Producs - Nano Dünya

C-887.53x Hexapod Motion Controller with EtherCAT®

Control a 6-Axis Positioning System via Fieldbus Interface

Integration into an automation system
Synchronous motion in 6 axes
Cycle time ≥ 1 ms
Commanding in Cartesian coordinates
High-resolution analog inputs and motion stop as an option

C-887.533

Integration of the hexapod motion controller into an automation system

C-887.5xx, dimensions in mm. Version-dependent interfaces

Example configuration: H811.D2 miniature hexapod with C-887.532 motion controller with EtherCAT interface and motion stop. The EtherCAT master, here a Beckhoff controller, is provided and programmed by the customer.

Product Description Description Specifications Downloads Quote/Order

Digital controller with EtherCAT fieldbus interface

Digital controller for hexapods (6-axis parallel kinematics). In addition, the motor drivers for two further single axes can be controlled. For operation in an EtherCAT network, a higher-level programmable logic controller (PLC) is required on the user side (EtherCAT master with CoE protocol). Operation without PLC is possible via TCP/IP or RS-232. The controller then corresponds to a C-887.52x in terms of functionality and is controlled with the GCS 2.0 command set.

Functions

The position is entered in Cartesian coordinates from which the controller calculates the control of the kinematics. To simplify integration of the hexapod, the coordinate systems (Work, Tool) can be changed. The pivot point can be freely defined. 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 stand-alone operation. The controller supports all currently available standard hexapods from PI and, in addition, customer-specific parallel kinematics.

Interfaces

EtherCAT fieldbus interface. TCP/IP for network-based control and maintenance. RS-232. USB port for manual control unit.

Additional interfaces (depending on version):

High-resolution and extremely fast analog inputs which are ideal for fast alignment routines
Connection for a motion stop button that activates/deactivates the 24 V output for the hexapod

Optional

Control via manual control unit
In case of restricted movement space: Collision check with PIVeriMove software. Executable as a simulation and directly on the controller

Software support (for control via GCS)

For example, PIMikroMove user software enables fast alignment routines to be depicted graphically. Extensive set of drivers, e.g., for use with NI LabVIEW, MATLAB, and Python. PIHexapodEmulator for virtual startup and operation without hardware.

Scope of delivery

The scope of 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 cable set together with the controller so that the components can be adapted to each other. A PLC master controller is not included in the scope of delivery!

