This information is part of the Modelica Standard Library maintained by the Modelica Association.
The 3 signals of the torque connector are interpreted as the x-, y- and z-coordinates of a torque acting at the frame connector to which frame_b of this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:
|world||Resolve input torque in world frame|
|frame_a||Resolve input torque in frame_a|
|frame_b||Resolve input torque in frame_b (= default)|
|frame_resolve||Resolve input torque in frame_resolve (frame_resolve must be connected)|
If resolveInFrame = ResolveInFrameAB.frame_resolve, the torque coordinates are with respect to the frame, that is connected to frame_resolve.
If resolveInFrame is not ResolveInFrameAB.frame_resolve, then the position vector and the orientation object of frame_resolve must be set to constant values from the outside in order that the model remains balanced (these constant values are ignored).
Description: Frame in which torque is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)
Description: Coordinate system a fixed to the component with one cut-force and cut-torque
Description: Coordinate system b fixed to the component with one cut-force and cut-torque
Description: The input signals are optionally resolved in this frame
Description: x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame
Torque acting between two frames, defined by 3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve
Force and torque acting between two frames, defined by 3+3 input signals and resolved in frame world, frame_a, frame_b or frame_resolve