PI H-820 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
MS207E
H
-820 Hexapod Microrobot
User Manual
Version: 2.4.0
Date: 12.01.2023
This document describes the following product:

H-820.D2
Hexapod microrobot, basic model, 20 kg load
capacity, 20 mm/s velocity, D-sub connector

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: https://www.physikinstrumente.com/en/about-pi/patents
Notes on brand names and third-party trademarks:
BiSS is a registered trademark of iC-Haus GmbH.
© 2023 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: 12.01.2023
Document number: MS207E, BRo, EWEI, ASt, Version 2.4.0
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 This manual is superseded by any new release.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 Objective and Target Group 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
3Product Description 7
3.1 Features and Applications .......................................................................................... 7
3.2 Product View .............................................................................................................. 8
3.3 Technical Features...................................................................................................... 8
3.3.1 Struts.............................................................................................................. 8
3.3.2 Reference Switch and Limit Switches............................................................ 9
3.3.3 Control........................................................................................................... 9
3.3.4 Motion ........................................................................................................... 9
3.3.5 ID Chip.......................................................................................................... 13
3.4 Scope of Delivery...................................................................................................... 14
3.5 Optional Accessories ................................................................................................ 14
3.6 Suitable Controllers .................................................................................................. 15
4Unpacking 17
5Installing 19
5.1 General Notes on Installation................................................................................... 19
5.2 Determining the Permissible Load and Workspace ................................................. 20
5.3 Grounding the Hexapod ........................................................................................... 20
5.4 Mounting the Hexapod on a Surface ....................................................................... 21
5.5 Fixing the Load to the Hexapod................................................................................ 22
5.6 Optional: Removing the Coordinate Cube ............................................................... 24
5.7 Connecting the Hexapod to the Controller .............................................................. 24
Contents

6Startup 27
6.1 General Notes on Startup......................................................................................... 27
6.2 Starting Up the Hexapod System ............................................................................. 28
7Maintenance 29
7.1 Performing a Maintenance Run ............................................................................... 29
7.2 Cleaning the Hexapod .............................................................................................. 30
7.3 Packing the Hexapod for Transport.......................................................................... 30
8Troubleshooting 35
9Customer Service Department 39
10 Technical Data 41
10.1 Specifications............................................................................................................ 41
10.1.1 Data Table.................................................................................................... 41
10.1.2 Maximum Ratings........................................................................................ 43
10.1.3 Specifications for Data Transmission and Power Supply Cables ................. 43
10.2 Ambient Conditions and Classifications ................................................................... 45
10.3 Dimensions ............................................................................................................... 46
10.4 Pin Assignment ......................................................................................................... 46
10.4.1 Power Supply Connection............................................................................ 46
10.4.2 Data Transmission Connection.................................................................... 47
11 Old Equipment Disposal 49
12 Glossary 51
13 Appendix 55
13.1 Explanations of the Performance Test Sheet ........................................................... 55
13.2 European Declarations of Conformity...................................................................... 57

1 About this Document
H-820 Hexapod Microrobot MS207E Version: 2.4.0 1
In this Chapter
Objective and Target Group of this User Manual.......................................................................... 1
Symbols and Typographic Conventions ......................................................................................... 1
Figures............................................................................................................................................ 2
Other Applicable Documents......................................................................................................... 2
Downloading Manuals ................................................................................................................... 3
1.1 Objective and Target Group of this User Manual
This user manual contains the information necessary for using the H-820 as intended.
We assume that the user has basic knowledge of closed-loop systems, motion control concepts,
and applicable safety measures.
The latest versions of the user manuals are available for download on our website (p. 3).
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 to avoid the risk.
NOTICE
Dangerous situation
If this situation is not avoided, it will damage the equipment.
Precautionary measures to avoid the risk.
INFORMATION
Information for easier handling, tricks, tips, etc.
1
About this Document

1 About this Document
2 Version: 2.4.0 MS207E H-820 Hexapod Microrobot
Symbol/Label Meaning
1.
2.
Action consisting of several steps with strict sequential
order

Action consisting of one or more steps without relevant
sequential order

Bullet points
p. 5 Cross-reference to page 5
RS-232
Label on the product indicating an operating element
(example: RS-232 interface socket)
Warning sign on the product referring 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
PI Hexapod Simulation
Tool
A000T0068
Determining the workspace and the permissible load
of the hexapod
PC software included in
Various
For details, see the user manual for the C-887.5xx

1 About this Document
H-820 Hexapod Microrobot MS207E Version: 2.4.0 3
Device/program Document
no.
Document content
the controller's scope of
delivery
controller.
1.5 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 39).
Downloading manuals
1. Open the website www.pi.ws.
2. Search the website for the product number (e.g., H-820).
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-820 Hexapod Microrobot MS207E Version: 2.4.0 5
In this Chapter
Intended Use.................................................................................................................................. 5
General Safety Instructions............................................................................................................ 5
Organizational Measures............................................................................................................... 5
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. 15), which coordinates all motion of the hexapod.
2.2 General Safety Instructions
The H-820 is built according to state-of-the-art technology and recognized safety standards.
Improper use of the H-820 may result in personal injury and/or damage to the H-820.
Use the H-820 for its intended purpose only, and only when it is in perfect condition.
Read the user manual.
Immediately eliminate any faults and malfunctions that are likely to affect safety.
The operator is responsible for installing and operating the H-820 correctly.
2.3 Organizational Measures
User manual
Always keep this user manual together with the H-820. The latest versions of the user
manuals are available for download on our website (p. 3).
Add all information from the manufacturer such as supplements or technical notes to
the user manual.
2
Safety

2 Safety
6 Version: 2.4.0 MS207E H-820 Hexapod Microrobot
If you give the H-820 to other users, include this user manual as well as all 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-820 only after you have read and understood this user
manual.
Personnel qualification
The H-820 may only be installed, started, operated, maintained, and cleaned by authorized and
appropriately qualified personnel.