Haptic 3-DOF Pantograph Motor Currents
Monitors the Haptic 3-DOF Pantograph motor currents.
Library
QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 3-DOF Planar Pantograph/Interfacing
Description
The Haptic 3-DOF Pantograph Motor Currents block monitors the currents in the motors of the Quanser Haptic 3-DOF Pantograph. The input is a 4-vector read from the analog inputs connected to the motor current sense outputs. Use one of the HIL blocks to read these analog inputs. The output of the block is a 4-vector of the motor currents in amperes. The currents are 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.
For the Quanser Q4 and Q8 card, analog input channels 3, 2, 1 and 0, in that order, are
typically used to read the motor current sense outputs of the Quanser Haptic
3-DOF Pantograph. For example, enter [3 2 1 0] as the analog channels in
a HIL Read Analog
block.
Input Ports
volts
A 4-vector representing the analog voltages read from the motor current sense outputs of the Haptic 3-DOF Pantograph. The units must be volts. The voltages must be provided in the order of the joints, i.e., front-top-left, front-top-right, back-bottom-left and back-bottom-right.
Output Ports
amps
The motor currents of each of the four motors in amperes, as a 4-vector. The currents are 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 Motor Currents 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
Copyright ©2024 Quanser Inc. This page was generated 2024-04-16. Submit feedback to Quanser about this page.
Link to this page.