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: 2.3.0
Date: 04.12.2019
This document describes the following product:

H-820.D2
Hexapod microrobot, basis model, 20 mm/s,
20 kg load, Sub-D connector (m), cable set 3 m

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
Notes on brand names and third-party trademarks:
BiSS is a registered trademark of iC-Haus GmbH.
© 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: 04.12.2019
Document number: MS207E, BRo, Version 2.3.0
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 This manual is superseded by any new release.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 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
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 ............................................................................................................... 10
3.7 Technical Features.................................................................................................... 12
3.7.1 Struts............................................................................................................ 12
3.7.2 Reference Switch and Limit Switches.......................................................... 12
3.7.3 Control......................................................................................................... 12
3.7.4 Motion ......................................................................................................... 13
3.7.5 ID Chip.......................................................................................................... 16
4Unpacking 17
5Installation 19
5.1 General Notes on Installation................................................................................... 19
5.2 Determining the Permissible Load and Workspace ................................................. 20
5.3 Attaching the Snap-on Ferrite .................................................................................. 21
5.4 Grounding the Hexapod ........................................................................................... 22
5.5 Mounting the Hexapod on a Surface ....................................................................... 22
5.6 Fixing the Load to the Hexapod................................................................................ 24
5.7 Optional: Removing the Coordinate Cube ............................................................... 25
5.8 Connecting the Hexapod to the Controller .............................................................. 26
Contents

6Startup 29
6.1 General Notes on Startup......................................................................................... 29
6.2 Starting Up the Hexapod System ............................................................................. 30
7Maintenance 31
7.1 Performing a Maintenance Run ............................................................................... 31
7.2 Packing the Hexapod for Transport.......................................................................... 31
7.3 Cleaning the Hexapod .............................................................................................. 35
8Troubleshooting 37
9Customer Service 39
10 Technical Data 41
10.1 Specifications............................................................................................................ 41
10.1.1 Data Table.................................................................................................... 41
10.1.2 Maximum Ratings........................................................................................ 42
10.1.3 Cable Set Specifications............................................................................... 43
10.2 Ambient Conditions and Classifications ................................................................... 44
10.3 Dimensions ............................................................................................................... 44
10.4 Pin Assignment ......................................................................................................... 45
10.4.1 Power Supply Connection............................................................................ 45
10.4.2 Data Transmission Connection.................................................................... 45
11 Old Equipment Disposal 47
12 Glossary 49
13 Appendix 53
13.1 Explanations of the Performance Test Sheet........................................................... 53
13.2 EU Declaration of Conformity .................................................................................. 55

1 About this Document
H-820 Hexapod Microrobot MS207E Version: 2.3.0 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-820 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.
NOTICE
Dangerous situation
Failure to comply could cause damage to equipment.
Precautionary measures for avoiding the risk.
INFORMATION
Information for easier handling, tricks, tips, etc.
1
About this Document

1 About this Document
2 Version: 2.3.0 MS207E H-820 Hexapod Microrobot
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 their
own 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 the controller's
scope of delivery
Various For details, see the user manual for the C-887.5xx
controller.

1 About this Document
H-820 Hexapod Microrobot MS207E Version: 2.3.0 3
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., P-882) or the product family (e.g.,
PICMA® bender).
3. Click the corresponding product to open the product detail page.
4. Click Downloads.
The manuals are shown under 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: 2.3.0 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. 8), 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 can 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 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-820.
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 (p. 3) on our
website.
2
Safety

2 Safety
6 Version: 2.3.0 MS207E H-820 Hexapod Microrobot
Add all information from the manufacturer to the user manual, for example
supplements or technical notes.
If you give the H-820 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-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.

