Haptic 3-DOF Pantograph Motor Currents
Monitors the Haptic 3-DOF Pantograph motor currents.
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 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 |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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|
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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