SYNOPSIS
loadrt sim_axis_hardware [count=N|names=name1[,name2…]]
DESCRIPTION
This component creates simulated home and limit switches based on the current position. .br It currently can supply simulation for X, tandem X, Y, tandem Y, Z, U, V, and A axes.
FUNCTIONS
- sim-axis-hardware.N.update
PINS
- sim-axis-hardware.N.Xcurrent-pos real in
-
The current position on the axis - eg connect to joint.0.motor-pos-fb
- sim-axis-hardware.N.X2current-pos real in
- sim-axis-hardware.N.Ycurrent-pos real in
- sim-axis-hardware.N.Y2current-pos real in
- sim-axis-hardware.N.Zcurrent-pos real in
- sim-axis-hardware.N.Acurrent-pos real in
- sim-axis-hardware.N.Ucurrent-pos real in
- sim-axis-hardware.N.Vcurrent-pos real in
- sim-axis-hardware.N.Xhomesw-pos real in (default: 1)
-
The position of the home switch
- sim-axis-hardware.N.X2homesw-pos real in (default: 1)
- sim-axis-hardware.N.Yhomesw-pos real in (default: 1)
- sim-axis-hardware.N.Y2homesw-pos real in (default: 1)
- sim-axis-hardware.N.Zhomesw-pos real in (default: 1)
- sim-axis-hardware.N.Ahomesw-pos real in (default: 1)
- sim-axis-hardware.N.Uhomesw-pos real in (default: 1)
- sim-axis-hardware.N.Vhomesw-pos real in (default: 1)
- sim-axis-hardware.N.Xmaxsw-upper real in
-
The upper range of the maximum limit switch, above this is false.
- sim-axis-hardware.N.X2maxsw-upper real in
- sim-axis-hardware.N.Ymaxsw-upper real in
- sim-axis-hardware.N.Y2maxsw-upper real in
- sim-axis-hardware.N.Zmaxsw-upper real in
- sim-axis-hardware.N.Amaxsw-upper real in
- sim-axis-hardware.N.Umaxsw-upper real in
- sim-axis-hardware.N.Vmaxsw-upper real in
- sim-axis-hardware.N.Xmaxsw-lower real in
-
The lower range of the maximum limit switch, below this is false.
- sim-axis-hardware.N.X2maxsw-lower real in
- sim-axis-hardware.N.Ymaxsw-lower real in
- sim-axis-hardware.N.Y2maxsw-lower real in
- sim-axis-hardware.N.Zmaxsw-lower real in
- sim-axis-hardware.N.Amaxsw-lower real in
- sim-axis-hardware.N.Umaxsw-lower real in
- sim-axis-hardware.N.Vmaxsw-lower real in
- sim-axis-hardware.N.Xminsw-upper real in
-
The upper range of the minimum limit switch, above this is false.
- sim-axis-hardware.N.X2minsw-upper real in
- sim-axis-hardware.N.Yminsw-upper real in
- sim-axis-hardware.N.Y2minsw-upper real in
- sim-axis-hardware.N.Zminsw-upper real in
- sim-axis-hardware.N.Aminsw-upper real in
- sim-axis-hardware.N.Uminsw-upper real in
- sim-axis-hardware.N.Vminsw-upper real in
- sim-axis-hardware.N.Xminsw-lower real in
-
The lower range of the minimum limit switch, below this is false.
