| SIM_HOME_SWITCH(9) | HAL Component | SIM_HOME_SWITCH(9) |
NAME¶
sim_home_switch - Home switch simulator
SYNOPSIS¶
loadrt sim_home_switch [count=N|names=name1[,name2...]]
DESCRIPTION¶
After tripping home switch, travel in opposite direction is required (amount set by the hysteresis pin). A pin (index-enable) is provided for use when [JOINT_n]HOME_USE_INDEX is specified to reset the I/O pin joint.N.index-enable.
FUNCTIONS¶
PINS¶
- sim-home-switch.N.cur-pos float in
- Current position (typically: joint.n.motor-pos-fb)
- sim-home-switch.N.home-pos float in (default: 1)
- Home switch position
- sim-home-switch.N.hysteresis float in (default: 0.1)
- Travel required to backoff (hysteresis)
- sim-home-switch.N.home-sw bit out
- Home switch activated
- sim-home-switch.N.index-enable bit io
- typ: connect to joint.N.index-enable
- sim-home-switch.N.index-delay-ms float in (default: 10)
- delay in msec to reset index-enable
AUTHOR¶
Dewey Garrett
LICENSE¶
GPL
| 2023-02-10 | LinuxCNC Documentation |