modelPathToAxisControlBus
Map path planning to one axis control bus
Extends from Modelica.Blocks.Icons.Block (Basic graphical layout of input/output block).
Information
This model stores the 4 reference variables q, qd, qdd, moving from the path planning on the axis control bus.
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Integer | nAxis | 6 | Number of driven axis |
| Integer | axisUsed | 1 | Map path planning of axisUsed to axisControlBus |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Blocks.Interfaces.RealInput[nAxis] | q | ||
| Blocks.Interfaces.RealInput[nAxis] | qd | ||
| Blocks.Interfaces.RealInput[nAxis] | qdd | ||
| AxisControlBus | axisControlBus | ||
| Blocks.Interfaces.BooleanInput[nAxis] | moving |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Blocks.Routing.RealPassThrough | q_axisUsed | ||
| Blocks.Routing.RealPassThrough | qd_axisUsed | ||
| Blocks.Routing.RealPassThrough | qdd_axisUsed | ||
| Blocks.Routing.BooleanPassThrough | motion_ref_axisUsed |