Overview

The Multiply block computes the product of two inputs. The calculation occurs on the update rate specified by the Evaluate Block

Example

In the following example, the Velocity Error is calculated by Subtracting Actual Velocity from Commanded Velocity. The Feedback Velocity is returned as the first difference of the feedback and is measured in Encoder Counts per Sample.The Commanded Velocity is in Encoder Counts per Second and must be accounted for in units.

The Velocity Error is computed on a Sample to Sample basis. To return the Velocity Error in Encoder Counts/Second, multiply by the Controller Sample rate.

The 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) or background. 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 inputs are double precision values that are multiplied to form the output.

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:

C++ API

MULTBlock

Declaration

Public Method

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

Description

The Multiply block computes the product of two inputs. This block has no configurable parameters.

Methods

Block Methods