6-Axis Position Control in a Hexapod: Controllers, Software,

Hexapod Control, Hexapod Simulation Software for Stewart Platforms

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Control of 6 Axis Parallel Kinematics Positioners (Hexapod Control)
All PI 6-Axis Hexapod Stewart Platforms positioning systems come with high-performance digital motion controllers and software. Simulation tools to verify loads on individual legs dependent on mounting orientation is also included.

Two more motion axes are also available, for example to run actuators, rotation stages or other linear positioners.

User Programmable Center of Rotation - Pivot Point
PI's Hexapod controllers allow the user to control the pivot point by software with one simple command. That point can be anywhere inside or outside the space of the hexapod positioner. The cartesian coordinates of any position and any orientation can be entered directly and the vectorized motion controller makes sure the specified target will be reached travelling along a smooth path.



Interfaces for Hexapod Controllers TCP/IP Ethernet Industry standard (Allows remote access via the internet) EtherCat (optional) Keyboard Monitor Manual Control Pad RS-422 (optional, for up to 1.4 km long distance) Analog Input (optional) Optical Input (optional) Hexaopd Simulation Software Software Components / External Control Windows and Linux Library files / DLLs LabView VIs full set PIMikroMove program integration Additional scan routines Additional auto alignment routines (e.g. photonics alingment & test equipment) Worldwide remote control via ethernet Flight Simulator Interface with Demo Software Command Set / Operating Systems / Libraries The command set is compatible to PI's General Command Set and includes extremely fast scan and align routines for different alignment tasks. Hexapod controllers come with a complete software package for Windows and Linux operating systems. Alternatively, they can be run in stand-alone mode by means of an external keyboard and monitor Custom software can communicate by ASCII strings, or, more conveniently, through included library files (Windows DLLs, Linux libraries) or LabVIEW drivers. Most controllers can be upgraded with optical boards for alignment of IR and Visible light sources. PIMikroMove Software See and control all connected controllers and mechanical axes in one window HostMacros: create command sequences for connected controllers and run them on the host PC, can be called recursivly Position Pad: control 2 axes with mouse and joystick 3D visualisation of connected hexapod geometry Analog input visualisation LabVIEW Drivers Including GUI programs such as terminal applications, configuration software, full scanning routines with graphical representation etc. Online help window for each VI Compatible with PI's General Command LabVIEW Driver Set Graphical representation of a tripod positioner and its work space.		Standard compact hexapod controller Hexapod Controllers Custom hexapod controller Control / Software PI Hexapods come with ample software support, including a software simulation tool to verify workspace and loads on individual struts dependent on mounting orientation. Included software allows easy scan and automated alignment of fiber optics components, etc. Hexapod control and 3D visualisation of connected hexapod geometry with included PIMikroMove™ Software. Simulation software allows the graphical off-line configuration and simulation of the hexapod in the customer environment. It offers full functionality for creation, modeling, simulation, rendering and playback of hexapod configurations to predict and avoid interference with possible obstacles in the work space.

User Defined Pivot Point

PI Hexapod controllers allow the user to set a pivot point anywhere in space. It is important to have a fixed pivot point as the center of rotation especially in photonics alignment & packaging applications. Furthermore, the cartesian coordinates of any position and any orientation can be entered directly and the specified target will be reached after travel along a smooth path.

Hexapod Coordinates

Platform in INI position (XYZ axes

shown displaced to reduce clutter)

Platform at a position (x, y, z) and

U=1-; U axis is always parallel to X.

Platform at INI position

Platform position of (x, y, z), U=10

and V=10; note direction of the V

axis, always parallel to plane of

platform.

Platform in INI position

Platform position (x, y, z). U=10

V=-10and W=10; note direction of

the W axis, always normal to platform.



Hexapod Options & Accessories

Optical Metrology / Power Meters The F-712 optical power meter is available for fiber-optic alignment applications. Interactive 6-Axis Manual Control Pad Upgrade A manual control pad facilitates system setup and testing procedures. The manual pad works seamlessly with the Hexapod software, and allows programmable step sizes of 0.1 µm to 500 µm (linear) and 0.0001 to 0.5deg (angular) per step. Computer commanded steps can be intermixed with manual positioning input maintaining the true position inside the position registers of the Hexapod controller.

Custom Hexapod Controllers

In addition to the standard hexapod controllers / software packages, PI has also designed a number of parallel-kinematics controllers for customer specific applications. Additional information on the difference between hexapods and traditional 6-axis robots.


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