Command Element

Description

Modifies a joint motion element.

Format

<Motion_Joint      

      id                  = "integer"

      joint_id            = "integer"

      motion_type         = { "R" | "T" }

{  

      val_type            = "D"

    |

      val_type            = "V"

      ic_disp             = "real"

    |

      val_type            = "A"

      ic_disp             = "real"

      ic_vel              = "real"

}

{

      type                = "EXPRESSION"

      expr                = "motionsolve_expression"

    |

      type                = "USERSUB"

      usrsub_dll_name     = "valid_path_name"

      usrsub_param_string = "USER( [[par_1 [, ...][,par_n]] )"

      usrsub_fnc_name     = "valid_function_name"

}

/>

Attributes

id

Element identification number (integer>0).  This number is unique among all Motion_Joint elements.

type

Select either "EXPRESSION" or "USERSUB". Specifies how the motion is defined. The EXPRESSION option specifies that the motion value is a MotionSolve expression that can be evaluated at run-time.  The USERSUB option indicates that the value of the motion value is specified in a user defined subroutine.  The parameters "usrsub_param_string", "usrsub_dll_name" and "usrsub_fnc_name" are used to provide more information about the user defined subroutine.

val_type

Modifies whether the motion applies a displacement input (D), a velocity input (V), or an acceleration input (A). You must select one option from "D", "V", or "A".

expr

Modifies the expression that defines the motion value.  Use this parameter only when type = EXPRESSION. Any valid run-time MotionSolve expression can be provided as input.

usrsub_param_string

Modifies the list of parameters that are passed from the data file to the user defined function specified by usrsub_fnc_name.  Use this keyword only when type = USERSUB is selected.

usrsub_dll_name

Modifies the path and name of the DLL or shared library containing the user subroutine.  MotionSolve uses this information to load the user subroutine specified by usrsub_fnc_name in the DLL at run time.

usrsub_fnc_name

Modifies the name for the user subroutine function (from the default of MOTSUB).

joint_id

Specifies the ID of the joint at which the motion input is applied.

motion_type

Modifies the type of motion to be applied.  Select from R and T, which stand for rotational and translational, respectively.

ic_disp

Modifies the displacement initial condition that is required when val_type = "V" or val_type = "A".

ic_vel

Modifies the velocity initial condition that is required when val_type = "A".

Example

<Motion_Joint

    id                  = "101001"

    type                = "EXPRESSION"

    val_type            = "D"

    expr                = "-.2*TIME"

    joint_id            = "101002"

    motion_type         = "R"

    ic_disp             = "0."

    ic_vel              = "0."

 />

 <Motion_Joint

    id                  = "301001"

    type                = "USERSUB"

    val_type            = "D"

    usrsub_param_string = "USER(5,2)"

    usrsub_dll_name     = "NULL"

    joint_id            = "301002"

    motion_type         = "R"

    ic_disp             = "0."

    ic_vel              = "0."

/>