SIM_AXIS_HARDWARE

NAME
SYNOPSIS
DESCRIPTION
FUNCTIONS
PINS
AUTHOR
LICENSE

NAME

sim_axis_hardware − A component to simulate home and limit switches

SYNOPSIS

loadrt sim_axis_hardware [count=N|names=name1[,name2...]]

DESCRIPTION

This component creates simulated home and limit switches based on the current position.
It currently can supply simulation for X,Y,Z,U,V and A axes.

FUNCTIONS

sim-axis-hardware.N.update

(requires a floating-point thread)

PINS

sim-axis-hardware.N.Xcurrent-pos

float in The current position on the axis - eg connect to joint.0.motor-pos-fb

sim-axis-hardware.N.Ycurrent-pos

float in

sim-axis-hardware.N.Zcurrent-pos

float in

sim-axis-hardware.N.Acurrent-pos

float in

sim-axis-hardware.N.Ucurrent-pos

float in

sim-axis-hardware.N.Vcurrent-pos

float in

sim-axis-hardware.N.Xhomesw-pos

float in (default: 1) The position of the home switch

sim-axis-hardware.N.Yhomesw-pos

float in (default: 1)

sim-axis-hardware.N.Zhomesw-pos

float in (default: 1)

sim-axis-hardware.N.Ahomesw-pos

float in (default: 1)

sim-axis-hardware.N.Uhomesw-pos

float in (default: 1)

sim-axis-hardware.N.Vhomesw-pos

float in (default: 1)

sim-axis-hardware.N.Xmaxsw-upper

float in The upper range of the maximum limit switch, above this is false.

sim-axis-hardware.N.Ymaxsw-upper

float in

sim-axis-hardware.N.Zmaxsw-upper

float in

sim-axis-hardware.N.Amaxsw-upper

float in

sim-axis-hardware.N.Umaxsw-upper

float in

sim-axis-hardware.N.Vmaxsw-upper

float in

sim-axis-hardware.N.Xmaxsw-lower

float in The lower range of the maximum limit switch, below this is false.

sim-axis-hardware.N.Ymaxsw-lower

float in

sim-axis-hardware.N.Zmaxsw-lower

float in

sim-axis-hardware.N.Amaxsw-lower

float in

sim-axis-hardware.N.Umaxsw-lower

float in

sim-axis-hardware.N.Vmaxsw-lower

float in

sim-axis-hardware.N.Xminsw-upper

float in The upper range of the minimum limit switch, above this is false.

sim-axis-hardware.N.Yminsw-upper

float in

sim-axis-hardware.N.Zminsw-upper

float in

sim-axis-hardware.N.Aminsw-upper

float in

sim-axis-hardware.N.Uminsw-upper

float in

sim-axis-hardware.N.Vminsw-upper

float in

sim-axis-hardware.N.Xminsw-lower

float in The lower range of the minimum limit switch, below this is false.

sim-axis-hardware.N.Yminsw-lower

float in

sim-axis-hardware.N.Zminsw-lower

float in

sim-axis-hardware.N.Aminsw-lower

float in

sim-axis-hardware.N.Uminsw-lower

float in

sim-axis-hardware.N.Vminsw-lower

float in

sim-axis-hardware.N.Xhomesw-hyst

float in (default: .02) range that home switch will be true +- half this to the home position

sim-axis-hardware.N.Yhomesw-hyst

float in (default: .02)

sim-axis-hardware.N.Zhomesw-hyst

float in (default: .02)

sim-axis-hardware.N.Ahomesw-hyst

float in (default: .02)

sim-axis-hardware.N.Uhomesw-hyst

float in (default: .02)

sim-axis-hardware.N.Vhomesw-hyst

float in (default: .02)

sim-axis-hardware.N.Xhomesw-out

bit out
Home switch for the X axis

sim-axis-hardware.N.Yhomesw-out

bit out

sim-axis-hardware.N.Zhomesw-out

bit out

sim-axis-hardware.N.Ahomesw-out

bit out

sim-axis-hardware.N.Uhomesw-out

bit out

sim-axis-hardware.N.Vhomesw-out

bit out

sim-axis-hardware.N.homesw-all

bit out

sim-axis-hardware.N.Xmaxsw-out

bit out Max limit switch

sim-axis-hardware.N.Xminsw-out

bit out min limit switch

sim-axis-hardware.N.Xbothsw-out

bit out True for both max and min limit switch

sim-axis-hardware.N.Ymaxsw-out

bit out

sim-axis-hardware.N.Yminsw-out

bit out

sim-axis-hardware.N.Ybothsw-out

bit out

sim-axis-hardware.N.Zmaxsw-out

bit out

sim-axis-hardware.N.Zminsw-out

bit out

sim-axis-hardware.N.Zbothsw-out

bit out

sim-axis-hardware.N.Amaxsw-out

bit out

sim-axis-hardware.N.Aminsw-out

bit out

sim-axis-hardware.N.Abothsw-out

bit out

sim-axis-hardware.N.Umaxsw-out

bit out

sim-axis-hardware.N.Uminsw-out

bit out

sim-axis-hardware.N.Ubothsw-out

bit out

sim-axis-hardware.N.Vmaxsw-out

bit out

sim-axis-hardware.N.Vminsw-out

bit out

sim-axis-hardware.N.Vbothsw-out

bit out

sim-axis-hardware.N.limitsw-all

bit out

sim-axis-hardware.N.limitsw-homesw-all

bit out True for all limits and all home.

sim-axis-hardware.N.Xmaxsw-homesw-out

bit out

sim-axis-hardware.N.Xminsw-homesw-out

bit out

sim-axis-hardware.N.Xbothsw-homesw-out

bit out

sim-axis-hardware.N.Ymaxsw-homesw-out

bit out

sim-axis-hardware.N.Yminsw-homesw-out

bit out

sim-axis-hardware.N.Ybothsw-homesw-out

bit out

sim-axis-hardware.N.Zmaxsw-homesw-out

bit out

sim-axis-hardware.N.Zminsw-homesw-out

bit out

sim-axis-hardware.N.Zbothsw-homesw-out

bit out

sim-axis-hardware.N.Amaxsw-homesw-out

bit out

sim-axis-hardware.N.Aminsw-homesw-out

bit out

sim-axis-hardware.N.Abothsw-homesw-out

bit out

sim-axis-hardware.N.Umaxsw-homesw-out

bit out

sim-axis-hardware.N.Uminsw-homesw-out

bit out

sim-axis-hardware.N.Ubothsw-homesw-out

bit out

sim-axis-hardware.N.Vmaxsw-homesw-out

bit out

sim-axis-hardware.N.Vminsw-homesw-out

bit out

sim-axis-hardware.N.Vbothsw-homesw-out

bit out

sim-axis-hardware.N.limit-offset

float in (default: .01) how much the limit switches are offset from inputed position. added to max, subracted from min

AUTHOR

Chris Morley

LICENSE

GPL