Input

The Input element can be used to configure an input. The Name attribute of the Input element is used to select the required input interface. The Source attribute of the Input element is used to define the signal path in the controller tree.

See also

Input

Explanation of the general concept of inputs and their purpose in the motion software.

Example

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<Controller Name="Arcas 5EG-0">
  <Template Name="PositionControlTemplate" TemplateType="ProcessingBlock">
    <Updatable Name="Updatable">
      <FilePath>C:\your\path\to\PositionControlSimple-windows-x86_64.bin</FilePath>
    </Updatable>
  </Template>

  <Template Name="PlantSecondOrderMechanicalTemplate" TemplateType="ProcessingBlock">
    <Updatable Name="Updatable">
      <FilePath>C:\your\path\to\PlantSecondOrderMechanical-windows-x86_64.bin</FilePath>
    </Updatable>
  </Template>

  <AxisControl Name="X" Template="LogicalAxisControlStandard3rdOrderTemplate">
    <ProcessingBlock Name="PositionControl" Template="PositionControlTemplate">
      <Input Name="DemandPosition" Source="X/TrajectoryInterpolator/DemandPosition"/>
      <Input Name="PositionSensor" Source="X/Plant/Position"/>
    </ProcessingBlock>

    <ProcessingBlock Name="Plant" Template="PlantSecondOrderMechanicalTemplate">
      <Input Name="Actuator" Source="X/PositionControl/ControlOutput"/>
    </ProcessingBlock>

    <TrajectoryInterpolator>
      <Input Name="DemandPositionOffset" Source="X/PositionControl/DemandPositionOffset"/>
    </TrajectoryInterpolator>
  </AxisControl>
</Controller>

Note

  • Empty string signal path disconnects the input.

XML schema

Complex type InputType
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<xs:complexType name="InputType">
  <xs:choice minOccurs="0" maxOccurs="unbounded">
    <xs:element name="Signal" type="SignalType"/>
    <xs:element name="Variant" type="InputVariantType"/>
    <xs:element name="NamedMutation" type="NamedMutationType"/>
  </xs:choice>
  <xs:attribute name="Name" type="xs:string" use="required"/>
  <xs:attribute name="Source" type="xs:string" use="optional"/>
</xs:complexType>

Attribute

Description

Name

Used to specify an input, which is required to be used.

Source

Specifies the path of a signal in the controller tree, which is required to be assigned to the given input.
Complex type InputVariantType
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<xs:complexType name="InputVariantType">
  <xs:complexContent>
    <xs:extension base="BaseVariantType">
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:element name="Signal" type="SignalType"/>
        <xs:element name="Variant" type="InputVariantType"/>
        <xs:element name="NamedMutation" type="NamedMutationType"/>
      </xs:choice>
    </xs:extension>
  </xs:complexContent>
</xs:complexType>