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:

Types.ResolveInFrameAB.	Meaning
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).

resolveInFrame	Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameAB.frame_b Type: ResolveInFrameAB Description: Frame in which torque is resolved (1: world, 2: frame_a, 3: frame_b, 4: frame_resolve)