3 Product Description
H-820 Hexapod Microrobot MS207E Version: 2.3.0 7
In this Chapter
Features and Applications ............................................................................................................. 7
Model Overview............................................................................................................................. 7
Suitable Controllers ....................................................................................................................... 8
Product View.................................................................................................................................. 9
Scope of Delivery ........................................................................................................................... 9
Accessories................................................................................................................................... 10
Technical Features ....................................................................................................................... 12
3.1 Features and Applications
The H-820 hexapod achieves a velocity of up to 20 mm/s. It can be loaded with a maximum of
20 kg in a vertical orientation and with a maximum of 10 kg in any other orientation.
The parallel-kinematic design offers the following advantages:
Positioning operations on six independent axes (three translational axes, three
rotational axes) with short settling times
High accuracy and step resolution on all axes
No accumulation of errors of individual axes
No friction and torques from moving cables
The hexapod is controlled with a controller that can be ordered separately from PI (p. 8). The
position commands to the controller are entered in Cartesian coordinates.
3.2 Model Overview
Model Description
H-820.D2 Hexapod microrobot, basis model, 20 mm/s, 20 kg load, Sub-D connector (m),
cable set 3 m
3
Product Description

3 Product Description
8 Version: 2.3.0 MS207E H-820 Hexapod Microrobot
3.3 Suitable Controllers
Model Description
C-887.52
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes
C-887.521
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes, analog inputs
C-887.522
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes, motion stop
C-887.523
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes, motion stop, analog inputs
C-887.53
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes, EtherCAT interface
C-887.531 6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes, EtherCAT interface, analog inputs
C-887.532 6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes, EtherCAT interface, motion stop
C-887.533 6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of
two additional axes, EtherCAT interface, motion stop, analog inputs
To order, contact our customer service department (p. 39).

3 Product Description
H-820 Hexapod Microrobot MS207E Version: 2.3.0 9
3.4 Product View
Figure 1: Product view
1 Motion Platform
2Strut
3Coordinate cube
4Panel plug for power supply cable
5Panel plug for data transmission cable
6Base plate
3.5 Scope of Delivery
Order number Components
H-820 Hexapod according to your order (p. 7)
Cable set, consisting of:
K040B0241 Data transmission cable, HD D-sub 78 f/m, 1:1, 3 m
K060B0111 Power supply cable, M12m 180° to M12f 90°, 3 m
000015165 Steward snap-on ferrite
Packaging, consisting of:
Inner and outer box
Foam and corrugated cardboard cushions
Pallet

3 Product Description
10 Version: 2.3.0 MS207E H-820 Hexapod Microrobot
Order number Components
Documentation, consisting of:
H820T0001
Printed technical note on unpacking the hexapod
MS247EK
Short instructions for hexapod systems
Screw sets:
000034605
Mounting kit:
6 socket head screws, M6x30 ISO 4762
1 hex key 5.0 DIN 911
000077312 Double open-end wrench, 10 x 13 mm DIN 895
000036450
Accessories for connecting to the grounding system:
1 flat-head screw with cross recess, M4x8 ISO 7045
2 flat washers, form A-4.3 DIN 7090
2 safety washers, Schnorr Ø 4 mm N0110
3.6 Accessories
Order number Description*
C-887.5A03
Hexapod cable set 3 m, consisting of:
Description
Length
Item number
Data transmission cable, HD D-sub 78 f/m, 1:1
3 m
K040B0490
Power supply cable, M12 m/f, 1:1 3 m K060B0262
C-887.5B03 Hexapod cable set 3 m, drag chain compatible, consisting of:
Designation Length Item number
Data transmission cable, HD D-sub 78 f/m, 1:1
3 m
K040B0270
Power supply cable, M12 m/f, 1:1
3 m
K060B0262
C-887.5A05 Hexapod cable set 5 m, consisting of:
Designation Length Item number
Data transmission cable, HD D-sub 78 f/m, 1:1 5 m K040B0243
Power supply cable, M12 m/f, 1:1 5 m K060B0222
C-887.5B05
Hexapod cable set 5 m, drag chain compatible, consisting of:
Designation
Length
Item number
Data transmission cable, HD D-sub 78 f/m, 1:1
5 m
K040B0271
Power supply cable, M12 m/f, 1:1 5 m K060B0222

