Overview
Overview
Description
The Test Input block is used to input a user buffer’s contents into a MechaWare block. Each Test Input block is connected to a single 32-bit user buffer register for integer and float outputs and two 32-bit registers for double and long integer types. These registers overlap with the buffer used by Memory In User Buffer, Memory Out User Buffer, and Scope blocks.. Each model has a set of 16 of these input registers.
The Test Point Number defines the user buffer location that will be accessed by this block. The data types that are input to the block from the user buffer are float (32 bits), double (64 bits), integer (32 bits) or Long integer (64 bits). If the data being accessed from the user buffer is 64 bits, odd user buffer numbers should be specified, and the next even test input should not be used.
The user buffer location read by the block is determined by the following formula:
Index = (Model Number * 32) + Test Point Number
So, a Test Input block in Model 2 with a Test Point Number of 6 reads its input from User Buffer[70].
Example
The following example shows how to use MechaWare for operations such as Mathematics. In this scenario, the Test Input Block raises the input to the 3rd power (specified in the block parameters) and then outputs the 3rd power using the Test Output block.
The Test Input block pulls its data from the User Buffer just like a Memory User Buffer Block. However if you have your model do the exact operation, but for a different axis (ie have a simple PID control for Axis 0 and 1, but use the same model for both), if you were to use the User Buffer block, each model would try to read and write to the same place – causing undesirable read/write conditions.
The Test Input block allows you to load an identical MechaWare model into different Model slots on the controller based on the Model Slot #, the Test Input block will reference a different User Buffer Location.
The User Buffer index is specified as follows:
Index = (Model Number * 32) + Test Point Number
Note: Test Input block in Model 2 with a Test Point Number of 6 reads its input from User Buffer[70]. |
The following parameters are used to configure this block at load time:
Test Point Number |
The number of the register within model’s set of 16 user buffer registers. |
Data Type |
Data Type.
Defines the data type of the data being accessed in the user buffer.
Float (32 bits)
Double (64 bits)
Short integer (16 bits)
Integer (32 bits)
Long integer (64 bits) |
| 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
The output of the Test Input block is a single value from the user buffer. This block has no inputs.
The Test Point Number determines which of the model’s 16 user buffer registers are used as the source of data for the block.
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:
