Manual

Input		Can be wired to any input or output node. There is no explicit limit to the number of inputs that can be connected together. If multiple input nodes are wired together, but without an output node, a warning is displayed and those wires are ignored. To change the value of an unwired input node, place cursor over node and double-click. Alternatively, the value can be changed by placing cursor anywhere in block, right clicking to display a pop-up menu, and selecting "Properties." The value of a wired input node cannot be changed, but it can be viewed with same procedures as above.
Output		Can be wired to any input node. Two output nodes cannot be wired together. The value of an output node cannot be changed. To view the value of an output node, place cursor over node and double-click. Alternatively, the value can be viewed by placing cursor anywhere in block, right clicking to display a pop-up menu, and selecting "Properties."
No-connection		Set values that are fixed at the time the model is compiled. To change, stop model and place cursor over node and double-click. Alternatively, the value can be changed by placing cursor anywhere in block, right clicking to display a pop-up menu, and selecting "Properties." Changing the value of a No-connection node will force a recompile to continue model execution.
Documentation		Store information about the use of the block for reference.

Node Types

double	Most Visual ModelQ nodes are of type double.
Boolean	Some Visual ModelQ nodes are Boolean. When viewing or changing values, these nodes show as "True" or "False." For the case where these nodes are input nodes, and so can be wired to non-Boolean nodes, any value less than 0.5 is translated as False while all other values are translated as True.
String	Some Visual ModelQ nodes are strings. When viewing or changing values, these nodes show as one of a list of strings. When these nodes are transmitted on wires (wires carry only double) the value of the node is translated as the integer value of the string’s placement in the string list. Actually, Boolean is a string variable where the string list consists of "True" and "False."
Documentation	Documentation nodes accept strings with no specific length limit.

Instruments Tab

Oscilloscope

Graphic
Function	Provide 8-channel oscilloscope display.
Tab	Instruments
Special behavior.	After compile, oscilloscope display window is hidden. Double click on the Oscilloscope block to view the display window. All default settings can be changed using controls in the display. However, recompilation will restore the default values.
Requirements	At least one oscilloscope is required in every model. There is no explicit limit on the number of oscilloscopes one model can have.

Node List	1	Time/Div Select default Time/Division.
	2	Trigger Source Select variable to be used for default trigger channel
	3	Trigger Level Select default trigger level.
	4	Positive Trig? Select default trigger slope (positive or negative).
	5	Trigger Position Select default trigger position in percent of screen size.
	6	Trigger Mode Select default trigger position from Auto, Normal, and Cont. With Normal, scope triggers only after trigger channel meets trigger criterion. With Auto, trigger will automatically trigger after two screens full of data pass without a trigger. With Cont (continuous), the scope runs continuously.
	7	AC Trigger Select default value of AC Trigger. If true, Trigger Source is passed through a high-pass filter to remove DC component. Approximately 3 screens of data must pass for the filter to settle out (Boolean).
	8	Roll? Select default value of Roll. If true, display rolls across screen.
	9	Single Shot Select default value of Single Shot. If true, model stops executing after screen fills. Restart execution by clicking the Run button.
	10	x vs y? Select default value of x-vs-y. If true, display shows all channels versus the variable specified in H-Channel.
	11	H-Channel Select default horizontal channel. See x vs y (node 10).
	12	Documentation node
See also: Live Scope, Two-Channel Live Scope

Dynamic Signal Analyzer (DSA)

Graphic
Function	Provide Frequency-Response Function (FRF) or Bode plot of system. Provides temporary excitation signal.
Tab	Instruments
Special behavior.	After compile, DSA display window is hidden. Double click on the DSA block to view the display window. All default settings can be changed using controls in the display. However, recompilation will restore the default values.
Requirements	If a DSA is present, at least two variables must be present in model. There is no specific limit on the number of DSAs than can be present.

Node List	1	Switched Input Input signal, which is normally passed through DSA to Output. However, when DSA excitation is active, switched input is disconnected from Output.
	2	Unswitched Input Input signal, which is passed through DSA to Output, whether or not DSA excitation signal is active. Should only be used for DC signals, or DSA analysis will be corrupted.
	3	Excitation Output of DSA. If DSA excitation is inactive, equal to sum of Switched Input and Unswitched Input. I If DSA excitation is active, equal to sum of Switched Input and Excitation.
	4	DSA Inactive True (1) when DSA excitation is inactive; False (0) when active. Can be used to disable any waveform generators that are not connected to the switched input (these generators are effectively disconnected automatically so there is no need to disable them) (Boolean).
	5	Excitation Amplitude Amplitude of excitation output. If excitation amplitude is too small, signal-to-noise ration will be too large, corrupting the DSA output; if it is too large, it will drive system into saturation, also corrupting the DSA output. If DSA output is noisy in appearance, experiment with this value.
	6	Input Channel Select default Input channel for DSA.
	7	Output Channel Select default Output channel for DSA.
	8	TSample Select default value of sample time for DSA. Normally should be equal to sample time of digital controller, if one is used.
	9	Start Zero Time Select default value of start zero time. Start zero time gives the system time to settle out after DSA becomes active. System must be fully settled before excitation starts, or DSA output will be corrupted. If DSA output is noisy in appearance, experiment with this value.
	10	End Zero Time Select default value of end zero time. End zero time gives the system time to settle out after DSA becomes inactive. System must be fully settled before data-gathering concludes, or DSA output will be corrupted. If DSA output is noisy in appearance, experiment with this value.
	11	Order Select default DSA order. When DSA collects data, 2^Order points are stored for each channel. Larger order allows the DSA to measure lower frequencies. Larger order also allows longer End Zero Time values.
	12	Auto Frequency Default value of Auto Frequency span. If true, frequency span is automatically set at compile time based on Order and TSample. If false, Minimum Frequency (node 13) and Maximum Frequency (node 14) are used to set frequency span.
	13	Minimum Frequency Default minimum of frequency span if Auto Frequency (node 12) is false; ignored otherwise.
	14	Maximum Frequency Default maximum of frequency span if Auto Frequency (node 12) is false; ignored otherwise.
	15	Gain Scale Default gain scale of DSA output.
	16	Gain Offset Default gain offset of DSA output.
	17	Phase Scale Default phase scale of DSA output.
	18	Phase Offset Default phase offset of DSA output.
	19	Button Setup Set up as many as 10 buttons, which automatically load input and output channels when clicked. Simplifies ability to view many FRFs (Bode plots).
	20	Documentation node
See also: Variable, Live Scope, Two-Channel Live Scope, Oscilloscope

Variable

Graphic
Function	Non-display data channel for Oscilloscopes and DSAs.
Tab	Instruments

Node List	1	Input Input value in model units
	2	Scale Set default scale of variable on Oscilloscope.
	3	Offset Set default offset of variable on Oscilloscope.
	4	Show Set default of whether variable displays on Oscilloscope. If more than 8 variables default to Show = true, all variables after the either default to not showing (Boolean).
	5	AC Couple Set default AC Coupling of variable on Oscilloscope (Boolean).
	6	Mult Convert model units to user units. This allows the model to execute in SI units with data display convenient units.
	7	Documentation node
See also: Live Scope, Two-Channel Live Oscilloscope, DSA

Live Scope

Model graphic (during model execution)
Select Graphic
Function	Displaying data on model screen; also provide data channel for Oscilloscopes and DSAs.
Tab	Instruments
Special behavior.	The Live Scope creates a variable of the same name as the block name that can be displayed on the Oscilloscope or measured with a DSA. After compile, double click on the Live Scope block to view the control panel. The control panel simplifies adjustment of standard scope variables such as scale, offset, and trigger settings. Single-shot operation is supported through the S-Shot checkbox. Single-shot causes the model to stop running after the scope screen fills; if you select “Must click OK” you must acknowledge the S-Shot announcement window; otherwise, the window will go out of view after 10 seconds. Click the Run button to continue model execution. Supports Hot Connect, which allows temporary connection Input to any node or wire while the model is running, and without forcing a recompile. All scope settings are restored to pre-hot connection values when normal (non-Hot- Connect) operation is restored. Supports Autoscale, where the scale is set to ±X where X is large enough to show all points of display. Supports Fill Screen, where the scale is set to just show the waveform minimum and maximum values. Supports copying scope display to a bitmap file. You can copy the complete scope display ("Copy Image") or just the plot ("Copy Graph"). If you click the escape key mid sequence, the bitmap is copied to the clipboard where it can be pasted to other applications, for example Microsoft Word documents.	Live Scope Control Panel
See also: Variable, Two-Channel Live Scope, Oscilloscope

Node List	1	Input Input value in model units
	2	Scale Set scale.
	3	Offset Set offset.
	4	AC Couple Set AC Coupling of variable (Boolean). .
	5	Mult Convert model units to user units. This allows the model to execute in SI units with data display convenient units.
	6	Time/Div Select Time/Division
	7	Show Set default of whether variable displays on Oscilloscopes. If more than 8 variables default to Show = true, all variables after the either default to not showing (Boolean).
	8	Ext External input (can be used to trigger the scope).
	9	Ext Mult Multiplier for external input
	10	Trigger Channel Select trigger channel, either External Input or Input (Node 1). Two- and Four-Channel scopes allow any available channel to be used to trigger the scope.
	11	Trigger Level Select trigger level. Note that the trigger level is not scaled by Mult.
	12	Positive Trig? Select trigger slope (positive or negative).
	13	Trigger Position Select trigger position in percent of screen size.
	14	Trigger Mode Select trigger position from Auto, Normal, and Continuous. With Normal, scope triggers only after trigger channel meets trigger criterion. With Auto, trigger will automatically trigger after two screens full of data pass without a trigger. With Continuous, the scope displays data continuously. Note: using Continuous with a small time step can significantly slow model operation.
	15	AC Trigger Select AC Trigger. If true, trigger source (node 1) is passed through a high-pass filter to remove DC component. Approximately 3 screens of data must pass for the filter to settle out (Boolean).
	16	Single Shot Select Single Shot mode, either 0 (off), 1 (on, don’t require user to click OK) or 2 (on, require user to click OK).
	17	Height Select height of Live Scope display in pixels.
	18	Width Select width of Live Scope display in pixels.
	19	Documentation node
See also: Variable, Two-Channel Live Scope, Oscilloscope

