SIM_AXIS_HARDWARE(9)

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. .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 (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: .025)
    range that home switch will be true +- half this to the home position

sim-axis-hardware.N.X2homesw-hyst float in (default: .025)

sim-axis-hardware.N.Yhomesw-hyst float in (default: .025)

sim-axis-hardware.N.Y2homesw-hyst float in (default: .025)

sim-axis-hardware.N.Zhomesw-hyst float in (default: .025)

sim-axis-hardware.N.Ahomesw-hyst float in (default: .025)

sim-axis-hardware.N.Uhomesw-hyst float in (default: .025)

sim-axis-hardware.N.Vhomesw-hyst float in (default: .025)

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 S Morley

LICENSE

GPL