- sim-axis-hardware.N.X2minsw-lower real in
- sim-axis-hardware.N.Yminsw-lower real in
- sim-axis-hardware.N.Y2minsw-lower real in
- sim-axis-hardware.N.Zminsw-lower real in
- sim-axis-hardware.N.Aminsw-lower real in
- sim-axis-hardware.N.Uminsw-lower real in
- sim-axis-hardware.N.Vminsw-lower real in
- sim-axis-hardware.N.Xhomesw-hyst real in (default: .025)
-
range that home switch will be true +- half this to the home position
- sim-axis-hardware.N.X2homesw-hyst real in (default: .025)
- sim-axis-hardware.N.Yhomesw-hyst real in (default: .025)
- sim-axis-hardware.N.Y2homesw-hyst real in (default: .025)
- sim-axis-hardware.N.Zhomesw-hyst real in (default: .025)
- sim-axis-hardware.N.Ahomesw-hyst real in (default: .025)
- sim-axis-hardware.N.Uhomesw-hyst real in (default: .025)
- sim-axis-hardware.N.Vhomesw-hyst real in (default: .025)
- sim-axis-hardware.N.Xhoming bool in
-
True is homing in progress
- sim-axis-hardware.N.X2homing bool in
- sim-axis-hardware.N.Yhoming bool in
- sim-axis-hardware.N.Y2homing bool in
- sim-axis-hardware.N.Zhoming bool in
- sim-axis-hardware.N.Ahoming bool in
- sim-axis-hardware.N.Uhoming bool in
- sim-axis-hardware.N.Vhoming bool in
- sim-axis-hardware.N.Xhomesw-out bool out
-
Home switch for the X axis
- sim-axis-hardware.N.X2homesw-out bool out
- sim-axis-hardware.N.Yhomesw-out bool out
- sim-axis-hardware.N.Y2homesw-out bool out
- sim-axis-hardware.N.Zhomesw-out bool out
- sim-axis-hardware.N.Ahomesw-out bool out
- sim-axis-hardware.N.Uhomesw-out bool out
- sim-axis-hardware.N.Vhomesw-out bool out
- sim-axis-hardware.N.homesw-all bool out
- sim-axis-hardware.N.Xmaxsw-out bool out
-
Max limit switch
- sim-axis-hardware.N.Xminsw-out bool out
-
min limit switch
- sim-axis-hardware.N.Xbothsw-out bool out
-
True for both max and min limit switch
- sim-axis-hardware.N.X2maxsw-out bool out
- sim-axis-hardware.N.X2minsw-out bool out
- sim-axis-hardware.N.X2bothsw-out bool out
- sim-axis-hardware.N.Ymaxsw-out bool out
- sim-axis-hardware.N.Yminsw-out bool out
- sim-axis-hardware.N.Ybothsw-out bool out
- sim-axis-hardware.N.Y2maxsw-out bool out
- sim-axis-hardware.N.Y2minsw-out bool out
- sim-axis-hardware.N.Y2bothsw-out bool out
- sim-axis-hardware.N.Zmaxsw-out bool out
- sim-axis-hardware.N.Zminsw-out bool out
- sim-axis-hardware.N.Zbothsw-out bool out
- sim-axis-hardware.N.Amaxsw-out bool out
- sim-axis-hardware.N.Aminsw-out bool out
- sim-axis-hardware.N.Abothsw-out bool out
- sim-axis-hardware.N.Umaxsw-out bool out
- sim-axis-hardware.N.Uminsw-out bool out
- sim-axis-hardware.N.Ubothsw-out bool out
- sim-axis-hardware.N.Vmaxsw-out bool out
- sim-axis-hardware.N.Vminsw-out bool out
- sim-axis-hardware.N.Vbothsw-out bool out
- sim-axis-hardware.N.limitsw-all bool out
- sim-axis-hardware.N.limitsw-homesw-all bool out
-
True for all limits and all home.
- sim-axis-hardware.N.Xmaxsw-homesw-out bool out
- sim-axis-hardware.N.Xminsw-homesw-out bool out
- sim-axis-hardware.N.Xbothsw-homesw-out bool out
- sim-axis-hardware.N.X2maxsw-homesw-out bool out
- sim-axis-hardware.N.X2minsw-homesw-out bool out
- sim-axis-hardware.N.X2bothsw-homesw-out bool out
- sim-axis-hardware.N.Ymaxsw-homesw-out bool out
- sim-axis-hardware.N.Yminsw-homesw-out bool out
- sim-axis-hardware.N.Ybothsw-homesw-out bool out
- sim-axis-hardware.N.Y2maxsw-homesw-out bool out
- sim-axis-hardware.N.Y2minsw-homesw-out bool out
- sim-axis-hardware.N.Y2bothsw-homesw-out bool out
- sim-axis-hardware.N.Zmaxsw-homesw-out bool out
- sim-axis-hardware.N.Zminsw-homesw-out bool out
- sim-axis-hardware.N.Zbothsw-homesw-out bool out
- sim-axis-hardware.N.Amaxsw-homesw-out bool out
- sim-axis-hardware.N.Aminsw-homesw-out bool out
- sim-axis-hardware.N.Abothsw-homesw-out bool out
- sim-axis-hardware.N.Umaxsw-homesw-out bool out
- sim-axis-hardware.N.Uminsw-homesw-out bool out
- sim-axis-hardware.N.Ubothsw-homesw-out bool out
- sim-axis-hardware.N.Vmaxsw-homesw-out bool out
- sim-axis-hardware.N.Vminsw-homesw-out bool out
- sim-axis-hardware.N.Vbothsw-homesw-out bool out
- sim-axis-hardware.N.limit-offset real in (default: .01)
-
how much the limit switches are offset from inputted position. added to max, subtracted from min
AUTHOR
Chris S Morley
LICENSE
GPL