Types of MechaWare Blocks
There are four types of MechaWare blocks: I/O, Computational, Data File, and Advanced.
Input / Output blocks are used to pass data to and from the Filter Objects. The filter algorithm can read data from any Axis Object and can write data to any Motor Object. The ability to access multiple data locations with the Input/Output blocks makes the design of MIMO (multi Input, multi Output) control algorithms possible. I/O blocks require a specific format for data entry, the format is the block tag followed by the desired axis number.
In the example above, the block uses the actual position from Axis 3 as feedback.
Computational blocks support basic mathematical operations, biquad filters, and matrix computation. Each block will generate a single output from a single or multiple inputs, depending on the block's functionality.
Biquad/Observer Block Data File Format
Biquad and Observers Blocks are defined in two ways. In the MATLAB workspace they are defined by a MechaWare biquad/observer structure. This structure is then used to create biquad and observer text files that are used to load block parameters to the ZMP or XMP controller.
The observer and the biquad blocks are defined in the discrete time domain. Mechaware structures include z-transform and difference equation descriptions of the blocks.
Advanced Blocks (currently not supported)
In the future, complex controls functions will be incorporated into MechaWare blocks.
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