Mechanical rotation output
Models a mechanical output port that sends an angular velocity (rad/s) or position (rad) and receives a torque (N*m).
Mandatory children
- origin: The reference frame of the port in 3D view with respect to the reference frame of the link.
- Var: smtk_transform
- Type: constant
- Default value:
0 0 0 0 0 0 1
- Value labels:
x y z qx qy qz qw
- position: The reference frame of the port in 2D view with respect to the reference frame of the link.
- Var: smtk_vector2
- Type: constant
- Default value:
0 0
- Value labels:
x y
- mode: Defines the transferred mode.
- Var: smtk_mechanical_choice
- Type: output
- Default value:
velocity
- Possible options:
position
,velocity
- value: Value sent in rad or rad/s.
- Var: smtk_float
- Type: output
- Default value:
0.0
- torque: Torque received in N*m.
- Var: smtk_float
- Type: input
- Default value:
0.0