Two-Channel Live Scope

Model graphic (during model execution)
Select Graphic
Function	Displaying two channels of data on model screen; also provide one data channel (Channel 1 only) for Oscilloscopes and DSAs.
Tab	Instruments
Special behavior.	The Two-Channel Live Scope creates a variable of the same name as the block name that can be displayed on the Oscilloscope or measured with a DSA. Channel 1 is used for data for the variable. See Live Scope for more details.	Two-Channel Live Scope Control Panel
See also: Variable, Live Scope

Node List	In addition to the Nodes for the Live Scope , the Two-channel Live Scope provides the following five nodes on the right side of the block.
	20	Input2 Input value for Channel 2 (red) in model units
	21	Scale2 Set scale for Channel 2.
	22	Offset2 Set offset for Channel 2.
	23	AC Couple2 Set AC Coupling of Channel 2 (Boolean).
	24	Mult2 Convert model units to user units for Channel 2. This allows the model to execute in SI units with data display convenient units.
See also: Variable, Live Scope, Oscillocope

Four-Channel Live Scope

Model graphic (during model execution)	Four-Channel Scope with Scales turned off using Control Panel (shown below)
Select Graphic
Function	Displaying four channels of data on model screen; also provide one data channel (Channel 1 only) for Oscilloscopes and DSAs.
Tab	Instruments
Special behavior.	The Four-Channel Live Scope creates a variable of the same name as the block name that can be displayed on the Oscilloscope or measured with a DSA. Channel 1 is used for data for the variable. See Live Scope for more details.	Four-Channel Live Scope Control Panel
See also: Variable, Live Scope

Node List	In addition to the Nodes for the Two-Channel Live Scope, the Four-Channel Live Scope provides the following ten nodes bottom of the block, where Channel 3 parameters are below Channel 1 parameters on the left and Channel 4 parameters are below Channel 2 parameters on the right.
	25	Input3 Input value for Channel 2 (black) in model units
	26	Scale3 Set scale for Channel 3.
	27	Offset3 Set offset for Channel 3.
	28	AC Couple3 Set AC Coupling of Channel 3 (Boolean).
	29	Mult3 Convert model units to user units for Channel 3. This allows the model to execute in SI units with data display convenient units.
	30	Input4 Input value for Channel 4 (green) in model units
	31	Scale4 Set scale for Channel 4.
	32	Offset4 Set offset for Channel 4.
	33	AC Couple4 Set AC Coupling of Channel 4 (Boolean).
	34	Mult4 Convert model units to user units for Channel 4. This allows the model to execute in SI units with data display convenient units.
See also: Variable, Live Scope, Two-Channel Live Scope, Oscillocope

Waveform Generator

Graphic
Function	Provide constant numerous waveforms with control of frequency, amplitude, offset, and other waveform parameters.
Tab	Instruments
Special behavior	After compile, double click on the Waveform Generator block to view the Waveform Generator control panel. Control panel allows easy adjustment of parameters such as waveform type, frequency, and amplitude while model is running.

Node List	1	Output Output in model units
	2	Waveform Select default waveform from one of: Sine Triangle Sawtooth Pulse Bi-polar Pulse Trapezoid S-Curve DC (None)
	3	Frequency Set default frequency of waveform in Hz.
	4	Amplitude Set default peak-to-peak (Sine, Triangle, Sawtooth, Pulse, Bi-polar Pulse) or peak (Trapezoid, S-Curve) amplitude in user units.
	5	Offset Set default center (Sine, Triangle, Sawtooth, Pulse, Bi-polar Pulse) or low level (Trapezoid, S-Curve) of waveform in user units.
	6	Phase Set default phase (time offset) of waveform in degrees.
	7	Duty Cycle Set default duty cycle in percent for Pulse, Bi-polar Pulse, Trapezoid, and S-Curve waveforms.
	8	Mult Convert user units to model units. This allows convenient data entry while allowing the model to execute in SI units.
	9	Enable When false, output is 0. If true, waveform generator operates as normal (Boolean).
	10	Documentation node

Data Logger

Graphic
Function	Log 16 channels of data to a file in CSV (comma separated variable) format.
Tab	Instruments

Node List	1-16	Channel1-Channel16 Data to be logged.
	17	Enable Store data if Enable = 1
	18	Reset Clear data in file when Reset = 1.
	19	File Write Interval Specifies how many samples of data are collected before data is written. Defaults to 10.
	20	Ask before overwrite If set to 1, ask user before overwriting the data file.
	21-52	Name1-Name16 and Multipiler1 – Multiplier 16 (in pairs) Specify name under which channel data will be stored; names are written in the first line of the data file. Multiplier allows storage of data in user units. Multipliers are written in second line of data file.
	53	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node. Data logger saves data on each cycle of controller except the following conditions: t = 0 Enable = 0 Reset = 1
	54	Mult Convert user units to model units. This allows convenient data entry while allowing the model to execute in SI units.
	55	Documentation node

Constants Tab

Simple Constant

Model graphic
Select graphic
Function	Provide constant input with on-screen display. Value can be changed at any time by double clicking on the input node (left on icon).
Tab	Constants

Node List	1	Input Input value to constant in user units
	2	Mult Convert user units to model units. This allows convenient data entry while allowing the model to execute in SI units (recommended).
	3	Output Output in model units
	4	Documentation node Contents of documentation node are displayed for the user when the help button on the Adjustor box is clicked.
See also: Live Constant, Scale-by Constant, Inspector

Live Constant

Model graphic
Select graphic
Function	Provide constant input with on-screen display. Value can be changed at any time by double clicking on the block after compile, which brings an adjustor box into view. Output is scaled from user units by Mult (node 4).
Tab	Constants
Special behavior.	After compile, double click on the Live Constant block to view the adjustor box. Adjustor box simplifies adjustment of constants through use of six logarithmic adjustments. For example, "<<" reduces the value by approximately 50% to an even value of 1, 2, or 5 x 10^N. Value is copied into InitValue (node 1) after clicking "Save value as initial value " button immediately right of value. Value is restored to InitValue after each compile. Text color in edit box changes to red when keystrokes are entered. This indicates that the value in the model block is not equal to the value in the edit box. Actions that store the value (for example, striking the enter key) load the value and change the text back to the standard color.	Adjustor Box Model block, value and initial value (above) equal and (below) unequal.

Node List	1	InitValue Initial value of constant in user units.
	2	Minimum Minimum user can set input value to.
	3	Maximum Maximum user can set input value to.
	4	Mult Convert user units to model units. This allows convenient data entry while allowing the model to execute in SI units (recommended).
	5	Output Output in model units.
	6	Documentation node Contents of documentation node are displayed for the user when the help button on the Adjustor box is clicked.
See also: Simple Constant, Scale-by Constant, String Constant

Inverse Live Constant

Model graphic
Select graphic
Function	Provide inverted constant input with on-screen display (if value is zero, output is zero). Value can be changed at any time by double clicking on the block after compile, which brings an adjustor box into view. Output is scaled from user units by Mult (node 4), and then inverted.
Tab	Constants
Special behavior.	After compile, double click on the Live Constant block to view the adjustor box. Adjustor box simplifies adjustment of constants through use of six logarithmic adjustments. For example, "<<" reduces the value by approximately 50% to an even value of 1, 2, or 5 x 10^N. Value is copied into InitValue (node 1) after clicking "Save value as initial value " button immediately right of value. Value is restored to InitValue after each compile. After model is compiled, model block is painted white when the value is equal to the initial value and silver when not equal. Text color in edit box changes to red when keystrokes are entered. This indicates that the value in the model block is not equal to the value in the edit box. Actions that store the value (for example, striking the enter key) load the value and change the text back to the standard color.	Adjustor Box Model block, value and initial value (above) equal and (below) unequal.
Requirements	None

Node List	1	InitValue Initial value of constant in user units.
	2	Minimum Minimum user can set input value to.
	3	Maximum Maximum user can set input value to.
	4	Mult Convert constant from user units to model units and then invert (1/x). This allows convenient data entry while allowing the model to execute in SI units (recommended).
	5	Output Output in model units
	6	Documentation node Contents of documentation node are displayed for the user when the help button on the Adjustor box is clicked.
See also: Live Constant, Scale-by Inverse Live Constant

Scale-by Simple Constant

Model graphic
Select graphic
Function	Provide constant input with on-screen display. Value can be changed at any time by double clicking on the scale node (top left).
Tab	Constants

Node List	1	Input Input value to be scaled
	2	Scale Scale to be applied to input.
	3	Mult Convert user units to model units. This allows convenient data entry while allowing the model to execute in SI units (recommended).
	4	Output Output in model units
	5	Documentation node Contents of documentation node are displayed for the user when the help button on the Adjustor box is clicked.
See also: Simple Constant, Scale-by Live Constant

Scale-by Live Constant

Model graphic
Select graphic
Tab	Constants
Function	Provide scaling constant with on-screen display. Value can be changed at any time by double clicking on the block after compile, which brings an adjustor box into view. Output is scaled from user units by Mult (node 5).
Special behavior.	After compile, double click on the Live Constant block to view the adjustor box. Adjustor box simplifies adjustment of constants through use of six logarithmic adjustments. For example, "<<" reduces the value by approximately 50% to an even value of 1, 2, or 5 x 10^N. Value is copied into InitValue (node 2) after clicking "Save value as initial value " button immediately right of value. Value is restored to InitValue after each compile. After model is compiled, model block is painted white when the value is equal to the initial value and silver when not equal. Text color in edit box changes to red when keystrokes are entered. This indicates that the value in the model block is not equal to the value in the edit box. Actions that store the value (for example, striking the enter key) load the value and change the text back to the standard color.	Adjustor Box Model block, value and initial value (above) equal and (below) unequal.
Requirements	None

Node List	1	Input Input value, which is scaled by the inverse of the constant (1/x) and then scaled by Mult to convert from user units to model units.
	2	InitValue Initial value of constant in user units
	3	Minimum Minimum user can set input value to.
	4	Maximum Maximum user can set input value to.
	5	Mult Convert user units to model units. This allows convenient data entry while allowing the model to execute in SI units (recommended).
	6	Output Output in model units
	7	Documentation node Contents of documentation node are displayed for the user when the help button on the Adjustor box is clicked.
See also: Live Constant, Scale-by Inverse Live Constant

