Hexapod Motion Controller with EtherCAT® Control a 6-Axis Positioning System via Fieldbus Interface C-887.53x  Integration into an automation system  Synchronous motion in 6 axes  Cycle time 1 ms  Commanding in Cartesian coordinates  Analog interfaces and motion stop optional Digital controller with EtherCAT fieldbus interface Digital controller for hexapods (6-axis parallel kinematics) with DC motors. Additional control for two further single axes is integrated. Can be integrated seamlessly into automation systems in industry and research. Performs coordinate transformation for parallel kinematics. Customer requires a higher-level PLC control for position commanding and feedback in Cartesian coordinates (EtherCAT master with CoE protocol). Supported operating modes Reference move of the hexapods to the middle position of all six axes. Absolute positioning in six Cartesian axes. Cyclic position commanding via PLC for synchronization with further automation components. Operation is possible via TCP/IP or RS-232 without PLC master. The controller functionality then corresponds to a C-887.52x. Commanding of the hexapods is then done directly via the PI GCS. Position input via Cartesian coordinates, coordinate transformation handled by the controller. To simplify integration of the hexapod, the reference system (Work, Tool) can be quickly and easily changed. The real-time operating system prevents jitter and therefore guarantees constantly low response times. Motion is vectored. Stable, virtual pivot point can be freely defined in space. Data recorder for recording operating parameters such as motor control, velocity, position or position errors. Macro programming. An autostart macro allows stand-alone operation. Connection of external input devices (HID) such as manual control unit. The controller supports motor brakes and absolute-measuring sensors with BiSS interface. EtherCAT fieldbus interface. TCP/IP for remote control and remote maintenance. RS-232. USB connection for external input devices (HID).

Additional interfaces  Motion stop: The supply voltage of the hexapod drive can be switched off using the external switch connected to the  controller. The sensor technology remains active so that position information continues to be available and a reference move is not necessary when the drive is reactivated. Analog inputs  Control via manual control unit  Collision checking for restricted space with PIVeriMove software Extensive software for commanding the hexapod directly PIMikroMove user software. Common command set for all PI positioning systems. Full set of drivers for use with NI...

Electrical properties Hexapod control Hexapod power supply Maximum output current Communication interfaces Hexapod connection Connectors for single axes I/O lines Analog inputs Input for motion stop 2 x RJ45 for EtherCAT (In/Out) TCP/IP, RS-232 USB (HID, manual control unit) HD D-sub 78 (f) for data transmission M12 4 (f) for power supply D-sub 15 (f) HD D-sub 26 (f): 4 × analog input (-10 to 10 V, via 12-bit A/D converter) 4 × digital input (TTL) 4 × digital output (TTL) C.887.531 and C-887.533 only: 2 x BNC, -5 V to 5 V, via 16-bit A/D converter, 5 kHz bandwidth C-887.532 and C-887.533 only:...

Drawings / Images C-887.53x, dimensions in mm. Version-dependent interfaces Integration of the hexapod motion controller into an automation system

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. 6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface 6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface, analog inputs 6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface, motion...