3 Product Description
H-820 Hexapod Microrobot MS207E Version: 2.3.0 11
Order number Description*
C-887.5A07
Hexapod cable set 7.5 m, consisting of:
Designation Length Item number
Data transmission cable, HD D-sub 78 f/m, 1:1 7.5 m K040B0244
Power supply cable, M12 m/f, 1:1 7.5 m K060B0223
C-887.5B07 Hexapod cable set 7.5 m, drag chain compatible, consisting of:
Designation Length Item number
Data transmission cable, HD D-sub 78 f/m, 1:1
7.5 m
K040B0295
Power supply cable, M12 m/f, 1:1
7.5 m
K060B0223
C-887.5A10 Hexapod cable set 10 m, consisting of:
Designation Length Item number
Data transmission cable, HD D-sub 78 f/m, 1:1 10 m K040B0245
Power supply cable, M12 m/f, 1:1 10 m K060B0224
C-887.5B10
Hexapod cable set 10 m, drag chain compatible, consisting of:
Designation
Length
Item number
Data transmission cable, HD D-sub 78 f/m, 1:1
10 m
K040B0296
Power supply cable, M12 m/f, 1:1 10 m K060B0224
C-887.5A20 Hexapod cable set 20 m, consisting of:
Designation Length Item number
Data transmission cable, HD D-sub 78 f/m, 1:1
20 m
K040B0251
Power supply cable, M12 m/f, 1:1
20 m
K060B0225
C-887.5B20 Hexapod cable set 20 m, drag chain compatible, consisting of:
Designation Length Item number
Data transmission cable, HD D-sub 78 f/m, 1:1 20 m K040B0297
Power supply cable, M12 m/f, 1:1 20 m K060B0225
C-887.5A50
Hexapod cable set 50 m, consisting of:
Designation Length Item number
Line driver box for data transmission cable,
controller-side
– C887B0057
Line driver box for data transmission cable,
hexapod-side
– C887B0058
Short data transmission cable, HD D-sub 78 f/m,
1:1
3 m K040B0241
Long data transmission cable, HD D-sub 44 f/m,
1:1, three pieces
44 m K040B0277
Power supply cable for hexapod-side line driver
box, with M12 connector (m)/M-12 connector (f)
47 m K060B0228

3 Product Description
12 Version: 2.3.0 MS207E H-820 Hexapod Microrobot
Order number Description*
Power adapter for hexapod, with M12 connector
(f) and power cord
1.5 m**
C-
501.24180M12
Snap-on ferrite, for hexapod power adapter
–
000012097
* See "Cable Set Specifications" (p. 43) for more information.
**The length refers to the cable between the power adapter and the hexapod.
To order, contact our customer service department (p. 39).
3.7 Technical Features
3.7.1 Struts
The hexapod has six adjustable-length struts. Each strut carries out linear motion. Each set of
settings of the six struts defines a position of the motion platform in six degrees of freedom
(three translational axes and three rotational axes).
Each strut is equipped with the following components:
One actuator
Reference and limit switches
Joints for connecting to the base plate and motion platform
The actuator contains a brushless DC motor with an incremental rotary encoder and a drive
screw.
3.7.2 Reference Switch and Limit Switches
The reference switch of a strut functions independently of the angular positions of the strut
ends and the lengths of the other struts.
When a limit switch is activated, the power source of the motor is switched off to protect the
hexapod against damage from malfunctions.
3.7.3 Control
Der hexapod is intended for operation with a suitable controller from PI (p. 8). The controller
makes it possible to command motion of individual axes, combinations of axes or all six axes at
the same time in a single motion command.
The controller calculates the settings for the individual struts from the target positions given for
the translational and rotational axes. The velocities and accelerations of the struts are
calculated so that all struts start and stop at the same time.
Every time the controller of a hexapod equipped with incremental encoders is switched on or
rebooted, the hexapod must complete a reference move, in which each strut moves to its
reference switch. After the reference move, the motion platform is in the reference position
and can be commanded to move to absolute target positions.
For further information, see the user manual for the controller.

