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C-887.311 Hexapod Control with EtherCAT®

Motion Controller with Automation Interface for Six-Axis Positioning Systems

PI C-887.311
    • Synchronous clock for entire automation line
    • Synchronous motion in six axes
    • Cycle time 3 ms

Digital Controller with EtherCAT® Fieldbus Interface

Real-time system. Master PLC control for position commanding and feedback in Cartesian coordinates. Coordinate transformation. Integrated amplifiers for six axes with DC motors

Supported Operating Modes

Reference move of the Hexapod to the mid-position of all six axes. Absolute positioning in six Cartesian axes. Cyclic position commanding via PLC for synchronization with further automation components. Stand-alone operation possible with PI GCS commands

Fields of Application

Integration of Hexapod six-axis positioning systems in automated processes. On request: Control via additional interfaces, i.e. Profinet, Profibus, CANopen, SERCOS III

Stand-Alone Operation

All functions for commanding with PI GCS are integrated in the digital controller: Vectorized motions. Stable, virtual pivot point can be defined freely in the work space. Data recorder for recording operating parameters such as motor control, velocity, position or position errors. Macro command language. Stand-alone operation possible with Autostart macro, connection of keyboard and monitor, or optionally via manual Hexapod control unit

Scope of Delivery

The six-axis Hexapod system from PI contains all connecting cables. Power source (24 V / 5 A) for axes and controller (DC ATX 150 W, 10 to 30 V DC) provided by customer

Specifications

C-887.311

Fieldbus protocol

EtherCAT® (CoE= CANopen over EtherCAT®)

Drive profile

CiA402 Drive Profile (IEC 61800-7-201)

Number of axes / device type

Multiple axis device with 6 Cartesian individual axes

Cycle time

3 ms

Supported modes of operation

Homing mode, profile position mode with linear interpolation in the drive,
cyclic synchronous position mode via PLC

Supported modes of synchronization

Distributed Clock (DC) mode; SyncManager (SM) mode

Bus connector

RJ45 socket

Dimensions

182 mm × 248 mm × 185 mm 

Drawings / Images

PI H-811 C-887.311 PI C.887.311 ethercat

Order Information

H-811.D31Miniature-Hexapod Microrobot, Direct Drive, 10 mm/s, 5 kg Load, 2 m Cable, with 6-D Hexapod Controller, EtherCAT® Interface

H-824.D31Compact Hexapod Microrobot, Direct Drive, 25 mm/s, 5 kg Load, Cable Set 3 m, with 6-D Hexapod Controller, EtherCAT® Interface

H-840.D31Hexapod Microrobot, Direct Drive, 50 mm/s, 10 kg Load, Cable Set 3 m, with 6-D Hexapod Controller, EtherCAT® Interface

H-850.G31Hexapod Microrobot with Excellent Position Repeatability, DC Motor Gearhead, 8 mm/s, 50 kg Load, Cable Set 3 m, with 6-D Hexapod Controller, EtherCAT® Interface

H-850.H31Hexapod Microrobot with Excellent Position Repeatability, DC Motor Gearhead, 0.5 mm/s, 250 kg Load, Cable Set 3 m, with
6-D Hexapod Controller, EtherCAT® Interface

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