Scale-by Inverse Live Constant

Model graphic
Select graphic
Tab	Constants
Function	Provide scaling inverse constant with on-screen display (if value is zero, output is zero). Value can be changed at any time by double clicking on the block after compile, which brings an adjustor box into view. Output is scaled from user units to model units by Mult (node 5) and then inverted.
Special behavior.	After compile, double click on the Live Constant block to view the adjustor box. Adjustor box simplifies adjustment of constants through use of six logarithmic adjustments. For example, "<<" reduces the value by approximately 50% to an even value of 1, 2, or 5 x 10^N. Value is copied into InitValue (node 2) after clicking "Save value as initial value " button immediately right of value. Value is restored to InitValue after each compile. After model is compiled, model block is painted white when the value is equal to the initial value and silver when not equal. Text color in edit box changes to red when keystrokes are entered. This indicates that the value in the model block is not equal to the value in the edit box. Actions that store the value (for example, striking the enter key) load the value and change the text back to the standard color.	Adjustor Box Model block, value and initial value (above) equal and (below) unequal.
Requirements	None

Node List	1	Input Input value, which is scaled by the inverse of the constant (1/x) and then scaled by Mult to convert from user units to model units.
	2	InitValue Initial value of constant in user units
	3	Minimum Minimum user can set input value to.
	4	Maximum Maximum user can set input value to.
	5	Mult Convert user units to model units. This allows convenient data entry while allowing the model to execute in SI units (recommended).
	6	Output Output in model units
	7	Documentation node Contents of documentation node are displayed for the user when the help button on the Adjustor box is clicked.
See also: Inverse Live Constant, Scale-by Live Constant

String Live Constant

Model graphic
Select graphic
Tab	Constants
Function	Provide selection from user-defined list of strings. String can be changed at any time by double clicking on the block after compile, which brings a string adjustor box into view.
Special behavior.	After compile, double click on the Live Constant block to view the string adjustor box. Adjustor provides list box to allow string selection. Value is copied into InitValue (node 2) after clicking "Save value as initial value" button right of "OK" button. String is restored to InitValue (node 2) after each compile. After model is compiled, model block is painted white when the value is equal to the initial value and silver when not equal.	String Adjustor Box Model block, value and initial value (above) equal and (below) unequal.
Requirements	None

Node List	1	Strings String list from which one string can be chosen. Hint: for boolean output, make string list False, True. This will output 0 when False is selected and 1 for True.
	2	InitValue Initial
	3	Output Output of zero-based index of string. For example, if first string of list is selected, output will be 0; if second string is selected, output will be 1.
	4	Documentation node Contents of documentation node are displayed for the user when the help button on the Adjustor box is clicked.
See also: Live Constant, Scale-by Constant

Push Button

Graphic	(Note these graphics represent the Push Button in its two states)
Tab	Meter
Function	Provides push-button function on model diagram. Double-click on button to change value from true to false (or false to true).
Special behavior	Color of button changes to indicate output: Green for true output and red for false output.

Node List	1	Initial Value Value Output takes on after each compile.
	2	Output Output value of button (Boolean).
	3	Documentation node

Live Switch

Graphic	(Note these graphics represent the Live Switch in its two states)
Tab	Constants
Function	Provides analog switch that can be reconfigured while model runs. Double-click on button to change switch state from OFF to ON (or ON to OFF). To extend a Live Switch to control multiple signal paths, connect the State, the Boolean output state, to a 2-position mux as shown below: Example: expanding a Live Switch with two analog switches
Special behavior	Schematic of switch, which is plotted on block, changes according to switch state; also, color changes (between red and green) and state is displayed.
See also	Push Button, Switch (2-position mux)

Node List	1	Initial Value Value State takes on after each compile.
	2	Input1 When relay is OFF, connections are crossed: Input1 is connected to Output2, and Input2 is connected to Output1. When relay is ON, connections pass through: Input1 is connected to Output1, and Input2 is connected to Output2.
	3	Input2 See Input1.
	4	State Current state of relay (Boolean).
	5	Output1 See Input1.
	6	Output2 See Input1.
	7	Documentation node

Misc Tab

Solver

Graphic
Tab	Misc
Function	Define time step for differential equation solver. Solver is limited to 500 state variables (for example, integrators and single-pole s-domain filters take require one state variable, two-pole s-domain filters require two).
Requirements	Each model must contain one and only one Solver.

Node List

h
Sample time of differential equation solver. Setting this larger makes the model run faster, but also causes inaccuracy and numerical instability. For analog models, select h no more than 1/10^th the fastest dynamics in the system. For digital systems, it can often be set as high as equal to the sample rate. When one or more digital controllers are used in a model, the sample time of each controller should be an integer multiple of h.

Time Increment
Use Time Increment to limit execution time. When simulation time exceeds the sum of 1) Time Increment and 2) the simulation time when the user last pressed the Run button, simulation stops. If Time Increment changes during execution, the run-time timer is reset so that execution stops when simulation time exceeds the sum of 1) Time Increment and 2) the simulation time when Time Increment changed.

If Time Increment is less than or equal to 0, Time Increment is ignored. Time Increment defaults to 0.

Note: to stop at a specific point in time, use the Time, Greater-than, and Stop blocks. The following example stops execution at 2 seconds;

How to stop execution at a specific time.

Documentation node

Time

Graphic
Tab	Misc
Function	Provides access to model time.

Node List	1	Time
Node List	2	Documentation node

Stop

Graphic
Tab	Misc
Function	Stop model execution.
Special behavior	Stop forces down the Stop button on control panel. For example, this model section stops execution after 0.5 seconds of simulation time. The enable pushbutton allows the user to disable the stop.
See also	Stop() function in Program blocks.

Node List	1	Stop If this input is true (> 0.5)
	2	Enable If true (> 0.5) enable stop function. Otherwise, disable stop function.
	3	Documentation node

Extender, Extender Output

Graphics
Tab	Misc
Function	Allows extension of wires to other pages, or to other parts of the same page that are not convenient to connect with wires. Input (left graphic) and Output (right graphic) extenders are identical; the two types are provided as a convenience for users who want to document clearly which extenders originate signals (outputs) and which accept them (inputs). Visual ModelQ does not attempt to validate this function.
Special Behavior	Extenders with the same name are treated as connected wires. The presence of Extenders to increase or decrease model execution time. Extenders can be reversed (i.e., Extenders can be converted to and from Extender Outputs) while remaining on screen and wired in the model. This can be done by placing the mouse over the Extender (or Extender Output) and right clicking; choose "Reverse Extender" from the pop-up menu.
Requirements	Extenders that have no mates generate a warning. The assumption is that there should be at least one mate for every extender.

Node List

Connect
Connection point to extender.

Anchor

Graphic
Tab	Misc
Function	Provides extra points in wire path to allow complex wiring routes.

Node List

Anchor
Anchor point.

Note

Graphic
Tab	Misc
Function	Provide block to write notes and other documentation.

Node List

Documentation

Math Tab

Add, Subtract, Multiply, Divide

Graphic
Tab	Math
Function	Algebraic Math (2 input)

Node List	1	Input1 Operand
	2	Input2 Operand
	3	Output Result of operation

Add (3 input), Multiply (3 input)

Graphic
Tab	Math
Function	Algebraic Math (3 input)

Node List	1	Input1 Operand
	2	Input2 Operand
	3	Input3 Operand
	4	Output Result of operation

Scale-by Inverse Scale-by

Graphic
Tab	Math
Function	Multiply the input by a scale factor or one over a scale factor

Node List	1	Input Input to scale
	2	Scale by Operand
	3	Output Input scaled by Scale by (or one over Scale by)
	4	Documentation

Square Root, One Over x, Absolute Value, Minus x

Graphic
Tab	Math
Function	Various math functions

Node List	1	Input Operand
	2	Output Result of operation Note: 1/x is not evaluated at time 0 to avoid divide by zero.
	3	Documentation

Sqrt of Sum of Squares

Graphic
Tab	Math
Function	Square root of sum of squares

Node List	1	x (Input)
	2	y (Input)
	3	z (Input)
	4	Output sqrt(x^2 + y^2 + z^2)
	5	Documentation

1/x with Magnitude Limit

Graphic
Tab	Math
Function	1/x with Magnitude Limit

Node List	1	Input Input signal
	2	Epsilon Minimum magnitude to be inverted
	3	Output 1/(Input + Epsilon) if Input >= 0, 1/(Input - Epsilon) if Input < 0.
	4	Documentation

Modulo

Graphic
Tab	Math
Function	Modulo

Node List	1	Input Input signal
	2	Modulo
	3	Mult Multiplier for modulo. Effective modulo is Modulo x Mult.
	4	Output
	5	Type 0 = Positive (result between 0 and Modulo) 1 = Bipolar (result between +/-Modulo/2)
	6	Documentation

Quantize

Graphic
Tab	Math
Function	Quantize

Node List	1	Input Input signal
	2	Type Type of quantization. Select from "None" (0), "Round" (1), and "Truncate" (2).
	3	Resolution Resolution of quantization.
	4	Output
	5	Documentation

Linear Interp, Linear Interp (Odd), Linear Interp (Even)

Graphic
Tab	Math
Function	Linear Interp, Linear Interp (Odd), Linear Interp (Even)

Node List	1	Input Input (x point)
	2	x Vector (CSV) Vector of x points separated by commas. If left blank, assumed to be 0, 1, 2, … and will be filled to equal the number of points in y Vector (see below). Only enter negative x points in Linear Interp, not in Linear Interp (Odd) or Linear Interp (Even). For Linear Interp (Odd), y(-x) = -y(x). For Linear Interp (Even), y(-x) = y(x).
	3	y Vector (CSV) Vector of x points separated by commas.
	4	Output Output (interpolated y point)
	5	Number of Points Number of points used, normally the lesser of the number of x Vector and y Vector points, but equal to the number of y Vector points if x Vector is empty.
	6	Documentation

Trans Tab

Sine, Cosine, Tangent

Graphic
Tab	Trans
Function	Sine, Cosine, and Tangent

Node List	1	Input Theta (radians)
Node List	2	Output Result of operation

arc Sine, arc Cosine, arc Tangent

Graphic
Tab	Trans
Function	arc Sin, arc Cosine, and arc Tangent

Node List	1	Input
Node List	2	Output Theta For arc Sine, -P/2 < Theta < P/2 For arc Cosine, -P/2 < Theta < P For arc Tangent, -P/2 < Theta < P/2

arc Tangent(y, x)

Graphic
Tab	Trans
Function	arc Tangent(y, x), or ATAN2(y, x)

Node List	1	Input1 y
	2	Input2 x
	3	Output Theta, -P < Theta < P
	4	Documentation

Coordinate Transform

Graphic
Tab	Trans
Function	Rotational Coordinate Transformation

Node List	1	x Input (before rotation)
	2	y Input (before rotation)
	3	Theta Angle of rotation (radians). Example: if Theta = P/2 (90 degrees), (x = 1, y = 0) is translated to (x = 0, y = 1).
	4	x' Output (after rotation)
	5	y' Output (after rotation)
	6	Documentation

Exponential

Graphic
Tab	Trans
Function	Provide exponential function.

