QB Robotics qbmove Advanced Kit User Manual page 70

6.3.2.3 Example
In the main folder, you will find an example called "qbmove_example.slx". This is a simple
configuration which you can use to test your qbmove.
Figure 6-10: qbmove control Simulink example
This example is structured for one device only, with ID equal to 65. As you can see in the above
image on the left there are two constant inputs with a slider gain each, which can be tweaked
while the simulation is running and you can see the device will move. In this case the input
modality is chose to be "Equilibrium Position and Stiffness Preset" so, the example, as it is, will
work only on a qbmove.
On the right there are 3 displays where you can read the values in the measurement unit chosen
of the 3 sensors (depending on the device used, the value of the outputs changes. Refer to
previous section for better explanation).
The error output is used to debug communication. It's not needed to make the simulation work,
so you can leave a terminator block connected.
67
28 aprile 2021