C-887.4101 NEW!
6-axis controller for hexapods, integrated drivers for BLDC motors, TCP/IP, RS-232, 19" 2 RU housing
NEW
C-887.4xx1 Hexapod Motion Controller
Hexapod Controller for Industrial Applications
- Commanding in Cartesian coordinates
- Integrated drivers for BLDC motors
- Connector for safety relay
- High-resolution analog inputs as an option
- EtherCAT fieldbus interface as an option
Integration of the hexapod motion controller into an automation system
C-887.4xx1, dimensions in mm. Note that a comma is used in the drawings instead of a decimal point.
C-887.4xx1 Hexapod Motion Controller
Product Description
Specifications
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Hexapod controller for industrial use
Compact controller with integrated drivers for controlling hexapods for industrial applications. This controller is ideally suited for the operation of parallel kinematics that are equipped with BLDC motors and do not contain motor drivers. Hexapods with motor brakes and encoder connection via BiSS C are supported. In combination with suitable hardware, the controller can meet the requirements of SIL 3 in accordance with EN IEC 62061 and thus guarantee a high level of functional safety for safety-related applications.
Operation
Operation of the hexapod system is simple and intuitive, as the position is entered in Cartesian coordinates. In each servo cycle, the controller calculates the control of the hexapod kinematics from the target positions entered. For customized integration of the hexapod system, the coordinate systems (Work, Tool) can be adapted by the user to the individual installation situation. The center of rotation can be freely defined in space. A data recorder can record operating data, e.g., motor control, velocity, position, or position error. The execution of macros and Python scripts on the controller enables standalone operation.
Interfaces
For use with the GCS 2.0 command set for PI positioning systems:
- TCP/IP for network-based control and maintenance
- RS-232 for serial connection to a PC
- Connector for optional manual control unit.
For use in safety functions:
- Interface for safety relay; hardware and wiring must be provided by the customer.
Depending on the version:
- High-resolution and extremely fast analog inputs which are ideal for fast alignment routines
- EtherCAT interface for connecting to a PLC device; requires an EtherCAT master with CoE protocol to be provided by the customer.
Extensive software assistance
For control via GCS-based interfaces. For example, PIMikroMove user software enables fast alignment routines to be depicted graphically. Extensive set of drivers, e.g., for use with C, C++, C#, NI LabVIEW, MATLAB, and Python. PIHexapodEmulator for virtual startup and operation without hardware.
Scope of delivery
The delivery includes the controller, a software package, and a power adapter for the power supply. It is recommended to order the hexapod mechanics and a suitable hexapod cable set together with the controller so that the components can be matched before delivery. To be provided by the customer if required:
- Safety relay, emergency stop device, contactors, and their wiring to the controller
- PLC master controller
Specifications
Specifications
| Basics | C-887.4101 | C-887.4111 | C-887.4511 | |
|---|---|---|---|---|
| Housing type | Rack-mount 19" 2 RU | Rack-mount 19" 2 RU | Rack-mount 19" 2 RU | |
| Drive type | Brushless DC motor ǀ Brushless DC gear motor | Brushless DC motor ǀ Brushless DC gear motor | Brushless DC motor ǀ Brushless DC gear motor | |
| Axes | 6 | 6 | 6 | |
| Processor | Intel Atom Dual Core (1.8 GHz) | Intel Atom Dual Core (1.8 GHz) | Intel Atom Dual Core (1.8 GHz) | |
| Application-related functions | Controller macros GCS ǀ Controller macros PIPython ǀ Startup macro ǀ Data recorder ǀ Fast Alignment | Controller macros GCS ǀ Controller macros PIPython ǀ Startup macro ǀ Data recorder ǀ Fast Alignment | Controller macros GCS ǀ Controller macros PIPython ǀ Startup macro ǀ Data recorder ǀ Fast Alignment | |
| Protective functions | Switch-off of the servo mode in case of an error | Switch-off of the servo mode in case of an error | Switch-off of the servo mode in case of an error | |
| Functional safety | STO (Safe Torque Off) ǀ SS1 (Safe Stop 1) | STO (Safe Torque Off) ǀ SS1 (Safe Stop 1) | STO (Safe Torque Off) ǀ SS1 (Safe Stop 1) | |
| Configuration management | Reading the ID chip ǀ Manual parameter input | Reading the ID chip ǀ Manual parameter input | Reading the ID chip ǀ Manual parameter input | |
| Supported ID chip | ID chip 2.0 | ID chip 2.0 | ID chip 2.0 | |
| Motion and Control | C-887.4101 | C-887.4111 | C-887.4511 | |
| Supported sensor signal | BiSS-C | BiSS-C | BiSS-C | |
| Control variables | Position | Position | Position | |
| Maximum control frequency (servo cycle) | 10000 Hz | 10000 Hz | 10000 Hz | |
| Motion types | Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator | Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator | Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator | |
