WOLFRAM SYSTEM MODELER
PathToAxisControlBusMap path planning to one axis control bus |
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Diagram
Wolfram Language
In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities.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)
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q |
Type: RealInput[nAxis] Description: 'input Real' as connector |
|---|---|---|
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qd |
Type: RealInput[nAxis] Description: 'input Real' as connector |
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qdd |
Type: RealInput[nAxis] Description: 'input Real' as connector |
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axisControlBus |
Type: AxisControlBus Description: Data bus for one robot axis |
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moving |
Type: BooleanInput[nAxis] Description: 'input Boolean' as connector |
Components (4)
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q_axisUsed |
Type: RealPassThrough Description: Pass a Real signal through without modification |
|---|---|---|
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qd_axisUsed |
Type: RealPassThrough Description: Pass a Real signal through without modification |
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qdd_axisUsed |
Type: RealPassThrough Description: Pass a Real signal through without modification |
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motion_ref_axisUsed |
Type: BooleanPassThrough Description: Pass a Boolean signal through without modification |
Used in Components (2)
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities Generate reference angles for fastest kinematic movement |
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Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities Generate reference angles for fastest kinematic movement |