Haptic 3-DOF Pantograph Enable
Outputs an enable signal suitable for enabling the current amplifiers of the Quanser Haptic 3-DOF Pantograph.
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 Enable block outputs a digital signal suitable for enabling the current amplifiers of the Quanser Haptic 3-DOF Pantograph. Use one of the HIL blocks to write to the digital outputs connected to the amplifier enable signals of the Quanser Haptic 3-DOF Pantograph. The enable signal is output as a 4-vector in the following order of the joints: front-top-left, front-top-right, back-bottom-left and back-bottom-right.
For the Quanser Q4 and Q8 cards, digital output channels 0 through 3, in that order, are typically used to enable the four amplifiers of the Quanser Haptic 3-DOF Pantograph, with channels 0 through 3 corresponding to the joints in the required order of front-top-left, front-top-right, back-bottom-left and back-bottom-right respectively.
The initial and final values of the digital outputs should be set to 0 to ensure
that the amplifiers are disabled when the model is not running.
Input Ports
This block has no input ports.
Output Ports
en
The enable signal required to enable the amplifiers for the four joints. The enable signal is output as a 4-vector in order of the joints, i.e., front-top-left, front-top-right, back-bottom-left and back-bottom-right.
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
The Haptic 3-DOF Pantograph Enable 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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