Symetrie Hexapod

Configuring a Symetrie Hexapod motor controller

This chapter explains how to configure a Symetrie Hexapod motor controller.

Supported features

Encoder	Shutter	Trajectories
NO	NO	NO

Specific Symetrie Hexapod controller parameters

• version: 1 or 2 (optional, should be detected automaticaly but recommanded)

Specific Symetrie Hexapod axis parameters

• role: virtual axis in 3D -> 3 translations and 3 rotation.
• tx: X translation
• ty: Y translation
• tz: Z translation
• rx: Rotation on X
• ry: Rotation on Y
• rz: Rotation on Z

YAML configuration file example

class: SHexapod
version: 2          # (optional)
tcp:
    url: id99hexa1
axes:
    - name: h1tx
      role: tx
      unit: mm
    - name: h1ty
      role: ty
      unit: mm
    - name: h1tz
      role: tz
      unit: mm
    - name: h1rx
      role: rx
      unit: deg
    - name: h1ry
      role: ry
      unit: deg
    - name: h1rz
      role: rz
      unit: deg