Symbol

Default

Units

Description

Modelica ID

$\mathrm{Rotation} \mathrm{Sequence}$

[1,2,3]

Euler angles rotation sequence

RotSeq

$\mathrm{sensor}\: \mathrm{r}$

($\mathbf{false}$)

Enables relative displacement sensor output

sensor_T

$\mathrm{sensor}\: \mathrm{v}$

($\mathbf{false}$)

Enables relative velocity sensor output

sensor_Tv

$\mathrm{sensor}\: \mathrm{\θ}$

($\mathbf{false}$)

Enables relative angular displacement sensor output (expressed using the Euler angles selected by $\mathrm{Rotation} \mathrm{Sequence}$)

sensor_R

$\mathrm{sensor}\: \mathrm{\ω}$

($\mathbf{false}$)

Enables relative angular velocity sensor output

sensor_Rw

$r_0$

[0,0,0]

[m]

Undeformed distance of frame_b with respect to frame_a (expressed in Inboard frame: frame_a)

r0

${\mathrm{\θ}}_0$

[0,0,0]

[rad]

Undeformed rotation of frame_b with respect to frame_a (expressed using the Euler angles selected by $\mathrm{Rotation} \mathrm{Sequence}$)

theta0

Symbol

Condition

Default

Units

Description

Modelica ID

$\mathrm{Nonlinear}$

($\mathbf{false}$)$$

When checked, activates options to define variable coefficients.

nonlinear_TS

$\mathrm{Data} \mathrm{Source}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{inline}$

Enumeration defining the data source of variable coefficients. See Nonlinear Options section above.

DCM_TS

$K_{\mathrm{s}}$

$\mathrm{Nonlinear} \= \mathbf{false}$

[4.5e6,4.5e6,8.0e5]

[N/m]

Spring constants: $k_x$, $k_y$, and $k_z$ 

TS

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline} \end{gathered}$$

[0,4.5e6,4.5e6,8.0e5]

Table for displacement-dependent coefficients. See Nonlinear Options section above.

TS_table

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{attachment} \end{gathered}$$

Attachment where data for displacement-dependent coefficients is stored. See Nonlinear Options section above.

TS_data

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{file} \end{gathered}$$

Path to a file where data for displacement-dependent coefficients is stored.  See Nonlinear Options section above.

TS_fileName

$\mathrm{Skip} \mathrm{Rows}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline}$ or $\mathrm{attachment}$ or$\mathrm{file}$

0

Number of rows that are skipped from the top of the data table.

sr_TS

$\mathrm{Smoothness}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline}$ or $\mathrm{attachment}$ or$\mathrm{file}$

Linearly interpolate table points

Determines whether the data points will be interpolated linearly or with a cubic spline.

sm_TS

Symbol

Condition

Default

Units

Description

Modelica ID

$\mathrm{Nonlinear}$

($\mathbf{false}$)$$

When checked, activates options to define variable coefficients.

nonlinear_TD

$\mathrm{Data} \mathrm{Source}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{inline}$

Enumeration defining the data source of variable coefficients. See Nonlinear Options section above.

DCM_TD

$K_{\mathrm{d}}$

$\mathrm{Nonlinear} \= \mathbf{false}$

[1e4,1e4,1e4]

[N.s/m]

Damping constants: $d_x$, $d_y$, and $d_z$ 

TD

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline} \end{gathered}$$

[0,1e4,1e4,1e4]

Table for displacement-dependent coefficients. See Nonlinear Options section above.

TD_table

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{attachment} \end{gathered}$$

Attachment where data for displacement-dependent coefficients is stored. See Nonlinear Options section above.

TD_data

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{file} \end{gathered}$$

Path to a file where data for displacement-dependent coefficients is stored.  See Nonlinear Options section above.

TD_fileName

$\mathrm{Skip} \mathrm{Rows}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline}$ or $\mathrm{attachment}$ or$\mathrm{file}$

0

Number of rows that are skipped from the top of the data table.

sr_TD

$\mathrm{Smoothness}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline}$ or $\mathrm{attachment}$ or$\mathrm{file}$

Linearly interpolate table points

Determines whether the data points will be interpolated linearly or with a cubic spline.

sm_TD

Symbol

Condition

Default

Units

Description

Modelica ID

$\mathrm{Nonlinear}$

($\mathbf{false}$)$$

When checked, activates options to define variable coefficients.

nonlinear_RS

$\mathrm{Data} \mathrm{Source}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{inline}$

Enumeration defining the data source of variable coefficients. See Nonlinear Options section above.

