Model { Name "crane" Version 7.8 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.10" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" slprops.hdlmdlprops { $PropName "HDLParams" $ObjectID 1 Array { Type "Cell" Dimension 2 Cell "HDLSubsystem" Cell "crane" PropName "mdlProps" } } PreLoadFcn "c = 0.2\nw = 0.8\nd = 0.4\ntau = 0.01" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 UserBdParams "PhysicalModelingChecksum;PhysicalModelingParameterChecksum;PhysicalModelingProducts" PhysicalModelingChecksum "1515504562" PhysicalModelingParameterChecksum "323507191" PhysicalModelingProducts "SimMechanics" Created "Sun Jan 22 08:42:24 2012" Creator "Guy" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "grouleau" ModifiedDateFormat "%" LastModifiedDate "Wed Feb 01 08:54:56 2012" RTWModifiedTimeStamp 249987282 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" WideLines off ShowLineDimensions off ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off Object { $PropName "DataLoggingOverride" $ObjectID 2 $ClassName "Simulink.SimulationData.ModelLoggingInfo" model_ "crane" overrideMode_ [0.0] Array { Type "Cell" Dimension 1 Cell "crane" PropName "logAsSpecifiedByModels_" } Array { Type "Cell" Dimension 1 Cell [] PropName "logAsSpecifiedByModelsSSIDs_" } } RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable off ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 3 Version "1.11.1" Array { Type "Handle" Dimension 10 Simulink.SolverCC { $ObjectID 4 Version "1.11.1" StartTime "0.0" StopTime "30" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" ConcurrentTasks off Solver "ode45" SolverName "ode45" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 5 Version "1.11.1" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput on SaveState off SignalLogging on DSMLogging on InspectSignalLogs off SaveTime on ReturnWorkspaceOutputs off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" } Simulink.OptimizationCC { $ObjectID 6 Version "1.11.1" Array { Type "Cell" Dimension 8 Cell "BooleansAsBitfields" Cell "PassReuseOutputArgsAs" Cell "PassReuseOutputArgsThreshold" Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" Cell "UseSpecifiedMinMax" PropName "DisabledProps" } BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off UseIntDivNetSlope off UseFloatMulNetSlope off UseSpecifiedMinMax off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off StrengthReduction off ExpressionFolding on BooleansAsBitfields off BitfieldContainerType "uint_T" EnableMemcpy on MemcpyThreshold 64 PassReuseOutputArgsAs "Structure reference" ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero off NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off AccelParallelForEachSubsystem on } Simulink.DebuggingCC { $ObjectID 7 Version "1.11.1" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "warning" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" FixptConstUnderflowMsg "none" FixptConstOverflowMsg "none" FixptConstPrecisionLossMsg "none" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Enable All" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" FrameProcessingCompatibilityMsg "warning" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "ErrorLevel1" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" } Simulink.HardwareCC { $ObjectID 8 Version "1.11.1" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 9 Version "1.11.1" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 10 Version "1.11.1" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 11 Version "1.11.1" Array { Type "Cell" Dimension 8 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" Cell "GenerateTraceReport" Cell "GenerateTraceReportSl" Cell "GenerateTraceReportSf" Cell "GenerateTraceReportEml" Cell "GenerateSLWebview" Cell "GenerateCodeMetricsReport" PropName "DisabledProps" } SystemTargetFile "grt.tlc" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "grt_default_tmf" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateSLWebview off GenerateCodeMetricsReport off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 12 Version "1.11.1" Array { Type "Cell" Dimension 21 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" Cell "InsertPolySpaceComments" Cell "SFDataObjDesc" Cell "MATLABFcnDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrFcnArg" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" Cell "ReqsInCode" PropName "DisabledProps" } ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 13 Version "1.11.1" Array { Type "Cell" Dimension 16 Cell "GeneratePreprocessorConditionals" Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "CPPClassGenCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant off AutosarCompliant off UseMalloc off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off GenerateASAP2 off } PropName "Components" } } hdlcoderui.hdlcc { $ObjectID 14 Version "1.11.1" Description "HDL Coder custom configuration component" Name "HDL Coder" Array { Type "Cell" Dimension 1 Cell "" PropName "HDLConfigFile" } HDLCActiveTab "0" } SSC.SimscapeCC { $ObjectID 15 Version "1.0" Array { Type "Cell" Dimension 1 Cell "Name" PropName "DisabledProps" } Array { Type "Handle" Dimension 1 MECH.SimMechanicsCC { $ObjectID 16 Version "1.11.1" Name "SimMechanics" WarnOnRedundantConstraints on WarnOnSingularInitialAssembly off ShowCutJoints off VisOnUpdateDiagram on VisDuringSimulation on EnableVisSimulationTime on VisSampleTime "0" DisableBodyVisControl off ShowCG on ShowCS on ShowOnlyPortCS off HighlightModel on FramesToBeSkipped "0" AnimationDelay "3" RecordAVI off CompressAVI on AutoFitVis "off" EnableSelection on LastVizWinPosition "[-1 -1 -1 -1]" CamPosition "[0 0 0]" CamTarget "[0 0 -1]" CamUpVector "[0 1 0]" CamHeight "-1" CamViewAngle "0" VisBackgroundColor "[0.9 0.9 0.95]" DefaultBodyColor "[1 0 0]" MDLBodyVisualizationType "Convex hull from body CS locations" OVRRIDBodyVisualizationType "NONE" } PropName "Components" } Name "Simscape" EditingMode "Full" ExplicitSolverDiagnosticOptions "warning" InputDerivativeDiagnosticOptions "warning" GlobalZcOffDiagnosticOptions "warning" SimscapeLogType "none" SimscapeLogName "simlog" SimscapeLogDecimation 1 SimscapeLogLimitData on SimscapeLogDataHistory 5000 } PropName "Components" } Name "Configuration" CurrentDlgPage "Simscape/SimMechanics" ConfigPrmDlgPosition [ 751, 211, 1663, 917 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 3 } BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Helvetica" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Concatenate NumInputs "2" ConcatenateDimension "1" } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" PreserveConstantTs