Machinekit

Machinekit

Machinekit Documentation

HAL Component — SIM_AXIS_HARDWARE

INSTANTIABLE COMPONENTS — General

All instantiable components can be loaded in two manners

Using loadrt with or without count= | names= parameters as per legacy components
Using newinst, which names the instance and allows further parameters and arguments
primarily pincount= which can set the number of pins created for that instance (where applicable)

NAME

sim_axis_hardware — A component to simulate home and limit switches

SYNOPSIS

sim_axis_hardware

USAGE SYNOPSIS

loadrt sim_axis_hardware
OR
newinst sim_axis_hardware <newinstname> [ pincount=N | iprefix=prefix ] [instanceparamX=X | argX=X ]

( args in [ ] denote possible args and parameters, may not be used in all components )

DESCRIPTION

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

FUNCTIONS

sim_axis_hardware.N.update.funct ( OR <newinstname>.update.funct (requires a floating-point thread) )

PINS

sim_axis_hardware.N.Xcurrent-pos float in ( OR <newinstname>.Xcurrent-pos float in ) - The current position on the axis - eg connect to axis.0.joint-pos-fb

sim_axis_hardware.N.Ycurrent-pos float in ( OR <newinstname>.Ycurrent-pos float in )

sim_axis_hardware.N.Zcurrent-pos float in ( OR <newinstname>.Zcurrent-pos float in )

sim_axis_hardware.N.Acurrent-pos float in ( OR <newinstname>.Acurrent-pos float in )

sim_axis_hardware.N.Xhomesw-pos float in (default: 1) ( OR <newinstname>.Xhomesw-pos float in (default: 1) ) - The position of the home switch

sim_axis_hardware.N.Yhomesw-pos float in (default: 1) ( OR <newinstname>.Yhomesw-pos float in (default: 1) )

sim_axis_hardware.N.Zhomesw-pos float in (default: 1) ( OR <newinstname>.Zhomesw-pos float in (default: 1) )

sim_axis_hardware.N.Ahomesw-pos float in (default: 1) ( OR <newinstname>.Ahomesw-pos float in (default: 1) )

sim_axis_hardware.N.Xmaxsw-upper float in ( OR <newinstname>.Xmaxsw-upper float in ) - The upper range of the maximum limit switch, above this is false.

sim_axis_hardware.N.Ymaxsw-upper float in ( OR <newinstname>.Ymaxsw-upper float in )

sim_axis_hardware.N.Zmaxsw-upper float in ( OR <newinstname>.Zmaxsw-upper float in )

sim_axis_hardware.N.Amaxsw-upper float in ( OR <newinstname>.Amaxsw-upper float in )

sim_axis_hardware.N.Xmaxsw-lower float in ( OR <newinstname>.Xmaxsw-lower float in ) - The lower range of the maximum limit switch, below this is false.

sim_axis_hardware.N.Ymaxsw-lower float in ( OR <newinstname>.Ymaxsw-lower float in )

sim_axis_hardware.N.Zmaxsw-lower float in ( OR <newinstname>.Zmaxsw-lower float in )

sim_axis_hardware.N.Amaxsw-lower float in ( OR <newinstname>.Amaxsw-lower float in )

sim_axis_hardware.N.Xminsw-upper float in ( OR <newinstname>.Xminsw-upper float in ) - The upper range of the minimum limit switch, above this is false.

sim_axis_hardware.N.Yminsw-upper float in ( OR <newinstname>.Yminsw-upper float in )

sim_axis_hardware.N.Zminsw-upper float in ( OR <newinstname>.Zminsw-upper float in )

sim_axis_hardware.N.Aminsw-upper float in ( OR <newinstname>.Aminsw-upper float in )

sim_axis_hardware.N.Xminsw-lower float in ( OR <newinstname>.Xminsw-lower float in ) - The lower range of the minimum limit switch, below this is false.

sim_axis_hardware.N.Yminsw-lower float in ( OR <newinstname>.Yminsw-lower float in )

sim_axis_hardware.N.Zminsw-lower float in ( OR <newinstname>.Zminsw-lower float in )

sim_axis_hardware.N.Aminsw-lower float in ( OR <newinstname>.Aminsw-lower float in )

sim_axis_hardware.N.Xhomesw-hyst float in (default: 0.02) ( OR <newinstname>.Xhomesw-hyst float in (default: 0.02) ) - range that home switch will be true +- half this to the home position

sim_axis_hardware.N.Yhomesw-hyst float in (default: 0.02) ( OR <newinstname>.Yhomesw-hyst float in (default: 0.02) )

