PI H-845 - Hexapod Controller

3 Product Description
14 Version: 2.1.1 MS222E H-845 Hexapod System
3.3.2 Hexapod Controller
Figure 3: Front view of the hexapod controller
Element
Labeling Type Function
I/O
HD Sub-D 26 (f)
(p. 69)
Digital inputs/outputs:
 Outputs: Trigger external devices
 Inputs: Use in macros
Analog inputs (multifunctional)
SPI Master
Display port For future use; currently no function.
USB type A, high
insertion and
pulling force
USB interface for connecting the C-887.MC
control unit from PI
USB type A USB interface for connecting peripheral devices
RJ45 socket Network connection via TCP/IP
SPI Slave
Display port For future use; currently no function.
RS-232
Sub-D 9 (m) Serial connection to PC
ERR
LED
red
Error indicator:
 Lights up continuously: Error (error code ≠ 0)
 Off: No error (error code = 0)
The error code can be queried with the ERR?
command. The query resets the error code to
zero and the LED is switched off.