WOLFRAM SYSTEM MODELER

AxisControlBus

Data bus for one robot axis

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities.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)

PathToAxisControlBus

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities

Map path planning to one axis control bus

Motor

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities

Motor model including current controller of r3 motors

Controller

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities

P-PI cascade controller for one axis

AxisType2

Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities

Axis model of the r3 joints 4,5,6