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AxisControlBus.mo
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AxisControlBus.mo
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within Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities;
expandable connector AxisControlBus "Data bus for one robot axis"
extends Modelica.Icons.SignalSubBus;
Boolean motion_ref "= true, if reference motion is not in rest" annotation(HideResult=false);
SI.Angle angle_ref "Reference angle of axis flange" annotation(HideResult=false);
SI.Angle angle "Angle of axis flange" annotation(HideResult=false);
SI.AngularVelocity speed_ref "Reference speed of axis flange" annotation(HideResult=false);
SI.AngularVelocity speed "Speed of axis flange" annotation(HideResult=false);
SI.AngularAcceleration acceleration_ref
"Reference acceleration of axis flange" annotation(HideResult=false);
SI.AngularAcceleration acceleration "Acceleration of axis flange" annotation(HideResult=false);
SI.Current current_ref "Reference current of motor" annotation(HideResult=false);
SI.Current current "Current of motor" annotation(HideResult=false);
SI.Angle motorAngle "Angle of motor flange" annotation(HideResult=false);
SI.AngularVelocity motorSpeed "Speed of motor flange" annotation(HideResult=false);
annotation (defaultComponentPrefixes="protected",
Icon(coordinateSystem(preserveAspectRatio=true, extent={{-100,
-100},{100,100}})),
Documentation(info="<html>
<p>
Signal bus that is used to communicate all signals for <strong>one</strong> 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.
</p>
</html>"));
end AxisControlBus;