Digital controller with EtherCAT  fieldbus interface

Digital controller for hexapods (6-axis parallel kinematics). In addition, the motor drivers for two further single axes can be controlled. For operation in an EtherCAT network, a higher-level programmable logic controller (PLC) is required on the user side (EtherCAT master with CoE protocol). Operation without PLC is possible via TCP/IP or RS-232. The controller then corresponds to a C-887.52x in terms of functionality and is controlled with the GCS 2.0 command set.

Functions

The position is entered in Cartesian coordinates from which the controller calculates the control of the kinematics. To simplify integration of the hexapod, the coordinate systems (Work, Tool) can be changed. The pivot point can be freely defined. 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 stand-alone operation. The controller supports all currently available standard hexapods from PI and, in addition, customer-specific parallel kinematics.

Interfaces

EtherCAT fieldbus interface. TCP/IP for network-based control and maintenance. RS-232. USB port for manual control unit.

Additional interfaces (depending on version):

• High-resolution and extremely fast analog inputs which are ideal for fast alignment routines
• Connection for a motion stop button that activates/deactivates the 24 V output for the hexapod

Optional

• Control via manual control unit
• In case of restricted movement space: Collision check with PIVeriMove software. Executable as a simulation and directly on the controller

Software support (for control via GCS)

For example, PIMikroMove user software enables fast alignment routines to be depicted graphically. Extensive set of drivers, e.g., for use with NI LabVIEW, MATLAB, and Python. PIHexapodEmulator for virtual startup and operation without hardware.

Scope of delivery

The scope of 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 cable set together with the controller so that the components can be adapted to each other. A PLC master controller is not included in the scope of delivery!