Haptic 3-DOF Pantograph Amplifier Status
Monitors the status of the Quanser Haptic 3-DOF Pantograph amplifiers.
Library
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library/Devices/Quanser/Haptics/Pantographs/Haptic 3-DOF Planar Pantograph/Interfacing')Description
The Haptic 3-DOF Pantograph Amplifier Status block monitors the status of the Haptic 3-DOF Pantograph amplifiers. The input is a 4-vector from the digital lines connected to the Haptic 3-DOF Pantograph amplifier status lines. The output is a 4-vector with one element for each amplifier. If an element is 1 then a fault occurred on that amplifier. Otherwise the element is 0.
For the Quanser Q4 and Q8 cards, digital input channels 11, 10, 9 and 8, in that
order, are typically used to read the status of the four amplifiers of the Quanser
Haptic 3-DOF Pantograph. For example, enter [11 10 9 8] as the digital
channels in a HIL Read Digital
block.
Input Ports
dig
A 4-vector that should be read from the digital lines connected to the Haptic 3-DOF Pantograph amplifier status lines.
Output Ports
fault
A 4-vector with one element per amplifier, in which a non-zero element indicates the presence of a fault on the corresponding amplifier and a zero element indicates no fault.
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
The Haptic 3-DOF Pantograph Amplifier Status block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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