WOLFRAM SYSTEMMODELER

PathToAxisControlBus

Map path planning to one axis control bus

Diagram

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.PathToAxisControlBus"]
Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

This model stores the 4 reference variables q, qd, qdd, moving from the path planning on the axis control bus.

Parameters (2)

nAxis

Value: 6

Type: Integer

Description: Number of driven axis

axisUsed

Value: 1

Type: Integer

Description: Map path planning of axisUsed to axisControlBus

Connectors (5)

q

Type: RealInput[nAxis]

qd

Type: RealInput[nAxis]

qdd

Type: RealInput[nAxis]

axisControlBus

Type: AxisControlBus

moving

Type: BooleanInput[nAxis]

Components (4)

q_axisUsed

Type: RealPassThrough

qd_axisUsed

Type: RealPassThrough

qdd_axisUsed

Type: RealPassThrough

motion_ref_axisUsed

Type: BooleanPassThrough

Used in Components (2)

PathPlanning1

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components

Generate reference angles for fastest kinematic movement

PathPlanning6

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components

Generate reference angles for fastest kinematic movement