Overview H 850 G2 Hexapod Microrobot with Excellent Position Repeatability DC Motor Gearhead 8 mm s 50 kg Load HD Sub D Connector Cable Set 3 m H 850 H2 Hexapod Microrobot with Excellent Position Repeatability DC Motor Gearhead 0 5 mm s 250 kg Load HD Sub D Connector Cable Set 3 m Recommended Controller to be ordered separately C 887 5xx 6D Hexap
3. it Tolerance mm mm um um typ um typ urad typ um typ um typ urad typ urad typ um typ um typ urad typ urad typ mm s mrad s mm s mrad s N um N um kg max N max C kg 5 m 10 mm The travel ranges of the individual coordinates X Y Z Ox Be 8z are interdependent The data for each axis in this table shows its maximum travel where all other axes are at their zero positions If the other linear or rotational coordinates are not zero the available travel may be less Physik Instrumente PI GmbH amp Co KG_Auf der R merstraBe 1_ 76228 Karlsruhe Germany Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws PIEZO NANO POSITIONING Page 6 8 PI 2015 09 22 H850T0012 valid for H 850 G2 H 850 H2 Maximum Ratings The Hexapod is designed for the following operating data Maximum Maximum operating Maximum current operating voltage frequency unloaded consumption 5A Ambient Conditions and Classifications Transport temperature 25 C to 85 C Storage temperature 0 C to 70 C Humidity Maximum relative humidity of 80 at temperatures of up to 31 C linearly decreasing until relative humidity of 50 at 40 C Degree of protection according to IEC 60529 IP20 Area of application For indoor use only Maximum altitude 2000 m Pin Assignment Power Supply 4 pin M12 panel plug Physik Instrumente PI GmbH amp Co KG_Auf der R merst
4. od Controller TCP IP RS 232 Bench Top Device Control of Two Additional Servo Motor Axes Included various models available Physik Instrumente PI GmbH A Co KG_Auf der R merstraBe 1_ 76228 Karlsruhe Germany PIEZO NANO POSITIONING Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws es Page 2 8 PI 2015 09 22 H850T0012 valid for H 850 G2 H 850 H2 Other Applicable Documents Description H 850 Hexapod MS202E user manual for H 850 G1 and H1 Hexapod models Microrobot This manual is also valid for H 850 G2 and H2 Hexapod models except for the information superseded by the H850T0012 Technical Note this document gt Refer to the MS202E user manual for the following information Safety instructions and product description Instructions for unpacking installation start up and maintenance of the Hexapod Overview for troubleshooting C 887 5xx MS204E user manual Hexapod Controller Technical Notes for the individual controller models Documentation for the PC software that comes with the Hexapod controller Scope of Delivery ebe Te 000015165 Steward snap on ferrite suppressor Packaging consisting of Transport lock with following accessories 4M6x20 screws 2 M6x30 screws 6 plastic flat washers Inner cushion set 000012899 Inner box with handle 560 mm x 560 mm x 400 mm 000012323 Outer box with soft foam cushions Pallet Documentation consisting
5. od model Physik Instrumente PI GmbH amp Co KG_Auf der R merstra e 1_76228 Karlsruhe Germany PIEZO NAND POSITIONING Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws
6. of H850T0012 Technical Note for H 850 G2 and H2 Hexapod models this document H850T0001 Technical note in printed form on unpacking the Hexapod MS202E User manual for the Hexapod Screw sets 000034605 Mounting accessories 6 M6x30 hex head cap screws ISO 4762 1 Allen wrench 5 0 DIN 911 Physik Instrumente PI GmbH amp Co KG_Auf der R merstraBe 1 76228 Karlsruhe Germany PIEZO NAND POSITIOMING Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws as Page 3 8 PI 2015 09 22 H850T0012 valid for H 850 G2 H 850 H2 tegen EE 000036450 Accessories for connection to the grounding system 1 M4x8 flat head screw with cross recess ISO 7045 HR 2washers form A 4 3 DIN 7090 2 safety washers Schnorr 4 mm N0110 Connecting the Hexapod to the C 887 with the Cable Set 1 Read and observe the following installation instructions Instructions in the user manual of the Hexapod especially sections General Notes on Installation Determining the Permissible Load and Working Space Attaching the Snap On Ferrite Suppressor Grounding the Hexapod Mounting the Hexapod on a Surface and Affixing the Load to the Hexapod e Instructions in the user manual of the Hexapod controller especially sections General Notes on Installation and Determining the Working Space and Permissible Load of the Hexapod 2 Make sure that the Hexapod controller is switched off see u
7. ra e 1_76228 Karlsruhe Germany PIEZO MANE POSITIONING Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws as Page 7 8 Data Transmission HD Sub D 78 m nl onge a on sl w z ome all ooma Lal pa oam Lal omre pos w Lal oome e oma es msm z Re sl w o a om sl e e a ee ml JL ce sign o ong nl omuum Lal ooe el omae z a nl omg s ong nl w Lal oo el o s pie che sign Lei gem ov w Physik Instrumente PI GmbH amp Co KG_Auf der R merstra e 1_76228 Karlsruhe Germany Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws Pl 2015 09 22 H8501T0012 valid for H 850 G2 H 850 H2 signa pe LG o Kc e ed e e Kl Pa i el om ee omean puer m el oe KE el om ee ommon ee e guter omm w oms o oe on ee osmon ee mz guer osim on oss LI oe pom oao a CH6 MAGN i oe sl ceum PIEZO NANO POSITIONING Page 8 8 PI 2015 09 22 H850T0012 valid for H 850 G2 H 850 H2 eee sara CH6 B al RSC __ selene Isi op al 1 vou sa Power good 24 V input Pin assignment of the C 887 5xx Hexapod controller Since not all signals are required for all Hexapod models some pins may be not assigned with your Hexap
8. ser manual of the Hexapod controller 3 Connect the H 850 Hexapod to the Hexapod controller as shown in the figure below Controller Hexapod C 887 5XX Data Transmission K040B0241 3 m f m f m HD Sub D HD Sub D HO Sub D D Sub D Bad a Power for Hexapod KO60B0111 3 m oct al at a f m f m M12 412 12 M12 d on d on 4 pin 4 pin m f Mi2 Mi den a pin Output C 887 5PS Power Supply 24V DC included with C 887 5xx Figure 1 Connection diagram of the Hexapod system Physik Instrumente PI GmbH A Co KG_Auf der R merstraBe 1_ 76228 Karlsruhe Germany PESK MANE PRS Telefon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws www pi ws es Page 4 8 PI 2015 09 22 H850T0012 valid for H 850 G2 H 850 H2 Dimensions All figures show the Hexapod in the reference position Dimensions in mm Note that the decimal places are separated by a comma in the drawings TOP VIEW 06 6 thru O119 25 5 aa y fhe A T z l W ZE a nd ETT rg V Je a Si Up TE Vu 10 bottom side c e ena H 7 os 165 001 Figure 2 H 850 x2 Hexapod dimensions The 0 0 0 coordinates refer to the origin of the XYZ coordinate system When the default settings of the Hexapod controller are used and the Hexapod is in the reference position the pivot point is located at the origin of the XYZ coordinate system Physik Instrumente PI GmbH amp Co KG_Auf der R merstraBe 1_76228 Karlsruhe Germany RIE
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