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Component

Every Simumatik component starts with this piece. It represents the component in its whole.

Mandatory children

  • Base_link: It is physical link with optional inertia, collision and required visual properties.

Optional children

  • Symbol: The symbol represents the 2D view of the component..

  • Behavior: The behavior object represents a black box which will include some logic that can be used to model the component behavior.

  • Electric input: Models an electric input port that recieves a voltage and returns a current. You can add as many as you want.

  • Electric output: Models an electric output port that sends a voltage and recieves a current. You can add as many as you want.

  • Joint: A joint connection between two links with kinematic and dynamic properties. You can add as many as you want.

  • Link: It is physical link with optional inertia, collision and required visual properties. You can add as many as you want.

  • Pneumatic Input: Models an pneumatic input port that recieves a pressure (Pa) and recieves a flow (L/s). You can add as many as you want.

  • Pneumatic Output: Models an pneumatic output port that sends a pressure (Pa) and recieves a flow (L/s). You can add as many as you want.

  • Hydraulic input: Models an hydraulic input port that recieves a pressure (Pa) and recieves a flow (L/s). You can add as many as you want.

  • Hydraulic output: Models an hydraulic output port that sends a pressure (Pa) and recieves a flow (L/s). You can add as many as you want.

  • Mechanical rotation input: Models a mechanical input port that recieves an angular velocity (rad/s) or position (rad) and returns a torque (N*m). You can add as many as you want.

  • Mechanical rotation output: Models a mechanical output port that sends an angular velocity (rad/s) or position (rad) and returns a torque (N*m). You can add as many as you want.

  • Mechanical translation input: Models a mechanical input port that recieves a linear velocity (m/s) or position (m) and returns a force (N). You can add as many as you want.

  • Mechanical translation output: Models a mechanical output port that sends a linear velocity (m/s) or position (m) and returns a force (N). You can add as many as you want.

  • Serial input: Models a serial interface that send and recieves information in bytes. You can add as many as you want.

  • Serial output: Models a serial interface that send and recieves information in bytes. You can add as many as you want.

  • Communication driver: Models the communication with the gateway in order to connect to different software. You can add as many as you want.

  • Connection: Used to define an internal connection between component element input and outputs You can add as many as you want.