Basics	C-887.53	C-887.531	C-887.532	C-887.533
Axes/channels	6	6	6	6
Additional axes	2 single axes	2 single axes	2 single axes	2 single axes
Processor	Intel Atom dual core (1.8 GHz)	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, Controller macros PIPython, Data recorder, Scan procedures, Startup macro	Controller macros GCS, Controller macros PIPython, Data recorder, Fast alignment, Scan procedures, Startup macro	Controller macros GCS, Controller macros PIPython, Data recorder, Scan procedures, Startup macro	Controller macros GCS, Controller macros PIPython, Data recorder, Fast alignment, Scan procedures, Startup macro
ID chip detection	ID chip 2.0	ID chip 2.0	ID chip 2.0	ID chip 2.0
Configuration management	reading the ID chip, manual parameter input	reading the ID chip, manual parameter input	reading the ID chip, manual parameter input	reading the ID chip, manual parameter input
Motion and Servo Controller	C-887.53	C-887.531	C-887.532	C-887.533
Supported sensor signal	A/B quadrature, RS-422 BiSS-C	A/B quadrature, RS-422 BiSS-C	A/B quadrature, RS-422 BiSS-C	A/B quadrature, RS-422 BiSS-C
Closed-loop values	Position	Position	Position	Position
Maximum control frequency (servo cycle)	10000 Hz	10000 Hz	10000 Hz	10000 Hz
Motion types	Point-to-point motion with profile generator, Cyclic transfer of target positions, Area scan routines, Gradient search routines, Wave generator	Point-to-point motion with profile generator, Cyclic transfer of target positions, Area scan routines, Gradient search routines, Wave generator	Point-to-point motion with profile generator, Cyclic transfer of target positions, Area scan routines, Gradient search routines, Wave generator	Point-to-point motion with profile generator, Cyclic transfer of target positions, Area scan routines, Gradient search routines, Wave generator
Motion coordination	Coordinated multi-axis motion, User-defined coordinate systems, Work-and-tool coordinate systems	Coordinated multi-axis motion, User-defined coordinate systems, Work-and-tool coordinate systems	Coordinated multi-axis motion, User-defined coordinate systems, Work-and-tool coordinate systems	Coordinated multi-axis motion, User-defined coordinate systems, Work-and-tool coordinate systems
Reference switch input	TTL	TTL	TTL	TTL
Limit switch input	TTL	TTL	TTL	TTL
Interfaces and Operation	C-887.53	C-887.531	C-887.532	C-887.533
Communication interfaces	EtherCAT slave, RS-232, TCP/IP, USB (only for manual control units)	EtherCAT slave, RS-232, TCP/IP, USB (only for manual control units)	EtherCAT slave, RS-232, TCP/IP, USB (only for manual control units)	EtherCAT slave, RS-232, TCP/IP, USB (only for manual control units)
On/off switch	Hardware switch on/off	Hardware switch on/off	Hardware switch on/off	Hardware switch on/off
Display and indicators	Status LED, Error LED, Power LED, Macro LED	Status LED, Error LED, Power LED, Macro LED	Status LED, Error LED, Power LED, Macro LED	Status LED, Error LED, Power LED, Macro LED
Manual control(s)	Manual control unit with USB interface	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	GCS 2.0
User software	PIMikroMove	PIMikroMove	PIMikroMove	PIMikroMove
Software - APIs	MATLAB, NI LabView, Python	MATLAB, NI LabView, Python	MATLAB, NI LabView, Python	MATLAB, NI LabView, Python
Analog inputs	4	6	4	6
Analog input signal	4 x -10 to 10 V, 12 bit	2 x -5 to 5 V, 16 bit, 5 kHz bandwidth; 4 x -10 to 10 V, 12 bit	4 x -10 to 10 V, 12 bit	2 x -5 to 5 V, 16 bit, 5 kHz bandwidth; 4 x -10 to 10 V, 12 bit
Digital inputs	4	4	4	4
Digital input signal	TTL	TTL	TTL	TTL
Digital outputs	4	4	4	4
Digital output signal	TTL	TTL	TTL	TTL
Motion-dependent inputs and outputs	Digital trigger input, Digital trigger output, Analog sensor input	Digital trigger input, Digital trigger output, Analog sensor input	Digital trigger input, Digital trigger output, Analog sensor input	Digital trigger input, Digital trigger output, Analog sensor input
Industrial Ethernet protocol	EtherCAT	EtherCAT	EtherCAT	EtherCAT
EtherCAT device class	EtherCAT slave	EtherCAT slave	EtherCAT slave	EtherCAT slave
EtherCAT communication profile	CAN application protocol over EtherCAT (CoE)	CAN application protocol over EtherCAT (CoE)	CAN application protocol over EtherCAT (CoE)	CAN application protocol over EtherCAT (CoE)
Drive profile implemented for EtherCAT	CiA402 drive profile (IEC 61800-7-201)	CiA402 drive profile (IEC 61800-7-201)	CiA402 drive profile (IEC 61800-7-201)	CiA402 drive profile (IEC 61800-7-201)
Supported operating modes according to CiA402	Homing mode, Cyclic synchronous position mode (CSP), Safe basic state for activating coordinate systems (no mode changes / no mode selected)	Homing mode, Cyclic synchronous position mode (CSP), Safe basic state for activating coordinate systems (no mode changes / no mode selected)	Homing mode, Cyclic synchronous position mode (CSP), Safe basic state for activating coordinate systems (no mode changes / no mode selected)	Homing mode, Cyclic synchronous position mode (CSP), Safe basic state for activating coordinate systems (no mode changes / no mode selected)
EtherCAT synchronization modes	Distributed clocks (DC), Synchronous with SYNC0 event	Distributed clocks (DC), Synchronous with SYNC0 event	Distributed clocks (DC), Synchronous with SYNC0 event	Distributed clocks (DC), Synchronous with SYNC0 event
EtherCAT cycle time	≥1 ms	≥1 ms	≥1 ms	≥1 ms
Electrical Properties	C-887.53	C-887.531	C-887.532	C-887.533
Output voltage	24 V	24 V	24 V	24 V
Peak output current	7000 mA	7000 mA	7000 mA	7000 mA
Miscellaneous	C-887.53	C-887.531	C-887.532	C-887.533
Connector hexapod power supply	M12 4-pole (f)	M12 4-pole (f)	M12 4-pole (f)	M12 4-pole (f)
Connector hexapod data transmission	HD D-sub 78 (f)	HD D-sub 78 (f)	HD D-sub 78 (f)	HD D-sub 78 (f)
Connector additional axes	D-sub 15 (f)	D-sub 15 (f)	D-sub 15 (f)	D-sub 15 (f)
Connector analog input	HD D-sub 26 (f)	BNC HD D-sub 26 (f)	HD D-sub 26 (f)	BNC HD D-sub 26 (f)
Connector digital input	HD D-sub 26 (f)	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)	HD D-sub 26 (f)
Connector TCP/IP	RJ45 socket, 8P8C	RJ45 socket, 8P8C	RJ45 socket, 8P8C	RJ45 socket, 8P8C
Connector RS-232	D-sub 9 (m)	D-sub 9 (m)	D-sub 9 (m)	D-sub 9 (m)
Connector EtherCAT	RJ45 socket, 8P8C	RJ45 socket, 8P8C	RJ45 socket, 8P8C	RJ45 socket, 8P8C
Connector for supply voltage	M12 4-pin (m)	M12 4-pin (m)	M12 4-pin (m)	M12 4-pin (m)
Operating voltage	24 V (ext. power adapter included)	24 V (ext. power adapter included)	24 V (ext. power adapter included)	24 V (ext. power adapter included)
Maximum current consumption	8 A	8 A	8 A	8 A
Operating temperature range	5 to 40 °C	5 to 40 °C	5 to 40 °C	5 to 40 °C
Overall mass	2800 g	2800 g	2800 g	2800 g

