PI MS235E 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
MS235E
H
-811 Hexapod Microrobot
User Manual
Version: 2.4.0
Date: 24.08.2021
This document describes t
he following products:

H-811.I2
Miniature hexapod microrobot, brushless DC
motor, 5 kg load capacity, 10 mm/s max.
velocity, 0.5 m cable length. Connecting cables
are not in the scope of delivery and must be
ordered separately.

H-811.I2V
Miniature hexapod microrobot, brushless DC
motor, vacuum compatible to 10-6 hPa, 5 kg
load capacity, 10 mm/s velocity, cable set 2 m
vacuum side, feedthroughs. Air side connecting
cables are not included in the scope of delivery
and must be ordered separately.

H-811.F2
Miniature hexapod microrobot for optical
alignment, removable magnetic plate,
brushless DC motor, 5 kg load capacity, 10
mm/s max. velocity, 0.5 m cable length.
Connecting cables are not in the scope of
delivery and must be ordered separately.

H-811.S2
Miniature hexapod microrobot for high
dynamics applications, direct drive, 10 mm/s
maximum velocity, 1.5 kg load, 0.5 m cable
length. Connecting cables are not included in
the scope of delivery and must be ordered
separately.

The following company names and brands are registered trademarks ofPhysik 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: https://www.physikinstrumente.com/en/about-pi/patents
Notes on brand names and third-party trademarks:
BiSS isa registered trademark of iC-Haus GmbH.
©2021 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. KGretains
all the rights. The useofany text, images and drawings is permitted only in part and only when indicating the
source.
Original instructions
First printing: 24.08.2021
Document number: MS235E,Ewei, BRo, Version 2.4.0
Subject tochange. This manual is superseded byany new release. The latest respective release is available for
download (p. 3) on our website.

1About this Document 1
1.1 Objective and Target Audience of this User Manual.................................................. 1
1.2 Symbols and Typographic Conventions...................................................................... 1
1.3 Figures ........................................................................................................................ 2
1.4 Other Applicable Documents ..................................................................................... 2
1.5 Downloading Manuals................................................................................................ 3
2Safety 5
2.1 Intended Use .............................................................................................................. 5
2.2 General Safety Instructions ........................................................................................ 5
2.3 Organizational Measures............................................................................................ 5
2.4 Measures for Handling Vacuum-Compatible Products.............................................. 6
3Product Description 7
3.1 Features and Applications .......................................................................................... 7
3.2 Model Overview ......................................................................................................... 7
3.3 Suitable Controllers .................................................................................................... 8
3.4 Product View .............................................................................................................. 9
3.5 Scope of Delivery........................................................................................................ 9
3.6 Accessories ............................................................................................................... 12
3.7 Technical Features.................................................................................................... 12
3.7.1 Struts............................................................................................................ 12
3.7.2 Reference Switch and Limit Switches.......................................................... 12
3.7.3 Control......................................................................................................... 13
3.7.4 Motion ......................................................................................................... 13
3.7.5 ID Chip.......................................................................................................... 18
4Unpacking 19
5Installation 23
5.1 General Notes on Installing ...................................................................................... 23
5.2 Determining the Permissible Load and Workspace ................................................. 24
5.3 Grounding the Hexapod ........................................................................................... 25
5.4 Fixing the data transmission cable with the connector holder................................ 26
5.5 Mounting the Hexapod on a Surface ....................................................................... 27
5.6 Fixing the Load to the Hexapod................................................................................ 28
5.7 Connecting the Hexapod to the Controller .............................................................. 31
Contents

6Startup 37
6.1 General Notes on Startup......................................................................................... 37
6.2 Starting Up the Hexapod System ............................................................................. 38
6.3 Optional: Operating the Hexapod with a Separate 12 V Power Adapter ................ 39
7Maintenance 43
7.1 Performing a Maintenance Run ............................................................................... 43
7.2 Packing the Hexapod for Transport.......................................................................... 43
7.3 Cleaning the Hexapod .............................................................................................. 48
8Troubleshooting 49
9Customer Service 55
10 Technical Data 57
10.1 Specifications............................................................................................................ 57
10.1.1 Data Table.................................................................................................... 57
10.1.2 Specifications for Vacuum-Compatible Versions ........................................ 65
10.1.3 Maximum Ratings........................................................................................ 69
10.1.4 Specifications for Data Transmission and Power Supply Cables ................. 69
10.2 Ambient Conditions and Classifications ................................................................... 71
10.3 Dimensions ............................................................................................................... 72
10.3.1 H-811 Hexapod ............................................................................................ 72
10.3.2 000067899 Connector Holder ..................................................................... 75
10.4 Load Curves .............................................................................................................. 76
10.5 Dynamic Operational Area of the H-811.S2 ............................................................. 82
10.6 Pin Assignment ......................................................................................................... 84
10.6.1 Power Supply Connection............................................................................ 84
10.6.2 Data Transmission Connection.................................................................... 85
11 Old Equipment Disposal 87
12 Glossary 89
13 Appendix 93
13.1 Explanations of the Performance Test Sheet ........................................................... 93
13.2 EU Declaration of Conformity .................................................................................. 95

