Design Features

Aerotech’s HEX RC is a high-performance, 6-axis motion controller ideal for controlling robotic systems like hexapods. The HEX RC is 4U high, rack-mountable, and compatible with the Automation 3200 (A3200) motion platform. A high-performance processor provides the intense computing power needed to run up to 32 axes, perform complex, synchronized motion trajectories, manipulate I/O, and collect data at high speeds.

Powerful Control Architecture

The HEX RC features 6-axes of drives capable of controlling any combination of brush, brushless, or stepper motors. The HEX RC performs both current loop and servo loop closures digitally to ensure the highest level of positioning accuracy and performance. With the A3200 distributed control architecture, the HEX RC connects and controls up to 26 additional axes of servo, stepper, or piezo-driven stages.

Interface and Design Options

The HEX RC is designed with an ASCII command interface over TCP/IP for control in applications such as beamlines. Alternatively, the HEX RC can act as a master controller and control other A3200 external drives via the FireWire interface.

The HEX RC accepts amplified-sine or digital encoders. With optional integrated encoder multipliers up to X4096, high-resolution positioning is assured.

An optional 6-axis jog pendant adds easy, manual control of the positioning system. In safety critical applications, an emergency stop option with redundant safety relays can be added.

Flexible Programming Environment

Aerotech’s A3200 focuses on ease of use for the programmer, shortens development time compared with other tools, and provides the flexibility to use the tools or controller most familiar to programmers. A complete Integrated Development Environment and a comprehensive .NET motion library provide classes for motion, I/O, status, and diagnostic information. Program in Visual Studio and use the .NET library, or use the Motion Composer (IDE) to develop code with AeroBasic™ commands or G code. A LabVIEW® VI library is available for NI users, while a complete C library is available for those using Visual Basic, C++, or C.

Specifications

HEX RC Specifications

Specifications 
ProcessorIntel i7 multi-core processor, 8 GB memory
Number of AxesSix
Encoder InputsSix (1 Vpp or TTL)
Motor StyleBrush, Brushless, Stepper
Power SupplySingle-Phase 100-240 VAC; 50/60 Hz (Factory Configured)
Power Output600 W Continuous
Bus Voltage80 VDC
Peak Output Current (1 sec)(1)10 Apk
Continuous Output Current(1)5 Apk
Digital Inputs16; Opto-Isolated
Digital Outputs16; Opto-Isolated
Analog InputsEight Total; ±10 V; 12-Bit Differential 
One on Each I/O Connector; One on Each Axis Connector
Analog OutputsTwo; ±5 V; 16-Bit
High-Speed Data CaptureYes (50 ns Latency)
Emergency Stop (ESTOP)Optional
Primary Encoder Input Frequency (1 Vpp)200 kHz Sine Wave
Primary Encoder Input Frequency (TTL)10 MHz Square Wave/40 MHz Count Rate
InterfacesASCII Command Interface via TCP/IP; FireWire®
FieldbusModbus TCP on PC
USB PortsThree; Used for Peripheral Device Connection; 
Two USB 3.0; One USB 2.0
Video PortOne; DVI-I
Jog PendantOptional; Six-Axis
Encoder MultiplicationOptional; x4096
Position Synchronized Output (PSO)Standard:

  • One-axis PSO (includes one-axis Part-Speed PSO)

Optional:

  • Two-axis Part-Speed PSO

  • Three-axis Part-Speed PSO

Current Loop Update Rate20 kHz
Servo Loop Update Rate8 kHz
Power Amplifier BandwidthSelectable Through Software
Minimum Load Inductance0.1 mH
Operating Temperature0 to 50°C
Storage Temperature-30 to 85°C
Weight25 kg
StandardsCE approved, 2011/65/EU RoHS 2 Directive
Note:

  1. Peak value of the sine wave; rms current for AC motors is 0.707*Apk

Dimensions

Ordering Information

HEX RC Multi-Axis Robotic Controller

HEX RC

Rack-mount, six-axis, robotic controller with FireWire® with TCP/IP ASCII interfaces; 100-240 VAC single-phase power supply. Includes:

- Intel i7 multi-core processor, 8 GB memory
- Supports brush, brushless, or stepper motor types 
- 5 A continuous/10 A peak current per axis 
- 16 digital I/O, eight analog outputs, two analog inputs 
- Single-axis position synchronized output (PSO)

Line Voltage (Required)

OptionDescription
-A115 VAC line
-B230 VAC line
-C100 VAC line
-D200 VAC line

Feedback and Jog Pendant Configuration (Required)

OptionDescription
-FC1Standard TTL encoder feedback
-FC2Amplified sine encoder feedback with programmable encoder multiplier up to x4096
-FC3Standard TTL encoder feedback and connector interface for 6-axis jog pendant (MPG). Jog-pendant must be ordered as separate line item.
-FC4Amplified sine encoder feedback with programmable encoder multiplier up to x4096 and connector interface for 6-axis jog pendant (MPG). Jog pendant must be ordered as separate line item.

Line Cord (Optional)

OptionDescription
-LC1US 115 VAC line cord
-LC2US 230 VAC line cord
-LC3UK compatible line cord
-LC4German compatible line cord
-LC5Israel compatible line cord
-LC6India compatible line cord
-LC7Australian compatible line cord

PSO

OptionDescription
-PSO1One-axis PSO (default)
-PSO5Two-axis Part-Speed PSO
-PSO6Three-axis Part-Speed PSO

Options (Optional)

OptionDescription
-EST3ESTOP3 – controller stops motion, then disables servo control; internal positive guided relays with monitor contact disconnect AC power source from motor (uses two relays for redundancy); contains one-second bus discharge resistors; operator risk assessment is the responsibility of the end user or integrator
-SL1Rack-mount slides

Accessories (Ordered as Separate Line Items)

OptionDescription
MPGSix-axis jog pendant