Node List	1	Input
	2	Output
	3	Documentation node

Log

Graphic
Tab	Trans
Function	Provide natural logarithm.

Node List	1	Input
	2	Output
	3	Documentation node

Log10

Graphic
Tab	Trans
Function	Provide base-10 logarithm.

Node List	1	Input
	2	Output
	3	Documentation node

Y^x

Graphic
Tab	Trans
Function	Y^x, raise any positive floating-point number to any floating-point power.
See also Y^N, for raising negative numbers to integer powers.

Node List	1	Y
	2	x
	3	Output
	4	Documentation node

Y^N

Graphic
Tab	Trans
Function	Y^N, raise any floating-point number to any integer power.
See also Y^x, for raising positive number to non-integer powers.

Node List	1	Y
	2	N (if N is not an integer, it will be rounded to the nearest integer value).
	3	Output
	4	Documentation node

Meter Tab

RMS Meter

Graphic
Tab	Meter
Function	Measure RMS of waveform. Display value on model diagram.

Node List	1	Input Signal to measure.
	2	Filter Frequency of low-pass filter applied signal. The filter should be low enough to eliminate ripple in the output, and high enough to allow rapid settling. The default value is 1 Hz.
	3	Mult Convert model units to user units for Channel 1. This allows the model to execute in SI units with data display convenient units.
	4	TSample Sample rate of meter. Should be at least 20 times the setting of Filter.
	5	Output Measured output of meter. Can be used as signal elsewhere in the model such as displaying on a Live Scope.
	6	Documentation node

DC Meter

Graphic
Tab	Meter
Function	Measure DC (average) of waveform. Display value on model diagram.

Node List	1	Input Signal to measure.
	2	Filter Frequency of low-pass filter applied signal. The filter should be low enough to eliminate ripple in the output, and high enough to allow rapid settling. The default value is 1 Hz.
	3	TSample Sample rate of meter. Should be at least 20 times the setting of Filter.
	4	Mult Convert model units to user units for Channel 1. This allows the model to execute in SI units with data display convenient units.
	5	Output Measured output of meter. Can be used as signal elsewhere in the model such as displaying on a Live Scope.
	6	Documentation node

Peak Meter

Graphic
Tab	Meter
Function	Measure peaks of waveform. Holds peak for 1/Filter frequency, then value declines to input like a filter with a bandwidth of Filter Hz. Display value on model diagram.

Node List	1	Input Signal to measure.
	2	Filter Frequency of low-pass filter applied signal. The filter should be low enough to eliminate ripple in the output, and high enough to allow rapid settling. The default value is 1 Hz.
	3	TSample Sample rate of meter. Should be at least 20 times the setting of Filter.
	4	Mult Convert model units to user units for Channel 1. This allows the model to execute in SI units with data display convenient units.
	5	Output+ Positive peak. Can be used as signal elsewhere in the model such as displaying on a Live Scope.
	6	Output- Negative peak. Can be used as signal elsewhere in the model such as displaying on a Live Scope.
	7	Documentation node

Example of Peak meter

The following model fragment shows one use of a peak meter. The meter Frequency is set to 10. Here a triangle wave with a frequency of 5 Hz is fed to a peak meter; this signal is shown in the attached four-channel scope in blue. The positive peak is shown in black; notice that it holds the peak 0.1 seconds (1/Frequency) and then declines like a 10 Hz filter to the triangle wave. The negative peak, shown in green, is similar. Note that the positive and negative peaks occasionally coincide with the input so that the input triangle wave is obscured. Note also that if the triangle wave frequency had been 10 Hz (equal to Frequency) or higher, the peaks would have been DC waves because of the guaranteed hold time of 1/Frequency seconds.

Harmonic Meter

Graphic
Tab	Meter
Function	Measure individual harmonics of an input; displays the magnitude of the harmonic on the block.

Node List	1	Input Signal to measure.
	2	Reference Signal that sets the base frequency (frequency of harmonic #1). Can be time scaled to the frequency of interest or another model parameter such as position when attempting to determine position.
	3	Harmonic The harmonic to be measured, equal to the reference signal multiplied by Harmonic.
	4	Hold Disable the meter and hold the most recent measurement (Boolean).
	5	Number Cycles Then number of cycles for each measurement. More cycles requires a longer measurement time, but reduces the effects of noise. Typical range is 1 to 5.
	6	Mult Convert model units to user units for Channel 1. This allows the model to execute in SI units with data display convenient units.
	7	TSample Sample rate of meter. Should be at least 20 times the harmonic being measured.
	8	Magnitude Magnitude of the harmonic.
	9	Angle The angle of the harmonic in radians. A cosine signal has 0° ; a sine signal has –90° .
	10	Documentation node

Example of Harmonic meter

The following example shows the measurement of a one-Hertz square-wave. Time drives the square wave at on Hz (the scale of 6.2832 converts the Square wave output to 1 Hz as the unscaled output is in radians. The 1 Hz signal is also the reference signal. The harmonic is 3, as shown by the simple constant at bottom center. The magnitude is 0.424 (approximately 4/p) and the phase is zero degrees (the phase of this square wave is equal to a cosine wave).

Timer

Graphic
Tab	Meter
Function	Measure time between events.

Node List	1	Begin A positive transition starts timer counting (Boolean).
	2	/Stop A negative transition stop timer counting. Note that to time the duration of the positive portion of a pulse, connect the pulse to both Begin and /Stop (Boolean).
	3	Mult Convert timed output from seconds to user units. For example, set Mult to 1000 to output milliseconds.
	4	Output Measured output of meter. Can be used as signal elsewhere in the model such as displaying on a Live Scope.
	5	Documentation node

Counter

Graphic
Tab	Meter
Function	Count events. Displays value of counter on block during simulation.

Node List	1	Up A positive transition cause count up of one (Boolean)
	2	Down A positive transition cause count down of one (Boolean).
	3	Mult Convert model units to user units for counter output.
	4	Clear A positive transition causes the counter output to be set to zero.
	5	Set A positive transition causes the counter output to be set to the value stored in Set Value Node (Boolean).
	6	Set Value See Set Node.
	7	Minimum Value Minimum value counter can take on.
	8	Maximum Value Maximum value counter can take on.
	9	Roll? Specifies if counter rolls (Boolean). If false, counter is clamped to values in Minimum Value and Maximum Value nodes. If true, when counter counts above Maximum Value, value is set to Minimum Value; similarly, when counter counts below Minimum Value, value is set to Maximum Value.
	10	Counter Value of counter scaled by Mult node.
	11	Positive Roll If Roll? is true, each positive rollover clocks a single-cycle pulse ouptut (Boolean). Can be used to chain counters for multiple digit counters.
	12	Negative Roll If Roll? is true, each negative rollover clocks a single-cycle pulse ouptut (Boolean). Can be used to chain counters for multiple digit counters.
	13	Documentation node

Example of Counter:

Multiple counters can be chained for multiple digit counters:

Note that Roll? Node on less significant digit must be true; also, Minimum Value must be 0 and Maximum Value must be 9 on the less significant digit for a base-10 counter.

Inspector

Graphic
Tab	Meter
Function	Measure the instantaneous value of waveform. Display value on model diagram.

Node List	1	Input Signal to measure.
	2	Mult Convert timed output from seconds to user units.
	3	Output Measured output of meter. Can be used as signal elsewhere in the model such as displaying on a Live Scope.
	4	Documentation node

Triggered Inspector

Graphic
Tab	Meter
Function	Measure and hold the instantaneous value of waveform upon a trigger signal. Display value on model diagram. Pass trigger through to be used with other blocks
Special behavior	The following example shows how to use the trigger to capture the output of "Signal" using "Trigger" to trigger the capture. A stop is issued immediately after the value is captured.

Node List	1	Input Signal to measure.
	2	Mult Convert timed output from SI units to user units.
	3	Trigger Input Transition from false to true causes trigger event.
	4	Output Measured output of meter. Can be used as signal elsewhere in the model such as displaying on a Live Scope.
	5	Trigger Output Pass logical trigger input for use with other blocks.
	6	Documentation node

Lamp

Graphic
Tab	Meter
Function	Display red is input is logical false and green if true.

Node List	1	Input Signal to drive lamp display.
Node List	2	Documentation node

Bar Meter

Graphic
Tab	Meter
Function	Display input as a bar and as text.

Node List	1	Input Signal to drive bar display.
	2	Mult Convert input from SI units to user units.
	3	Minimum Specified value for low side of bar.
	4	Maximum Specified value for high side of bar
	5	Orientation Select Horizontal or Vertical
	6	Justification For Horizontal bars, select from Left, Center, or Right; for Vertical bars, select from Bottom, Center, or Top. With Center justification, the average of the Maximum and Minimum forms the center, and display is shown on either side of center in one of two colors. The other choices for justification are single color displays with the bar being blank when the output is equal to or below Minimum and sold when it is equal to or above Maximum.
	7	Width The width of the bar meter in pixels. Cannot be set to less than 100 pixels.
	8	Height The height of the bar meter in pixels. Cannot be set to less than 40 pixels.
	9	Primary Color Color of display for single color justification; color of high values for center-justified bars.
	10	Secondary Color Color of low values of center-justified bars.
	10	Documentation node

Dial Meter

Graphic
Tab	Meter
Function	Display input as a dial meter and as text.

Node List	1	Input Signal to drive dial needle and display.
	2	Mult Convert input from SI units to user units.
	3	Minimum Specified value for low side of dial.
	4	Maximum Specified value for high side of dial
	5	Label Font Font size of the dial labels.
	6	Display Font Font size of the display.
	7	Number Labels Number of labels around the dial face; must be between 2 and 20.
	8	Number Ticks The number of ticks (small divisions of labels); must be between 1 and 20. Note: 1 tick indicates no small divisions.
	9	Width Width of the dial; height is approximately equal to the width. Must be between 150 and 400 pixels.
	10	Needle Color Color of dial needle.
	11	Label Color Color of labels on dial face.
	12	Gauge Color Color of dial face.
	13	Documentation node

Banner

Graphic
Tab	Meter
Function	Display one of a number of user-specified messages on model diagram.