1 About this Document
H-811 Hexapod Microrobot MS235E Version: 2.4.0 1
In this Chapter
Objective and Target Audience of this User Manual..................................................................... 1
Symbols and Typographic Conventions ......................................................................................... 1
Figures............................................................................................................................................ 2
Other Applicable Documents......................................................................................................... 2
Downloading Manuals ................................................................................................................... 3
1.1 Objective and Target Audience of this User Manual
This manual contains information on using the H-811 as intended.
It 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.
1.2 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
CAUTION
Dangerous situation
Failure to comply could lead to minor injury.
Precautionary measures for avoiding the risk.
NOTICE
Dangerous situation
Failure to comply could cause damage to equipment.
Precautionary measures for avoiding the risk.
1
About this Document

1 About this Document
2 Version: 2.4.0 MS235E H-811 Hexapod Microrobot
INFORMATION
Information for easier handling, tricks, tips, etc.
Symbol/
Label
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.
1.3 Figures
For better understandability, the colors, proportions, and degree of detail in illustrations can
deviate from the actual circumstances. Photographic illustrations may also differ and must not
be seen as guaranteed properties.
1.4 Other Applicable Documents
The devices and software tools from PI mentioned in this documentation are described in
separate manuals.
Device/program Document
no.
Document content
C-887.5xx controller
MS247EK
Short instructions for hexapod systems
MS244E
User manual
C887T0011
EtherCAT interface of the C-887.53 controller series
C887T0007
Coordinate Systems for Hexapod Microrobots
C887T0021
Motion of the Hexapod. Position and Orientation in Space,
Center of Rotation

1 About this Document
H-811 Hexapod Microrobot MS235E Version: 2.4.0 3
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.
1.5 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 55).
Downloading Manuals
1. Open the website www.pi.ws.
2. Search the website for the product number (e.g., P-882) or the product family (e.g.,
PICMA® bender).
3. Click the corresponding product to open the product detail page.
4. Click the Downloads tab.
The manuals are shown under Documentation. Software manuals are shown under
General Software Documentation.
5. Click the desired manual and fill out the inquiry form.
The download link will then be sent to the email address entered.

2 Safety
H-811 Hexapod Microrobot MS235E Version: 2.4.0 5
In this Chapter
Intended Use.................................................................................................................................. 5
General Safety Instructions............................................................................................................ 5
Organizational Measures............................................................................................................... 5
Measures for Handling Vacuum-Compatible Products ................................................................. 6
2.1 Intended Use
The hexapod microrobot (short "hexapod") is a laboratory device as defined by DIN EN 61010-1.
It is built for indoor use and use in an environment which is free of dirt, oil, and lubricants.
In accordance with its design, the hexapod is intended for positioning, adjusting, and shifting of
loads on six axes at various velocities.
The hexapod can only be used as intended in conjunction with a suitable controller available
from PI (p. 8), which coordinates all motion of the hexapod.
2.2 General Safety Instructions
The H-811 is built according to state-of-the-art technology and recognized safety standards.
Improper use can result in personal injury and/or damage to the H-811.
Use the H-811 for its intended purpose only, and only when it is in perfect technical
condition.
Read the user manual.
Eliminate any malfunctions that may affect safety immediately.
The operator is responsible for the correct installation and operation of the H-811.
2.3 Organizational Measures
User manual
Always keep this user manual together with the H-811.
The latest versions of the user manuals are available for download (p. 3) on our
website.
2
Safety

2 Safety
6 Version: 2.4.0 MS235E H-811 Hexapod Microrobot
Add all information from the manufacturer to the user manual, for example
supplements or technical notes.
If you give the H-811 to a third party, include this user manual as well as other relevant
information provided by the manufacturer.
Do the work only if the user manual is complete. Missing information due to an
incomplete user manual can result in minor injury and damage to equipment.
Install and operate the H-811 only after you have read and understood this user
manual.
Personnel qualification
The H-811 may only be installed, started, operated, maintained, and cleaned by authorized and
appropriately qualified personnel.
2.4 Measures for Handling Vacuum-Compatible Products
When handling the vacuum version of the hexapod, attention must be paid to appropriate
cleanliness. At PI, all parts are cleaned before assembly. During assembly and measurement,
powder-free gloves are worn. Afterwards, the hexapod is cleaned once again by wiping and
shrink-wrapped twice in vacuum-compatible film.
Touch the hexapod only with powder-free gloves.
If necessary, wipe the hexapod clean after unpacking.