C-887.4xx1 Hexapod Motion Controller

NOUVEAU

Hexapod Controller for Industrial Applications

Commanding in Cartesian coordinates
Integrated drivers for BLDC motors
Connector for safety relay
High-resolution analog inputs as an option
EtherCAT fieldbus interface as an option

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Integration of the hexapod motion controller into an automation system

C-887.4xx1, dimensions in mm. Note that a comma is used in the drawings instead of a decimal point.

Hexapod controller for industrial use

Compact controller with integrated drivers for controlling hexapods for industrial applications. This controller is ideally suited for the operation of parallel kinematics that are equipped with BLDC motors and do not contain motor drivers. Hexapods with motor brakes and encoder connection via BiSS C are supported. In combination with suitable hardware, the controller can meet the requirements of SIL 3 in accordance with EN IEC 62061 and thus guarantee a high level of functional safety for safety-related applications.

Operation

Operation of the hexapod system is simple and intuitive, as the position is entered in Cartesian coordinates. In each servo cycle, the controller calculates the control of the hexapod kinematics from the target positions entered. For customized integration of the hexapod system, the coordinate systems (Work, Tool) can be adapted by the user to the individual installation situation. The center of rotation can be freely defined in space. A data recorder can record operating data, e.g., motor control, velocity, position, or position error. The execution of macros and Python scripts on the controller enables standalone operation.

Interfaces

For use with the GCS 2.0 command set for PI positioning systems:

TCP/IP for network-based control and maintenance
RS-232 for serial connection to a PC
Connector for optional manual control unit.

For use in safety functions:

Interface for safety relay; hardware and wiring must be provided by the customer.

Depending on the version:

High-resolution and extremely fast analog inputs which are ideal for fast alignment routines
EtherCAT interface for connecting to a PLC device; requires an EtherCAT master with CoE protocol to be provided by the customer.

Extensive software assistance

For control via GCS-based interfaces. For example, PIMikroMove user software enables fast alignment routines to be depicted graphically. Extensive set of drivers, e.g., for use with C, C++, C#, NI LabVIEW, MATLAB, and Python. PIHexapodEmulator for virtual startup and operation without hardware.

Scope of delivery

The delivery includes the controller, a software package, and a power adapter for the power supply. It is recommended to order the hexapod mechanics and a suitable hexapod cable set together with the controller so that the components can be matched before delivery. To be provided by the customer if required:

Safety relay, emergency stop device, contactors, and their wiring to the controller
PLC master controller

