Figure 2.14:
Hexapod IO API
subsystem
The
Hexapod HW API
subsystem, depicted in Figure 2.15, includes the hardware blocks that interface directly to
the hardware actuator and sensors. The HIL Read Timebase block reads the six encoders, status of all six amplifier
drives (e.g., if a fault occurs), and the encoder velocities. Using the Timebase block forces the controller to use the
clock from the data acquisition device for more deterministic sampling when running the controller (as opposed to the
PC system timer). The HIL Write enables the amplifiers and applies the PWM amplitude and direction commands
to the amplifier drives. Finally, HIL Watchdog monitors the controller performance and stops it if a timeout occurs.
HEXAPOD Laboratory Guide
v 1.3
