| MSL410 experiment tolerance | MSL410 tightend tolerance | |
|---|---|---|
| Testrun ID | 20250225023730 | 20250224233152 |
| Simulator | Dymola | Dymola |
| Status | PASS | PASS |
| Run time | 7.22 | 7.16 |
| Workdir | D:/MSL_Nightly/Output/Testruns/Dymola/Modelica_org\Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot\WorkDir | D:/MSL_Nightly/Output/Testruns/Dymola/Modelica\Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot\WorkDir |
| MSL410 experiment tolerance | MSL410 tightend tolerance | |
|---|---|---|
| Status | PASS | PASS |
| Task runtime | 1.03 s | 1.02 s |
| Simulation time | 1.86 s | 1.86 s |
| Copy result file path | Copy result file path | |
| Open log | Open log | |
| Time Events | 4 | 4 |
| State Events | 44 | 44 |
| Jacobian evaluations | 530 | 530 |
| Integrator Steps | 3899 | 3899 |
| Total CPU time | 0.29 s | 0.27 s |
| CPU time Integration | 0.29 s | 0.27 s |
| CPU time Initialization | 0.00 s | 0.00 s |
check - Open log
Check of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot
The model has the same number of unknowns and equations: 4945
The model has the same number of unknowns and equations:
4909+6*max([size(pathPlanning.path.q_begin, 1); size(pathPlanning.path.q_end, 1); size(pathPlanning.path.qd_max, 1); size(pathPlanning.path.qdd_max, 1)])
Check of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot successful.
check - Open log
Check of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot
The model has the same number of unknowns and equations: 4945
The model has the same number of unknowns and equations:
4909+6*max([size(pathPlanning.path.q_begin, 1); size(pathPlanning.path.q_end, 1); size(pathPlanning.path.qd_max, 1); size(pathPlanning.path.qdd_max, 1)])
Check of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot successful.
translate - Open log
Translation of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot
The DAE has 4945 scalar unknowns and 4945 scalar equations.
Statistics
Original Model
Number of components: 484
Variables: 4433
Constants: 55 (55 scalars)
Parameters: 1347 (1988 scalars)
Unknowns: 3031 (4945 scalars)
Differentiated variables: 254 scalars
Equations: 2416
Nontrivial: 1779
Translated Model
Constants: 2086 scalars
Free parameters: 553 scalars
Parameter depending: 829 scalars
Continuous time states: 36 scalars
Time-varying variables: 755 scalars
Alias variables: 2765 scalars
Number of mixed real/discrete systems of equations: 4
Sizes of linear systems of equations: {137, 4, 3, 4, 3, 4, 3, 3, 3, 3}
Sizes after manipulation of the linear systems: {6, 0, 0, 0, 0, 0, 0, 0, 0, 0}
Sizes of nonlinear systems of equations: { }
Sizes after manipulation of the nonlinear systems: { }
Number of numerical Jacobians: 0
Initialization problem
Number of mixed real/discrete systems of equations: 6
Sizes of linear systems of equations: {3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3}
Sizes after manipulation of the linear systems: {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
Settings
Advanced.StoreProtectedVariables = true
Selected continuous time states
Statically selected continuous time states
axis1.controller.PI.x
axis1.gear.spring.phi_rel
axis1.gear.spring.w_rel
axis1.motor.C.v
axis1.motor.La.i
axis2.controller.PI.x
axis2.gear.spring.phi_rel
axis2.gear.spring.w_rel
axis2.motor.C.v
axis2.motor.La.i
axis3.controller.PI.x
axis3.gear.spring.phi_rel
axis3.gear.spring.w_rel
axis3.motor.C.v
axis3.motor.La.i
axis4.controller.PI.x
axis4.motor.C.v
axis4.motor.La.i
axis5.controller.PI.x
axis5.motor.C.v
axis5.motor.La.i
axis6.controller.PI.x
axis6.motor.C.v
axis6.motor.La.i
mechanics.r1.phi
mechanics.r1.w
mechanics.r2.phi
mechanics.r2.w
mechanics.r3.phi
mechanics.r3.w
mechanics.r4.phi
mechanics.r4.w
mechanics.r5.phi
mechanics.r5.w
mechanics.r6.phi
mechanics.r6.w
Finished
translate - Open log
Translation of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot
The DAE has 4945 scalar unknowns and 4945 scalar equations.