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Datasheet

Datasheet C-887.4xx1

Version / Date

2025-06-13

pdf - 457 KB

Version / Date

2025-06-13

pdf - 460 KB

Télécharger

Basics	C-887.4101	C-887.4111	C-887.4511
Housing type	Rack-mount 19" 2 RU	Rack-mount 19" 2 RU	Rack-mount 19" 2 RU
Drive type	Brushless DC motor ǀ Brushless DC gear motor	Brushless DC motor ǀ Brushless DC gear motor	Brushless DC motor ǀ Brushless DC gear motor
Axes	6	6	6
Processor	Intel Atom Dual Core (1.8 GHz)	Intel Atom Dual Core (1.8 GHz)	Intel Atom Dual Core (1.8 GHz)
Application-related functions	Controller macros GCS ǀ Controller macros PIPython ǀ Startup macro ǀ Data recorder ǀ Fast Alignment	Controller macros GCS ǀ Controller macros PIPython ǀ Startup macro ǀ Data recorder ǀ Fast Alignment	Controller macros GCS ǀ Controller macros PIPython ǀ Startup macro ǀ Data recorder ǀ Fast Alignment
Protective functions	Switch-off of the servo mode in case of an error	Switch-off of the servo mode in case of an error	Switch-off of the servo mode in case of an error
Functional safety	STO (Safe Torque Off) ǀ SS1 (Safe Stop 1)	STO (Safe Torque Off) ǀ SS1 (Safe Stop 1)	STO (Safe Torque Off) ǀ SS1 (Safe Stop 1)
Configuration management	Reading the ID chip ǀ Manual parameter input	Reading the ID chip ǀ Manual parameter input	Reading the ID chip ǀ Manual parameter input
Supported ID chip	ID chip 2.0	ID chip 2.0	ID chip 2.0
Motion and Control	C-887.4101	C-887.4111	C-887.4511
Supported sensor signal	BiSS-C	BiSS-C	BiSS-C
Control variables	Position	Position	Position
Maximum control frequency (servo cycle)	10000 Hz	10000 Hz	10000 Hz
Motion types	Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator	Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator	Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator
Motion coordination	Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems	Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems	Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems
Reference switch input	TTL	TTL	TTL
Limit switch input	TTL	TTL	TTL
Signal for motor brake	1 × integrated brake driver per hexapod strut, max. 2 A	1 × integrated brake driver per hexapod strut, max. 2 A	1 × integrated brake driver per hexapod strut, max. 2 A
Interfaces and Operation	C-887.4101	C-887.4111	C-887.4511
Communication interfaces	RS-232 ǀ TCP/IP ǀ USB (only for manual control units)	RS-232 ǀ TCP/IP ǀ USB (only for manual control units)	EtherCAT slave ǀ RS-232 ǀ TCP/IP ǀ USB (only for manual control units)
On/off switch	Hardware switch on/off	Hardware switch on/off	Hardware switch on/off
Display and indicators	Status LED ǀ Error LED ǀ Power LED ǀ Macro LED	Status LED ǀ Error LED ǀ Power LED ǀ Macro LED	EtherCAT communication ǀ Status LED ǀ Error LED ǀ Power LED ǀ Macro LED
Manual control(s)	Manual control unit with USB interface	Manual control unit with USB interface	Manual control unit with USB interface
Command set	GCS 2.0	GCS 2.0	GCS 2.0
User software	PIMikroMove	PIMikroMove	PIMikroMove
Application programming interfaces	C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python	C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python	C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python
Analog inputs	4	6	6
Analog input signal	4 x -10 V to +10 V, 12 bit	2 x -5 V to +5 V, 16 bit, 5 kHz bandwidth ǀ 4 x -10 V to +10 V, 12 bit	2 x -5 V to +5 V, 16 bit, 5 kHz bandwidth ǀ 4 x -10 V to +10 V, 12 bit
Digital inputs	4	4	4
Digital input signal	TTL	TTL	TTL
Digital outputs	4	4	4
Digital output signal	TTL	TTL	TTL
Industrial Ethernet protocol	—	—	EtherCAT
EtherCAT device class	—	—	EtherCAT slave
EtherCAT communication profile	—	—	CAN application protocol over EtherCAT (CoE)
Drive profile implemented for EtherCAT	—	—	CiA402 drive profile (IEC 61800-7-201)
Supported operating modes according to CiA402	—	—	Homing mode ǀ Cyclic synchronous position mode (CSP) ǀ Safe basic state for activating coordinate systems (no mode changes / no mode selected)
EtherCAT cycle time	—	—	≥1 ms
EtherCAT synchronization modes	—	—	Distributed clocks (DC) ǀ Synchronous with SYNC0 event
Electrical Properties	C-887.4101	C-887.4111	C-887.4511
Output voltage	Same as operating voltage; 24 or 48 V	Same as operating voltage; 24 or 48 V	Same as operating voltage; 24 or 48 V
Average output current per channel	1000 mA	1000 mA	1000 mA
Peak output current per channel	2000 mA	2000 mA	2000 mA
Miscellaneous	C-887.4101	C-887.4111	C-887.4511
Motor/actuator connector	6 × HD D-sub 26 (f)	6 × HD D-sub 26 (f)	6 × HD D-sub 26 (f)
Connector analog input	HD D-sub 26 (f)	BNC ǀ HD D-sub 26 (f)	BNC ǀ HD D-sub 26 (f)
Connector digital input	HD D-sub 26 (f)	HD D-sub 26 (f)	HD D-sub 26 (f)
Connector digital output	HD D-sub 26 (f)	HD D-sub 26 (f)	HD D-sub 26 (f)
Connector safety switch	D-sub 9W4 (f)	D-sub 9W4 (f)	D-sub 9W4 (f)
Connector TCP/IP	RJ45 socket, 8P8C	RJ45 socket, 8P8C	RJ45 socket, 8P8C
Connector RS-232	D-sub 9 (m)	D-sub 9 (m)	D-sub 9 (m)
Connector EtherCAT	—	—	RJ45 socket, 8P8C
Connector for supply voltage	D-sub 3W3 (m)	D-sub 3W3 (m)	D-sub 3W3 (m)
Operating voltage	24 or 48 V	24 or 48 V	24 or 48 V
Power adapter	Included in the scope of delivery ǀ Power adapter 24 V DC	Included in the scope of delivery ǀ Power adapter 24 V DC	Included in the scope of delivery ǀ Power adapter 24 V DC
Maximum current consumption	15 A	15 A	15 A
Operating temperature range	5 to 40 °C	5 to 40 °C	5 to 40 °C
Overall mass	5600 g	5700 g	5940 g

The STO and SS1 safety functions in accordance with EN 61800-5-2 are only supported if the hexapod system is extended with suitable hardware to be provided by the customer. For information on suitable hardware (safety relay, emergency stop device, contactors, wiring), see the user manual for the controller.

BiSS-C enables the transmission of signals from absolute or incremental encoders.

A 48 V supply is possible for several hexapod models from PI and is useful in certain applications. If the hexapod is to be supplied with power by the controller in this case as well, you can operate the controller with a suitable 48 V power adapter. More information on request.

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Datasheet

Datasheet C-887.4xx1

Version / Date

2025-06-13

pdf - 457 KB

Version / Date

2025-06-13

pdf - 460 KB

Télécharger

Aller au devis / à la commande

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