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.

Caution

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.

Rotary Hexapod UI with DOF Reality P6 Preset

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.

Controller 1 Output Settings

Controller 2:

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

Controller 2 Output Settings

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.