off } Block { BlockType Derivative CoefficientInTFapproximation "inf" } Block { BlockType MultiPortSwitch DataPortOrder "One-based contiguous" Inputs "3" DataPortIndices "{1,2,3}" DataPortForDefault "Last data port" DiagnosticForDefault "Error" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" AllowDiffInputSizes off } Block { BlockType Sin SineType "Time based" TimeSource "Use simulation time" Amplitude "1" Bias "0" Frequency "1" Phase "0" Samples "10" Offset "0" SampleTime "-1" VectorParams1D on } Block { BlockType TransferFcn Numerator "[1]" Denominator "[1 2 1]" AbsoluteTolerance "auto" ContinuousStateAttributes "''" Realization "auto" } } System { Name "crane" Location [615, 82, 1366, 947] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "47" Block { BlockType Constant Name "Acceleration" SID "41" Position [105, 416, 150, 444] ZOrder -5 Value "0" } Block { BlockType Reference Name "Arm" SID "4" Ports [0, 0, 0, 0, 0, 1, 1] Position [465, 100, 525, 140] LibraryVersion "1.1" SourceBlock "mblibv1/Bodies/Body" SourceType "Body" LConnTagsString "CS1" RConnTagsString "CS2" UpdateFromCAD "off" ClassName "Body" DialogClass "MechanicalBodyBlock" Mass "1" MassUnits "kg" InertiaUnits "kg*m^2" Inertia "eye(3)" Shape "Cylinder" ShapeDims "[1 1]" ShapeUnits "m" ShapeUse "false" Density "1" DensityUnits "kg/m^3" DensityUse "false" GraphicsMode "MACHINE_DEFAULT" BodyColorSelMode "MACHINE_DEFAULT" BodyColor "[1 0 0]" AttachedToCS "CG" CG "Left$CG$[2.5 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none" WorkingFrames "Left$CS1$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[5" " 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none" CGPos "[2.5 0 0]" CGRot "[0 0 0]" CS0Pos "[]" CS0Rot "[]" CS1Pos "[0 0 0]" CS1Rot "[0 0 0]" CS2Pos "[5 0 0]" CS2Rot "[0 0 0]" CS3Pos "[]" CS3Rot "[]" CS4Pos "[]" CS4Rot "[]" CS5Pos "[]" CS5Rot "[]" CS6Pos "[]" CS6Rot "[]" CS7Pos "[]" CS7Rot "[]" CS8Pos "[]" CS8Rot "[]" CS9Pos "[]" CS9Rot "[]" CS10Pos "[]" CS10Rot "[]" CS11Pos "[]" CS11Rot "[]" CS12Pos "[]" CS12Rot "[]" CS13Pos "[]" CS13Rot "[]" CS14Pos "[]" CS14Rot "[]" CS15Pos "[]" CS15Rot "[]" CS16Pos "[]" CS16Rot "[]" CS17Pos "[]" CS17Rot "[]" CS18Pos "[]" CS18Rot "[]" CS19Pos "[]" CS19Rot "[]" CS20Pos "[]" CS20Rot "[]" } Block { BlockType Reference Name "Bas Motion Actuator" SID "45" Ports [1, 0, 0, 0, 0, 0, 1] Position [440, 385, 480, 425] LibraryVersion "1.1" SourceBlock "mblibv1/Sensors & \nActuators/Joint Actuator" SourceType "Joint Actuator" UpdateFromCAD "off" PhysicalDomain "Mechanical" PortType "blob" ActuationStyle "Motion" AngleUnits "deg" ArcVelocityUnits "deg/s" ArcAccelerationUnits "deg/s^2" CoordPositionUnits "m" VelocityUnits "m/s" AccelerationUnits "m/s^2" ForceUnits "N" TorqueUnits "N*m" ActiveIO "on" Width "3" ClassName "JointActuator" DialogClass "MechanicalActuatorBlock" Primitive "P1" ReferenceFrame "Absolute (World)" } Block { BlockType Reference Name "Base" SID "2" Ports [0, 0, 0, 0, 0, 1, 1] Position [290, 85, 350, 125] LibraryVersion "1.1" SourceBlock "mblibv1/Bodies/Body" SourceType "Body" LConnTagsString "CS1" RConnTagsString "CS2" UpdateFromCAD "off" ClassName "Body" DialogClass "MechanicalBodyBlock" Mass "1" MassUnits "kg" InertiaUnits "kg*m^2" Inertia "eye(3)" Shape "Cylinder" ShapeDims "[1 1]" ShapeUnits "m" ShapeUse "false" Density "1" DensityUnits "kg/m^3" DensityUse "false" GraphicsMode "MACHINE_DEFAULT" BodyColorSelMode "COLORPALETTE" BodyColor "[0 0 1]" AttachedToCS "CG" CG "Left$CG$[0 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none" WorkingFrames "Left$CS1$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[0" " 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS3$[w d 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORL" "D$false$none#Right$CS4$[w -d 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Right$CS5$[-w d 0]$CS1$CS1$m$" "[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Right$CS6$[-w -d 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none" CGPos "[0 0 0]" CGRot "[0 0 0]" CS0Pos "[]" CS0Rot "[]" CS1Pos "[0 0 0]" CS1Rot "[0 0 0]" CS2Pos "[0 0 0]" CS2Rot "[0 0 0]" CS3Pos "[w d 0]" CS3Rot "[0 0 0]" CS4Pos "[w -d 0]" CS4Rot "[0 0 0]" CS5Pos "[-w d 0]" CS5Rot "[0 0 0]" CS6Pos "[-w -d 0]" CS6Rot "[0 0 0]" CS7Pos "[]" CS7Rot "[]" CS8Pos "[]" CS8Rot "[]" CS9Pos "[]" CS9Rot "[]" CS10Pos "[]" CS10Rot "[]" CS11Pos "[]" CS11Rot "[]" CS12Pos "[]" CS12Rot "[]" CS13Pos "[]" CS13Rot "[]" CS14Pos "[]" CS14Rot "[]" CS15Pos "[]" CS15Rot "[]" CS16Pos "[]" CS16Rot "[]" CS17Pos "[]" CS17Rot "[]" CS18Pos "[]" CS18Rot "[]" CS19Pos "[]" CS19Rot "[]" CS20Pos "[]" CS20Rot "[]" } Block { BlockType Reference Name "Cable" SID "7" Ports [0, 0, 0, 0, 0, 1, 1] Position [575, 210, 615, 270] BlockRotation 270 BlockMirror on NamePlacement "alternate" LibraryVersion "1.1" SourceBlock "mblibv1/Bodies/Body" SourceType "Body" LConnTagsString "CS1" RConnTagsString "CS2" UpdateFromCAD "off" ClassName "Body" DialogClass "MechanicalBodyBlock" Mass "1" MassUnits "kg" InertiaUnits "kg*m^2" Inertia "eye(3)" Shape "Cylinder" ShapeDims "[1 1]" ShapeUnits "m" ShapeUse "false" Density "1" DensityUnits "kg/m^3" DensityUse "false" GraphicsMode "MACHINE_DEFAULT" BodyColorSelMode "COLORPALETTE" BodyColor "[0 0 0]" AttachedToCS "CG" CG "Left$CG$[1.5 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none" WorkingFrames "Left$CS1$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[3" " 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none" CGPos "[1.5 0 0]" CGRot "[0 0 0]" CS0Pos "[]" CS0Rot "[]" CS1Pos "[0 0 0]" CS1Rot "[0 0 0]" CS2Pos "[3 0 0]" CS2Rot "[0 0 0]" CS3Pos "[]" CS3Rot "[]" CS4Pos "[]" CS4Rot "[]" CS5Pos "[]" CS5Rot "[]" CS6Pos "[]" CS6Rot "[]" CS7Pos "[]" CS7Rot "[]" CS8Pos "[]" CS8Rot "[]" CS9Pos "[]" CS9Rot "[]" CS10Pos "[]" CS10Rot "[]" CS11Pos "[]" CS11Rot "[]" CS12Pos "[]" CS12Rot "[]" CS13Pos "[]" CS13Rot "[]" CS14Pos "[]" CS14Rot "[]" CS15Pos "[]" CS15Rot "[]" CS16Pos "[]" CS16Rot "[]" CS17Pos "[]" CS17Rot "[]" CS18Pos "[]" CS18Rot "[]" CS19Pos "[]" CS19Rot "[]" CS20Pos "[]" CS20Rot "[]" } Block { BlockType Constant Name "Constant" SID "11" Position [240, 156, 285, 184] ZOrder -5 Value "[45 0 0]" } Block { BlockType Derivative Name "Derivative" SID "19" Position [135, 550, 165, 580] ZOrder -1 } Block { BlockType Derivative Name "Derivative1" SID "24" Position [210, 600, 240, 630] ZOrder -1 } Block { BlockType Reference Name "Ground" SID "1" Ports [0, 0, 0, 0, 0, 0, 1] Position [125, 70, 165, 110] LibraryVersion "1.1" UserDataPersistent on UserData "DataTag0" SourceBlock "mblibv1/Bodies/Ground" SourceType "Ground" UpdateFromCAD "off" LeftPortType "env" RightPortType "workingframe" PhysicalDomain "Mechanical" DialogClass "GroundBlock" ClassName "Ground" CoordPosition "[0 0 0]" CoordPositionUnits "m" StateVectorMgrId "0" MachineId "[1 0]" ShowEnvPort off } Block { BlockType Reference Name "Joint Initial Condition" SID "13" Ports [0, 0, 0, 0, 0, 0, 1] Position [550, 65, 590, 105] ShowName off LibraryVersion "1.1" SourceBlock "mblibv1/Sensors & \nActuators/Joint Initial Condition" SourceType "Joint Initial Condition" UpdateFromCAD "off" LeftPortType "blob" RightPortType "blob" PhysicalDomain "mechanical" ClassName "InitialCondition" DialogClass "InitialConditionBlock" InitialConditions "P1$false$0$m$deg$0$m/s$deg/s#P2$false$0$m$deg$0$m/s$deg/s#P3$false$0$m$deg$0$m/s$deg/s#" "R1$true$-135$m$deg$0$m/s$deg/s#R2$false$0$m$deg$0$m/s$deg/s#R3$false$0$m$deg$0$m/s$deg/s#S$false$0$m$deg$0$m/s$d" "eg/s" P1PIC "0" P1VIC "0" P2PIC "0" P2VIC "0" P3PIC "0" P3VIC "0" R1PIC "-135" R1VIC "0" R2PIC "0" R2VIC "0" R3PIC "0" R3VIC "0" SPIC "0" SVIC "0" } Block { BlockType Reference Name "Mass" SID "15" Ports [0, 0, 0, 0, 0, 1] Position [571, 380, 619, 415] BlockRotation 270 BlockMirror on NamePlacement "alternate" LibraryVersion "1.1" SourceBlock "mblibv1/Bodies/Body" SourceType "Body" LConnTagsString "CS1" UpdateFromCAD "off" ClassName "Body" DialogClass "MechanicalBodyBlock" Mass "1" MassUnits "kg" InertiaUnits "kg*m^2" Inertia "eye(3)" Shape "Cylinder" ShapeDims "[1 1]" ShapeUnits "m" ShapeUse "false" Density "1" DensityUnits "kg/m^3" DensityUse "false" GraphicsMode "MACHINE_DEFAULT" BodyColorSelMode "COLORPALETTE" BodyColor "[0;0;0]" AttachedToCS "CG" CG "Left$CG$[0 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none" WorkingFrames "Left$CS1$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[1" " 1 0]*c$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Right$CS3$[1 -1 0]*c$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$de" "g$WORLD$false$none#Right$CS5$[-1 1 0]*c$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Right$CS4$[-1 -1 0]*c" "$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none" CGPos "[0 0 0]" CGRot "[0 0 0]" CS0Pos "[]" CS0Rot "[]" CS1Pos "[0 0 0]" CS1Rot "[0 0 0]" CS2Pos "[1 1 0]*c" CS2Rot "[0 0 0]" CS3Pos "[1 -1 0]*c" CS3Rot "[0 0 0]" CS4Pos "[-1 -1 0]*c" CS4Rot "[0 0 0]" CS5Pos "[-1 1 0]*c" CS5Rot "[0 0 0]" CS6Pos "[]" CS6Rot "[]" CS7Pos "[]" CS7Rot "[]" CS8Pos "[]" CS8Rot "[]" CS9Pos "[]" CS9Rot "[]" CS10Pos "[]" CS10Rot "[]" CS11Pos "[]" CS11Rot "[]" CS12Pos "[]" CS12Rot "[]" CS13Pos "[]" CS13Rot "[]" CS14Pos "[]" CS14Rot "[]" CS15Pos "[]" CS15Rot "[]" CS16Pos "[]" CS16Rot "[]" CS17Pos "[]" CS17Rot "[]" CS18Pos "[]" CS18Rot "[]" CS19Pos "[]" CS19Rot "[]" CS20Pos "[]" CS20Rot "[]" } Block { BlockType Reference Name "Motion Actuator" SID "9" Ports [1, 0, 0, 0, 0, 0, 1] Position [310, 150, 350, 190] LibraryVersion "1.1" SourceBlock "mblibv1/Sensors & \nActuators/Joint Actuator" SourceType "Joint Actuator" UpdateFromCAD "off" PhysicalDomain "Mechanical" PortType "blob" ActuationStyle "Motion" AngleUnits "deg" ArcVelocityUnits "deg/s" ArcAccelerationUnits "deg/s^2" CoordPositionUnits "m" VelocityUnits "m/s" AccelerationUnits "m/s^2" ForceUnits "N" TorqueUnits "N*m" ActiveIO "on" Width "3" ClassName "JointActuator" DialogClass "MechanicalActuatorBlock" Primitive "R1" ReferenceFrame "Absolute (World)" } Block { BlockType MultiPortSwitch Name "Multiport\nSwitch" SID "46" Ports [4, 1] Position [375, 315, 410, 490] ZOrder -15 zeroidx off InputSameDT off SaturateOnIntegerOverflow off } Block { BlockType Sin Name "Position" SID "28" Ports [0, 1] Position [40, 675, 70, 705] ZOrder -21 Amplitude "2" SampleTime "0" } Block { BlockType Sin Name "Position1" SID "22" Ports [0, 1] Position [55, 500, 85, 530] ZOrder -21 Amplitude "2" SampleTime "0" } Block { BlockType Reference Name "Prismatic" SID "6" Ports [0, 0, 0, 0, 0, 2, 1] Position [210, 77, 260, 128] LibraryVersion "1.1" SourceBlock "mblibv1/Joints/Prismatic" SourceType "Prismatic" LConnTagsString "__newl0|SA1" RConnTagsString "__newr0" UpdateFromCAD "off" NumSAPorts "1" CutJoint "off" MarkAsCut "off" Primitives "prismatic" PrimitiveProps "P1$World$[1 0 0]$prismatic" ClassName "Joint" DialogClass "JointBlock" P1Axis "[1 0 0]" } Block { BlockType Reference Name "Revolute1" SID "5" Ports [0, 0, 0, 0, 0, 2, 1] Position [385, 92, 435, 143] NamePlacement "alternate" LibraryVersion "1.1" SourceBlock "mblibv1/Joints/Revolute" SourceType "Revolute" LConnTagsString "__newl0|SA1" RConnTagsString "__newr0" UpdateFromCAD "off" NumSAPorts "1" CutJoint "off" MarkAsCut "off" Primitives "prismatic" PrimitiveProps "R1$World$[0 0 1]$revolute" ClassName "Joint" DialogClass "JointBlock" R1Axis "[0 0 1]" } Block { BlockType Reference Name "Revolute2" SID "8" Ports [0, 0, 0, 0, 0, 2, 1] Position [567, 135, 618, 185] BlockRotation 270 BlockMirror on NamePlacement "alternate" LibraryVersion "1.1" SourceBlock "mblibv1/Joints/Revolute" SourceType "Revolute" LConnTagsString "__newl0|SA1" RConnTagsString "__newr0" UpdateFromCAD "off" NumSAPorts "1" CutJoint "off" MarkAsCut "off" Primitives "prismatic" PrimitiveProps "R1$World$[0 0 1]$revolute" ClassName "Joint" DialogClass "JointBlock" R1Axis "[0 0 1]" } Block { BlockType Constant Name "Select Input" SID "47" Position [280, 321, 325, 349] ZOrder -5 } Block { BlockType Sin Name "Sine Wave" SID "43" Ports [0, 1] Position [115, 315, 145, 345] ZOrder -21 Amplitude "2" Frequency "0.2*2*pi" Phase "-pi/2" SampleTime "0" } Block { BlockType TransferFcn Name "Transfer Fcn" SID "31" Position [125, 673, 230, 707] ZOrder -9 Denominator "[tau^2 2*tau 1]" } Block { BlockType TransferFcn Name "Transfer Fcn1" SID "32" Position [125, 723, 230, 757] ZOrder -9 Numerator "[1 0]" Denominator "[tau^2 2*tau 1]" } Block { BlockType TransferFcn Name "Transfer Fcn2" SID "33" Position [125, 773, 230, 807] ZOrder -9 Numerator "[1 0 0]" Denominator "[tau^2 2*tau 1]" } Block { BlockType Concatenate Name "Vector\nConcatenate" SID "44" Ports [3, 1] Position [190, 307, 195, 453] ZOrder -36 ShowName off NumInputs "3" Mode "Vector" } Block { BlockType Concatenate Name "Vector\nConcatenate1" SID "23" Ports [3, 1] Position [280, 492, 285, 638] ZOrder -36 ShowName off NumInputs "3" Mode "Vector" } Block { BlockType Concatenate Name "Vector\nConcatenate2" SID "29" Ports [3, 1] Position [285, 667, 290, 813] ZOrder -36 ShowName off NumInputs "3" Mode "Vector" } Block { BlockType Constant Name "Velocity" SID "42" Position [105, 366, 150, 394] ZOrder -5 Value "0" } Block { BlockType Reference Name "Weld" SID "14" Ports [0, 0, 0, 0, 0, 1, 1] Position [570, 300, 620, 350] BlockRotation 270 BlockMirror on NamePlacement "alternate" LibraryVersion "1.1" SourceBlock "mblibv1/Joints/Weld" SourceType "Weld" LConnTagsString "__newl0" RConnTagsString "__newr0" UpdateFromCAD "off" NumSAPorts "0" CutJoint "off" MarkAsCut "off" Primitives "weld" PrimitiveProps "W$WORLD$[0 0 0]$weld" ClassName "Joint" DialogClass "JointBlock" WAxis "[0 0 0]" } Line { LineType "Connection" SrcBlock "Ground" SrcPort RConn1 DstBlock "Prismatic" DstPort LConn1 } Line { LineType "Connection" SrcBlock "Prismatic" SrcPort RConn1 DstBlock "Base" DstPort LConn1 } Line { LineType "Connection" SrcBlock "Revolute1" SrcPort RConn1 DstBlock "Arm" DstPort LConn1 } Line { LineType "Connection" SrcBlock "Revolute2" SrcPort RConn1 DstBlock "Cable" DstPort LConn1 } Line { LineType "Connection" SrcBlock "Arm" SrcPort RConn1 DstBlock "Revolute2" DstPort LConn1 } Line { SrcBlock "Constant" SrcPort 1 DstBlock "Motion Actuator" DstPort 1 } Line { LineType "Connection" SrcBlock "Joint Initial Condition" SrcPort RConn1 DstBlock "Revolute2" DstPort LConn2 } Line { LineType "Connection" SrcBlock "Cable" SrcPort RConn1 DstBlock "Weld" DstPort LConn1 } Line { LineType "Connection" SrcBlock "Weld" SrcPort RConn1 DstBlock "Mass" DstPort LConn1 } Line { SrcBlock "Position1" SrcPort 1 Points [20, 0] Branch { DstBlock "Vector\nConcatenate1" DstPort 1 } Branch { Points [0, 50] DstBlock "Derivative" DstPort 1 } } Line { SrcBlock "Derivative1" SrcPort 1 DstBlock "Vector\nConcatenate1" DstPort 3 } Line { SrcBlock "Derivative" SrcPort 1 Points [15, 0] Branch { Points [0, 50] DstBlock "Derivative1" DstPort 1 } Branch { DstBlock "Vector\nConcatenate1" DstPort 2 } } Line { SrcBlock "Position" SrcPort 1 Points [20, 0] Branch { Points [0, 50] Branch { Points [0, 50] DstBlock "Transfer Fcn2" DstPort 1 } Branch { DstBlock "Transfer Fcn1" DstPort 1 } } Branch { DstBlock "Transfer Fcn" DstPort 1 } } Line { SrcBlock "Transfer Fcn" SrcPort 1 DstBlock "Vector\nConcatenate2" DstPort 1 } Line { SrcBlock "Transfer Fcn1" SrcPort 1 DstBlock "Vector\nConcatenate2" DstPort 2 } Line { SrcBlock "Transfer Fcn2" SrcPort 1 DstBlock "Vector\nConcatenate2" DstPort 3 } Line { LineType "Connection" SrcBlock "Base" SrcPort RConn1 DstBlock "Revolute1" DstPort LConn1 } Line { LineType "Connection" SrcBlock "Motion Actuator" SrcPort RConn1 Points [0, -40] DstBlock "Revolute1" DstPort LConn2 } Line { SrcBlock "Sine Wave" SrcPort 1 DstBlock "Vector\nConcatenate" DstPort 1 } Line { SrcBlock "Velocity" SrcPort 1 DstBlock "Vector\nConcatenate" DstPort 2 } Line { SrcBlock "Acceleration" SrcPort 1 DstBlock "Vector\nConcatenate" DstPort 3 } Line { LineType "Connection" SrcBlock "Bas Motion Actuator" SrcPort RConn1 Points [0, -180; -320, 0; 0, -110] DstBlock "Prismatic" DstPort LConn2 } Line { SrcBlock "Multiport\nSwitch" SrcPort 1 DstBlock "Bas Motion Actuator" DstPort 1 } Line { SrcBlock "Vector\nConcatenate" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 2 } Line { SrcBlock "Vector\nConcatenate1" SrcPort 1 Points [40, 0; 0, -140] DstBlock "Multiport\nSwitch" DstPort 3 } Line { SrcBlock "Vector\nConcatenate2" SrcPort 1 Points [55, 0; 0, -270] DstBlock "Multiport\nSwitch" DstPort 4 } Line { SrcBlock "Select Input" SrcPort 1 DstBlock "Multiport\nSwitch" DstPort 1 } } } MatData { NumRecords 1 DataRecord { Tag DataTag0 Data " %)30 . 0 8 ( ! % \" $ , 0 0 # &-R86YE+T=R;W5N9 " " " } }