This directory contains sub-directories with sample configuration files (JSON and DMC).
- FlashXYZ: Configuration files for SARRP Flash XYZ stages
- EyeRobot3: Configuration files for Eye Robot 3.0
The JSON file contains the following fields:
| Keyword | Default | Description |
|---|---|---|
| file_version | Version of JSON file format | |
| name | Descriptive name | |
| IP_address | "auto" | IP address of Galil controller |
| direct_mode | false | Whether to directly connect to Galil controller |
| model | 0 | Galil model (not recommended for normal use) |
| DR_period_ms | 2 | Requested DR period in msec |
| DMC_file | "" | DMC file to download to Galil controller |
| axes | Array of axis configuration data (see below) | |
| - index | - channel index on Galil controller (0-7} | |
| - type | - prismatic (1) or revolute (2) | |
| - position_bits_to_SI | - conversion scale and offset (*) | |
| -- scale | 1 | -- scale factor |
| -- offset | 0 | -- offset (in bits) |
| - home_pos | 0 | - home position |
| - position_limits | - upper and lower joint position limits | |
| -- lower | -MAX | -- lower position limit |
| -- upper | +MAX | -- upper position limit |
(*) The conversion (position_bits_to_SI) is applied as follows:
value_SI = (value_bits - offset)/scale