sim_axis_hardware.N.Zhomesw-hyst float in (default: 0.02) ( OR <newinstname>.Zhomesw-hyst float in (default: 0.02) )

sim_axis_hardware.N.Ahomesw-hyst float in (default: 0.02) ( OR <newinstname>.Ahomesw-hyst float in (default: 0.02) )

sim_axis_hardware.N.Xhomesw-out bit out ( OR <newinstname>.Xhomesw-out bit out ) - Home switch for the X axis

sim_axis_hardware.N.Yhomesw-out bit out ( OR <newinstname>.Yhomesw-out bit out )

sim_axis_hardware.N.Zhomesw-out bit out ( OR <newinstname>.Zhomesw-out bit out )

sim_axis_hardware.N.Ahomesw-out bit out ( OR <newinstname>.Ahomesw-out bit out )

sim_axis_hardware.N.homesw-all bit out ( OR <newinstname>.homesw-all bit out )

sim_axis_hardware.N.Xmaxsw-out bit out ( OR <newinstname>.Xmaxsw-out bit out ) - Max limit switch

sim_axis_hardware.N.Xminsw-out bit out ( OR <newinstname>.Xminsw-out bit out ) - min limit switch

sim_axis_hardware.N.Xbothsw-out bit out ( OR <newinstname>.Xbothsw-out bit out ) - True for both max and min limit switch

sim_axis_hardware.N.Ymaxsw-out bit out ( OR <newinstname>.Ymaxsw-out bit out )

sim_axis_hardware.N.Yminsw-out bit out ( OR <newinstname>.Yminsw-out bit out )

sim_axis_hardware.N.Ybothsw-out bit out ( OR <newinstname>.Ybothsw-out bit out )

sim_axis_hardware.N.Zmaxsw-out bit out ( OR <newinstname>.Zmaxsw-out bit out )

sim_axis_hardware.N.Zminsw-out bit out ( OR <newinstname>.Zminsw-out bit out )

sim_axis_hardware.N.Zbothsw-out bit out ( OR <newinstname>.Zbothsw-out bit out )

sim_axis_hardware.N.Amaxsw-out bit out ( OR <newinstname>.Amaxsw-out bit out )

sim_axis_hardware.N.Aminsw-out bit out ( OR <newinstname>.Aminsw-out bit out )

sim_axis_hardware.N.Abothsw-out bit out ( OR <newinstname>.Abothsw-out bit out )

sim_axis_hardware.N.limitsw-all bit out ( OR <newinstname>.limitsw-all bit out )

sim_axis_hardware.N.limitsw-homesw-all bit out ( OR <newinstname>.limitsw-homesw-all bit out ) - True for all limits and all home.

sim_axis_hardware.N.Xmaxsw-homesw-out bit out ( OR <newinstname>.Xmaxsw-homesw-out bit out )

sim_axis_hardware.N.Xminsw-homesw-out bit out ( OR <newinstname>.Xminsw-homesw-out bit out )

sim_axis_hardware.N.Xbothsw-homesw-out bit out ( OR <newinstname>.Xbothsw-homesw-out bit out )

sim_axis_hardware.N.Ymaxsw-homesw-out bit out ( OR <newinstname>.Ymaxsw-homesw-out bit out )

sim_axis_hardware.N.Yminsw-homesw-out bit out ( OR <newinstname>.Yminsw-homesw-out bit out )

sim_axis_hardware.N.Ybothsw-homesw-out bit out ( OR <newinstname>.Ybothsw-homesw-out bit out )

sim_axis_hardware.N.Zmaxsw-homesw-out bit out ( OR <newinstname>.Zmaxsw-homesw-out bit out )

sim_axis_hardware.N.Zminsw-homesw-out bit out ( OR <newinstname>.Zminsw-homesw-out bit out )

sim_axis_hardware.N.Zbothsw-homesw-out bit out ( OR <newinstname>.Zbothsw-homesw-out bit out )

sim_axis_hardware.N.Amaxsw-homesw-out bit out ( OR <newinstname>.Amaxsw-homesw-out bit out )

sim_axis_hardware.N.Aminsw-homesw-out bit out ( OR <newinstname>.Aminsw-homesw-out bit out )

sim_axis_hardware.N.Abothsw-homesw-out bit out ( OR <newinstname>.Abothsw-homesw-out bit out )

sim_axis_hardware.N.limit-offset float in (default: 0.01) ( OR <newinstname>.limit-offset float in (default: 0.01) ) - how much the limit switches are offset from inputed position. added to max, subracted from min

AUTHOR

Chris Morley

LICENCE

GPL