Simulation & Emulation

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.

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PIVeriMove

Restricted space can cause problems for both motion and positioning systems and the setups on the motion platform as well as for the surroundings. Even when great care is taken during the design of an experimental setup or a production unit, it is not always possible to avoid the risk of collision. Using offline collision detection, the PIVeriMove software calculates the permitted travel ranges for hexapods when the motion range is obstructed. This can be caused by a sample setup or the wall of a vacuum chamber.

The configurations created in the software can be transmitted to the hexapod as a basis for the geometric calculations. During operation, the safety gap to the objects is checked before each motion or position command. If a collision is impending, the motion is not carried out. To increase safety, a minimum gap can be specified, which is added to the distance irrespective of the direction in space. The pivot point, which is the reference point for rotation of the platform, can be changed at any time.

  • Calculation of the permitted travel ranges for hexapods and an offline collision analysis
  • To define a scenario, import 3D objects which are mounted on the moving platform, or are mounted in the hexapod's vicinity
  • Calculation of the shortest distance between objects
  • Transmission of the workspace limitations to the controller
  • The pivot point can be changed without having to reconfigure the obstacle scenario
  • An additional license is necessary in order to use the collision detection functionality. This function is only available with the C-887

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

It is necessary to install QEMU 2.12.0 in order to use these tools. QEMU is a free virtualization software that can emulate the entire hardware of the controller. Installation programs for Windows can be downloaded here:

>> QEMU Binaries for Windows (32 bit)

>> QEMU Binaries for Windows (64 bit)

Downloads

Software Files

PIVirtualMove

Version / Date
1.0.1.0, 2024-01
zip - 150 MB
Software Files

C-990.CD1 Releasenews

Version / Date
2.7.0, 2024-01
pdf - 311 KB
Anglais
Documentation

User Manual C887T0001

Description of PIHexapodEmulator software

Version / Date
2021-08-23
pdf - 428 KB
Anglais