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, tandem X, Y, tandem 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.X2current-pos float in
sim-axis-hardware.
N.Ycurrent-pos float in
sim-axis-hardware.
N.Y2current-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.X2homesw-pos float in (default: 1)
sim-axis-hardware.
N.Yhomesw-pos float in (default: 1)
sim-axis-hardware.
N.Y2homesw-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.X2maxsw-upper float in
sim-axis-hardware.
N.Ymaxsw-upper float in
sim-axis-hardware.
N.Y2maxsw-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.X2maxsw-lower float in
sim-axis-hardware.
N.Ymaxsw-lower float in
sim-axis-hardware.
N.Y2maxsw-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.X2minsw-upper float in
sim-axis-hardware.
N.Yminsw-upper float in
sim-axis-hardware.
N.Y2minsw-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.X2minsw-lower float in
sim-axis-hardware.
N.Yminsw-lower float in
sim-axis-hardware.
N.Y2minsw-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.X2homesw-hyst float in (default: .02)
sim-axis-hardware.
N.Yhomesw-hyst float in (default: .02)
sim-axis-hardware.
N.Y2homesw-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.Xhoming bit in

True is homing in progress

sim-axis-hardware.N.X2homing bit in
sim-axis-hardware.
N.Yhoming bit in
sim-axis-hardware.
N.Y2homing bit in
sim-axis-hardware.
N.Zhoming bit in
sim-axis-hardware.
N.Ahoming bit in
sim-axis-hardware.
N.Uhoming bit in
sim-axis-hardware.
N.Vhoming bit in
sim-axis-hardware.
N.Xhomesw-out bit out

Home switch for the X axis

sim-axis-hardware.N.X2homesw-out bit out
sim-axis-hardware.
N.Yhomesw-out bit out
sim-axis-hardware.
N.Y2homesw-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.X2maxsw-out bit out
sim-axis-hardware.
N.X2minsw-out bit out
sim-axis-hardware.
N.X2bothsw-out bit out
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.Y2maxsw-out bit out
sim-axis-hardware.
N.Y2minsw-out bit out
sim-axis-hardware.
N.Y2bothsw-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.X2maxsw-homesw-out bit out
sim-axis-hardware.
N.X2minsw-homesw-out bit out
sim-axis-hardware.
N.X2bothsw-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.Y2maxsw-homesw-out bit out
sim-axis-hardware.
N.Y2minsw-homesw-out bit out
sim-axis-hardware.
N.Y2bothsw-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