Component
Every Simumatik component starts with this piece. It represents the component in its whole.
Mandatory children
- Base_link: It is physical link with optional inertia, collision and required visual properties.
Optional children
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Symbol: The symbol represents the 2D view of the component..
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Behavior: The behavior object represents a black box which will include some logic that can be used to model the component behavior.
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Electric input: Models an electric input port that recieves a voltage and sends a current back. You can add as many as you want.
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Electric output: Models an electric output port that sends a voltage and recieves a current. You can add as many as you want.
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Joint: A joint connection between two links with kinematic and dynamic properties. You can add as many as you want.
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Link: It is physical link with optional inertia, collision and required visual properties. You can add as many as you want.
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Pneumatic Input: Models a pneumatic input port that recieves a pressure (Pa) and sends a flow (L/s) back. You can add as many as you want.
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Pneumatic Output: Models a pneumatic output port that sends a pressure (Pa) and recieves a flow (L/s). You can add as many as you want.
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Hydraulic input: Models a hydraulic input port that recieves a pressure (Pa) and sends a flow (L/s) back. You can add as many as you want.
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Hydraulic output: Models a hydraulic output port that sends a pressure (Pa) and recieves a flow (L/s). You can add as many as you want.
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Mechanical rotation input: Models a mechanical input port that recieves an angular velocity (rad/s) or position (rad) and sends a torque (N*m) back. You can add as many as you want.
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Mechanical rotation output: Models a mechanical output port that sends an angular velocity (rad/s) or position (rad) and receives a torque (N*m). You can add as many as you want.
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Mechanical translation input: Models a mechanical input port that recieves a linear velocity (m/s) or position (m) and sends a force (N) back. You can add as many as you want.
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Mechanical translation output: Models a mechanical output port that sends a linear velocity (m/s) or position (m) and receives a force (N). You can add as many as you want.
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Serial input: Models a serial interface that send and recieves information in bytes. You can add as many as you want.
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Serial output: Models a serial interface that send and recieves information in bytes. You can add as many as you want.
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Communication driver: Models the communication with the gateway in order to connect to different software. You can add as many as you want.
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Connection: Used to define an internal connection between component element input and outputs You can add as many as you want.