Model { Name "sl_rrmc2" Version 7.6 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.20" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "ISO-8859-1" PreLoadFcn "fprintf('*** Loading Puma560 model to workspace\\n');\nmdl_puma560" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" MaxMDLFileLineLength 120 Created "Sat Jan 26 02:15:13 2002" Creator "pic" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "n6334687" ModifiedDateFormat "%" LastModifiedDate "Mon Feb 06 16:49:47 2012" RTWModifiedTimeStamp 250447782 ModelVersionFormat "1.%" ConfigurationManager "none" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "user" WideLines on ShowLineDimensions on ShowPortDataTypes off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip on 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 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 "oneshot" 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 off ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.10.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.10.0" StartTime "0.0" StopTime "10.0" 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 3 Version "1.10.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints off MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" 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 4 Version "1.10.0" BlockReduction off BooleanDataType off ConditionallyExecuteInputs on InlineParams off UseIntDivNetSlope 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 on NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.10.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "TryResolveAllWithWarning" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "none" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "warning" MultiTaskCondExecSysMsg "none" 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 "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" 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" InitInArrayFormatMsg "warning" StrictBusMsg "None" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.10.0" 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 on ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.10.0" 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 8 Version "1.10.0" 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 9 Version "1.10.0" 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 on GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateSLWebview off RTWCompilerOptimization "Off" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.10.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$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 11 Version "1.10.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" TargetFunctionLibrary "ANSI_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" ERTCodeCoverageTool "None" ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant off ParMdlRefBuildCompliant on CompOptLevelCompliant off IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging off 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 GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition " [ 792, 367, 1672, 997 ] " } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } 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 Clock DisplayTime off } 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 Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType DiscreteIntegrator IntegratorMethod "Integration: Forward Euler" gainval "1.0" ExternalReset "none" InitialConditionSource "internal" InitialCondition "0" InitialConditionMode "State and output" SampleTime "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via internal rule" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow off LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off IgnoreLimit off StateMustResolveToSignalObject off RTWStateStorageClass "Auto" } Block { BlockType Gain Gain "1" Multiplication "Element-wise(K.*u)" ParamMin "[]" ParamMax "[]" ParamDataTypeStr "Inherit: Same as input" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as input" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType MATLABFcn MATLABFcn "sin" OutputDimensions "-1" OutputSignalType "auto" Output1D on SampleTime "-1" } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Product Inputs "2" Multiplication "Element-wise(.