3D Models

C-887 3-D model

Version / Date

2023-01-30
zip - 24 MB

Add to List Remove from List

Datasheet

Datasheet C-887.53x

Version / Date

2023-03-28
pdf - 870 KB

Download

Documentation

Short Instructions MS247EK

Hexapod Systems: H-xxx Hexapod with C-887.5xx Controller

Version / Date

2.0.0 06/2020
pdf - 2 MB

Download

Documentation

User Manual A000T0079

PI Simulation Models for CoppeliaSim / V-REP

Version / Date

2020-11-11
pdf - 3 MB

Add to List Remove from List

Documentation

User Manual C887T0036

C-887.MC2 Manual Control Unit

Version / Date

2019-06-25
pdf - 663 KB

Add to List Remove from List

Documentation

User Manual MS244

C-887 Hexapod Controller, Models C-887.52, C-887.521, C-887.522, C-887.523, C-887.53, C-887.531, C-887.532, C-887.533

Version / Date

1.4.0 2023-01-03
pdf - 4 MB

Add to List Remove from List

Documentation

Technical Note A000T0068

PI Hexapod Simulation Tool. Determining the workspace and the permissible load of the hexapod.

Version / Date

2020-02-10
pdf - 834 KB

Add to List Remove from List

Documentation

Technical Note C887T0021

Motion of the Positioner. Position and Orientation in Space, Center of Rotation.

Version / Date

2017-11-27
pdf - 355 KB

Add to List Remove from List

Documentation

User Manual C887T0007

Description of Coordinate Systems for Hexapod Microrobots and Parallel-Kinematic Positioners

Version / Date

2018-04-23
pdf - 951 KB

Add to List Remove from List

Documentation

User Manual E712T0016

Fast Multi-Channel Photonics Alignment. Hardware and Firmware for Fast Optical Alignment in Silicon Photonics Production.

Version / Date

2023-03-14
pdf - 3 MB

Add to List Remove from List

Documentation

User Manual C887T0001

Description of PIHexapodEmulator software

Version / Date

2021-08-23
pdf - 428 KB

Add to List Remove from List

Documentation

User Manual C887T0002

Description of C-887.VM1 PIVeriMove Software for the Collision Check

Version / Date

2017-04-25
pdf - 629 KB

Add to List Remove from List

Documentation

User Manual C887T0003

Description of C-887.MC Hexapod Control Unit

Version / Date

2012-10-22
pdf - 299 KB

Add to List Remove from List

Documentation

User Manual C887T0011

EtherCAT Interface of C-887.53, .531, .532, .533 6D Hexapod Controllers

Version / Date

2021-08-23
pdf - 2 MB

Add to List Remove from List