Node List	1	Input Signal to select which message to display. For example, if three messages are defined, the first message will be displayed when the input is 0 or lower (actually, any value <= 0.5), the second when the input is 1 (any value > 0.5 and <= 1.5), and the third when the value is 2 or higher (any value > 1.5).
	2	Messages List of user-specified messages.
	3	Trigger Output Pass logical trigger input for use with other blocks.
	4	Documentation node

Windows Message

Graphic
Tab	Meter
Function	Display a message after a trigger event. Message is displayed in a Windows "modal" box, which pauses model execution.
Special behavior	Display of message halts program execution. To clear message and continue execution, click "OK." To clear message and halt model execution, click "Cancel." If the model triggers the message so rapidly (for example, every 1/4 second) that the model almost immmediately triggers a new message as soon as the "OK" button is clicked, it may be required to click "Cancel" to stop model execution.

Node List	1	Trigger Input Transition from false to true causes message to be displayed.
	2	Message Message to be displayed.
	3	Width The width of the banner in pixels. Cannot be set to less than 40 pixels.
	4	Height The height of the banner in pixels. Cannot be set to less than 20 pixels.
	5	Documentation node

Logic Tab

And, Nand, Or, Nor, Xor, Nxor

Graphic
Tab	Logic
Function	Perform various logic functions.

Node List	1	Input1 First input to logic gate (Boolean).
	2	Input2 Second input to logic gate (Boolean).
	3	Output Output of logic gate (Boolean).
	4	Documentation node

Buffer , Not,

Graphic
Tab	Logic
Function	Perform various logic functions.

Node List	1	Input Input to logic gate (Boolean).
	2	Output Output of logic gate (Boolean).
	3	Documentation node

Timed Buffer

Graphic
Tab	Logic
Function	Delay a digital signal a specified period of time.

Node List	1	Input Input to logic gate (Boolean).
	2	Delay Delay time for digital signal. Note that if input signal transitions again during the delay time, the output signal does not transition. For example, a 10 Hz signal fed into to 0.5 sec delay will generate a DC output.
	3	Output Output of logic gate (Boolean).
	4	Documentation node

J-K Flip Flop

Graphic
Tab	Logic
Function	J-K Flip-Flop

Node List	1	J On positive edge of Controller clock, if J = 1 and K = 0, set Q = 1 and \Q = 0. \Set and \Clear supercede J. If both J and K are the same value, there is no change in output.
	2	K On positive edge of Controller clock, if K = 1 and J = 0 set Q = 0 and \Q = 1. \Set and \Clear supercede K. If both J and K are the same value, there is no change in output.
	3	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	4	\Clear If \Clear = 0, set Q = 0 and \Q = 1. If \Clear = 1, there is no change in output. If \Clear = 0 and \Set = 0, there is no change in output. If \Clear = 0, J and K are ignored.
	5	\Set If \Set = 0, set Q = 1 and \Q = 0. If \Set = 1, there is no change in output. If \Clear = 0 and \Set = 0, there is no change in output. If \Set = 0, J and K are ignored.
	6	Q Primary output. Initial value = 0.
	7	\Q Logical inverse of Q
	8	Documentation node

Compare Tab

Equal To, Not Equal To, Greater Than, Greater Than or Equal To

Less Than, Less Than or Equal To

Graphic
Tab	Compare
Function	Perform various compare functions.

Node List	1	Input1 Positive input to compare functions (Boolean).
	2	Input2 Negative input to compare functions (Boolean).
	3	Output Output of compare functions (Boolean).
	4	Documentation node

Minimum, Maximum

Graphic
Tab	Compare
Function	Minimum and Maximum.

Node List	1	Input1
	2	Input2
	3	Output Minimum or Maximum of Input1 and Input2
	4	Documentation node

Waveforms Tab

Cosine Wave, Sine Wave, Square Wave, Triangle Wave, Sawtooth Wave

Graphic

Tab

Waveforms

Function

Provide various waveforms. Note that the square and triangle waves have the same phase as a cosine wave. The vertical edge of the sawtooth occurs at zero time.

Note that the input is assumed to be in radians so that each wave has a period of 2 p. When using the Time block, scale the time to increase the frequency. For example, the following model scales the input by 2p to give a frequency of 1 Hz:

Node List	1	Input Input position to the waveform in radians.
	2	Output Output signal scaled to ± 1
	3	Documentation node

Pulse Wave

Graphic

Tab

Waveform

Function

Provide Pulse (PWM) waveform. Similar to Square Wave (see above) except Duty Cycle Node sets duty cycle in percentage..

Note that the input is assumed to be in radians so that the wave has a period of 2 p. When using the Time block, scale the time to increase the frequency. For example, the following model scales the input by 2p to give a frequency of 1 Hz:

Node List	1	Input Input position to the waveform in radians.
	2	Duty Cycle Duty cycle in percent. Clamped to be between 0 and 100.
	3	Output Output signal scaled to ± 1
	4	Documentation node

Analog Tab

Integrator

Graphic
Tab	Analog
Function	Provide integration

Node List	1	Input Signal to be integrated
	2	Gain Rate of Integration (normally set to 1)
	3	Reset Value Value the integrator is set to when the Reset node is true.
	4	Reset When true, set output to Reset Value
	5	Initial Value Value to which the output is set upon each compile
	6	Output
	7	Documentation node

Clamped Integrator

Graphic
Tab	Analog
Function	Provide integration with maximum and minimum limits

Node List	1	Input Signal to be integrated
	2	Gain Rate of Integration (normally set to 1)
	3	Maximum Maximum value the integrator can take on.
	4	Minimum Minimum value the integrator can take on.
	5	Initial Value Value to which the output is set upon each compile
	6	Output
	7	Documentation node

Switch (2-position mux)

Graphic
Tab	Analog
Function	Model a two-input, two-output analog switch

Node List	1	Control If Control > 0.5, Input0 connects to Output0, and Input1 connects to Output1. If Control <= 0.5, the outputs are switched: Input0 connects to Output1, and Input1 connects to Output0.
	2	Input0
	3	Input1
	4	Output0
	5	Output1
	6	Documentation node

Switch (4-position mux)

Graphic
Tab	Analog
Function	Model a four-input, one-output analog switch

Node List	1	Control If Control <= 0.5, Input0 connects to Output. If 0.5 < Control <= 1.5, Input1 connects to Output. If 1.5 < Control <= 2.5, Input2 connects to Output. If 2.5 < Control, Input3 connects to Output.
	2	Input0
	3	Input1
	4	Input2
	5	Input3
	6	Documentation node

Comparator

Graphic
Tab	Analog
Function	Model an analog comparator (equivalent to Greater-Than or Equal-To)

Node List	1	Input1 Positive input
	2	Input2 Negative input
	3	Output If Input1 >= Input2, Output = 1; otherwise, Output = 0.
	4	Documentation node

Hysteresis

Graphic
Tab	Analog
Function	Model a hysteresis circuit

Node List	1	Input
	2	Low Limit When input value falls below Low Limit, the output turns off.
	3	High Limit When input value rises above High Limit, the output turns on.
	4	Initial State (Bool) State of Output immediately after compiling.
	5	Output (Bool) Logical output of hysteresis process. If input falls below Low Limit or rises above High Limit, the Output changes state accordingly; if input remains between these limits, Output retains its value.
	6	Documentation node

Clamp

Graphic
Tab	Analog
Function	Model an analog comparator (equivalent to Greater-Than or Equal-To)

Node List	1	Input Positive input
	2	Minimum Clamp level
	3	Maximum Clamp level
	4	Clamped Boolean output, on when output is clamped
	5	Output Input, bounded by Minimum and Maximum.
	6	Documentation node

Ramp Limit

Graphic
Tab	Analog
Function	Ramp limit

Node List	1	Input
	2	Positive Rate Maximum positive ramp rate.
	3	Negative Rate Maximum negative ramp rate
	4	Output Input with maximum ramp rate limited according to Negative Rate and Positive Rate.
	5	Documentation node

Reversal Shift

Graphic
Tab	Analog
Function	Provide gain that shifts with the sign of the input
See also	Program blocks to implement more complex gain-variation.

Node List	1	Input
	2	Positive Gain Gain from input to output when input > 0.
	3	Negative Rate Gain from input to output when input < 0.
	4	Output Input scaled according to either Positive Gain or Negative Gain.
	5	Documentation node

Deadband

Graphic
Tab	Analog
Function	Deadband
See also	Program blocks to implement more complex deadband functions.

Node List	1	Input
	2	Positive Band Positive side of deadband. Must be > 0.
	3	Negative Band Negative side of deadband. Must be < 0.
	4	Output if Input < Positive Band, Output = Input – Positive Band; if Input > Negative Band, Output = Input – Negative Band; Otherwise, Output = 0.
	5	Documentation node

Deadband Comp

Graphic
Tab	Analog
Function	Deadband compensation algorithm
See also	Program blocks to implement more complex deadband compensation.

Node List	1	Input
	2	Positive Band Positive side of deadband. Must be > 0.
	3	Negative Band Negative side of deadband. Must be < 0.
	4	Output if Input > 0, Output = Input + Positive Band; if Input < 0, Output = Input + Negative Band.
	5	Documentation node

Asynchronous Hold

Graphic
Tab	Analog
Function	Asynchronous Hold

Node List	1	Input
	2	Hold If 1, Hold Output to constant value. Level triggered (not edge triggered).
	3	Output If Hold <= 0.5, Output = Input Otherwise, hold Output constant..
	4	Documentation node

Random Number Generator

Graphic
Tab	Analog
Function	Random number generator.

Node List	1	Amplitude Peak-to-peak span of random number output.
	2	Offset Offset of output center. For example, if Amplitude = 1 and Offset = 0, output of generator will span between –0.5 and +0.5.
	3	Output
	4	Documentation node

Analog Filters Tab

Analog PI

Graphic
Tab	Analog Filters
Function	Provide an analog proportional-integral control law with wind-up control. Output = KP x (KI/s + 1), subject to wind-up control.

