expandable connectorAxisControlBus
Data bus for one robot axis
Extends from Modelica.Icons.SignalSubBus (Icon for signal sub-bus).
Information
Signal bus that is used to communicate all signals for one 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.
Components
| Type | Name | Default | Description |
|---|---|---|---|
| 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 |