Statistics
Original Model
Number of components: 484
Variables: 4433
Constants: 55 (55 scalars)
Parameters: 1347 (1988 scalars)
Unknowns: 3031 (4945 scalars)
Differentiated variables: 254 scalars
Equations: 2416
Nontrivial: 1779
Translated Model
Constants: 2086 scalars
Free parameters: 553 scalars
Parameter depending: 829 scalars
Continuous time states: 36 scalars
Time-varying variables: 755 scalars
Alias variables: 2765 scalars
Number of mixed real/discrete systems of equations: 4
Sizes of linear systems of equations: {137, 4, 3, 4, 3, 4, 3, 3, 3, 3}
Sizes after manipulation of the linear systems: {6, 0, 0, 0, 0, 0, 0, 0, 0, 0}
Sizes of nonlinear systems of equations: { }
Sizes after manipulation of the nonlinear systems: { }
Number of numerical Jacobians: 0
Initialization problem
Number of mixed real/discrete systems of equations: 6
Sizes of linear systems of equations: {3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3}
Sizes after manipulation of the linear systems: {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
Settings
Advanced.StoreProtectedVariables = true
Selected continuous time states
Statically selected continuous time states
axis1.controller.PI.x
axis1.gear.spring.phi_rel
axis1.gear.spring.w_rel
axis1.motor.C.v
axis1.motor.La.i
axis2.controller.PI.x
axis2.gear.spring.phi_rel
axis2.gear.spring.w_rel
axis2.motor.C.v
axis2.motor.La.i
axis3.controller.PI.x
axis3.gear.spring.phi_rel
axis3.gear.spring.w_rel
axis3.motor.C.v
axis3.motor.La.i
axis4.controller.PI.x
axis4.motor.C.v
axis4.motor.La.i
axis5.controller.PI.x
axis5.motor.C.v
axis5.motor.La.i
axis6.controller.PI.x
axis6.motor.C.v
axis6.motor.La.i
mechanics.r1.phi
mechanics.r1.w
mechanics.r2.phi
mechanics.r2.w
mechanics.r3.phi
mechanics.r3.w
mechanics.r4.phi
mechanics.r4.w
mechanics.r5.phi
mechanics.r5.w
mechanics.r6.phi
mechanics.r6.w
Finished
translate - Continuous time states
- axis1.controller.PI.x
- axis1.gear.spring.phi_rel
- axis1.gear.spring.w_rel
- axis1.motor.C.v
- axis1.motor.La.i
- axis2.controller.PI.x
- axis2.gear.spring.phi_rel
- axis2.gear.spring.w_rel
- axis2.motor.C.v
- axis2.motor.La.i
- axis3.controller.PI.x
- axis3.gear.spring.phi_rel
- axis3.gear.spring.w_rel
- axis3.motor.C.v
- axis3.motor.La.i
- axis4.controller.PI.x
- axis4.motor.C.v
- axis4.motor.La.i
- axis5.controller.PI.x
- axis5.motor.C.v
- axis5.motor.La.i
- axis6.controller.PI.x
- axis6.motor.C.v
- axis6.motor.La.i
- mechanics.r1.phi
- mechanics.r1.w
- mechanics.r2.phi
- mechanics.r2.w
- mechanics.r3.phi
- mechanics.r3.w
- mechanics.r4.phi
- mechanics.r4.w
- mechanics.r5.phi
- mechanics.r5.w
- mechanics.r6.phi
- mechanics.r6.w
translate - Continuous time states
- axis1.controller.PI.x
- axis1.gear.spring.phi_rel
- axis1.gear.spring.w_rel
- axis1.motor.C.v
- axis1.motor.La.i
- axis2.controller.PI.x
- axis2.gear.spring.phi_rel
- axis2.gear.spring.w_rel
- axis2.motor.C.v
- axis2.motor.La.i
- axis3.controller.PI.x
- axis3.gear.spring.phi_rel
- axis3.gear.spring.w_rel
- axis3.motor.C.v
- axis3.motor.La.i
- axis4.controller.PI.x
- axis4.motor.C.v
- axis4.motor.La.i
- axis5.controller.PI.x
- axis5.motor.C.v
- axis5.motor.La.i
- axis6.controller.PI.x
- axis6.motor.C.v
- axis6.motor.La.i
- mechanics.r1.phi
- mechanics.r1.w
- mechanics.r2.phi
- mechanics.r2.w
- mechanics.r3.phi
- mechanics.r3.w
- mechanics.r4.phi
- mechanics.r4.w
- mechanics.r5.phi
- mechanics.r5.w
- mechanics.r6.phi
- mechanics.r6.w
translate - Largest NL equation system
translate - Largest NL equation system
simulate - Open log
Log-file of program ./dymosim
(generated: Tue Feb 25 03:03:43 2025)
dymosim started
... "Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot" simulating
... "dsin.txt" loading (dymosim input file)
... "result.mat" creating (simulation result file)
Integration started at T = 0 using integration method DASSL
(DAE multi-step solver (dassl/dasslrt of Petzold modified by Dassault Systemes))
Simulation successfully terminated
... End condition reached
Integration terminated successfully at T = 1.856045002
CPU-time for integration : 0.29 seconds
CPU-time for one grid interval : 0.0625 milliseconds
CPU-time for initialization : 0.001 seconds
Number of result points : 4737
Number of grid points : 4642
Number of accepted steps : 3899
Number of f-evaluations (dynamics) : 7487
Number of crossing function evaluations : 8856
Number of Jacobian-evaluations : 530
Number of model time events : 4
Number of input time events : 0
Number of state events : 44
Number of step events : 0
Minimum integration stepsize : 1.63e-10
Maximum integration stepsize : 0.009
Maximum integration order : 5
Calling terminal section
... "dsfinal.txt" creating (final states)
SUCCESSFUL simulation of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot
The simulation finished due to the use of terminate()
simulate - Open log
Log-file of program ./dymosim
(generated: Mon Feb 24 23:58:59 2025)
dymosim started
... "Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot" simulating
... "dsin.txt" loading (dymosim input file)
... "result.mat" creating (simulation result file)
Integration started at T = 0 using integration method DASSL
(DAE multi-step solver (dassl/dasslrt of Petzold modified by Dassault Systemes))
Simulation successfully terminated
... End condition reached
Integration terminated successfully at T = 1.856045002
CPU-time for integration : 0.27 seconds
CPU-time for one grid interval : 0.0582 milliseconds
CPU-time for initialization : 0.001 seconds
Number of result points : 4737
Number of grid points : 4642
Number of accepted steps : 3899
Number of f-evaluations (dynamics) : 7487
Number of crossing function evaluations : 8856
Number of Jacobian-evaluations : 530
Number of model time events : 4
Number of input time events : 0
Number of state events : 44
Number of step events : 0
Minimum integration stepsize : 1.63e-10
Maximum integration stepsize : 0.009
Maximum integration order : 5
Calling terminal section
... "dsfinal.txt" creating (final states)
SUCCESSFUL simulation of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.FullRobot
The simulation finished due to the use of terminate()