PI H-811.D2, H-811.S2, H811T0019 Technical Note

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Phone +49 721 4846

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

H-811.D2 and H-811.S2

Hexapod Microrobots

Contents

Introduction 2

Precision-Class 6-Axis Positioning System ........................................................................................................... 2

Model Overview .................................................................................................................................................. 2

Recommended Controller (to be ordered separately) ........................................................................................ 2

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-811.D2 Miniature Hexapod Microrobot, Direct Drive, 10 mm/s, 5 kg Load, 2 m Cable, HD Sub-D Connector

H-811.S2 Miniature Hexapod Microrobot, Direct Drive, 20 mm/s, 5 kg Load, 2 m Cable, HD Sub-D Connector

Recommended Controller (to be ordered separately)

C-887.5xx 6D Hexapod Controller, TCP/IP, RS-232, Bench-Top Device, Control of Two Additional Servo-Motor Axes

Included; various models available

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 3 / 12 Phone +49 721 4846

− Overview for troubleshooting

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

Scope of Delivery

Order Number Items

H-811 Hexapod according to your order, cable permanently installed

000015165 Steward snap-on ferrite suppressor

Packaging, consisting of:

 Outer box  Inner box  Two pads for sliding onto the inner box  Internal cushion, bottom  Internal cushion, cover  Pallet

Documentation, consisting of:

H811T0019 Technical Note for H-811.D2 and H-811.S2 Hexapod models (this document)

H811T0001 Technical Note on unpacking the Hexapod

MS199E User manual for the Hexapod

Screw sets:

000020110 Mounting accessories:

 6 M4x25 hex-head cap screws ISO 4762  1 Allen wrench 3.0 DIN 911

000036450 Accessories for connection to the grounding system:

 1 flat-head screw with cross recess M4x8 ISO 7045  2 washers, form A-4.3 DIN 7090  2 safety washers, Schnorr Ø 4 mm N0110

Connecting the Hexapod to the C-887.5xx Controller

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“.

• 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“.

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 5 / 12 Phone +49 721 4846

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

2. Make sure that the Hexapod controller is switched off (see user manual of the Hexapod controller).

3. Connect the H-811 Hexapod to the Hexapod controller: a) Connect the HD Sub-D 78 (m) connector of the data transmission cable to the Hexapod socket

of the controller.

b) Connect the M12 connector of the power supply cable to the 24 V Out 7 A socket of the

controller.

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 6 / 12 Phone +49 721 4846

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

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.

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.

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 7 / 12 Phone +49 721 4846

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

Figure 1: H-811.x2 Hexapod dimensions

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 8 / 12 Phone +49 721 4846

H-811.D2

H-811.S2

Unit

Tolerance

Active axes

X, Y, Z, θX, θY, θZ

Motion and positioning

Travel range* X, Y, Z

±17, ±16, ±6.5

mm Travel range* θX, θY, θZ

±10, ±10, ±21

° Single-actuator design resolution

40

80

nm Min. incremental motion X, Y

0.25

1

µm

typ.

Min. incremental motion Z

0.1

0.5

µm

typ.

Min. incremental motion θX, θY, θZ

3 7 µrad

typ.

Backlash X, Y

0.2 2 µm

typ.

Backlash Z

0.06

0.5

µm

typ.

Backlash θX, θY

4

20

µrad

typ.

Backlash θZ

4

30

µrad

typ.

Repeatability X, Y

±0.15

±0.3

µm

typ.

Repeatability Z

±0.06

±0.1

µm

typ.

Repeatability θX, θY

±2

±4

µrad

typ.

Repeatability θZ

±3

±8

µrad

typ.

Max. velocity X, Y, Z

10

20

mm/s

Max. velocity θX, θY, θZ

250

500

mrad/s

Typ. velocity X, Y, Z

5

10

mm/s

Typ. velocity θX, θY, θZ

120

250

mrad/s

Mechanical properties

Stiffness X / Y

0.7

N/µm

Stiffness Z

8 8 N/µm

Load (base plate horizontal / any orientation)

5 / 2.5

kg

max.

Holding force, de-energized (base plate horizontal / any orientation)

15 / 2.5

N

max.

Motor type

Brushless DC motor

Miscellaneous

Operating temperature range

0 to 50

°C

Material

Stainless steel, aluminum

Mass

2.2

kg

±5 %

Cable length

2 2 m

±10 mm

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

Technical Data

Data Table

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 9 / 12 Phone +49 721 4846

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

Technical data specified at 20±3°C.

* The travel ranges of the individual coordinates (X, Y, Z, θX, θY, θZ) 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.

Maximum Ratings

The Hexapod is designed for the following operating data:

Maximum operating voltage

Maximum operating frequency (unloaded)

Maximum current consumption

24 V DC

5 A

Ambient Conditions and Classifications

Degree of pollution: 2

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

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 10 / 12 Phone +49 721 4846

Pin*

Signal*

Pin*

Signal*

1

CH1 Sign

40

CH1 MAGN

21

CH1 Ref

60

CH1 LimP

2

CH1 VDD

41

CH1 LimN

22

CH1 A+

61

CH1 B+

3

CH1 A-

42

CH1 B-

23

GND

62

GND

4 CH2 Sign

43

CH2 MAGN

24

CH2 Ref

63

CH2 LimP

5

CH2 VDD

44

CH2 LimN

25

CH2 A+

64

CH2 B+

6

CH2 A-

45

CH2 B-

26

GND

65

GND

7

CH3 Sign

46

CH3 MAGN

27

CH3 Ref

66

CH3 LimP

8

CH3 VDD

47

CH3 LimN

28

CH3 A+

67

CH3 B+

9

CH3 A-

48

CH3 B-

29

GND

68

GND

1

20

21

39

40

59

60

78

1

2 3 4

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

Pin Assignment

Power Supply

4-pin M12 connector

Pin Function

1 GND

2 GND

3 24 V DC

4 24 V DC

Data Transmission

HD Sub-D 78 (m) connector

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 11 / 12 Phone +49 721 4846

Pin*

Signal*

Pin*

Signal*

10

CH4 Sign

49

CH4 MAGN

30

CH4 Ref

69

CH4 LimP

11

CH4 VDD

50

CH4 LimN

31

CH4 A+

70

CH4 B+

12

CH4 A-

51

CH4 B-

32

GND

71

GND

13

CH5 Sign

52

CH5 MAGN

33

CH5 Ref

72

CH5 LimP

14

CH5 VDD

53

CH5 LimN

34

CH5 A+

73

CH5 B+

15

CH5 A-

54

CH5 B-

35

GND

74

GND

16 CH6 Sign

55 CH6 MAGN

36

CH6 Ref

75

CH6 LimP

17 CH6 VDD

56 CH6 LimN

37

CH6 A+

76

CH6 B+

18 CH6 A-

57 CH6 B-

38

GND

77

GND

19 Reserved

58

Brake/Enable drive

39

GND

78

GND

20 24 V output

59

Power good 24 V

input

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

* 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 Hexapod model.

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

Technical Note

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 12 / 12 Phone +49 721 4846

H811T0019, valid for H-811.D2 and H-811.S2

Bro, MMa, 9/5/2016

CIPA Certificate

The product has been certified for camera test applications according to the CIPA association.

-0, Fax +49 721 4846-1019, Email [email protected], www.pi.ws

PI H-811.D2, H-811.S2, H811T0019 Technical Note

Introduction

Precision-Class 6-Axis Positioning System

Model Overview

Recommended Controller (to be ordered separately)

Other Applicable Documents

Scope of Delivery

Connecting the Hexapod to the C-887.5xx Controller

Dimensions

Technical Data

Data Table

Maximum Ratings

Ambient Conditions and Classifications

Pin Assignment

Power Supply

Data Transmission

CIPA Certificate