Haptic 3-DOF Pantograph N-mm to Amps
Converts joint torques to motor currents for the Quanser Haptic 3-DOF Pantograph.
Library
QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 3-DOF Planar Pantograph/Interfacing
Description
The Haptic 3-DOF Pantograph N-mm to Amps block converts the desired joint torques in N-mm to the corresponding motor currents in amperes required to produce those torques. The input must be a 4-vector in the following order of the joints: front-top-left, front-top-right, back-bottom-left and back-bottom-right. The output is a 4-vector in the same order. Use the Haptic 3-DOF Pantograph Motors block to determine the voltages required to produce the motor currents output by the Haptic 3-DOF Pantograph N-mm to Amps block.
For the Quanser Q4 or Q8 card, analog output channels 3, 2, 1 and 0, in that order,
are typically used to write to the four joint motors of the Quanser Haptic 3-DOF
Pantograph, with channels 3, 2 1, and 0 corresponding to the joints in the required
order of front-top-left, front-top-right, back-bottom-left and back-bottom-right
respectively. For example, enter [3 2 1 0] as the analog channels in
a HIL Write Analog
block.
Input Ports
The input to this block is the joint torques in N-mm with which to drive each of the four joints of the Haptic 3-DOF Pantograph. The input is a 4-vector in order of the joints: front-top-left, front-top-right, back-bottom-left and back-bottom-right.
Output Ports
The output is the current in amperes required to drive the motors to produce the desired joint torques, for each of the four joints. The output is a 4-vector in order of the joints: 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 N-mm to Amps 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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