C-887.53
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT® interface
C-887.53x Hexapod Motion Controller with EtherCAT®
Control a 6-Axis Positioning System via Fieldbus Interface
- Integration into an automation system
- Synchronous motion in 6 axes
- Cycle time ≥ 1 ms
- Commanding in Cartesian coordinates
- High-resolution analog inputs and motion stop as an option
C-887.533
Integration of the hexapod motion controller into an automation system
C-887.5xx, dimensions in mm. Version-dependent interfaces
Example configuration: H811.D2 miniature hexapod with C-887.532 motion controller with EtherCAT interface and motion stop. The EtherCAT master, here a Beckhoff controller, is provided and programmed by the customer.
C-887.53x Hexapod Motion Controller with EtherCAT®
Descrizione del Prodotto
Specifiche
Download
Quotazione / Ordine
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
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 C, C++, C#, 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!
Specifications
Specifications
| Basics | C-887.53 | C-887.531 | C-887.532 | C-887.533 | |||
|---|---|---|---|---|---|---|---|
| Axes/channels | 6 | 6 | 6 | 6 | |||
| Additional axes | 2 single axes | 2 single axes | 2 single axes | 2 single axes | |||
| Processor | Intel Atom dual core (1.8 GHz) | Intel Atom dual core (1.8 GHz) | Intel Atom dual core (1.8 GHz) | Intel Atom dual core (1.8 GHz) | |||
| Application-related functions | Controller macros GCS ǀ Controller macros PIPython ǀ Data recorder ǀ Startup macro | Controller macros GCS ǀ Controller macros PIPython ǀ Data recorder ǀ Fast alignment ǀ Startup macro | Controller macros GCS ǀ Controller macros PIPython ǀ Data recorder ǀ Startup macro | Controller macros GCS ǀ Controller macros PIPython ǀ Data recorder ǀ Fast alignment ǀ Startup macro | |||
| Protective functions | Switch-off of the servo mode in case of an error | Switch-off of the servo mode in case of an error | Switch-off via an external switch ǀ Switch-off of the servo mode in case of an error | Switch-off via an external switch ǀ Switch-off of the servo mode in case of an error | |||
| Configuration management | reading the ID chip ǀ manual parameter input | reading the ID chip ǀ manual parameter input | reading the ID chip ǀ manual parameter input | reading the ID chip ǀ manual parameter input | |||
| Supported ID chip | ID chip 2.0 | ID chip 2.0 | ID chip 2.0 | ID chip 2.0 | |||
| Motion and Control | C-887.53 | C-887.531 | C-887.532 | C-887.533 | |||
| Supported sensor signal | A/B quadrature, RS-422 ǀ BiSS-C | A/B quadrature, RS-422 ǀ BiSS-C | A/B quadrature, RS-422 ǀ BiSS-C | A/B quadrature, RS-422 ǀ BiSS-C | |||
| Closed-loop values | Position | Position | Position | Position | |||
| Maximum control frequency (servo cycle) | 10000 Hz | 10000 Hz | 10000 Hz | 10000 Hz | |||
| Motion types | Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator | Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator | Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator | Point-to-point motion with profile generator ǀ Cyclic transfer of target positions ǀ Area scan routines ǀ Gradient search routines ǀ Wave generator | |||
| Motion coordination | Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems | Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems | Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems | Coordinated multi-axis motion ǀ User-defined coordinate systems ǀ Work-and-tool coordinate systems | |||
