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F-206 HexAlign Hexapod Automatic Optics Alignment System
with Digital Controller (figure shows model F-206.SD with display and
keypad). PI's Hexapod controllers perform sophisticated six-space coordinate
transformations and path planning internally, automatically. This makes the
systems very easy to use, as the unit speaks in terms of familiar X,Y,Z,
Theta_X , Theta_Y, Theta_Z coordinates with millimeter and degree units
(4-decimal-place precision).
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Compact, Ultra-low Inertia
Low-Profile, Six-Axis MicroMotion Robot
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Low Cost, High-Precision Hexapod
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PivotAnywhere Fully Virtualized
Center of Rotation About any Point in Space
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Automatic Alignment (Transverse
and Angular)
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Alignment Routines for Collimators
and Arrayed Fibers/Components
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Digital Controller with Built-in
Photometer,or Compatible with External Metrology
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High Speed,Fast Settling
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No Moving Cables, for Improved
Reliability, Easy Setup, Reduced Friction
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Automatic Path Planning
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Open Source LabView™
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Drivers, DLL Libraries...
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Application
Examples
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Photonics Packaging
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Optical Device Testing
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Collimator Alignment
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Arrayed Component Alignment
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MEMS Positioning/Alignment
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Fiber Alignment
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Micro-Machining
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Micro-Manipulation (Life
Sciences)
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Semiconductor Handling
Systems
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Microsurgery
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M-810 Miniature Hexapod
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2 Decades of Hexapod Experience
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6D
Alignment Capablilities Backed by Hexapod Experience Second to None
The F-206 Hexapod 6 Axis
MicroMotion Robot is based on PI's ultra-high-resolution Hexapod technology,
developed for aligning optics in astronomical telescopes in the early 90's. It provides six degrees of freedom, minimum incremental motion on the sub-micron level, for a six-axis move(!) and the unique PivotAnywhere capability. PivotAnywhere allows the user to define the center of rotation (pivot point) anywhere,
inside or outside the F-206 workspace envelope, with a single software
command.
Compact , Plug & Play
The F-206 Hexapod is considerably
more compact and accurate than conventional multi-axis stage stacks. Its
parallel kinematics design and powerful, all-digital 6D controller has a vector based design. The constant length struts and flexures allow for higher precision than conventional cardanic joints.
Orthogonality
and crosstalk issues, which can be a formidable assembly and service concern
for stacked multi-axis units, do not affect parallel-kinematics systems.
There are none of the servo-tuning and dynamic setup procedures necessitated
by the widely varying effective loads on individual stages in a stacked assembly.
The F-206 is truly a plug-and- play motion system that requires no servo
adjustment or tuning. Its operation is fast and crisp, with uniform dynamics,
regardless of the direction of motion. Another advantage of the F-206 design
is that there are no moving cables to limit repeatability with friction
and no cable management issues to be resolved when integrating the unit. |
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Low Inertia = High Speed
Parallel kinematics of constant-strut-length
Hexapod system shows how little mass (basically only the top platform)has
to be supported and moved by the six drives. This explains why the F-206
is considerably faster in terms of step-and- settle than standard “stacked
” multi-axis systems ,where each stage has to support and move it's own
platform and the mass of any other stages above it. Also ,note that ,unlike
serial kinematics systems ,there are no moving cables to cause friction,
tension or torsion to limit accuracy and repeatability. |
Working
Principle
The basic operating principle
of the F-206 is related to the Hexapod principle (PI also offers a variety of other Hexapods from
5 Kg load to 1000 kg load. Unlike hexapods
with variable-length struts (“legs”) the F-206 features constant-length
struts. This concept provides the following additional advantages over
“classical ”variable-strut-length Hexapods: Reduced size Reduced inertia
for improved dynamic performance Independent, modular, identical
drive/strut units, simplifying assembly and service. All six struts
are driven with individual industrial-class servo-motors and encoders
PivotAnywhere Virtualized
Rotation
A highly useful feature
is the F-206's PivotAnywhere fully virtualized rotation capability .Since
its motion is not defined by fixed bearings but rather by sophisticated
realtime, 6-space control algorithms, you can define any point
in space to be the center of rotation with a single software command. This
is ideal for angular alignment of collimators or fibers, since it
is easy to set the pivot point to prevent “walking” of the fiber as its
tip/tilt orientation is optimized.All commands and operations are high-level,
using human-readable units (mm, degrees)and coordinates (X,
Y, Z, Theta_X , Theta_Y, Theta_Z ).The F-206 automatically manages its
path planning and coordination of its six motors. |
HexControl software.Display
shows an optical device scan
Hex-Control software:manual
operation.3-D view of F-206 platform in space in reference to origin and
pivot point.
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F-206 HexAlign™ 6D alignment
robot combines long-travel, high-precision, six-degree-of-freedom motion
and linear/rotary alignment automation. Optional highspeed 100x100x100
µm, XYZ PZT scanning & alignment module achieves nanometer resolution
(see P-611, p.8-16);F-206.MHU force limiting platform (optional)protects
equipment.
F-206 software even supports
manual pre-alignment. The windows show: YZ position, intensity distribution
in Y and Z directions and the photometer read-out “thermometer ” with peak
detector.
F-206 HexAlign 6-DOF MicroMotion
robot deployed as a photonics alignment subsystem for automated assembly
of fiber pigtailed devices. Courtesy Aries Innovations
Two F-206 in a waveguide
alignment application
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Optical
Metrology
Optional photometer
cards (e.g. for array alignments)and automatic alignment
procedures add to its power in photonics packaging applications.
