Skip to content

PI Hexapod

Configuring an PI Hexapod motor controller

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

Supported features

Encoder Shutter Trajectories

Specific PI Hexapod controller parameters

  • model: controller model either 850 or 887 (optional)

Specific PI Hexapod axis parameters

  • channel: X,Y,Z,U,V or W

YAML configuration file example

class: PI_HEXA
model: 850
  url: ser2net://lid133:28000/dev/ttyR37
- name: nnx
  channel: X
  low_limit: -0.2
  high_limit: 0.2
- name: nny
  channel: Y
  low_limit: -3.0
  high_limit: 3.0
- name: nnz
  channel: Z
  low_limit: -8.0
  high_limit: 8.0
- name: nnu
  channel: U
  low_limit: -1.0
  high_limit: 1.0
- name: nnv
  channel: V
  low_limit: -1.0
  high_limit: 1.0
- name: nnw
  channel: W
  low_limit: -2.0
  high_limit: 2.0