Node List	1	Input Error signal input
	2	KP Proportional gain.
	3	KI Integral gain
	4	Saturation Saturation of PI control output (assumed to be same for positive and negative values).
	5	Wind-up Wind-up level; normally set to 2.
	6	Output
	7	Documentation node

Analog PI+

Graphic
Tab	Analog Filters
Function	Provide an analog proportional-integral-plus (PI+) control law with wind-up control.

Node List	1	Command Command signal input
	2	KP Proportional gain.
	3	KI Integral gain
	4	KFR Feed-forward (PI+) Gain
	5	Saturation Saturation of PI control output (assumed to be same for positive and negative values).
	6	Wind-up Wind-up level; normally set to 2.
	7	Output
	8	Error Monitor Output of error signal, which, for example, is usually connected to error signal for DSA in order to provide an open-loop Bode plot.
	9	Feedback Feedback signal input
	9	Documentation node

Analog PID

Graphic
Tab	Analog Filters
Function	Provide an analog proportional-integral control law with wind-up control. Output = KP x (KI/s + 1 + KDs), subject to wind-up control.

Node List	1	Input Error signal input
	2	KP Proportional gain.
	3	KI Integral gain
	4	KD Derivative gain
	5	Low-pass Frequency Break (-3dB) frequency of low-pass filter applied to derivative term.
	6	Saturation Saturation of PI control output (assumed to be same for positive and negative values).
	7	Wind-up Wind-up level; normally set to 2.
	8	Output
	9	Documentation node

1-Pole Low-Pass Filter

Graphic
Tab	Analog Filters
Function	Provide a single-pole low-pass filter in the form of (w)/(s + w) where w = 2 * PI * frequency and s is the Laplace operator.

Node List	1	Input
	2	Frequency Filter –3dB (break) frequency in Hertz.
	3	Output
	4	Documentation node

Lead-Lag Filter

Graphic
Tab	Analog Filters
Function	Provide a lead-lag filter in the form of (s+wN)/(s + wD) where wN = 2 * PI * Numerator frequency (the "zero"), wD = 2 * PI * Denominator frequency (the "pole") and s is the Laplace operator. Note: filter is scaled for unity gain at DC.

Node List	1	Input
	2	Numerator Frequency Numerator frequency ("zero") in Hertz.
	3	Denominator Frequency Denominator frequency ("pole") in Hertz.
	4	Output
	5	Documentation node

2-Pole Low-Pass Filter

Graphic
Tab	Analog Filters
Function	Provide a two-pole low-pass filter in the form of (w^2)/(s^2 + 2 * zeta * w * s + w^2) where w = 2 * PI * Frequency and s is the Laplace operator.

Node List	1	Input
	2	Frequency Filter natural frequency in Hertz.
	3	Damping Filter damping (zeta) where zeta = 1 implies critically damped.
	4	Output
	5	Documentation node

2-Pole Low-Pass Filter (A)

Graphic
Tab	Analog Filters
Function	Provide a two-pole low-pass filter in the form of (2 * zeta * w * s + w^2)/(s^2 + 2 * zeta * w * s + w^2) where w = 2 * PI * Frequency and s is the Laplace operator.

Node List	1	Input
	2	Frequency Filter natural frequency in Hertz.
	3	Damping Filter damping (zeta) where zeta = 1 implies critically damped.
	4	Output
	5	Documentation node

Bi-Quad Filter

Graphic
Tab	Analog Filters
Function	Provide a two-pole low-pass filter in the form of (s^2 + 2 * zetaN * wN * s + wN^2)/(s^2 + 2 * zetaD * wD * s + wD^2) x (wD^2 / wN^2) where w = 2 * PI * Frequency and s is the Laplace operator.

Node List	1	Input
	2	Numerator Frequency Numerator filter natural frequency in Hertz (wN)
	3	Numerator Damping Numerator filter damping (zetaN) where zeta = 1 implies critically damped.
	4	Denominator Frequency Denominator filter natural frequency in Hertz (wD)
	5	Denominator Damping Denominator filter damping (zetaD) where zeta = 1 implies critically damped.
	6	Output
	7	Documentation node

F(s) Tab

1^st – 6^th order s-domain filters

Graphics
Tab	F(s)
Function	Provide 1^st-6^th order filters set by z-domain coefficients. Transfer function is C(z)/R(z) = (A(N)s^N + … + A(0))/s^N + B(N-1)s^(N-1)… + B(0))

Node List	1	Input Node
	2	Output Node
	Top side, left set (2-7 nodes)	Numerator coefficients, from left to right, with A(N) – A(0).
	Top side, right set (1-6 nodes)	Denominator coefficients, from left to right, with B(N-1) through B0. B(N) is assumed = 1.
	Bottom	Documentation node

Digital Tab

Digital Controller

Graphic
Tab	Digital
Function	Provide regular sampling for digital blocks
Special behavior	Each digital controller must be named uniquely. Controllers are automatically given unique (Controller1, Controller2, …) names upon placement in model. At least one digital controller must be present in any model that has one or more digital (yellow) blocks.

Node List	1	Sample Time Sample time of the digital controller in seconds. Sample Time of each controller should be an integer multiple of the Solver block node h.
	2	Sample Frequency Output a 50% duty cycle square wave at the frequency of 1/(Sample Time)
	3	Documentation node

Sample and Hold

Graphic
Tab	Digital
Function	Sample and hold
Notes	Most digital blocks have the sample/hold function built in so that analog signals can be fed directly into digital blocks.

Node List	1	Input Unsampled signal.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Output Sampled signal
	4	Documentation node

Sample Delay

Graphic
Tab	Digital
Function	Delay a signal one sample time.

Node List	1	Input Undelayed signal.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Output Delayed signal
	4	Documentation node

Calculation Delay

Graphic
Tab	Digital
Function	Delay a signal a fraction of one sample time to simulate delay to execute digital calculation algorithms

Node List	1	Input Undelayed signal.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Delay Amount of delay as a percentage of one sample time.
	4	Output Delayed signal
	5	Documentation node

Difference

Graphic
Tab	Digital
Function	Calculate simple difference (difference of two most recent samples) divided by sample time; this is a common approximation to a derivative.

Node List	1	Input Input signal.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Output Differentiated signal
	4	Documentation node

Inverse Trapezoidal

Graphic
Tab	Digital
Function	Calculate difference based on the inverse trapezoidal method. This method can provide the derivative with less phase lag than simple differences, but has a penalty of increasing noise sensitivity.

Node List	1	Input Input signal.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	a Inverse trapezoidal parameter, which ranges from 0 to 1. When a = 0, this is equivalent to simple differences. As a increases towards 1, the output signal has less phase lag than simple differences, but has greater noise sensitivity. Normally, a should be less than 0.8.
	3	Output Differentiated signal
	4	Documentation node

Sum/TSample

Graphic
Tab	Digital
Function	Calculate the sum of the input samples divided by the sample time. This is a common approximation to analog integration.

Node List	1	Input Input signal.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Initial Value Value of the output after each compile..
	4	Output Integrated signal
	5	Documentation node

Clamped Sum/TSample

Graphic
Tab	Digital
Function	Calculate the sum of the input samples divided by the sample time; clamp output between Minimum and Maximum. This is a common approximation to clamped analog integration.

Node List	1	Input Input signal.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Initial Value Value of the output after each compile..
	4	Minimum Minimum value the integrator can take on.
	5	Maximum Maximum value the integrator can take on.
	6	Output Integrated signal
	7	Documentation node

Digital Random Number Generator

Graphic
Tab	Digital
Function	Digital random number generator.

Node List	1	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	2	Amplitude Peak-to-peak span of random number output.
	3	Offset Offset of output center. For example, if Amplitude = 1 and Offset = 0, output of generator will span between –0.5 and +0.5.
	4	Output
	5	Documentation node

Digital Dither

Graphic
Tab	Digital
Function	Generate dither, the periodic square waves used to break up limit cycles in digital control loops.

Node List	1	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	2	Amplitude Peak-to-peak span of random number output.
	3	Cycles Sample time period between each transition of the output signal.
	4	Output Dither output, a 50% duty cycle square wave.
	5	Documentation node

Digital Filters Tab

Digital PI

Graphic
Tab	Digital Filters
Function	Provide a digital proportional-integral control law with wind-up control. Output = KP x (KI/s + 1), subject to wind-up control.

Node List	1	Input Error signal input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	KP Proportional gain.
	4	KI Integral gain
	5	Saturation Saturation of PI control output (assumed to be same for positive and negative values).
	6	Wind-up Wind-up level; normally set to 2.
	7	Output
	8	Error Monitor Output of error signal, which, for example, is usually connected to error signal for DSA in order to provide an open-loop Bode plot.
	8	Documentation node

Digital PI+ Control Law

Graphic
Tab	Digital Filters
Function	Provide a digital proportional-integral-plus (PI+) control law with wind-up control.

Node List	1	Command Command signal input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	KP Proportional gain.
	4	KI Integral gain
	5	KFR Feed-forward (PI+) Gain
	6	Saturation Saturation of PI control output (assumed to be same for positive and negative values).
	7	Wind-up Wind-up level; normally set to 2.
	8	Output
	9	Error Monitor Equal to Command – Feedback, which is often connected to a variable to be used as a DSA signal. This error signal is often used to get the Bode plot of the open loop transfer function.
	10	Feedback Feedback signal input
	11	Documentation node

Digital PID Control Law

Graphic
Tab	Digital Filters
Function	Provide a digital proportional-integral control law with wind-up control. Output = KP x (KI/s + 1 + KD x s), subject to wind-up control. Commonly used for single-integrating plants.

Node List	1	Input Error signal input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	KP Proportional gain.
	4	KI Integral gain
	5	KD Derivative gain
	6	Saturation Saturation of PID control output (assumed to be same for positive and negative values).
	7	Wind-up Wind-up level; normally set to 2.
	8	Output
	9	Documentation node

Digital PID Control Law (2)

Graphic
Tab	Digital Filters
Function	Provide a digital proportional-integral control law with wind-up control. Output = KI/s + KP + KD x s, subject to integral saturation. Commonly used for double-integrating plants such for position loops (without velocity loops).

