PI H-845 User manual

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone [phone], Fax [phone], Email [e-mail], www.pi.ws
MS222E
H
-845 Hexapod System
User Manual
Version: 2.1.1
Date: 17.09.2019
This document describes the following
product
s:

H-845.D11
Heavy-duty hexapod for 1000 kg load,
travel ranges ±110 mm (X, Y), ±50 mm (Z),
max. velocity 20 mm/s, with controller

H-845.D21
Heavy-duty hexapod for 1000 kg load,
travel ranges ±170 mm (X, Y), ±105 mm
(Z), max. velocity 20 mm/s, with controller

H-845.D31
Heavy-duty hexapod for 500 kg load, travel
ranges ±110 mm (X, Y), ±50 mm (Z), max.
velocity 40 mm/s, with controller

H-845.D41
Heavy-duty hexapod for 500 kg load, travel
ranges ±170 mm (X, Y), ±10
5 mm (Z), max.
velocity 40 mm/s, with controller

H-845.D51
Heavy-duty hexapod for 400 kg load, travel
ranges ±110 mm (X, Y), ±50 mm (Z), max.
velocity 50 mm/s, with controller

H-845.D61
Heavy-duty hexapod for 400 kg load, travel
ranges ±170 mm (X, Y), ±105 mm (Z), max.
velocity 50 mm/s, with controller

The following company names and brands are registered trademarks of Physik
Instrumente (PI) GmbH & Co. KG:
PI®, NanoCube®, PICMA®, PILine®, NEXLINE®, PiezoWalk®, NEXACT®,
Picoactuator®, PInano®, PIMag®, Q-Motion®
The patents held by PI are found in our patent list:
(http://www.physikinstrumente.com/en/about-pi/patents)
© 2019 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text,
photographs, and drawings in this manual are protected by copyright. With regard
thereto, Physik Instrumente (PI) GmbH & Co. KG retains all the rights. The use of any
text, images and drawings is permitted only in part and only when indicating the
source.
Original instructions
First printing: 17.09.2019
Document number: MS222E, BRo, KSch, Version 2.1.1
Subject to change. This manual is superseded by any new release. The latest
respective release is available for download (p. 3) on our website.

1About this Document 1
1.1 Goal and Target Audience of this Manual............................................................1
1.2 Symbols and Typographic Conventions...............................................................2
1.3 Other Applicable Documents................................................................................3
1.4 Downloading Manuals ..........................................................................................3
2Safety 5
2.1 Intended Use ........................................................................................................5
2.2 General Safety Instructions..................................................................................5
2.2.1 Organizational Measures....................................................................6
2.2.2 Safety Measures during Transport.....................................................6
2.2.3 Safety Measures during Installation ...................................................6
2.2.4 Safety Measures during Start-Up.......................................................8
2.2.5 Safety Measures during Maintenance................................................9
3Product Description 11
3.1 Features and Applications..................................................................................11
3.2 Model Overview..................................................................................................12
3.3 Product View.......................................................................................................13
3.3.1 Hexapod ...........................................................................................13
3.3.2 Hexapod Controller...........................................................................14
3.3.3 Power Supply....................................................................................17
3.4 Scope of Delivery ...............................................................................................19
3.5 Technical Features.............................................................................................21
3.5.1 Struts ................................................................................................21
3.5.2 Reference Point Switch and Limit Switches.....................................21
3.5.3 Brakes...............................................................................................21
3.5.4 Control ..............................................................................................21
3.5.5 Motion...............................................................................................22
Contents

4Unpacking 27
5Installation 33
5.1 General Notes on Installation.............................................................................33
5.2 Determining the Permissible Load and Workspace ...........................................35
5.3 Attaching the Snap-on Ferrite.............................................................................36
5.4 Mounting the Hexapod on a Surface..................................................................36
5.5 Grounding the Hexapod and the Hexapod Controller........................................38
5.6 Affixing the Load to the Hexapod .......................................................................39
5.7 Optional: Removing the Coordinate Cube..........................................................40
5.8 Connecting the Hexapod System.......................................................................41
6Start-Up 43
6.1 General Notes on Start-Up.................................................................................43
6.2 Starting Up the Hexapod System.......................................................................45
6.3 Switching Off the Hexapod System....................................................................46
7Maintenance 47
7.1 Performing a Maintenance Run..........................................................................47
7.2 Packing the Hexapod for Transport....................................................................48
7.3 Replacing the Fuses of the M850B0448 Power Supply.....................................52
7.4 Cleaning the Hexapod........................................................................................54
8Troubleshooting 55
9Customer Service 57
10 Technical Data 59
10.1 Specifications......................................................................................................59
10.1.1 Data Table Hexapod.........................................................................59
10.1.2 Maximum Ratings Hexapod .............................................................61
10.1.3 Data Table Hexapod Controller........................................................61
10.1.4 Maximum Ratings Hexapod Controller.............................................62
10.1.5 Data Table M850B0448 Power Supply ............................................62
10.1.6 Maximum Ratings M850B0448 Power Supply.................................62
10.2 Ambient Conditions and Classifications .............................................................63
10.2.1 Hexapod ...........................................................................................63
10.2.2 Hexapod Controller...........................................................................63
10.2.3 M850B0448 Power Supply...............................................................64
10.3 Dimensions.........................................................................................................64
10.3.1 Hexapod ...........................................................................................65
10.3.2 Hexapod Controller...........................................................................66
10.3.3 M850B0448 Power Supply...............................................................67

10.4 Pin Assignment Hexapod...................................................................................68
10.4.1 Power Supply Connection ................................................................68
10.4.2 Data Transmission Connection ........................................................68
10.5 Pin Assignment Hexapod Controller ..................................................................69
10.5.1 I/O Connection..................................................................................69
10.5.2 Supply Power for Controller..............................................................70
11 Old Equipment Disposal 71
12 Glossary 73
13 Appendix 77
13.1 Explanations of the Performance Test Sheet.....................................................77
13.2 EU Declaration of Conformity.............................................................................78

1 About this Document
H-845 Hexapod System MS222E Version: 2.1.1 1
In this Chapter
Goal and Target Audience of this Manual..................................................................... 1
Symbols and Typographic Conventions........................................................................ 2
Other Applicable Documents......................................................................................... 3
1.1 Goal and Target Audience of this Manual
This manual contains information on the intended use of H-845 hexapod systems.
It provides information about the following items:
H845B00xx hexapod mechanics
H845B0021 hexapod controller
M850B0448 power supply
Cabling
Further information on the hexapod system can be found in the documentation listed
in “Other Applicable Documents” (p. 3).
This manual assumes that the reader has a fundamental understanding of basic servo
systems as well as motion control concepts and applicable safety procedures.
The latest versions of the user manuals are available for download (p. 3) on our
website.
1
About this Document

1 About this Document
2Version: 2.1.1 MS222E H-845 Hexapod System
1.2 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
CAUTION
Dangerous situation
If not avoided, the dangerous situation will result in minor injury.
Actions to take to avoid the situation.
NOTICE
Dangerous situation
If not avoided, the dangerous situation will result in damage to the equipment.
Actions to take to avoid the situation.
INFORMATION
Information for easier handling, tricks, tips, etc.
Symbol Meaning
1.
2. Action consisting of several steps whose sequential
order must be observed
Action consisting of one or several steps whose
sequential order is irrelevant
 List item
p. 5 Cross-reference to page 5
RS-232 Labeling of an operating element on the product
(example: socket of the RS-232 interface)
Warning sign on the product which refers to detailed
information in this manual.

1 About this Document
H-845 Hexapod System MS222E Version: 2.1.1 3
1.3 Other Applicable Documents
Device/program Document
no. Document content
C-887.5xx
controller MS247EK Short instructions for hexapod systems
MS244E User manual
C887T0007 Coordinate Systems for Hexapod Microrobots
C887T0021 Motion of the Hexapod. Position and
Orientation in Space, Center of Rotation
PI Hexapod
Simulation Tool A000T0068 Determining the workspace and the permissible load of the hexapod
PC software
included in the
controller's scope
of delivery
Various For details, see the user manual for the C-
887.5xx controller.
1.4 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 57).
INFORMATION
For products that are supplied with software (CD in the scope of delivery), access to
the manuals is protected by a password. Protected content is only displayed on the
website after entering the access data.
You need the product CD to get the access data.
For products with CD: Get access data
1. Insert the product CD into the PC drive.
2. Switch to the Manuals directory on the CD.
3. In the Manuals directory, open the Release News (file including releasenews
in the file name).

1 About this Document
4Version: 2.1.1 MS222E H-845 Hexapod System
4. Get the access data for downloading protected content in the "User login for
software download" section of the Release News. Possible methods for
getting the access data:
−Link to a page for registering and requesting the access data
−User name and password is specified
5. If the access data needs to be requested via a registration page:
a) Follow the link in the Release News.
b) Enter the required information in the browser window.
c) Click Show login data in the browser window.
d) Note the user name and password shown in the browser window.
Downloading manuals
If you have requested access data for protected contents via a registration page (see
above):
Click the links in the browser window to change to the content for your product
and log in using the access data that you received.
General procedure:
1. Open the website www.pi.ws.
2. If access to the manuals is protected by a password:
a) Click Login.
b) Log in with the user name and password.
3. Click Search.
4. Enter the product number up to the period (e.g., C-887) into the search field.
5. Click Start search or press the Enter key.
6. Open the corresponding product detail page in the list of search results:
a) If necessary: Scroll down the list.
b) If necessary: Click Load more results at the bottom of the list.
c) Click the corresponding product in the list.
7. Click the Downloads tab.
The manuals are shown under Documentation.
8. Click the desired manual and save it to the hard disk of your PC or to a data
storage medium.