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)

Specific PI Hexapod axis parameters¶

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

YAML configuration file example¶

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