# VNM Controller

The VNM Controller output sends actuator positions to a **VNM** motion platform over a serial connection. It supports up to 9 output channels with 16-bit position resolution, making it suitable for complex multi-axis setups including hexapods and multi-DOF platforms.

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## Setup Steps

1. Connect your VNM controller to your PC via USB.
2. In DR Sim Manager, go to the **Outputs** tab and click the **+** tab.
3. Select **VNM Controller** from the list.
4. Select your **COM port** from the dropdown (click **Refresh** if it's not listed).
5. Adjust the **Output Rate** if needed (default: 2 ms).
6. Map each channel to the appropriate sim component actuator.
7. The output connects automatically once a valid COM port is selected.

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## Settings

### Serial Port

Select the COM port that your VNM controller is connected to from the dropdown. Click **Refresh** to rescan for available ports if you connected the controller after opening DR Sim Manager.

The connection uses a **fixed baud rate of 250,000** with **16-bit position values**.

### Output Rate

Adjust the output rate (in milliseconds) to control how frequently position updates are sent to the controller. The default is **2 ms** (500 Hz).

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## Axis Mapping

Map each of the 9 available channels to a specific sim component axis. For each channel, you can configure:

- **Device** — Select the sim component (e.g., your hexapod, seat mover, or other hardware)
- **Actuator** — Select which actuator output to send on this channel

You do not need to map all 9 channels. Unmapped channels will send a neutral (centered) position value.

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## Connection Behavior

The VNM controller does not require any special startup or shutdown procedures. DR Sim Manager opens the serial port and immediately begins sending position data at the configured output rate. When disconnecting, the serial port is closed cleanly.

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## Troubleshooting

### Actuators not responding

1. **Check the COM port** — Confirm the correct port is selected. Open **Device Manager > Ports (COM & LPT)** to verify.
2. **Check axis mapping** — Make sure at least one channel has both a Device and Actuator selected.
3. **Check USB connection** — Use a data-capable USB cable and try a different USB port.

### COM port not listed or "Access Denied"

See [Serial Output Not Working](../frequently-asked-questions/serial-output-not-working.md) for general COM port troubleshooting steps.