WOLFRAM SYSTEMMODELER
Flange_a1dim. rotational flange of a shaft (filled square icon) 
SystemModel["Modelica.Mechanics.Rotational.Interfaces.Flange_a"]
This information is part of the Modelica Standard Library maintained by the Modelica Association.
This is a connector for 1dim. rotational mechanical systems and models the mechanical flange of a shaft. The following variables are defined in this connector:
phi  Absolute rotation angle of the shaft flange in [rad] 
tau  Cuttorque in the shaft flange in [Nm] 
There is a second connector for flanges: Flange_b. The connectors Flange_a and Flange_b are completely identical. There is only a difference in the icons, in order to easier identify a flange variable in a diagram. For a discussion on the actual direction of the cuttorque tau and of the rotation angle, see section Sign Conventions in the user's guide of Rotational.
If needed, the absolute angular velocity w and the absolute angular acceleration a of the flange can be determined by differentiation of the flange angle phi:
w = der(phi); a = der(w)
Asynchronous induction machine with squirrel cage rotor 

Asynchronous induction machine with slipring rotor 

Permanent magnet synchronous induction machine 

Electrical excited synchronous induction machine with damper cage 

Synchronous induction machine with reluctance rotor and damper cage 

Permanent magnet DC machine 

Electrical shunt/separate excited linear DC machine 

Series excited linear DC machine 

Quasistationary permanent magnet DC machine 

Quasistationary electrical shunt/separate excited linear DC machine 

Quasistationary series excited linear DC machine 

Partial airgap model 

Airgap in statorfixed coordinate system 

Airgap in rotorfixed coordinate system 

Permanent magnet excitation 

Partial airgap model of a DC machine 

Linear airgap model of a DC machine 

Mechanical power = torque x speed 

Rotor lagging angle 

Model of angular velocity dependent friction losses 

Model of stray load losses dependent on current and speed 

Model of permanent magnet losses dependent on current and speed 

Model of stray load losses dependent on current and speed 

Partial model for all machines 

Partial model for induction machine 

Partial model for DC machine 

Shaft and support 

Asynchronous induction machine with squirrel cage 

Asynchronous induction machine with slip ring rotor 

Permanent magnet synchronous machine with optional damper cage 

Electrical excited synchronous machine with optional damper cage 

Reluctance machine with optional damper cage 

Air gap model with rotor saliency 

Permanent magnet represented by magnetic potential difference 

Partial model for induction machine 

Induction machine with squirrel cage 

Induction machine with slip ring rotor 

Permanent magnet synchronous machine with optional damper cage 

Electrical excited synchronous machine with optional damper cage 

Synchronous reluctance machine with optional damper cage 

Air gap model with rotor saliency 

Permanent magnet model without intrinsic reluctance, represented by magnetic potential difference 

Partial model for quasi static multi phase machines 

Model of stray load losses dependent on current and speed 

Model of permanent magnet losses dependent on current and speed 

Motor inertia and gearbox model for r3 joints 1,2,3 

Motor inertia and gearbox model for r3 joints 4,5,6 

Model of the mechanical part of the r3 robot (without animation) 

Connector consisting of 1dim. rotational flange and its bearing frame 

Revolute joint (1 rotational degreeoffreedom, 2 potential states, optional axis flange) 

Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis) 

Universal  spherical  revolute joint aggregation (no constraints, no potential states) 

Spherical  spherical  revolute joint aggregation with mass (no constraints, no potential states) 

Planar revolute  revolute  revolute joint aggregation (no constraints, no potential states) 

Revolute joint where the rotation angle is computed from a length constraint (1 degreeoffreedom, no potential state) 

1D inertia attachable on 3dim. bodies (3D dynamic effects are taken into account if world.driveTrainMechanics3D=true) 

1D inertia attachable on 3dim. bodies (3D dynamic effects are taken into account) 

1D gearbox with arbitrary shaft directions and 3dim. bearing frame (3D dynamic effects are taken into account provided world.driveTrainMechanics3D=true) 

Ideal rolling wheel set consisting of two ideal rolling wheels connected together by an axis 

Linear 1D rotational spring and damper in parallel (phi and w are not used as states) 

1Drotational component with inertia 

1dim. rotational rigid component without inertia, where right flange is rotated by a fixed angle with respect to left flange 

Linear 1D rotational spring 

Linear 1D rotational damper 

Linear 1D rotational spring and damper in parallel 

Backlash connected in series to linear spring and damper (backlash is modeled with elasticity) 

Backlash connected in series to linear spring and damper (backlash is modeled with elasticity; at start of contact the flange torque can jump, contrary to the ElastoBacklash model) 

Coulomb friction in bearings 

Brake based on Coulomb friction 

Clutch based on Coulomb friction 

Series connection of freewheel and clutch 

Ideal gear without inertia 

Gear with mesh efficiency and bearing friction (stuck/rolling possible) 

Ideal planetary gear box 

Realistic model of a gearbox (based on LossyGear) 

Gearbox transforming rotational into translational motion 

Simple 1dim. model of an ideal rolling wheel without inertia 

Definition of relative state variables 

Signal adaptor for a Rotational flange with angle, speed, and acceleration as outputs and torque as input (especially useful for FMUs) 

Ideal sensor to measure the absolute flange angle 

Ideal sensor to measure the absolute flange angular velocity 

Ideal sensor to measure the absolute flange angular acceleration 

Ideal sensor to measure the relative angle between two flanges 

Ideal sensor to measure the relative angular velocity between two flanges 

Ideal sensor to measure the relative angular acceleration between two flanges 

Ideal sensor to measure the torque between two flanges (= flange_a.tau) 

Ideal sensor to measure the power between two flanges (= flange_a.tau*der(flange_a.phi)) 

Ideal sensor to measure the torque and power between two flanges (= flange_a.tau*der(flange_a.phi)) and the absolute angular velocity 

Input signal acting as torque on two flanges 

Adapter model to utilize conditional support connector 

Partial model for a component with two rotational 1dim. shaft flanges 

Partial model for a component with two rotational 1dim. shaft flanges and a support used for graphical modeling, i.e., the model is build up by draganddrop from elementary components 

Partial model for the compliant connection of two rotational 1dim. shaft flanges 

PartialCompliantWithRelativeStates Partial model for the compliant connection of two rotational 1dim. shaft flanges where the relative angle and speed are used as preferred states 

PartialElementaryTwoFlangesAndSupport Obsolete partial model. Use PartialElementaryTwoFlangesAndSupport2. 

PartialElementaryTwoFlangesAndSupport2 Partial model for a component with two rotational 1dim. shaft flanges and a support used for textual modeling, i.e., for elementary models 

PartialElementaryRotationalToTranslational Partial model to transform rotational into translational motion 

Partial model to measure a single absolute flange variable 

Partial model to measure a single relative variable between two flanges 

Gearbox transforming rotational into translational motion 

Simple 1dim. model of an ideal rolling wheel without inertia 

PartialElementaryRotationalToTranslational Partial model to transform rotational into translational motion 

Model of an ideal pump 