PI Hexapod

Configuring an PI Hexapod motor controller¶

This chapter explains how to configure an PI Hexapod motor controller.

Supported features¶

Encoder	Shutter	Trajectories
NO	NO	NO

Specific PI Hexapod controller parameters¶

model: controller model either 850 or 887 (optional)

Model 850 is communicating via serial line and model 887 via tcp sockets.

Specific PI Hexapod axis parameters¶

channel: X,Y,Z,U,V or W

YAML configuration file example¶

For 850 model:

class: PI_HEXA
model: 850
serial:
  url: ser2net://lid133:28000/dev/ttyR37

For 887 model:

class: PI_HEXA
model: 887
tcp:
    url: pihexaid031

Followed by axes configuration:

axes:
- name: nnx
  channel: X
  low_limit: -0.2
  high_limit: 0.2
  steps_per_unit: 1
  tolerance: 0.001
- name: nny
  channel: Y
  low_limit: -3.0
  high_limit: 3.0
  steps_per_unit: 1
  tolerance: 0.001
- name: nnz
  channel: Z
  low_limit: -8.0
  high_limit: 8.0
  steps_per_unit: 1
  tolerance: 0.001
- name: nnu
  channel: U
  low_limit: -1.0
  high_limit: 1.0
  steps_per_unit: 1
  tolerance: 0.001
- name: nnv
  channel: V
  low_limit: -1.0
  high_limit: 1.0
  steps_per_unit: 1
  tolerance: 0.001
- name: nnw
  channel: W
  low_limit: -2.0
  high_limit: 2.0
  steps_per_unit: 1
  tolerance: 0.001

Specific PI Hexapod methods on axis¶

get_hw_limits() : returns hardware set limits. Can help to setup software limits.
get_rotation_origin()/set_rotation_origin() : change origin point for rotations