| Reference switch input | TTL | TTL | TTL | TTL | |||
| Limit switch input | TTL | TTL | TTL | TTL | |||
| Interfaces and Operation | C-887.53 | C-887.531 | C-887.532 | C-887.533 | |||
| Communication interfaces | EtherCAT slave ǀ RS-232 ǀ TCP/IP ǀ USB (only for manual control units) | EtherCAT slave ǀ RS-232 ǀ TCP/IP ǀ USB (only for manual control units) | EtherCAT slave ǀ RS-232 ǀ TCP/IP ǀ USB (only for manual control units) | EtherCAT slave ǀ RS-232 ǀ TCP/IP ǀ USB (only for manual control units) | |||
| On/off switch | Hardware switch on/off | Hardware switch on/off | Hardware switch on/off | Hardware switch on/off | |||
| Display and indicators | Status LED ǀ Error LED ǀ Power LED ǀ Macro LED | Status LED ǀ Error LED ǀ Power LED ǀ Macro LED | Status LED ǀ Error LED ǀ Power LED ǀ Macro LED | Status LED ǀ Error LED ǀ Power LED ǀ Macro LED | |||
| Manual control(s) | Manual control unit with USB interface | Manual control unit with USB interface | Manual control unit with USB interface | Manual control unit with USB interface | |||
| Command set | GCS 2.0 | GCS 2.0 | GCS 2.0 | GCS 2.0 | |||
| User software | PIMikroMove | PIMikroMove | PIMikroMove | PIMikroMove | |||
| Software - APIs | C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python | C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python | C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python | C, C++, C# ǀ MATLAB ǀ NI LabView ǀ Python | |||
| Analog inputs | 4 | 6 | 4 | 6 | |||
| Analog input signal | 4 x -10 to 10 V, 12 bit | 2 x -5 to 5 V, 16 bit, 5 kHz bandwidth | 4 x -10 to 10 V, 12 bit | 4 x -10 to 10 V, 12 bit | 2 x -5 to 5 V, 16 bit, 5 kHz bandwidth | 4 x -10 to 10 V, 12 bit | |
| Digital inputs | 4 | 4 | 4 | 4 | |||
| Digital input signal | TTL | TTL | TTL | TTL | |||
| Digital outputs | 4 | 4 | 4 | 4 | |||
| Digital output signal | TTL | TTL | TTL | TTL | |||
| Industrial Ethernet protocol | EtherCAT | EtherCAT | EtherCAT | EtherCAT | |||
| EtherCAT device class | EtherCAT slave | EtherCAT slave | EtherCAT slave | EtherCAT slave | |||
| EtherCAT communication profile | CAN application protocol over EtherCAT (CoE) | CAN application protocol over EtherCAT (CoE) | CAN application protocol over EtherCAT (CoE) | CAN application protocol over EtherCAT (CoE) | |||
| Drive profile implemented for EtherCAT | CiA402 drive profile (IEC 61800-7-201) | CiA402 drive profile (IEC 61800-7-201) | CiA402 drive profile (IEC 61800-7-201) | CiA402 drive profile (IEC 61800-7-201) | |||
| Supported operating modes according to CiA402 | Homing mode ǀ Cyclic synchronous position mode (CSP) ǀ Safe basic state for activating coordinate systems (no mode changes / no mode selected) | Homing mode ǀ Cyclic synchronous position mode (CSP) ǀ Safe basic state for activating coordinate systems (no mode changes / no mode selected) | Homing mode ǀ Cyclic synchronous position mode (CSP) ǀ Safe basic state for activating coordinate systems (no mode changes / no mode selected) | Homing mode ǀ Cyclic synchronous position mode (CSP) ǀ Safe basic state for activating coordinate systems (no mode changes / no mode selected) | |||
| EtherCAT cycle time | ≥1 ms | ≥1 ms | ≥1 ms | ≥1 ms | |||
| EtherCAT synchronization modes | Distributed clocks (DC) ǀ Synchronous with SYNC0 event | Distributed clocks (DC) ǀ Synchronous with SYNC0 event | Distributed clocks (DC) ǀ Synchronous with SYNC0 event | Distributed clocks (DC) ǀ Synchronous with SYNC0 event | |||
| Electrical Properties | C-887.53 | C-887.531 | C-887.532 | C-887.533 | |||
