# DOF Reality Simulators

DR Sim Manager includes built-in preset configurations for DOF Reality motion simulators. These presets load all the correct rig dimensions, actuator settings, and axis limits automatically — no manual measurement required.

## Supported Models

* **DOF Reality P6** — 6-DoF rotary hexapod platform

> More DOF Reality models may be supported in future updates.

## P6/P6R

### Sim Config Setup

1. In the **Sim Config** tab, click the **"+"** tab to add a new sim type.
2. Select **Rotary Hexapod (6-DoF)** from the dropdown.
3. Select **DOF Reality P6** from the Preset dropdown.
4. All dimensions, crank angles, rod lengths, motor directions, and axis limits are loaded automatically.

> **Important**: Do not modify the preset values unless you have physically altered your P6 hardware. The preset values are calibrated to match the factory geometry of the DOF Reality P6.

<figure><img src="/files/IPYKtwhAFq2tRxvgrW8g" alt=""><figcaption><p>Rotary Hexapod UI with DOF Reality P6 Preset</p></figcaption></figure>

### Output Setup

The P6/P6R/H6 simulators have **two SMC3 controllers**, each with its own USB connection to the computer. Each controller appears as a separate COM port in DR Sim Manager.

**Controller 1:**

1. In the **Output** tab, click the **"+"** tab to add a new output.
2. Select **SMC3 Serial Output** from the list.
3. Name the output **Controller 1**.
4. Set the COM Port that corresponds to Controller 1.
5. Set port mapping following the image below.

<figure><img src="/files/1wHHS74ypEC7rzaV17V2" alt=""><figcaption><p>Controller 1 Output Settings</p></figcaption></figure>

**Controller 2:**

6. Repeat steps 1–5 for Controller 2, selecting the second COM port.

<figure><img src="/files/vBhYdY9Cw7ryEWxJ4tgN" alt=""><figcaption><p>Controller 2 Output Settings</p></figcaption></figure>

> **Tip**: If your Roll axis is inverted (platform rolls the wrong direction), try swapping the COM ports between Controller 1 and Controller 2.

### Common Issues

* **Roll or other axes inverted** — Swap the COM port assignments between Controller 1 and Controller 2. The controllers are physically interchangeable, so swapping USB connections (or COM port assignments in DRSM) resolves most inversion issues.
* **Only 3 actuators respond** — Ensure both controllers are connected and both COM ports are correctly assigned. Each controller drives 3 of the 6 actuators.
* **Jerky or inconsistent motion** — Verify you are using the **DOF Reality P6** preset and have not modified the default values. Incorrect dimensions on a rotary hexapod cause severe motion artifacts.
* **COM port not appearing** — Install the latest drivers for the SMC3 controllers. Check Windows Device Manager to confirm both controllers are detected.


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