68 lines
1.5 KiB
YAML
68 lines
1.5 KiB
YAML
# Macros: AX_ID, AX_NAME, AX_UNIT (default mm).
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# Simulated leg: external trajectory from IK and ideal encoder feedback.
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# Leg positions are strokes relative to nominal home lengths.
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# WARNING: Command normal hexapod motion through the virt coordinate axes.
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# Independent phys/leg moves can produce infeasible or ambiguous poses and
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# cause forward kinematics to fail. Reserve direct leg moves for controlled
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# simulation/commissioning checks; joint clearance and collisions are not checked.
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axis:
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id: ${AX_ID}
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group: phys
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type: virtual
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parameters: "restoreMotorSoftLims=1;"
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features:
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allowSrcChangeWhenEnabled: true
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autoEnable:
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atStartup: false
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enableTimeout: 1.0
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disableTimeout: 2.0
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epics:
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name: ${AX_NAME}
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precision: 4
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unit: ${AX_UNIT=mm}
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motorRecord:
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enable: true
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description: "Hexapod ${AX_NAME}"
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encoder:
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type: 0
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source: 1
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numerator: 1
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denominator: 1
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bits: 32
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# External feedback is supplied by the C++ ideal plant; no EtherCAT position link.
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trajectory:
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source: 1
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axis:
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velocity: 1
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acceleration: 10
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deceleration: 10
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input:
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limit:
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forward: ec0.s-1.ONE.0
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backward: ec0.s-1.ONE.0
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home: ec0.s-1.ZERO.0
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softlimits:
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enable: false
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monitoring:
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target:
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enable: true
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tolerance: 0.01 # mm
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# Consecutive cycles within tolerance: 100 ms at 1 kHz.
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time: 100
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lag:
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enable: false
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tolerance: 0.1
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time: 100
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velocity:
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enable: false
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max: 0
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time:
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trajectory: 100
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drive: 100
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