Node List	1	Input Error signal input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	KP Proportional gain.
	4	KI Integral gain
	5	KD Derivative gain
	6	Saturation Saturation of PID control output (assumed to be same for positive and negative values).
	7	Integral Saturation Saturation of Integral term.
	8	Zero Integrator Boolean input that, if true, forces integral term of PID control law to zero. Often used to reduce overshoot of PID control law during large swings of command input; for example, in a position controller, Zero Integrator may be set to true when position profile is non zero. Note that all Visual ModelQ position profile generators (in Motion Tab) provide an output, called In Motion, for this purpose.
	9	Clegg Integrator Boolean input that causes integral to be zeroed anytime position error changes sign. Some times used to reduce overshoot of PID control law.
	10	Output
	11	Documentation node

Digital 1-Pole Low-Pass Filter

Graphic
Tab	Digital Filters
Function	Provide the digital equivalent to a single-pole low-pass filter in the form of (w)/(s + w) where w = 2 * PI * frequency and s is the Laplace operator.

Node List	1	Input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Frequency Filter –3dB (break) frequency in Hertz.
	4	Output
	5	Documentation node

Digital Lead-Lag Filter

Graphic
Tab	Digital Filters
Function	Provide a z-Domain equivalent to the s-Domain lead-lag filter in the form of (s+wN)/(s + wD) where wN = 2 * PI * Numerator frequency (the "zero"), wD = 2 * PI * Denominator frequency (the "pole") and s is the Laplace operator. Note: filter is scaled for unity gain at DC.

Node List	1	Input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Numerator Frequency Numerator frequency ("zero") in Hertz.
	4	Denominator Frequency Denominator frequency ("pole") in Hertz.
	5	Output
	6	Documentation node

Digital 2-Pole Low-Pass Filter

Graphic
Tab	Digital Filters
Function	Provide the digital equivalent of a two-pole low-pass filter in the form of (w^2)/(s^2 + 2 * zeta * w * s + w^2) where w = 2 * PI * Frequency and s is the Laplace operator.

Node List	1	Input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Frequency Filter natural frequency in Hertz.
	4	Damping Filter damping (zeta) where zeta = 1 implies critically damped.
	5	Output
	5	Documentation node

2-Pole Low-Pass Filter (A)

Graphic
Tab	Digital Filters
Function	Provide the digital equivalent of a two-pole low-pass filter in the form of (2 * zeta * w * s + w^2)/(s^2 + 2 * zeta * w * s + w^2) where w = 2 * PI * Frequency and s is the Laplace operator.

Node List	1	Input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Frequency Filter natural frequency in Hertz.
	4	Damping Filter damping (zeta) where zeta = 1 implies critically damped.
	5	Output
	6	Documentation node

Digital 2-Pole Notch Filter

Graphic
Tab	Digital Filters
Function	Provide the digital equivalent of a notch filter in the form of (s^2 + w^2)/(s^2 + 2 * zeta * w * s + w^2) where w = 2 * PI * Frequency and s is the Laplace operator.

Node List	1	Input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Frequency Filter natural frequency in Hertz.
	4	Damping Filter damping (zeta) where zeta = 1 implies critically damped.
	5	Output
	5	Documentation node

Digital Bi-Quad Filter

Graphic
Tab	Digital Filters
Function	Provide the digital equivalent of a two-pole low-pass filter in the form of (s^2 + 2 * zetaN * wN * s + wN^2)/(s^2 + 2 * zetaD * wD * s + wD^2) x (wD^2 / wN^2) where w = 2 * PI * Frequency and s is the Laplace operator.

Node List	1	Input
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Numerator Frequency Numerator filter natural frequency in Hertz (wN)
	4	Numerator Damping Numerator filter damping (zetaN) where zeta = 1 implies critically damped.
	5	Denominator Frequency Denominator filter natural frequency in Hertz (wD)
	6	Denominator Damping Denominator filter damping (zetaD) where zeta = 1 implies critically damped.
	7	Output
	8	Documentation node

Moving Average Filter

Graphic

Tab

Digital Filters

Function

Provide a moving average (box car) filter. For example, a fourth-order moving average filter produces:

Out(i) = [Input(i) + Input(i-1) + Input(i-2) + Input(i-3)]/4

Node List	1	Input Inputs are saved by filter to be averaged for output. At time t=0, all inputs are filled with the value 0.0.
	2	Controller Select a digital controller. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	3	Maximum Order Set maximum order of the filter. Changing this value forces the model to recompile.
	4	Order Set the order of the filter. This value can be changed at any time. Value is automatically clamped to be between 1 and Maximum Order.
	5	Output
	6	Documentation node

F(z) Tab

1^st – 6^th order z-domain filters

Graphics
Tab	F(z)
Function	Provide 1^st-6^th order filters set by z-domain coefficients. Transfer function is C(z)/R(z) = (A(N)z^N + … + A(0))/(B(N)z^N + … + B(0))

Node List	1	Input Node
	2	Output Node
	Top side, left set (2-7 nodes)	Numerator coefficients, from left to right, with A(N) – A(0).
	Top side, right set (2-7 nodes)	Denominator coefficients, from left to right, with B(N) through B(0).
	Bottom	Documentation node

Custom Tab

Custom Module

Note: This block is currently in beta release.

Graphic
Tab	Custom
Function	Allow user to build custom modules. Custom modules are disabled in default screen.
How to build a custom module.	Click File, New Custom Module. Screen will turn off white and custom module block buttons (in Custom Tab) will become enabled. In addition, some blocks, including most instruments and constants, will be disabled, since these blocks are not allowed in custom modules. Insert one Custom Module Input for each input node desired in the custom module. Insert one Custom Module Output for each input node desired in the custom module. Add ordinary blocks between input and output modules as needed. Add one documentation node (recommended) so user can document the use of the custom module. Save File. Return to standard model. Insert custom module by clicking on Custom Module block and then placing on screen. A dialog box will appear, allowing the user to select the desired module.

Node List

Node list is set by the user when building custom modules.

Custom Module Input

Note: This block is currently in beta release.

Graphic
Tab	Custom
Function	Connect inputs from the model that calls the module.
Notes	After the custom module is built and saved, it is placed in the calling model. (see Custom Module, above). When viewed from the calling model, one input node will be created for each Custom Module Input block. The input nodes will be named according to the user strings of the Custom Module Input block; for example, if the block picture above were used in a custom module, the node would appear as an "Input1" as viewed from the calling model.

Node List	1	Edge Position where node will appear on the custom module block, when viewed from the calling model. Choose from Left, Right, Top, and Bottom.
	2	Position Position from top or left of Edge. Larger Position implies the node will appear further from top or left. Do not allow two nodes to have the same position on the same edge as only one will be viewable.
	3	Initial Value Value of input node if the node is not wired in the calling program.
	4	Input Value of input node as transferred from the calling model.
	5	Documentation node

Custom Module Output

Note: This block is currently in beta release.

Graphic
Tab	Custom
Function	Connect outputs to the model that calls the module.
Notes	After the custom module is built and saved, it is placed in the calling model. (see Custom Module, above). When viewed from the calling model, one output node will be created for each Custom Module Output block. The output nodes will be named according to the user strings of Custom Module Output block; for example, if the block picture above were used in a custom module, the node would appear as an "Output1" as viewed from the calling model.

Node List	1	Edge Position where node will appear on the custom module block, when viewed from the calling model. Choose from Left, Right, Top, and Bottom.
	2	Position Position from top or left of Edge. Larger Position implies the node will appear further from top or left. Do not allow two nodes to have the same position on the same edge as only one will be viewable.
	3	Output Value of output node as transferred to the calling model.
	4	Documentation node

Custom Documentation

Note: This block is currently in beta release.

Graphic
Tab	Custom
Function	Provides documentation nodes on custom module to the model that calls the module.
Notes	After the custom module is built and saved, it is placed in the calling model. (see Custom Module, above). When viewed from the calling model, one documentation node will be created for each Custom Documentation block. The output nodes will be named according to the user strings of Custom Documentation block; for example, if the block picture above were used in a custom module, the node would appear as an "Documentation" as viewed from the calling model.

Node List	1	Edge Position where node will appear on the custom module block, when viewed from the calling model. Choose from Left, Right, Top, and Bottom.
	2	Position Position from top or left of Edge. Larger Position implies the node will appear further from top or left. Do not allow two nodes to have the same position on the same edge as only one will be viewable.
	3	Documentation node

Program Tab

2x2 Program, 4x4 Program, 8x8 Program

Graphics

Tab

Program

Function

Supports text-based programming language that is executed at the same rate as the analog model components. Program length is limited to 5000 characters for each program block.

The following example sets Output1 to the square root of Input1.

See Visual ModelQ User’s Manual for detail on language.

Node List	Left	Input1, Input2, … Input lines that can be used in the text-based programming.
	Right	Output1, Output2, … Output lines that can be used in the text-based programming.
	Top	Program Stores text-based program.
	Bottom	Documentation node

2x2 Digital Program, 4x4 Digital Program, 8x8 Digital Program

Graphics

Tab

Program

Function

Supports text-based programming language that is executed at a rate equal to a digital controller. Program length is limited to 5000 characters for each program block.

The following example sets Output1 to the square root of Input1.

See Visual ModelQ User’s Manual for detail on language.

Node List	Left	Input1, Input2, … Input lines that can be used in the text-based programming.
	Left (Bottom)	Controller (bottom left) Select a digital controller. The program in this block will execute one each time the digital controller samples. Note that if only one digital controller is used in the model, Visual ModelQ automatically selects that controller for this node.
	Right	Output1, Output2, … Output lines that can be used in the text-based programming.
	Top	Program Stores text-based program.
	Bottom	Documentation node

Motion Tab

Motor Feedback

Graphic
Tab	Motion
Function	Quantizes output of motor feedback

Node List	1	InputPosition Position of motor.in radians
	2	Resolution Resolution in either lines/revolution or counts/revolution.
	3	ResolutionType Specify type of resolution, either lines/revolution or counts/revolution. This follows the convention from optical encoders where one line is equivalent to four counts.
	4	Enable If true, block quantizes output; if false, OutputPosition = InputPosition (without quantization).
	5	OutputPosition Quantized motor position
	17	Documentation node

Two-Body Compliant Load

Graphic
Tab	Motion
Function	Provides model for motor and load with compliant coupling.

