Overview

Description

The Origin block is an Input block that is a source for position data. The output from the Origin block is an offset that is applied to a motor’s Feedback output to generate the actual position of the axis mapped to that motor. The Origin value is normally zero unless the axis’s position is cleared.

The Origin block is commonly used with a Feedback block to generate actual position in models that use an inverse kinematic transform.

Example

The following example is using the Origin to compensate for a zero position in a model that transforms position values from counts to tenths of a degree.

The following parameters are used to configure this block at load time

Axis Number	The number of the axis which is the source of the position data. This number may be absolute or linked to the Model Number.
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

BiQuad Simulink1

The sim (opt) input is an input which only relates to simulation.

Note: This input is only used when simulating within Simulink and is ignored when the model is downloaded to a controller.

By supplying a value from a Simulink source or a trajectory generator that passes the value through the model, allows you to see how the system responds given an actual position. Additionally, allows you to generate Actual Position when compared to a simulated Feedback.

The Output of the Origin block is the Axis Origin value.

The Axis Number of the axis provides the position data that is determined by the Axis Number parameter. This number is absolute or linked to the model number.

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 is opened by double-clicking on the block in a Simulink Model:

C++ API

Origin

Declaration

Public Method

class ORIGINBlock: public virtual Block
{
public:
         // User accessible coefficients

Required Header: mechaware.h

Description

The Origin block is used to connect the inputs of a model

Methods

Block Methods

Overview

Overview

Matlab/Simulink

Simulink Interface

C++ API

Origin

See Also