Software Architecture
Control of the F-206 is
facilitated by the controller's software architecture providing a variety
of high-level commands for minimized communications overhead & bandwidth.
Other F-206 features are:
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Integrated Scan &Automatic
Alignment Functions
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LabView ™Drivers and DLL Libraries
Simulation
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Tools Terminal Software
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LabView™ drivers for automated
fiber-array
alignment are provided with
the F-206
F-206 provides ultra-precise
motion in all six
degrees of freedom with
rotation about any
point in space (pivot point
set by user)
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Controller
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Digital Six-Axis Servo-Controller
(6 Axes, +2 Axes Optional)
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Optional Photometer Cards IR and Visible for Array Alignment)
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Built-In High-Speed Analog Input
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Wide-Range Power Supply
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Optional Interactive Controls
(Front Panel Keyboard/LCD Display)
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Optional Interactive Control
Pad with Programmable Step Size
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Easy Firmware Update
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Well-Documented, Compact, High-Level
Command Set
The F-206 HexAlign™ controller
performs sophisticated six-space coordinate transformations and path planning
internally, automatically. This makes the systems very easy to use, as
the unit speaks in terms of familiar X, Y, Z, Theta_X , Theta_Y, Theta_Z
coordinates with millimeter and degree units (4-decimalplace precision).
Furthermore, the F-206 controller features a 6+2 architecture, with 6 channels
dedicated to control the Hexapod platform. The other two channels (optional)are
available for control of other PI motorized equipment, e.g. M-531
long-travel translation stages, rotation stages, or other actuators for
flexible automation.
Optical Metrology Boards
F-206 systems can be equipped with optical metrology boards (model number F-206.VVU 2-Channel Photometer Card, (Visual Range), F-206.iiU
2-Channel Photometer Card (IR Range) for
applications such as fully automated fiber-array alignment. |
F-206 Controller, rear view,
showing optical fiber input, connectors for motor out, analog in (A/D),
power out (servo-amplifiers)and optional monitor out.
Sensitivity of the IR photo
detector in the F-206 optical metrology board
Sensitivity of the visible
range photo detector in the F-206 optical metrology board
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Other Upgrades and Options
F-206.MHU Magnetic kinematically
clamped force limiting platform
F-206.NCU Rapid NanoAlign
upgrade for F-206, consisting of the NanoCube™ rapide alignment module
and the E-760 controller.
Integrators may be interested
in insetting the F-206s into a TMC isolation table. This improves
ergonomics, vibrational stability and thermal stability.
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F-206.MHU,
F-206.MFU Force-Limiting, Force-Sensing Platforms
In some applications it
may be useful to limit the forces on or from the F-206 platform to protect
the mechanics or components mounted on the F-206 from damage. Two platform
options are available: F-206.MHU is a magnetic kinematically clamped add-on
platform that is automatically released when a certain force or torque
is exceeded. This platform also makes it easy to exchange complete setups
mounted on different top plates. Additional top plates are available as
part number F-206.TMV. F-206.MFU is similar to F-206.MHU with additional
force sensors. The sensor output voltage can be monitored for enhanced
safety.
F-206.NCU Rapid NanoAlign
Upgrade
For applications where alignment
with nanometer-range resolution is required, or where rapid mapping of
the entire cross-coupling area is desired, the F-206.NCU Rapid NanoAlign
upgrade is recommended. It consists of a P-611.3SF closed-loop XYZ Ultra-Low
Inertia NanoCube ™alignment module (p.8-16), the E-760 controller board
(p.6-14), which plugs into the F-206 controller, and special alignment
software.
F-206.MC6 6D Interactive
Control Pad Upgrade
The F-206.MC6 option is
a useful addition for simplifying test and setup procedures.It consists
of a board that plugs into the F-206 controller and a control pad with
six digital “potentiometer ”knobs (one for each degree of freedom). The
interactive control pad allows manual step-by-step operation of the platform
with a programmable step size. External positioning input (via the computer
interface)can be intermixed with manual positioning input. Both inputs
operate on the same position registers of the F-206 controller.The control
pad comes with a 3 m cable. A 3 m extension cable is available as part
number C-815.MC6.
For Additional Options,
see Ordering Information
The F-206.MCU Interactive
control pad upgrade allows fully i
ndependent manual moves
in each Hexapod axis with
software-feedback and variable
step size.
Works similar to fly-by-wire
control in aircraft.
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Technical Data
F-206 interferometer test.
X-axis accuracy and repeatability of 20 consecutive 100 nanometer steps
in both directions. Note this is a 6-axis system!
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Ordering Information
F-206.S0
Hexapod 6-Axis Precision Alignment System / Manipulator with 6 DOF Hexapod Controller
F-206.SD
Hexapod 6-Axis Precision Alignment System / Manipulator with 6 DOF Hexapod Controller, Built-in Display and Keypad
Options and Accessories
F-206.AC8
Upgrade for 2 Additional Servo-Motor Control Channels on F-206 Controller
F-206.MHU
Force-Limiting Mounting Platform, (included with F-206.SD)
F-206.NCU
Upgrades: Rapid Nanopositioning Upgrade for F-206.S. Consists of P-611.3SF NanoCube(r) and E-760 Controller Card
F-206.MC6
6D Interactive Manual Control Pad
F-206.VVU
2-Channel Photometer Card, (Visual Range)
F-206.iiU
2-Channel Photometer Card (IR Range)
F-361.10
Absolute-Measuring Optical Power Meter, 1000-1600 nm Wavelength
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