Node List	1	tAppl Applied torque, usually from velocity or position loop, in Nm.
	2	tMDist Disturbance torque applied to motor, in Nm.
	3	TLDist Disturbance torque applied to load, in Nm.
	4	Vmax Maximum velocity of motor; model clamps velocity to +/- this value. Measured in rad/s.
	5	Jm Motor inertia, in kg-m^2.
	6	Jl Load inertia, in kg-m^2, reflected through transmission. For example, for a 5:1 gear box, Jl would be 1/25 of the actual load inertia.
	7	Ks Overall spring constant of the compliant load, in Nm/rad.
	8	Kcv Cross-coupled viscous damping, the damping constant between motor and load, in Nm-sec/rad. This source damping has the greatest effect on the resonant behavior seen in compliantly-coupled systems.
	9	Kmv Motor viscous damping, the damping constant between motor and ground, in Nm-sec/rad
	10	Klv Load viscous damping, the damping constant between load and ground, in Nm-sec/rad
	11	Am Acceleration of the motor, in rad/s^2.
	12	Vm Velocity of the motor, in rad/s.
	13	Pm Position of the motor, in rad.
	14	Al Acceleration of the load, in rad/s^2.
	15	Vl Velocity of the load, in rad/s.
	16	Pl Position of the load, in rad.
	17	Documentation node

DQ to ABC

Graphic
Tab			Motion
Function			Convert from stationary to three-phase rotating reference frame.
Sample use		The following fragment shows how to connect voltages from a phase-based current controller to DQ motor voltages, and then convert the DQ currents output by the motor to phase currents using the DQ-to-ABC block.
	Node List			1	Direct Direct axis in the stationary reference frame.
				2	Quadrature Quadrature axis in the stationary reference frame.
				3	Theta Angle of rotational reference frame in radians.
				4	PhaseA Phase A in the rotating reference frame: PhaseA = Quadrature * sin(Theta) + Direct * cos(Theta).
				5	PhaseB Phase B in the rotating reference frame. PhaseB = Quadrature * sin(Theta – 2PI/3) + Direct * cos(Theta – 2PI/3).
				6	PhaseC Phase B in the rotating reference frame. PhaseC = Quadrature * sin(Theta – 4PI/3) + Direct * cos(Theta – 4PI/3).
				7	Documentation node

DQ to ABC (Clamped)

Graphic
Tab	Motion
Function	Convert from stationary to three-phase rotating reference frame, clamping the output. Intended for voltage conversion where the clamp is the bus voltage
Node List	1	Direct Direct axis in the stationary reference frame.
	2	Quadrature Quadrature axis in the stationary reference frame.
	3	Theta Angle of rotational reference frame in radians.
	4	Clamp Bipolar limit on output; applied after Phases A-C are calculated. In a simple voltage converter, this is commonly set to V_BUS/2.
	5	PhaseA Phase A in the rotating reference frame: PhaseA = Quadrature * sin(Theta) + Direct * cos(Theta).
	6	PhaseB Phase B in the rotating reference frame. PhaseB = Quadrature * sin(Theta – 2PI/3) + Direct * cos(Theta – 2PI/3).
	7	PhaseC Phase B in the rotating reference frame. PhaseC = Quadrature * sin(Theta – 4PI/3) + Direct * cos(Theta – 4PI/3).
	8	Documentation node

ABC to DQ

Graphic
Tab	Motion
Function	Convert from 3-phase rotating to stationary reference frame.
Sample use	The following fragment shows how to connect voltages from a phase-based current controller to DQ motor voltages, and then convert the DQ currents output by the motor to phase currents using the DQ-to-ABC block.
Node List	1	PhaseA Phase A in the rotating reference frame:
	2	PhaseB Phase B in the rotating reference frame; lags PhaseA by 2PI/3 radians (120 degrees).
	3	PhaseC Phase C in the rotating reference frame; lags PhaseA by 4PI/3 radians (240 degrees).
	4	Theta Angle of rotational reference frame in radians.
	5	Direct Direct axis in the stationary reference frame. PhaseD = (2.0/3.0) * ( PhaseA * cos (Theta) + PhaseB * cos (Theta – 2PI/3) + PhaseC * cos (Theta – 4PI/3)).
	6	Quadrature Quadrature axis in the stationary reference frame. PhaseQ = (2.0/3.0) * ( PhaseA * sin (Theta) + PhaseB * sin (Theta – 2PI/3) + PhaseC * sin (Theta – 4PI/3)).
	7	Documentation node

ABC to Magnitude and Theta

Graphic
Tab		Motion
Function		Convert from 3-phase rotating to stationary reference frame including deducing angle. For example, if you know IA, IB, and IC, use this block to determine the magnitude, angle, and offset of the three phases.
	Node List		1	PhaseA Phase A in the rotating reference frame:
			2	PhaseB Phase B in the rotating reference frame; lags PhaseA by 2PI/3 radians (120 degrees).
			3	PhaseC Phase C in the rotating reference frame; lags PhaseA by 4PI/3 radians (240 degrees).
			4	Magnitude Magnitude of three-phase current vector
			5	Theta Angle of three-phase current vector in radians.
			6	Offset Offset current for cases where PhaseA + PhaseB + PhaseC <> 0.
			7	Documentation node

DQ Motor

Graphic
Tab		Motion
Function		Provide DQ current and torque given DQ voltages.
Sample use		The following fragment shows how to connect voltages from a phase-based current controller to DQ motor voltages using an ABC-to-DQ block, and then convert the DQ currents output by the motor to phase currents using the DQ-to-ABC block.
	Node List		1	VQ Quadrature axis voltage in the stationary reference frame.
			2	VD Direct axis voltage in the stationary reference frame.
			3	KT Torque constant of the motor in Nm/Amp
			4	LQ Quadrature axis inductance in the stationary reference frame per phase in henries.
			5	LD Direct axis inductance in the stationary reference frame per phase in henries.
			6	R Phase resistance in ohms.
			7	Pole Pairs
			8	Velocity Motor velocity in rad/sec.
			9	Documentation node

AVD Motion Profile

Graphic
Tab	Motion
Function	Provides general profile where A-V-D (acceleration, velocity, and distance) can be specified independently.

Node List	1	Move Boolean move command. Starts move after each positive trigger. If edge occurs during profile, next profile will execute immediately following.
	2	Continuous Continuously commands profile moves..
	3	Pf Value to reset position command to after each compile, in rad. Typically wired to position feedback.
	4	PDistance Distance of move profile, in rad.
	5	VTraverse Maximum traverse speed of move profile, in rad/s..
	6	AMax Average acceleration of first segment of move, in rad/s^2..
	7	DMax Average deceleration of last segment of move, in rad/s^2.
	8	SCurve Select amount of s-curve in profile. If SCurve = 0, create trapezoidal move; if SCurve = 1, the entire acceleration and deceleration are polynomial (4^th order) s-curves. If SCurve is between 0 and 1, it defines the percentage of the accel/decel that is polynomal (e.g., SCurve = 0.8 implies 80% of the accel/decel is polynomial and the remainder is straight-line).
	9	TDwell Dwell time, in seconds added to end of profile until completion of move.
	10	Pc Position command, in rad, from profile generator; usually connected as command of position loop.
	11	Vc Velocity command, in rad/s, from profile generator; usually connected to velocity feed-forward command.
	12	Ac Acceleration command from profile generator; usually connected to acceleration feed-forward after being multiplied by system inertia and divided by motor torque constant (Kt).
	13<

Visual ModelQ Reference Manual

Documentation node

Frequency Set default frequency of waveform in Hz.

Reset Clear data in file when Reset = 1.

If Time Increment is less than or equal to 0, Time Increment is ignored. Time Increment defaults to 0.

Input2 Operand

Input2 Operand

Input3 Operand

Scale by Operand

Output Input scaled by Scale by (or one over Scale by)

Documentation

Output Result of operation Note: 1/x is not evaluated at time 0 to avoid divide by zero.

Documentation

y (Input)

z (Input)

Output sqrt(x^2 + y^2 + z^2)

Documentation

Epsilon Minimum magnitude to be inverted

Output 1/(Input + Epsilon) if Input >= 0, 1/(Input - Epsilon) if Input < 0.

Documentation

Modulo

Mult Multiplier for modulo. Effective modulo is Modulo x Mult.

Output

Type 0 = Positive (result between 0 and Modulo) 1 = Bipolar (result between +/-Modulo/2)

Documentation

Type Type of quantization. Select from "None" (0), "Round" (1), and "Truncate" (2).

Resolution Resolution of quantization.

Output

Documentation

x Vector (CSV) Vector of x points separated by commas. If left blank, assumed to be 0, 1, 2, … and will be filled to equal the number of points in y Vector (see below).

Only enter negative x points in Linear Interp, not in Linear Interp (Odd) or Linear Interp (Even). For Linear Interp (Odd), y(-x) = -y(x). For Linear Interp (Even), y(-x) = y(x).

y Vector (CSV) Vector of x points separated by commas.

Output Output (interpolated y point)

Number of Points Number of points used, normally the lesser of the number of x Vector and y Vector points, but equal to the number of y Vector points if x Vector is empty.

Documentation

Documentation node

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Example of Peak meter

Example of Harmonic meter

Example of Counter:

Primary Color Color of display for single color justification; color of high values for center-justified bars.

Needle Color Color of dial needle.

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Frequency
Set default frequency of waveform in Hz.

Reset
Clear data in file when Reset = 1.

Input2
Operand

Input2
Operand

Input3
Operand

Scale by
Operand

Output
Input scaled by Scale by (or one over Scale by)

Output
Result of operation
Note: 1/x is not evaluated at time 0 to avoid divide by zero.

y
(Input)

z
(Input)

Output
sqrt(x^2 + y^2 + z^2)

Epsilon
Minimum magnitude to be inverted

Output
1/(Input + Epsilon) if Input >= 0,
1/(Input - Epsilon) if Input < 0.

Mult
Multiplier for modulo. Effective modulo is Modulo x Mult.

Type
0 = Positive (result between 0 and Modulo)
1 = Bipolar (result between +/-Modulo/2)

Type
Type of quantization. Select from "None" (0), "Round" (1), and "Truncate" (2).

Resolution
Resolution of quantization.

x Vector (CSV)
Vector of x points separated by commas. If left blank, assumed to be 0, 1, 2, … and will be filled to equal the number of points in y Vector (see below).

y Vector (CSV)
Vector of x points separated by commas.

Output
Output (interpolated y point)

Number of Points
Number of points used, normally the lesser of the number of x Vector and y Vector points, but equal to the number of y Vector points if x Vector is empty.

Primary Color
Color of display for single color justification; color of high values for center-justified bars.

Needle Color
Color of dial needle.