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

Information

This package contains the "actual" default bus definitions needed for the robot example. The bus definitions in this package are the default definitions shown in the bus menu when connecting a signal to an expandable connector (here: ControlBus or AxisControlBus). Usually, the connectors of this package should not be utilized by a user.

Package Content

Name	Description
AxisControlBus	Data bus for one robot axis
ControlBus	Data bus for all axes of robot

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

Information

Contents

Type	Name	Description
Boolean	motion_ref	= true, if reference motion is not in rest
Angle	angle_ref	Reference angle of axis flange [rad]
Angle	angle	Angle of axis flange [rad]
AngularVelocity	speed_ref	Reference speed of axis flange [rad/s]
AngularVelocity	speed	Speed of axis flange [rad/s]
AngularAcceleration	acceleration_ref	Reference acceleration of axis flange [rad/s2]
AngularAcceleration	acceleration	Acceleration of axis flange [rad/s2]
Current	current_ref	Reference current of motor [A]
Current	current	Current of motor [A]
Angle	motorAngle	Angle of motor flange [rad]
AngularVelocity	motorSpeed	Speed of motor flange [rad/s]

Modelica definition

expandable connector AxisControlBus "Data bus for one robot axis"
  extends Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus;
  import SI = Modelica.SIunits;

  Boolean motion_ref "= true, if reference motion is not in rest";
  SI.Angle angle_ref "Reference angle of axis flange";
  SI.Angle angle "Angle of axis flange";
  SI.AngularVelocity speed_ref "Reference speed of axis flange";
  SI.AngularVelocity speed "Speed of axis flange";
  SI.AngularAcceleration acceleration_ref 
    "Reference acceleration of axis flange";
  SI.AngularAcceleration acceleration "Acceleration of axis flange";
  SI.Current current_ref "Reference current of motor";
  SI.Current current "Current of motor";
  SI.Angle motorAngle "Angle of motor flange";
  SI.AngularVelocity motorSpeed "Speed of motor flange";
end AxisControlBus;

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

Information

Contents

Type	Name	Description
AxisControlBus	axisControlBus1	Bus of axis 1
AxisControlBus	axisControlBus2	Bus of axis 2
AxisControlBus	axisControlBus3	Bus of axis 3
AxisControlBus	axisControlBus4	Bus of axis 4
AxisControlBus	axisControlBus5	Bus of axis 5
AxisControlBus	axisControlBus6	Bus of axis 6

Modelica definition

expandable connector ControlBus "Data bus for all axes of robot"
  extends Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.ControlBus;
  Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus
    axisControlBus1 "Bus of axis 1";
  Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus
    axisControlBus2 "Bus of axis 2";
  Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus
    axisControlBus3 "Bus of axis 3";
  Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus
    axisControlBus4 "Bus of axis 4";
  Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus
    axisControlBus5 "Bus of axis 5";
  Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisControlBus
    axisControlBus6 "Bus of axis 6";

/*
  parameter Integer naxis=6 "Number of axes";
  Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.Internal.AxisControlBus
    axisControlBus[naxis];
*/
end ControlBus;