SIM_AXIS_HARDWARE

NAME

sim_axis_hardware - A component to simulate home and limit switches

SYNOPSIS

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 inputted position. added to max, subtracted from min

AUTHOR

Chris Morley

LICENSE

GPL