Overview

The Switch block selects one of its two inputs to pass through to the output. The input to pass through is chosen by the value of the Switch State input based on the following:

If Switch State is 0, then output is Input 0; otherwise, the output is Input 1.

Example

The following example illustrates how to implement a cyclic error compensation based on actual position. For instance, where an un-balanced pulley is spinning horizontally on a motor shaft. Gravity causes the imbalance to require additional force to rotate the heavy side up and require less force as the heavy side makes its way down.

Switch Block outputs Input 0 whenever the Switch State value = 0, otherwise it outputs Input 1. In this scenario, it chooses whether or not to use Gravity Compensation when the User Buffer value is not zero.

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

Switch Simulink Block

This block has three inputs Input 0, Input 1 and Switch State. The block will output one of the two inputs based on the Switch State.

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:

Switch Parameters Dialog Box

C++ API

SWITCHBlock

Declaration

Public Method

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

Description

The Switch block will output one of the two inputs based on the Switch State input. This block has no configurable parameters.

Methods

Block Methods