C-887.53x Hexapod Motion Controller with EtherCAT®

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.

Functions

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.

Interfaces

EtherCAT fieldbus interface. TCP/IP for remote control and remote maintenance. RS-232. USB connection for external input devices (HID).

Additional interfaces

• 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

Optional

• 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!