3 Product Description
H-820 Hexapod Microrobot MS207E Version: 2.3.0 13
3.7.4 Motion
The platform moves along the translational axes X, Y, and Z and around the rotational axes U, V,
and W.
Using the controller, custom coordinate systems can be defined and used instead of the default
coordinate system.
Default and user-defined coordinate systems are always right-handed systems. It is not possible
to convert a right-handed system to a left-handed system.
The following is a description of how the hexapod behaves with the default coordinate system.
Work with user-defined coordinate systems is described in the C887T0007 technical note.
Figure 2: Coordinate system and rotations to the rotational coordinates U, V, and W. The coordinate
system is depicted above the platform for better clarity.
Translation
Translations are described in the spatially-fixed coordinate system. The translational axes X, Y,
and Z meet at the origin of the coordinate system (0,0,0). For further information, see the
glossary (p. 49).
Rotation
Rotations take place around the rotational axes U, V, and W. The rotational axes meet at the
center of rotation (also referred to as "pivot point"). The rotational axes and therefore also the
center of rotation always move together with the platform of the hexapod (see also the
example below for consecutive rotations).
A given rotation in space is calculated from the individual rotations in the order U -> V- > W.
For further information on the center of rotation, see the glossary (p. 49).

3 Product Description
14 Version: 2.3.0 MS207E H-820 Hexapod Microrobot
INFORMATION
The dimensional drawing (p. 44) contains the following:
Orientation of the default coordinate system
Position of the default center of rotation
Example: Consecutive rotations
INFORMATION
For a clearer view, the figures have been adapted as follows:
Round platform replaced by T-shaped platform
Coordinate system shown shifted
Center of rotation in the top left corner of the platform
1. The U axis is commanded to move to position 10.
The rotation around the U axis tilts the rotational axes V and W.
Figure 3: Rotation around the U axis
Platform in reference position
Platform position: U = 10 (U parallel to spatially-fixed X axis)

3 Product Description
H-820 Hexapod Microrobot MS207E Version: 2.3.0 15
2. The V axis is commanded to move to position –10.
The rotation takes place around rotational axis V, which was tilted during the previous
rotation.
The rotation around the V axis tilts the rotational axes U and W.
Figure 4: Rotation around the V axis
Platform in reference position
Platform position: U = 10, V = –10 (U and V parallel to the platform level)

3 Product Description
16 Version: 2.3.0 MS207E H-820 Hexapod Microrobot
3. The W axis is commanded to move to position 10.
The rotation takes place around the rotational axis W, which was tilted during the
previous rotations. The W axis is always vertical to the platform level.
The rotation around the W axis tilts the rotational axes U and V.
Figure 5: Rotation around the W axis
Platform in reference position
Platform position: U = 10, V = –10, W = 10 (U and V parallel to the platform
level, W vertical to the platform level)
For further data on the travel ranges, see the "Specifications" section (p. 41).
3.7.5 ID Chip
The hexapod has an ID chip that contains data on the type of hexapod, its serial number, and
the date of manufacture. The data is loaded from the ID chip when the controller is switched on
or rebooted. Depending on the data loaded, the controller keeps the current configuration or
installs a new configuration.
For simple replacement, the configuration data for all standard hexapods is stored at the
factory in every standard controller (e.g., geometry data and control parameters). The
configuration data for customized hexapods is only stored on the controller if the hexapod and
controller are delivered together, or if PI was correspondingly informed before delivery of the
controller.
For further information and application notes, see the documentation of the controller used.