*)" CollapseMode "All dimensions" CollapseDim "1" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Same as first input" LockScale off RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" Variant off GeneratePreprocessorConditionals off } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" FixptAsFi off } Block { BlockType Trigonometry Operator "sin" ApproximationMethod "None" NumberOfIterations "11" OutputSignalType "auto" SampleTime "-1" } } System { Name "sl_rrmc2" Location [467, 232, 1143, 648] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "portrait" PaperPositionMode "auto" PaperType "A4" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" SIDHighWatermark "29" Block { BlockType SubSystem Name "Circle" SID "1" Ports [0, 1] Position [35, 224, 65, 286] ForegroundColor "blue" MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off MaskPromptString "Radius|Frequency (rev/s)" MaskStyleString "edit,edit" MaskVariables "radius=@1;freq=@2;" MaskTunableValueString "on,on" MaskCallbackString "|" MaskEnableString "on,on" MaskVisibilityString "on,on" MaskToolTipString "on,on" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "autoscale" MaskValueString "0.05|0.2" System { Name "Circle" Location [717, 253, 1152, 478] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "portrait" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Clock Name "Clock" SID "2" Position [25, 35, 45, 55] Decimation "10" } Block { BlockType Mux Name "Mux" SID "3" Ports [2, 1] Position [230, 19, 235, 126] ShowName off Inputs "2" DisplayOption "bar" } Block { BlockType Product Name "Product1" SID "4" Ports [2, 1] Position [280, 62, 310, 93] ShowName off Multiplication "Matrix(*)" InputSameDT off OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Trigonometry Name "Trigonometric\nFunction1" SID "5" Ports [1, 1] Position [155, 30, 185, 60] ShowName off Operator "cos" } Block { BlockType Trigonometry Name "Trigonometric\nFunction3" SID "6" Ports [1, 1] Position [155, 80, 185, 110] ShowName off } Block { BlockType Gain Name "freq" SID "7" Position [70, 30, 95, 60] Gain "freq*2*pi" ParamDataTypeStr "Inherit: Inherit via internal rule" OutDataTypeStr "Inherit: Inherit via internal rule" SaturateOnIntegerOverflow off } Block { BlockType Constant Name "radius" SID "8" Position [170, 150, 200, 180] Value "radius" } Block { BlockType Outport Name "xy" SID "9" Position [335, 73, 365, 87] IconDisplay "Port number" } Line { SrcBlock "freq" SrcPort 1 Points [25, 0] Branch { Points [0, 50] DstBlock "Trigonometric\nFunction3" DstPort 1 } Branch { DstBlock "Trigonometric\nFunction1" DstPort 1 } } Line { SrcBlock "Product1" SrcPort 1 DstBlock "xy" DstPort 1 } Line { SrcBlock "Clock" SrcPort 1 DstBlock "freq" DstPort 1 } Line { SrcBlock "radius" SrcPort 1 Points [55, 0; 0, -80] DstBlock "Product1" DstPort 2 } Line { SrcBlock "Mux" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "Trigonometric\nFunction3" SrcPort 1 DstBlock "Mux" DstPort 2 } Annotation { Name "omega" Position [125, 37] } } } Block { BlockType Constant Name "Constant" SID "10" Position [70, 305, 100, 335] ForegroundColor "blue" ShowName off Value "0" } Block { BlockType Demux Name "Demux" SID "11" Ports [1, 2] Position [95, 236, 100, 274] ForegroundColor "blue" ShowName off Outputs "2" DisplayOption "bar" } Block { BlockType Gain Name "Gain" SID "13" Position [460, 69, 500, 101] ShowName off Gain "5" } Block { BlockType Product Name "Product" SID "14" Ports [2, 1] Position [400, 55, 435, 115] ShowName off Multiplication "Matrix(*)" } Block { BlockType Product Name "Product1" SID "23" Ports [2, 1] Position [215, 220, 250, 280] ShowName off Multiplication "Matrix(*)" } Block { BlockType Reference Name "T2xyz" SID "15" Ports [1, 3] Position [450, 177, 500, 233] BackgroundColor "red" LibraryVersion "1.28" SourceBlock "roblocks/Transform Conversion/T2xyz" SourceType "" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" GeneratePreprocessorConditionals off } Block { BlockType ToWorkspace Name "To Workspace" SID "25" Ports [1] Position [350, 315, 410, 345] NamePlacement "alternate" ShowName off VariableName "T" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace1" SID "28" Ports [1] Position [385, 135, 445, 165] ShowName off VariableName "v" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType ToWorkspace Name "To Workspace2" SID "29" Ports [1] Position [625, 68, 655, 102] NamePlacement "alternate" ShowName off VariableName "q" MaxDataPoints "inf" SampleTime "-1" SaveFormat "Array" } Block { BlockType Reference Name "XY Graph" SID "16" Ports [2] Position [535, 176, 565, 214] LibraryVersion "1.225" SourceBlock "simulink/Sinks/XY Graph" SourceType "XY scope." ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" GeneratePreprocessorConditionals off xmin "0.5" xmax "0.7" ymin "-0.25" ymax "-0.05" st "-1" } Block { BlockType Constant Name "circle centre" SID "24" Position [140, 170, 170, 200] Value "transl( transl(p560.fkine(qn)) )" } Block { BlockType Reference Name "fkine" SID "17" Ports [1, 1] Position [480, 267, 530, 323] BlockMirror on BackgroundColor "red" LibraryVersion "1.28" SourceBlock "roblocks/Kinematics/fkine" SourceType "" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" GeneratePreprocessorConditionals off robot "p560" } Block { BlockType MATLABFcn Name "inv" SID "26" Ports [1, 1] Position [275, 54, 330, 86] MATLABFcn "inv" Output1D off Port { PortNumber 1 Name "invJ" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Reference Name "jacob0\n" SID "19" Ports [1, 1] Position [170, 35, 235, 105] BackgroundColor "red" LibraryVersion "1.28" SourceBlock "roblocks/Kinematics/jacob0\n" SourceType "" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" GeneratePreprocessorConditionals off robot "p560" Port { PortNumber 1 Name "J" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType DiscreteIntegrator Name "joint\nservo" SID "12" Ports [1, 1] Position [525, 65, 560, 105] IntegratorMethod "Integration: Forward Euler" ExternalReset "none" InitialConditionSource "internal" InitialCondition "qn'" SampleTime "0.05" ICPrevOutput "DiscIntNeverNeededParam" ICPrevScaledInput "DiscIntNeverNeededParam" Port { PortNumber 1 Name "q" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Reference Name "tr2diff" SID "21" Ports [2, 1] Position [300, 207, 350, 263] BackgroundColor "red" LibraryVersion "1.28" SourceBlock "roblocks/Kinematics/tr2diff" SourceType "" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" GeneratePreprocessorConditionals off robot "p560" Port { PortNumber 1 Name "v*" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Reference Name "xyz2T" SID "22" Ports [3, 1] Position [130, 238, 180, 292] BackgroundColor "red" LibraryVersion "1.28" SourceBlock "roblocks/Transform Conversion/xyz2T" SourceType "" ShowPortLabels "FromPortIcon" SystemSampleTime "-1" FunctionWithSeparateData off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" GeneratePreprocessorConditionals off } Line { Name "q" Labels [0, 0] SrcBlock "joint\nservo" SrcPort 1 Points [30, 0] Branch { Labels [2, 0] Points [0, -75; -450, 0; 0, 60] DstBlock "jacob0\n" DstPort 1 } Branch { Points [0, 0] Branch { Points [0, 210] DstBlock "fkine" DstPort 1 } Branch { DstBlock "To Workspace2" DstPort 1 } } } Line { SrcBlock "T2xyz" SrcPort 1 DstBlock "XY Graph" DstPort 1 } Line { SrcBlock "T2xyz" SrcPort 2 DstBlock "XY Graph" DstPort 2 } Line { Name "v*" Labels [0, 0] SrcBlock "tr2diff" SrcPort 1 Points [10, 0; 0, -85] Branch { Points [0, -50] DstBlock "Product" DstPort 2 } Branch { DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "Demux" SrcPort 1 DstBlock "xyz2T" DstPort 1 } Line { Name "J" Labels [0, 0] SrcBlock "jacob0\n" SrcPort 1 DstBlock "inv" DstPort 1 } Line { SrcBlock "Product" SrcPort 1 DstBlock "Gain" DstPort 1 } Line { Name "invJ" Labels [1, 0] SrcBlock "inv" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "Gain" SrcPort 1 DstBlock "joint\nservo" DstPort 1 } Line { SrcBlock "Demux" SrcPort 2 DstBlock "xyz2T" DstPort 2 } Line { SrcBlock "Circle" SrcPort 1 DstBlock "Demux" DstPort 1 } Line { SrcBlock "Constant" SrcPort 1 Points [10, 0] DstBlock "xyz2T" DstPort 3 } Line { SrcBlock "fkine" SrcPort 1 Points [-70, 0] Branch { Points [0, -90] DstBlock "T2xyz" DstPort 1 } Branch { Points [-90, 0] Branch { Points [0, 35] DstBlock "To Workspace" DstPort 1 } Branch { Points [-35, 0; 0, -75] DstBlock "tr2diff" DstPort 1 } } } Line { SrcBlock "xyz2T" SrcPort 1 DstBlock "Product1" DstPort 2 } Line { SrcBlock "circle centre" SrcPort 1 Points [20, 0; 0, 50] DstBlock "Product1" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 DstBlock "tr2diff" DstPort 2 } Annotation { Name "Cartesian circle" Position [161, 353] ForegroundColor "blue" } } }