| Output voltage | 24 V | 24 V | 24 V | 24 V | |||
| Peak output current | 6000 mA | 6000 mA | 6000 mA | 6000 mA | |||
| Miscellaneous | C-887.53 | C-887.531 | C-887.532 | C-887.533 | |||
| Connector hexapod power supply | M12 4-pole (f) | M12 4-pole (f) | M12 4-pole (f) | M12 4-pole (f) | |||
| Connector hexapod data transmission | HD D-sub 78 (f) | HD D-sub 78 (f) | HD D-sub 78 (f) | HD D-sub 78 (f) | |||
| Connector additional axes | D-sub 15 (f) | D-sub 15 (f) | D-sub 15 (f) | D-sub 15 (f) | |||
| Connector analog input | HD D-sub 26 (f) | BNC ǀ HD D-sub 26 (f) | HD D-sub 26 (f) | BNC ǀ HD D-sub 26 (f) | |||
| Connector digital input | HD D-sub 26 (f) | HD D-sub 26 (f) | HD D-sub 26 (f) | HD D-sub 26 (f) | |||
| Connector digital output | HD D-sub 26 (f) | HD D-sub 26 (f) | HD D-sub 26 (f) | HD D-sub 26 (f) | |||
| Connector TCP/IP | RJ45 socket, 8P8C | RJ45 socket, 8P8C | RJ45 socket, 8P8C | RJ45 socket, 8P8C | |||
| Connector RS-232 | D-sub 9 (m) | D-sub 9 (m) | D-sub 9 (m) | D-sub 9 (m) | |||
| Connector EtherCAT | RJ45 socket, 8P8C | RJ45 socket, 8P8C | RJ45 socket, 8P8C | RJ45 socket, 8P8C | |||
| Connector for supply voltage | M12 4-pole (m) | M12 4-pole (m) | M12 4-pole (m) | M12 4-pole (m) | |||
| Operating voltage | 24 (ext. power adapter included) V | 24 (ext. power adapter included) V | 24 (ext. power adapter included) V | 24 (ext. power adapter included) V | |||
| Power adapter | Included in the scope of delivery ǀ Power adapter 24 V DC | Included in the scope of delivery ǀ Power adapter 24 V DC | Included in the scope of delivery ǀ Power adapter 24 V DC | Included in the scope of delivery ǀ Power adapter 24 V DC | |||
| Maximum current consumption | 8 A | 8 A | 8 A | 8 A | |||
| Operating temperature range | 5 to 40 °C | 5 to 40 °C | 5 to 40 °C | 5 to 40 °C | |||
| Overall mass | 2800 g | 2800 g | 2800 g | 2800 g | |||
| Connector motion stop button | — | — | M12 8-pole (f) | M12 8-pole (f) |
Downloads
Product Note
Product Note
Product Change Notification C-887.5xx Labeling
Versione / Data
2022-04-05
pdf - 113 KB
Datasheet
Documentation
Documentation
User Manual A000T0079
PI Simulation Models for CoppeliaSim / V-REP
Versione / Data
2020-11-11
pdf - 3 MB
inglese
Documentation
User Manual C887T0036
C-887.MC2 Manual Control Unit
Versione / Data
2019-06-25
pdf - 663 KB
inglese
Documentation
User Manual MS244
C-887 Hexapod Controller, Models C-887.52, C-887.521, C-887.522, C-887.523, C-887.53, C-887.531, C-887.532, C-887.533
Versione / Data
1.4.0 2023-01-03
pdf - 4 MB
Versione / Data
1.4.0 2023-01-03
pdf - 5 MB
Documentation
Technical Note A000T0068
PI Hexapod Simulation Tool. Determining the workspace and the permissible load of the hexapod.
Versione / Data
2020-02-10
pdf - 834 KB
Versione / Data
2020-02-10
pdf - 850 KB
Documentation
User Manual C887T0011
EtherCAT Interface of C-887.53, .531, .532, .533 6D Hexapod Controllers
Versione / Data
2024-03-14
pdf - 1 MB
inglese
Documentation
Technical Note C887T0021
Motion of the Positioner. Position and Orientation in Space, Center of Rotation.
Versione / Data
2017-11-27
pdf - 355 KB
Versione / Data
2017-11-27
pdf - 359 KB
Documentation
User Manual C887T0007
Description of Coordinate Systems for Hexapod Microrobots and Parallel-Kinematic Positioners
Versione / Data
2018-04-23
pdf - 951 KB
Versione / Data
2018-04-23
pdf - 985 KB
Documentation
User Manual E712T0016
Fast Multi-Channel Photonics Alignment. Hardware and Firmware for Fast Optical Alignment in Silicon Photonics Production.
