InitializeFlange
Initializes a flange with pre-defined position, speed and acceleration (usually, this is reference data from a control bus)
Library
Mechanics/Translational/Components
Description
This component is used to optionally initialize the position, speed, and/or acceleration of the flange to which this component is connected. Via parameters use_s_start, use_v_start, use_a_start the corresponding input signals s_start, v_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_s_start = true", then flange.s is initialized with the value of the input signal "s_start" at the start time.
Additionally, it is optionally possible to define the "StateSelect" attribute of the flange position 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.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_use_s_start | use_s_start | = true, if initial position is defined by input s_start, otherwise not initialized | Number | 0 |
mo_use_v_start | use_v_start | = true, if initial speed is defined by input v_start, otherwise not initialized | Number | 0 |
mo_use_a_start | use_a_start | = true, if initial acceleration is defined by input a_start, otherwise not initialized | Number | 0 |
mo_stateSelect | stateSelect | Priority to use flange angle and speed as states | Structure | |
mo_stateSelect/choice1 | StateSelect.never | Number | 0 | |
mo_stateSelect/choice2 | StateSelect.avoid | Number | 0 | |
mo_stateSelect/choice3 | StateSelect.default | Number | 0 | |
mo_stateSelect/choice4 | StateSelect.prefer | Number | 0 | |
mo_stateSelect/choice5 | StateSelect.always | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_s_start | s_start | s_start | Structure | |
mo_s_start/fixed | fixed | Cell of scalars | true | |
mo_s_start/start | start | Cell of scalars | ||
mo_v_start | v_start | v_start | Structure | |
mo_v_start/fixed | fixed | Cell of scalars | true | |
mo_v_start/start | start | Cell of scalars | ||
mo_a_start | a_start | a_start | Structure | |
mo_a_start/fixed | fixed | Cell of scalars | true | |
mo_a_start/start | start | Cell of scalars | ||
mo_s_flange | s_flange | s_flange | Structure | |
mo_s_flange/fixed | fixed | Cell of scalars | true | |
mo_s_flange/start | start | Cell of scalars | ||
mo_v_flange | v_flange | v_flange | Structure | |
mo_v_flange/fixed | fixed | Cell of scalars | true | |
mo_v_flange/start | start | Cell of scalars |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
flange | implicit | Flange that is initialized | output | 1 |
Port 2 | implicit | Initial position of flange | input | mo_use_s_start |
Port 3 | implicit | Initial speed of flange | input | mo_use_v_start |
Port 4 | implicit | Initial angular acceleration of flange | input | mo_use_a_start |