| Motion coordination | Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems | Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems | Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems | |
| Reference switch input | TTL | TTL | TTL | |
| Limit switch input | TTL | TTL | TTL | |
| Signal for motor brake | 1 × integrated brake driver per hexapod strut, max. 2 A | 1 × integrated brake driver per hexapod strut, max. 2 A | 1 × integrated brake driver per hexapod strut, max. 2 A | |
| Interfaces and Operation | C-887.4101 | C-887.4111 | C-887.4511 | |
| Communication interfaces | RS-232 ǀ TCP/IP ǀ USB (only for manual control units) | RS-232 ǀ TCP/IP ǀ USB (only for manual control units) | EtherCAT slave ǀ RS-232 ǀ TCP/IP ǀ USB (only for manual control units) | |
| On/off switch | Hardware switch on/off | Hardware switch on/off | Hardware switch on/off | |
| Display and indicators | Status LED ǀ Error LED ǀ Power LED ǀ Macro LED | Status LED ǀ Error LED ǀ Power LED ǀ Macro LED | EtherCAT communication ǀ Status LED ǀ Error LED ǀ Power LED ǀ Macro LED | |
| Manual control(s) | Manual control unit with USB interface | Manual control unit with USB interface | Manual control unit with USB interface | |
| Command set | GCS 2.0 | GCS 2.0 | GCS 2.0 | |
| User software | PIMikroMove | PIMikroMove | PIMikroMove | |
| Application programming interfaces | C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python | C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python | C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python | |
| Analog inputs | 4 | 6 | 6 | |
| Analog input signal | 4 x -10 V to +10 V, 12 bit | 2 x -5 V to +5 V, 16 bit, 5 kHz bandwidth ǀ 4 x -10 V to +10 V, 12 bit | 2 x -5 V to +5 V, 16 bit, 5 kHz bandwidth ǀ 4 x -10 V to +10 V, 12 bit | |
| Digital inputs | 4 | 4 | 4 | |
| Digital input signal | TTL | TTL | TTL | |
| Digital outputs | 4 | 4 | 4 | |
| Digital output signal | TTL | TTL | TTL | |
| Industrial Ethernet protocol | — | — | EtherCAT | |
| EtherCAT device class | — | — | EtherCAT slave | |
| EtherCAT communication profile | — | — | CAN application protocol over EtherCAT (CoE) | |
| Drive profile implemented for EtherCAT | — | — | CiA402 drive profile (IEC 61800-7-201) | |
| Supported operating modes according to CiA402 | — | — | Homing mode ǀ Cyclic synchronous position mode (CSP) ǀ Safe basic state for activating coordinate systems (no mode changes / no mode selected) | |
| EtherCAT cycle time | — | — | ≥1 ms | |
| EtherCAT synchronization modes | — | — | Distributed clocks (DC) ǀ Synchronous with SYNC0 event | |
| Electrical Properties | C-887.4101 | C-887.4111 | C-887.4511 | |
| Output voltage | Same as operating voltage; 24 or 48 V | Same as operating voltage; 24 or 48 V | Same as operating voltage; 24 or 48 V | |
| Average output current per channel | 1000 mA | 1000 mA | 1000 mA | |
| Peak output current per channel | 2000 mA | 2000 mA | 2000 mA | |
| Miscellaneous | C-887.4101 | C-887.4111 | C-887.4511 | |
| Motor/actuator connector | 6 × HD D-sub 26 (f) | 6 × HD D-sub 26 (f) | 6 × HD D-sub 26 (f) | |
| Connector analog input | HD D-sub 26 (f) | BNC ǀ HD D-sub 26 (f) | BNC ǀ HD D-sub 26 (f) | |
| Connector digital input | HD D-sub 26 (f) | HD D-sub 26 (f) | HD D-sub 26 (f) | |
| Connector digital output | HD D-sub 26 (f) | HD D-sub 26 (f) | HD D-sub 26 (f) | |
| Connector safety switch | D-sub 9W4 (f) | D-sub 9W4 (f) | D-sub 9W4 (f) | |
| Connector TCP/IP | RJ45 socket, 8P8C | RJ45 socket, 8P8C | RJ45 socket, 8P8C | |
| Connector RS-232 | D-sub 9 (m) | D-sub 9 (m) | D-sub 9 (m) | |
| Connector EtherCAT | — | — | RJ45 socket, 8P8C | |
| Connector for supply voltage | D-sub 3W3 (m) | D-sub 3W3 (m) | D-sub 3W3 (m) | |
| Operating voltage | 24 or 48 V | 24 or 48 V | 24 or 48 V | |
| Power adapter | Included in the scope of delivery ǀ Power adapter 24 V DC | Included in the scope of delivery ǀ Power adapter 24 V DC | Included in the scope of delivery ǀ Power adapter 24 V DC | |
| Maximum current consumption | 15 A | 15 A | 15 A | |
| Operating temperature range | 5 to 40 °C | 5 to 40 °C | 5 to 40 °C | |
| Overall mass | 5600 g | 5700 g | 5940 g |
The STO and SS1 safety functions in accordance with EN 61800-5-2 are only supported if the hexapod system is extended with suitable hardware to be provided by the customer. For information on suitable hardware (safety relay, emergency stop device, contactors, wiring), see the user manual for the controller.
BiSS-C enables the transmission of signals from absolute or incremental encoders.
A 48 V supply is possible for several hexapod models from PI and is useful in certain applications. If the hexapod is to be supplied with power by the controller in this case as well, you can operate the controller with a suitable 48 V power adapter. More information on request.
Ask for a free quote on quantities required, prices, and lead times or describe your desired modification.
C-887.4111 NEW!
6-axis controller for hexapods, integrated drivers for BLDC motors, TCP/IP, RS-232, 19" 2 RU housing, analog inputs
C-887.4511 NEW!
6-axis controller for hexapods, integrated drivers for BLDC motors, TCP/IP, RS-232, 19" 2 RU housing, EtherCAT interface, analog inputs
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