This component is used to optionally initialize the angle, speed, and/or angular acceleration of the flange to which this component is connected. Via parameters use_phi_start, use_w_start, use_a_start the corresponding input signals phi_start, w_start, a_start are conditionally activated. If an input is activated, the corresponding flange property is initialized with the input value at start time.
For example, if "use_phi_start = true", then flange.phi is initialized with the value of the input signal "phi_start" at the start time.
Additionally, it is optionally possible to define the "StateSelect" attribute of the flange angle and the flange speed via parameter "stateSelection".
This component is especially useful when the initial values of a flange shall be set according to reference signals of a controller that are provided via a signal bus.