Overview

Description

The Arc Cosine block computes the inverse cosine of the input value. Its output is in Radians. The block is updated at the update rate, determined by the Evaluate Block.

This block is often used in Inverse Kinematics where the commanded linear motion (such as linear millimeters) is on a rotary motor with arms. To compute the actual distance, trigonometry is helpful.

Inputs and outputs for this block are as follows:

Input/Output	Type	Units
Input	Double precision floating point	None
Output	Double precision floating point	Radians

Configuration

Configuration values for this block are as follows:

Evaluate Block	This block allows you to specify whether the block executes Every Sample, Every Other Sample (Odd or Even), or Every Fourth Sample (and specify the First, Second, Third, or Fourth). This provides greater flexibility in controlling the execution of a model and to preserve performance for other areas of motion control.
User Defined Block Priority	When selected, allows you to enter a Priority Code to modify Execution Ordering of this block. For more information, see Block Execution Order and User Defined Block Priority.
Priority	For an explanation of how the Priority field is used by the MechaWare Model Downloader, see Block Execution Order and User Defined Block Priority.
User Data 0	Application-specific data. See User Data Storage.
User Data 1	Application-specific data. See User Data Storage.

Matlab/Simulink

Simulink Interface

Arc Tangent Simulink Block

The block has two user data fields (User Data 0, User Data 1) to store application-specific data for convenient storage and retrieval. See User Data Storage for details.

The block's update schedule is determined by the Evaluate Block. The following Parameter Dialog Box can be opened by double-clicking on the block in a Simulink Model:

Arc Tangent Parameters Dialog Box

C++ API

ACOSBlock

Declaration

Public Method

	class ACOSBlock: public virtual Block { public: // User accessible coefficients };
	Required Header: mechaware.h

Description

The ACOS block computes the inverse cosine of the input. This block has no configurable parameters.

Methods

Block Methods

Overview

Matlab/Simulink

Simulink Interface

C++ API

ACOSBlock

See Also