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
CIPA certified

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


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.D2 Drawing
PI C-887 H-811 H-850
H-840.D2
Hexapod Microrobot, Direct Drive, 50 mm/s, 10 kg Load, Sub-D Connector, Cable Set 3 m
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H-840.G2
Hexapod Microrobot, DC Motor Gearhead, 2.5 mm/s, 30 kg Load, Sub-D Connector, Cable Set 3 m
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Recommended controller

C-887.52
6D controller for Hexapods, TCP/IP, RS-232, bench-top, incl. control of two additional axes
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Accessories

C-887.MC
Manual control unit for Hexapods, USB, 3 m cable
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C-887.VM1
PIVeriMove software for collision checking
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Hexapod systems with fieldbus interface

H-840.D31
Hexapod Microrobot, Direct Drive, 50 mm/s, 10 kg Load, Cable Set 3 m, with 6-D Hexapod Controller, EtherCAT® Interface
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Configuration options (to be ordered as a system)

H-840.D11
Hexapod 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
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H-840.G11
Hexapod 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
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Upgrades (to be ordered separately)

F-206.NCU
Rapid 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
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F-206.iiU
Photometer card, 2 channels, infrared
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F-206.VVU
Photometer card, 2 channels, visible light
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Ask about custom designs!

Downloads

Datasheet

pdf
pdf

PI Datasheet H-840

6-Axis Hexapod high Velocity, Medium Load, Affordable
pdf - 917 KB
pdf - 910 KB

Documentation

pdf
pdf

User Manual MS201

H-840 Hexapod Microrobot
1.1.0 EN
pdf - 1 MB
pdf - 1 MB
pdf

PI Certificate of Registration of Vibratory Apparatus H-840

Certificate of Registration of Vibratory Apparatus
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English
pdf - 303 KB
pdf

Technical Note H840T0004

H-840.D2, H-840.G2 Hexapod Microrobots
2015-07-24
English
pdf - 469 KB

3D Models

zip

H-840 STEP

English
zip - 1 MB