Servo Output
Write to standard servo output channels
Libraries:
Simulink Desktop Real-Time
Description
The Servo Output block sets the shaft position of a standard servo motor.
To rotate the servo shaft, send values to the block input.
Sending out-of-range values to the block input has the same effect as sending the minimum or maximum input values.
The block input inherits the data type of the upstream block.
Examples
Packet Input/Output
Transfer data through UDP communication protocol using binary encoding.
CAN Input/Output with Vehicle Network Toolbox
Transfer data through CAN bus by using the CAN Pack and CAN Unpack blocks available in Vehicle Network Toolbox™ block library.
Ports
Input
Servo Data — Servo data to write to output channels
double | single | int8 | uint8 | int16 | uint16 | int32 | uint32 | boolean
Servo position (angle). The minimum and maximum values for shaft position vary with the Block input signal (units) argument value:
Block input signal | Minimum Servo Data | Maximum Servo Data |
---|---|---|
Degrees (default) |
|
|
Radians |
|
|
Normalized bipolar |
|
|
Normalized unipolar |
|
|
Example: 90
Data Types: double
| single
| int8
| uint8
| int16
| uint16
| int32
| uint32
Output
Missed Ticks — Missed tick count (optional)
double
In Connected IO mode, returns the number of timer ticks that your model lags behind the real-time kernel. When the model lags by more than Maximum missed ticks, the software reports an error and simulation stops.
Dependency
When you select Show “Missed Ticks” port, this port is visible.
Data Types: double
Parameters
Install new board — Register a board
< no board selected >
(default)
When you click Install new board, the software displays a list of manufacturers of supported boards. When you select a manufacturer, the software displays a list of boards available from that manufacturer. When you select a board, the software adds the board to the list of registered boards and makes that board the current board.
By default, the initial selection in the list of registered boards is <
no board selected >
.
For more information about driver support for I/O boards, see Hardware Support from Simulink Desktop Real-Time.
Dependency
When you select a board in the list of registered boards, the Delete current board and Board setup buttons are available.
Programmatic Use
Block Parameter:
DrvName |
Delete current board — Delete the current board
(button)
To delete the current board, click this button. The initial
selection of the list of registered boards changes to <
no board selected >
.
Dependency
To activate this parameter, select a board in the list of registered boards.
When you delete the current board, the Delete current board and Board setup buttons are no longer available.
Programmatic Use
Block Parameter:
DrvName |
Board setup — Set up the board
(button)
To set up the board, click this button.
A board-specific dialog box opens to set up the board. For more information, see the board manufacturer documentation.
Dependency
To activate this parameter, select a board in the list of registered boards.
To deactivate this parameter, click Delete current board.
Programmatic Use
Block Parameter:
DrvAddress |
Block Parameter:
DrvOptions |
Sample time — Sample time of block
0.1
(default) | double
Enter a value, in seconds, that represents how frequently you want the block to execute and interact with the I/O hardware. The block synchronizes your model with the real-time clock at this sample rate.
If you are using a fixed-step solver, enter the value that you entered as the Fixed step size configuration parameter or an integer multiple of that value.
Programmatic Use
Block Parameter:
SampleTime |
Maximum missed ticks — Number of timer ticks by which your model can trail the kernel
10
(default) | integer
In Connected IO mode, enter the number of timer ticks that your model can lag behind the real-time kernel. When the model lags behind by this number or fewer timer ticks, the software assumes that the lag is temporary. It allows the model to catch up, even if the model misses some ticks. When the model lags by more than this number, the software reports an error and simulation stops.
In Run in Kernel mode, the software ignores this value.
Programmatic Use
Block
Parameter:
MaxMissedTicks |
Show “Missed Ticks” port — Send number of missed ticks to port Missed Ticks
'off'
(default) | 'on'
In Connected IO mode, select this check box to send the number of missed
ticks to output port Missed Ticks
.
In Run in Kernel mode, the Missed Ticks
port is
zero.
Programmatic Use
Block Parameter:
ShowMissedTicks |
Yield CPU when waiting — Yield CPU while kernel waits for hardware
'off'
(default) | 'on'
In Connected IO mode, select this check box to grant other programs more CPU time while the kernel waits for a response from the hardware.
In Run in Kernel mode, the software ignores this value.
Programmatic Use
Block Parameter:
YieldWhenWaiting |
Output channels — Channel vector that selects other output channels
1
(default) | vector
Enter a channel vector that selects the other output channels that you are using on this board. The vector can be any valid MATLAB® vector form. For example, to select the first two other output channels, enter:
[1,2]
or
[1:2]
Programmatic Use
Block Parameter:
Channels |
Block input signal — Units of the block input signal
Degrees
(default) | Radians
| Normalized bipolar
| Normalized unipolar
Select the units of the block input signal that specifies servo position.
Programmatic Use
Block Parameter:
RangeMode |
Minimum pulse duration — Duration of the control pulse
500e-6 (default)
Select the duration of the control pulse that corresponds to the minimum servo angle. Because not all servos are the same, this parameter lets you calibrate the input signal to the actual servo angle.
Programmatic Use
Block Parameter:
MinPulseDuration |
Maximum pulse duration — Duration of the control pulse
2500e-6 (default)
Select the duration of the control pulse that corresponds to the maximum servo angle. Because not all servos are the same, this parameter lets you calibrate the input signal to the actual servo angle.
Programmatic Use
Block Parameter:
MaxPulseDuration |
Initial value — Specify the value that the channel generates before execution starts
vector
Enter the initial value for each output channel that you entered in the Output channels box.
Programmatic Use
Block Parameter:
InitialValue |
Final value — Specify the value that the channel generates after execution ends
vector
Enter the final value for each output channel that you entered in the Output channels box.
Programmatic Use
Block Parameter:
FinalValue |
Version History
Introduced in R2018bR2024b: Update to blocks with port names
In R2024b, when you enable optional ports, such as Show "Missed Ticks" port, these Simulink® Desktop Real-Time™ block ports appear with labels.
See Also
Topics
MATLAB 명령
다음 MATLAB 명령에 해당하는 링크를 클릭했습니다.
명령을 실행하려면 MATLAB 명령 창에 입력하십시오. 웹 브라우저는 MATLAB 명령을 지원하지 않습니다.
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