Module mirka

This repository houses the Viam module for Mirka robotic sanding hardware.

Model viam:mirka:airos-550cv

Drives a Mirka AIROS 550CV orbital sander through its motor drive cabinet over Modbus RTU. Reports spindle speed, tool and drive temperatures, and decoded alarm flags, and accepts start, stop and speed commands.

The drive's ON/OFF state is a hardware line (DI1), so this model controls RUN/STOP and the speed setpoint only.

Configuration for airos-550cv model

The following attribute template can be used to configure this model:

{
    "serial_path": <string>,
    "baud_rate": <uint>,
    "parity": <string>,
    "slave_address": <uint8>,
    "default_rpm": <uint16>,
    "timeout_ms": <uint>
}

Attributes

The following attributes are available for this model:

Name	Type	Inclusion	Description	Default
serial_path	string	Required	Serial device for the drive cabinet, e.g. /dev/ttyUSB0.
baud_rate	uint	Optional	Modbus RTU baud rate.	19200
parity	string	Optional	Serial parity, one of E, N, O.	E
slave_address	uint8	Optional	Modbus unit ID of the drive cabinet.	86
default_rpm	uint16	Optional	Speed used by start when no rpm is given. Must be within 4000–10000.	8000
timeout_ms	uint	Optional	Modbus request timeout.	1000

Speed is limited to 4000–10000 RPM. start and set_speed reject values outside that range.

Example Configuration

{
    "serial_path": "/dev/ttyUSB0",
    "default_rpm": 8000
}

DoCommand

Every command is a map with a command key naming the operation, plus that command's parameters alongside it:

{ "command": "<name>", ... }

start DoCommand

Starts the spindle. Uses default_rpm unless rpm is supplied.

{ "command": "start", "rpm": 6000 }

Response:

{ "running": true, "rpm": 6000 }

stop DoCommand

Stops the spindle.

{ "command": "stop" }

Response:

{ "running": false }

set_speed DoCommand

Writes the speed setpoint without changing the run state. rpm is required.

{ "command": "set_speed", "rpm": 7500 }

Response:

{ "rpm": 7500 }

status DoCommand

Returns the same payload as GetStatus.

{ "command": "status" }

Response:

{
    "running": true,
    "speed_setpoint_rpm": 8000,
    "average_speed_rpm": 7980,
    "tool_temp_c": 41,
    "drive_temp_c": 38,
    "operation_state": "RUN",
    "alarm_status": 0,
    "alarm_flags": []
}

operation_state may name more than one state at once, e.g. OFF+STOP for an idle drive. Possible states are RUN, STOP, ON, OFF, TOOL_CHANGE_START, TOOL_CHANGE_END, WRITE_PROTECTION_DISABLE and WRITE_PROTECTION_ENABLE.

alarm_flags decodes alarm_status into names: tool_overheated, motor_drive_overheated, over_current, under_voltage, over_voltage, self_test_running, rpm_drop, high_current, tool_change_in_progress, tool_wiring_fault, factory_reset_mode, write_protection_disabled.

Closing the component issues a best-effort STOP, so a crash or reconfigure does not leave the spindle spinning.