WOLFRAM SYSTEM MODELER
AxisControlBusData bus for one robot axis |
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Wolfram Language
In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus"]
Out[1]:=
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Signal bus that is used to communicate all signals for one axis. This is an expandable connector which has a "default" set of signals. Note, the input/output causalities of the signals are determined from the connections to this bus.
Connector Variables (11)
| motion_ref |
Causality: None Type: Boolean Description: = true, if reference motion is not in rest |
|---|---|
| angle_ref |
Causality: None Type: Angle (rad) Description: Reference angle of axis flange |
| angle |
Causality: None Type: Angle (rad) Description: Angle of axis flange |
| speed_ref |
Causality: None Type: AngularVelocity (rad/s) Description: Reference speed of axis flange |
| speed |
Causality: None Type: AngularVelocity (rad/s) Description: Speed of axis flange |
| acceleration_ref |
Causality: None Type: AngularAcceleration (rad/s²) Description: Reference acceleration of axis flange |
| acceleration |
Causality: None Type: AngularAcceleration (rad/s²) Description: Acceleration of axis flange |
| current_ref |
Causality: None Type: Current (A) Description: Reference current of motor |
| current |
Causality: None Type: Current (A) Description: Current of motor |
| motorAngle |
Causality: None Type: Angle (rad) Description: Angle of motor flange |
| motorSpeed |
Causality: None Type: AngularVelocity (rad/s) Description: Speed of motor flange |
Used in Components (4)
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components Map path planning to one axis control bus |
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components Motor model including current controller of r3 motors |
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components P-PI cascade controller for one axis |
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components Axis model of the r3 joints 4,5,6 |