Hexapod Control Introduction
All PI Hexapod (Stewart Platform) systems come with a high-performance digital controller and ample software support, including a simulation tool to verify workspace and loads on individual struts dependent on mounting orientation.
In addition to the coordinated output of the six hexapod axes, standard controllers provide two additional axes that can be used to operate rotary stages, linear stages or linear actuators.
Virtualized Pivot Point
All PI Hexapod controllers allow the user to set a pivot point anywhere in space with one simple command. It is important to have a fixed pivot point as the center of rotation especially in photonics alignment & packaging applications. Furthermore, the cartesian coordinates of any position and any orientation can be entered directly and the specified target will be reached after travel along a smooth path.
Interfaces for Standard PI Hexapod Controllers
Keyboard
Monitor
Manual Control Pad
TCP/IP Ethernet Industry standard
RS-232 (25m short connection)
RS-422 (optional, for up to 1.4 km long distance)
Analog Input (optional)
Optical Input (optional)
GPIB with measurement equipment (optional)
Software Components / External Control
Library files for Windows and Linux Operating Systems / DLLs
LabView VI’s full set
PIMikroMove™ program integration
Additional scan routines
Additional auto alignment routines (e.g. photonics alingment & test equipment)
Worldwide remote control via ethernet
Flight Simulator Interface with Demo Software
Command Set / Operating Systems / Libraries
The native command set comprises about 40 commands and is is compatible to PI's General Command Set and includes extremely fast scan and align routines for different alignment tasks. All Hexapod controllers come with a complete software package for Windows and Linux operating systems. Alternatively, they can be run in stand-alone mode with an optional integrated key pad and monitor or by means of an external keyboard and monitor
Custom software can communicate by ASCII strings, or, more conveniently, through included library files (Windows DLLs, Linux libraries) or LabVIEW drivers. Most controllers can be upgraded with optical boards for alignment of IR and Visible light sources.
PIMikroMove™ Software
See and control all connected controllers and mechanical axes in one window
HostMacros: create command sequences for connected controllers and run them on the host PC, can be called recursivly
Position Pad: control 2 axes with mouse and joystick
3D visualisation of connected hexapod geometry
Analog input visualisation
Hex_GCS_DLL
Allows controlling one or more PI Hexapod controllers connected to a host PC
Is available for the following operating systems:
Windows 2000, XP and Vista
Linux operating systems
Sample program with open source code
Supports all functions available in firmware
Very convenient for programming in C, C++, VB, C#…
LabVIEW Drivers
Including GUI programs such as terminal applications, configuration software, full scanning routines with graphical representation etc.
Online help window for each VI
Compatible with PI's General Command LabVIEW Driver Set
Graphical representation of a tripod positioner and its work space.
Standard Hexapod Controller 9” rack, 2 additional Motor Axis (e.g. for linear actuators), 6 additional slots for options. Monitor and keypad optional.
Control / Software
PI Hexapods come with ample software support, including a simulation tool to verify workspace and loads on individual struts dependent on mounting orientation.
Included software allows easy scan and automated alignment of fiber optics components, etc.
Hexapod control and 3D visualisation of connected hexapod geometry with included PIMikroMove™ Software.
Simulation software allows the graphical off-line configuration and simulation of the hexapod in the customer environment. It offers full functionality for creation, modeling, simulation, rendering and playback of hexapod configurations to predict and avoid interference with possible obstacles in the work space.
User Defined Pivot Point
PI Hexapod controllers allow the user to set a pivot point anywhere in space. It is important to have a fixed pivot point as the center of rotation especially in photonics alignment & packaging applications. Furthermore, the cartesian coordinates of any position and any orientation can be entered directly and the specified target will be reached after travel along a smooth path.
Hexapod Coordinates
Platform in INI position (XYZ axes shown displaced to reduce clutter)
Platform at a position (x, y, z) and U=1-; U axis is always parallel to X.
Platform at INI position
Platform position of (x, y, z), U=10 and V=10; note direction of the V axis, always parallel to plane of platform.
Platform in INI position
Platform position (x, y, z). U=10 V=-10and W=10; note direction of the W axis, always normal to platform.
Hexapod Options & Accessories
Optical Metrology Boards / Power Meters
The controllers for the F-206, M-840 and M-850 Hexapod systems can be equipped/retrofitted with the following photometer cards: F-206.VVU (2-channel, visual) and F-206.iiU (2-channel, IR).
PIMotion&Vision™—Integration of Vision System and Motion Control PIMotion&Vision™ offers an integrated solution for difficult tasks such as automated positioning of optics, semi-conductor wafers, microsystems technology MEMS fabrication or alignment and scanning of samples under a microscope. The advantage is one consistent software interface for both motion and vision, based on National Instruments LabVIEW + IMAQ Vision, offering a general coordinate system and flexible modules like AutoFocus, FindCorner, AlignEdges for easy handling of a complex system.
Interactive 6-Axis Manual Control Pad Upgrade
The F-206.MC6 manual control pad facilitates system setup and testing procedures. It consists of a board that plugs into the Hexapod controller and a control pad with six digital "potentiometer" knobs (one for each degree of freedom).
The manual pad works seamlessly with the Hexapod software, and allows programmable step sizes of 0.1 µm to 500 µm (linear) and 0.0001 to 0.5deg (angular) per step. Computer commanded steps can be intermixed with manual positioning input maintaining the true position inside the position registers of the Hexapod controller. The control pad comes with a 3 m cable. A 3 m extension cable is available as part number C-815.MC6.
F-206.NCU Rapid NanoAlign Upgrade
For applications where alignment with nanometer-range resolution is required, or where rapid mapping of the entire cross-section of a component in as short a time as possible is desired, the F-206.NCU Rapid NanoAlign upgrade is recommended. It consists of the P-611.3SF XYZ piezo-drive NanoCube® (see link) and the E-760 controller board (see link), which is installed in the F-206 controller.
The F-206.MCU manual control pad facilitates system setup and testing procedures. It permits independent motion in all degrees of freedom with programmable step size.
F-206.NCU Rapid NanoAlign Upgrade consists of the P-611 NanoCube® piezo nanopositioner and the E-760 controller card.
Most controllers can be upgraded with optical boards for alignment of IR and Visible light sources.
F-361 Optical Power Meter. High-Speed Integrating Sphere Optical Power Meter
Custom Hexapod Controllers
In addition to the standard hexapod controllers / software packages, PI has also designed a number of controllers for customer specific applications.
For NEXLINE®- Non-Magnetic Piezo Motor Hexapod
Ultra-High Vacuum Hexapod Controller, real time operating system,
20MB trace memory
100Mb/s Ethernet
Controller for Ultra-High Load Hexapod (1 ton+), AC- motor driver support, brake support, incremental sensor and absolute incremental sensor on second interface
More Information on PI Software Tools
Platform in INI position (XYZ axes 
shown displaced to reduce clutter)
Platform at a position (x, y, z) and 
Controller for Ultra-High Load Hexapod (1 ton+), AC- motor driver support, brake support, incremental sensor and absolute incremental sensor on second interface