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H-840 6-Axis Hexapod

High Velocity, Medium Load, Affordable

PI H-840
    • Load capacity to 30 kg
    • Travel ranges to 100 mm / 60°
    • Actuator resolution to 16 nm
    • Repeatability to ±0.4 µm
    • MTBF 20,000 h
    • Velocity to 50 mm/s
    • Works in any orientation
    • Rapid response
    • Sophisticated controller using vector algorithms, virtual pivot point
    • Comprehensive software package

Precision-class 6-axis positioning system

Parallel-kinematic design for six degrees of freedom making it significantly more compact and stiff than serial-kinematic systems, higher dynamic range, no moved cables: Higher reliability, reduced friction

Drive variants

H-840.Gxx with DC gear motor
H-840.Dxx with powerful DC motors for higher velocity

Powerful digital controller, open software architecture

User-defined, stable pivot point, software-selectable. Positions commanded in Cartesian coordinates. Macro programming. Open source LabVIEW driver set. Work space simulation software. Virtual Hexapod machine software. Optional: Collision avoidance software (external obstacles).
Hexapods are by default configured and delivered as a system including a controller

  • C-887.52 compact bench-top controller for a lower system price. Digital I/O interfaces, e.g. for external triggering
  • C-887.11 19" controller, comprises the control for two additional single axes with servo motors. Options: Control of piezo axes, photometer cards for visible light or infrared light range

Upgrades for C-887.11 (order separately)

  • Analog interface/photometer cards for visible light (F-206.VVU) or the infrared light range (F-206.iiU)
  • F-206.NCU fast piezo nano-alignment system for alignment with nanometer precision

Accessories

  • C-887.MC manual control unit for Hexapods, USB, 3 m cable
  • C-887.VM1 PIVeriMove software for collision checking

Fields of application

Research and industry. For tool control, life sciences, micromanufacturing

Specifications

H-840.Gxx

H-840.Dxx

Unit

Tolerance

for higher resolution and loads

for higher velocity

Active axes

X, Y, Z, θX, θY, θZ

X, Y, Z, θX, θY, θZ

Motion and positioning

Travel range* X, Y

±50

±50

mm

Travel range* Z

±25

±25

mm

Travel range* θX, θY

±15

±15

°

Travel range* θZ

±30

±30

°

Single-actuator design resolution

0.017

0.5

µm

Min. incremental motion X, Y

1

3

µm

typ.

Min. incremental motion Z

0.5

1

µm

typ.

Min. incremental motion θX, θY, θZ

5

5

µrad

typ.

Backlash X, Y

3

3

µm

typ.

Backlash Z

0.2

0.2

µm

typ.

Backlash θX, θY

20

20

µrad

typ.

Backlash θZ

30

30

µrad

typ.

Repeatability X, Y

±0.5

±0.5

µm

typ.

Repeatability Z

±0.4

±0.4

µm

typ.

Repeatability θX, θY

±7

±7

µrad

typ.

Repeatability θZ

±12

±12

µrad

typ.

Max. velocity X, Y, Z

2.5

50

mm/s

Max. velocity θX, θY, θZ

30

600

mrad/s

Typ. velocity X, Y, Z

2

30

mm/s

Typ. velocity θX, θY, θZ

20

300

mrad/s

Mechanical properties

Load (base plate horizontal / any orientation)

30 / 10

10 / 3

kg

max.

Holding force, de-energized (base plate horizontal / any orientation)

100 / 25

15 / 5

N

max.

Motor type

DC gear motor

DC motor

Miscellaneous

Operating temperature range

-10 to 50

-10 to 50

°C

Material

Aluminum

Aluminum

Mass

12

12

kg

±5 %

Cable length

3

3

m

±10 mm

Technical data specified at 20 ±3 °C.
Ask about custom designs!
* The travel ranges of the individual coordinates (X, Y, Z, θX, θY, θZ) are interdependent. The data for each axis in this table shows its maximum travel, where all other axes are at their zero positions. If the other linear or rotational coordinates are not zero, the available travel may be less.

Drawings / Images

PI H-840 Drawing PI C-887 H-811 H-850 PI CIPA Certification

Order Information

H-840.D2Hexapod Microrobot, Direct Drive, 50 mm/s, 10 kg Load, Sub-D Connector, Cable Set 3 m

H-840.G2Hexapod Microrobot, DC Motor Gearhead, 2.5 mm/s, 30 kg Load, Sub-D Connector, Cable Set 3 m 

Recommended controller

C-887.526D controller for Hexapods, TCP/IP, RS-232, bench-top, incl. control of two additional axes

Accessories

C-887.MCManual control unit for Hexapods, USB, 3 m cable

C-887.VM1PIVeriMove software for collision checking 

Hexapod systems with fieldbus interface

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

Configuration options (to be ordered as a system)

H-840.D11Hexapod Microrobot, Direct Drive, 50 mm/s, 10 kg Load, Cable Set 3 m, with 6-D Hexapod Controller, Control of 2 Additional Servo-Motor Axes Included, TCP/IP and RS-232 Interface, 19'' Chassis

H-840.G11Hexapod Microrobot, DC Motor Gearhead, 2.5 mm/s, 30 kg Load, Cable Set 3 m, with 6-D Hexapod Controller, Control of 2 Additional Servo-Motor Axes Included, TCP/IP and RS-232 Interface, 19'' Chassis 

Upgrades (to be ordered separately)

F-206.NCURapid 3-Axis Piezo Nanopositioning System for Use in Combination with Hexapod Systems. Consists of P-611.3SF NanoCube® XYZ Nanopositioning System, 100 µm × 100 µm × 100 µm, Strain Gauge Sensors with Integrated Fiber Adapter Interface and E-760.3S0 NanoCube® Piezo Controller Board, ISA Bus

F-206.iiUPhotometer card, 2 channels, infrared

F-206.VVUPhotometer card, 2 channels, visible light


Ask about custom designs!

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Controllers / Drivers / Amplifiers

Related Products

Technology

Articles and Links

Downloads

fileadmin/images/filelist/pdf.png User Manual MS201E
H-840 Hexapod Microrobot
PDF 1 M 1.1.0 EN
fileadmin/images/filelist/pdf.png PI Datasheet H-840
6-Axis Hexapod high Velocity, Medium Load, Affordable
PDF 869 K
fileadmin/images/filelist/zip.png H-840 STEP
ZIP 1.4 M
fileadmin/images/filelist/pdf.png PI Certificate of Registration of Vibratory Apparatus H-840
PDF 303 K