QB Robotics qbmove Advanced Kit User Manual page 67

"Equilibrium Position and Stiffness Preset" – This modality works only with the qbmove. It
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drives the shaft position and its stiffness. Both the inputs are in the measurement unit
defined by the field "Unit"
Equilibrium Position and Stiffness Preset Percentage" – This modality works only with the
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qbmove. It drives the shaft position and its stiffness. The position is in the measurement
unit defined by the field "Unit" and the stiffness is in percentage, from the minimum to the
maximum of the device.
"Prime Movers Positions" - the inputs will be directly the motor positions.
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It could be dangerous to use this modality with the qbmove. The motors
and the cable can be seriously damaged and the device could work no
more. Use this modality at your own risk.
Activation on Startup: If this checkbox is set, the block will have only three inputs and the device,
or the devices, will activate when the simulation is started. Otherwise an "Activation" input port
will show and a 0/1 signal should be routed to that input port.
Watchdog Timer: Setting this value to a value different from 0, will set a parameter on the device
that is going to deactivate that device if it doesn't receive inputs in the time defined by the Timer.
Unit: This parameter defines the measurement unit of the inputs and outputs of the device. The
Tick value is referred ad the encoder ticks of the sensors mounted on the device motors.
qbmove Init
When a Simulink scheme is made, this block is mandatory because it stores the
communication port of the device. The output must be connected to the "handle"
input of the QB Move block.
The serial port name varies between operative systems:
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WINDOWS: Under windows the devices are Communication Ports COM#. To
set the port name, double click on the block and insert in the line edit 'COM#'
with the right number of the serial port. The communication baudrate
should be put equal to 2000000.
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UNIX: On Unix the devices are usually seen as /dev/tty.USBx. To set the port
name, double click on the block and insert in the line edit '/dev/tty.USBx'
Figure 6-6: qbmove Init block
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28 aprile 2021