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arm_config.toml
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arm_config.toml
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title = "Example robot arm configuration"
# These are the default values, if you set them here they will be used for all joints
# If set again in a joint section, the joint specific value will be used
[joint_configuration]
speed_rad_per_s = 0.35
steps_per_rev_motor_axis = 800 # Microstepping
homing_direction = 1 # 1 or -1
max_angle_rad = 7.0
min_angle_rad = -7.0
conversion_rate_axis_joint = 1.0
homing_offset_rad = 0.0 # Offset from homing position
dir_inverted = 1 # 1 or -1
# Physical parameters of the arm
[arm_parameters]
# J1
a1x= 0
a1y= 0
a1z= 0
# J2
a2x= 0
a2y= 0
a2z= 172.48
# J3
a3x= 0
a3y= 0
a3z= 173.5
# J4
a4x= 126.2
a4y= 0
a4z= 0
# J5
a5x= 64.1
a5y= 0
a5z= 0
# J6
a6x= 169.0
a6z= 0
a6y= 0
# Tool parameters
[tool]
name = "tool"
max_angle_rad = 0.0
min_angle_rad = 0.0
[tool.driver]
type = "servo"
pin = 27
# Joint configuration
[[joints]]
name = "joint_1"
homing_direction = -1 # 1 or -1
conversion_rate_axis_joint = 9.7 # Gear ratio
homing_offset_rad = 0.0 # Offset from home position
speed_rad_per_s = 0.2
[joints.driver]
type = "stepper"
dir_pin = 14
step_pin = 13
# [joints.driver]
# type = "servo"
# pin = 20
[joints.endstop]
type = "none" # none, dummy or hall (hall may work with other sensors)
pin = 26
# [joints.endstop]
# type = "dummy"
[[joints]]
name = "joint_2"
homing_direction = 1
dir_inverted = -1
conversion_rate_axis_joint = 7.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.1
[joints.driver]
type = "stepper"
dir_pin = 5
step_pin = 4
[joints.endstop]
type = "none"
pin = 25
[[joints]]
name = "joint_3"
homing_direction = 1
conversion_rate_axis_joint = 15.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.1
steps_per_rev_motor_axis = 400 # Microstepping
[joints.driver]
type = "stepper"
dir_pin = 16
step_pin = 15
[joints.endstop]
type = "none"
pin = 33
[[joints]]
name = "joint_4"
homing_direction = 1
conversion_rate_axis_joint = 5.0
speed_rad_per_s = 0.3
homing_offset_rad = 0.0
dir_inverted = -1
[joints.driver]
type = "stepper"
dir_pin = 18
step_pin = 17
[joints.endstop]
type = "none"
pin = 32
[[joints]]
name = "joint_5"
homing_direction = 1
conversion_rate_axis_joint = 5.0
homing_offset_rad = 0.0
speed_rad_per_s = 0.4
dir_inverted = -1
[joints.driver]
type = "stepper"
dir_pin = 21
step_pin = 19
[joints.endstop]
type = "none"
pin = 35
[[joints]]
name = "joint_6"
homing_direction = 1
conversion_rate_axis_joint = 1.0
homing_offset_rad = 0.0
dir_inverted = -1
speed_rad_per_s = 0.4
[joints.driver]
type = "stepper"
dir_pin = 23
step_pin = 22
[joints.endstop]
type = "none"
pin = 34