PIVirtualMove
PIVirtualMove is a new program for motion verification and workspace calculation for hexapods and the 6DoF Nanocube.
With such complicated multi-axis mechanics, not every point within the range of individual axes can be reached. The limits of the permitted workspace for parallel kinematics vary depending on the current position, the installation position, and the forces and torques acting on the motion platform. Therefore, when selecting the system, it is necessary to ensure reachability of the points. Here, PIVirtualMove supports the following:
- Verifying the reachability of positions based on the mounting position and load (force and position workspace)
- Free definition of the coordinate system, pivot point, mounting position, and loads
- Selecting the mechanics from our database with a link to the data sheet
- The software can be operated without being connected to a controller or positioner
PIVirtualMove is the successor of the PIHexapodSimulationTool.
Emulators
It is often desirable to implement the customer software early on, without the system being available on site. PI supplies suitable software that can be used to simulate a complete hexapod system (hexapod mechanics and controller) or the newest controller platform as a virtual machine on the host PC. This allows the customers to develop, test, and optimize user programs even before the system is delivered.
PIControllerEmulatorGCS3.0
- Emulation of the controller's behavior related to the GCS3.0 input
- Code can be tested without hardware
- Simplifies automation
- Enables front-loading and virtual commissioning: Preparation for integration even before delivery of the controller & positioners
- Communication with the emulated controller takes place via TCP/IP, meaning that PIMikroMove or the known APIs can be used
PIHexapodEmulator
- Program with which the C-887 hexapod controller, the connected hexapod, and two additional axes can be emulated
- For users who want to test the behavior of the Hexapod system on GCS command inputs even if the real hexapod controller is not yet available
- The simulated hexapod system can be operated with PIMikroMove or via any TCP/IP connection
To use the emulators, an installation of >> QEMU is required. The necessary files are included in the PI Software Suite installation package.
Downloads
PIVirtualMove
PI Software Suite C-990.CD1
C-990.CD1 Releasenews
User Manual C887T0001
Description of PIHexapodEmulator software