Versione / Data
2023-03-14
pdf - 10 MB
inglese
Documentation
User Manual C887T0001
Description of PIHexapodEmulator software
Versione / Data
2023-12-21
pdf - 401 KB
inglese
Documentation
User Manual C887T0002
Description of C-887.VM1 PIVeriMove Software for the Collision Check
Versione / Data
2017-04-25
pdf - 629 KB
inglese
Documentation
User Manual C887T0003
Description of C-887.MC Hexapod Control Unit
Versione / Data
2012-10-22
pdf - 299 KB
inglese
3-D Models
3-D Models
C-887.53x 3D Model
zip - 6 MB
Software Files
Software Files
C-990.CD1 Releasenews
Versione / Data
2.7.0, 2024-01
pdf - 311 KB
inglese
Software Files
PI Software Suite C-990.CD1
Versione / Data
2.7.0, 2024-01
zip - 801 MB
General Software Documentation
General Software Documentation
User Manual A000T0075
Implementing a C-887 PI Controller in TwinCAT 3.1 for Motion and Coordinate System Activation
Versione / Data
2020-02-24
pdf - 1 MB
inglese
General Software Documentation
User Manual A000T0028
Updating PI Software with PIUpdateFinder
Versione / Data
2020-05-20
pdf - 482 KB
Versione / Data
2020-05-20
pdf - 488 KB
General Software Documentation
Software Manual SM146
GCS Array Data Format
Versione / Data
1.2.1
pdf - 153 KB
inglese
General Software Documentation
Software Manual SM148
PIMikroMove
Versione / Data
2.14.1 2022-02-28
pdf - 4 MB
inglese
General Software Documentation
Software Manual SM151E
PI GCS2 DLL
Versione / Data
2.10.0 2019-08-26
pdf - 1 MB
inglese
General Software Documentation
Software Manual SM155
PI MATLAB Driver GCS 2.0
Versione / Data
1.2.0 2019-03-22
pdf - 1 MB
Versione / Data
1.2.0 2019-03-22
pdf - 1 MB
General Software Documentation
Software Manual SM156
PIStages3Editor for editing the PIStages3 database
Versione / Data
2.1.0 2020-08-03
pdf - 2 MB
Versione / Data
2.1.0 2020-08-03
pdf - 2 MB
General Software Documentation
User Manual A000T0067
Information on the PIStages3 database. What must be considered when changing from PIStages2 to PIStages3.
Versione / Data
2020-01-13
pdf - 543 KB
inglese
General Software Documentation
Software Manual SM157
PIPython - Programming PI Controllers with Python
Versione / Data
2021-08-17
pdf - 866 KB
Versione / Data
2021-08-17
pdf - 874 KB
General Software Documentation
Technical Note A000T0089
PI Software on ARM-Based Platforms
Versione / Data
2023-05-08
pdf - 276 KB
General Software Documentation
User Manual SM163
PIVirtualMove. Simulation program for parallel-kinematic multi-axis systems
Versione / Data
2023-10-13
pdf - 3 MB
inglese
General Software Documentation
User Manual SM164E
Updating controller firmware with PIFirmwareManager
Versione / Data
12.12.2023 1.0.0
pdf - 819 KB
inglese
White Paper
White Paper
Controlling Hexapods via EtherCAT®
Easy Integration of Six-Axis Robots into the Process Environment
Versione / Data
WP4021E R1 2019-07
pdf - 1 MB
Versione / Data
WP4021D 2019-07
pdf - 1 MB
Ask for a free quote on quantities required, prices, and lead times or describe your desired modification.
C-887.531
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface, analog inputs
C-887.532
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT interface, motion stop
C-887.533
6-axis controller for hexapods, TCP/IP, RS-232, benchtop device, incl. control of two additional axes, EtherCAT® interface, motion stop, analog inputs
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