DCM_RS

$K_{\mathrm{\θ}}$

$\mathrm{Nonlinear} \= \mathbf{false}$

[2.6e3,2.6e3,1e2]

[N.m/rad]

Rotational spring constants: $k_{\mathrm{ax}}$, $k_{\mathrm{ay}}$, and $k_{\mathrm{az}}$ 

RS

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline} \end{gathered}$$

[0,2.6e3,2.6e3,1e2]

Table for displacement-dependent coefficients. See Nonlinear Options section above.

RS_table

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{attachment} \end{gathered}$$

Attachment where data for displacement-dependent coefficients is stored. See Nonlinear Options section above.

RS_data

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{file} \end{gathered}$$

Path to a file where data for displacement-dependent coefficients is stored.  See Nonlinear Options section above.

RS_fileName

$\mathrm{Skip} \mathrm{Rows}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline}$ or $\mathrm{attachment}$ or$\mathrm{file}$

0

Number of rows that are skipped from the top of the data table.

sr_RS

$\mathrm{Smoothness}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{inline}$ or $\mathrm{attachment}$ or$\mathrm{file}$

Linearly interpolate table points

Determines whether the data points will be interpolated linearly or with a cubic spline.

sm_RS

Symbol

Condition

Default

Units

Description

Modelica ID

$\mathrm{Nonlinear}$

($\mathbf{false}$)$$

When checked, activates options to define variable coefficients.

nonlinear_RD

$\mathrm{Data} \mathrm{Source}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{GUI}$

Enumeration defining the data source of variable coefficients. See Nonlinear Options section above.

DCM_RD

$K_{\mathrm{\ω}}$

$\mathrm{Nonlinear} \= \mathbf{false}$

[26,26,5]

[N.m.s/rad]

Rotational damping constants: $d_{\mathrm{ax}}$, $d_{\mathrm{ay}}$, and $d_{\mathrm{az}}$ 

RD

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{GUI} \end{gathered}$$

[0,26,26,5]

Table for displacement-dependent coefficients. See Nonlinear Options section above.

RD_table

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{attachment} \end{gathered}$$

Attachment where data for displacement-dependent coefficients is stored. See Nonlinear Options section above.

RD_data

$$\begin{gathered} \mathrm{Nonlinear} \=\mathbf{ }\mathbf{true} \\ \mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{file} \end{gathered}$$

Path to a file where data for displacement-dependent coefficients is stored.  See Nonlinear Options section above.

RD_fileName

$\mathrm{Skip} \mathrm{Rows}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{GUI}$ or $\mathrm{attachment}$ or$\mathrm{file}$

0

Number of rows that are skipped from the top of the data table.

sr_RD

$\mathrm{Smoothness}$

$\mathrm{Nonlinear} \=\mathbf{ }\mathbf{true}$

$\mathrm{Data}\mathit{ }\mathrm{Source}\mathit{ }\= \mathrm{GUI}$ or $\mathrm{attachment}$ or$\mathrm{file}$

Linearly interpolate table points

Determines whether the data points will be interpolated linearly or with a cubic spline.

sm_RD

Symbol

Default

Units

Description

Modelica ID

${\mathrm{IC}}_{r\,v}$

Ignore

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the translational initial conditions

MechTranTree

${\mathrm{s\&conjugate0;}}_0$

[0,0,0]

[m]

Initial displacement of the center of mass frame at the start of the simulation. These values are expressed along the x-, y- and z-axis of the inboard frame respectively

InitPos

${\stackrel{\&conjugate0;}{v}}_0$

[0,0,0]

[m/s]

Initial velocity of the center of mass frame at the start of the simulation. These values are expressed along the x-, y- and z-axis of the inboard frame respectively

InitVel

${\mathrm{IC}}_{\mathrm{\θ}\,\mathrm{\ω}}$

Ignore

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions

MechRotTree

${\stackrel{\&conjugate0;}{\theta }}_0$

[0,0,0]

[rad]

Initial rotation of the center of mass frame at the start of the simulation, based on the ${\mathrm{Type}}_{\mathrm{\theta }}$ parameter values

InitAng

${\stackrel{\&conjugate0;}{\omega }}_0$

[0,0,0]

[rad/s]

Initial angular velocity of the center of mass frame at the start of the simulation, based on the ${\mathrm{Type}}_{\mathrm{\ω}}$ parameter values

InitAngVel

${\mathrm{Type}}_{\mathrm{\ω}}$

Euler

Indicates whether the initial angular velocity is expressed in the inboard or outboard frame.  If Euler is selected, the initial angular velocities are assumed to be the direct derivatives of the Euler angles defined by $\mathrm{Rotation} \mathrm{Sequence}$.

AngVelType