<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\studie\ma\mahd\implementation\submodel\SCARA\spike\motionprofiletest.emx</LibraryPath>
  <TimeStamp>2020-7-9 14:43:21</TimeStamp>
</Description>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   Submodel1 328 200
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal out output;
    end;
    implementation eq
/* Equation Submodel
Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
*/
parameters
	string dllname = 'MotionProfiles.dll';
variables
	real x[3];
	real t;
equations
	// start typing here
	t = time-0.5;
	x = dll(dllname,'ProfileCycloidal',t);
	output = x[1];
 implementation_end;
  end;
  connections
  end;
 implementation_end;
]]>
</Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
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    <Name>Experiment 1</Name>
    <CreatedBy></CreatedBy>
    <Info></Info>
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    <VarName>Submodel1\x[2]</VarName>
    <VarName>Submodel1\x[3]</VarName>
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   <Plots>
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     <PlotType>GraphPlot</PlotType>
     <BasePlot>
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       <UseWindowsBGColor>false</UseWindowsBGColor>
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       <Maximum>10.0</Maximum>
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       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
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       <Maximum>12.0</Maximum>
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       <Label>x[1]</Label>
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      <Axis>
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       <LineStyle>1</LineStyle>
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       <TickStyle>0</TickStyle>
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       </XCurveData>
       <YCurveData>
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       <LineStyle>1</LineStyle>
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       </XCurveData>
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     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
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   </Plots>
   <PlotPanels>
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     <PlotPanelId>1</PlotPanelId>
     <PlotPanelVisible>true</PlotPanelVisible>
     <Name>Window 1</Name>
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    <Warp>false</Warp>
    <FPGonio>false</FPGonio>
    <UseOutputAfterEach>false</UseOutputAfterEach>
    <OutputAfterEach>0.1</OutputAfterEach>
    <EventEpsilon>1.0e-6</EventEpsilon>
    <AlgebraicTolerance>1.0e-7</AlgebraicTolerance>
    <SteadyStateAnalysis>false</SteadyStateAnalysis>
    <UpdateHoldInstructions>true</UpdateHoldInstructions>
   </SimulatorSettings>
   <IntegrationMethods>
    <IntegrationMethod>
     <Name>Euler</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>BackwardEuler</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
     <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <StepSize>0.01</StepSize>
     <Alpha>1.0</Alpha>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>AdamsBashforth</Name>
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     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta2</Name>
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     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta4</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta8</Name>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
     <SafetyFactor>0.9</SafetyFactor>
     <Factor1>0.33</Factor1>
     <Factor2>6.0</Factor2>
     <Beta>0.0</Beta>
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     <MaxNrSteps>100000</MaxNrSteps>
     <UseStiffDetection>false</UseStiffDetection>
     <MaxNrStiffnessSteps>1000</MaxNrStiffnessSteps>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKuttaFehlberg</Name>
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     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
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     <Name>VodeAdams</Name>
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     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
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     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
     <VodeUseBDF>true</VodeUseBDF>
     <VodeUseNewton>true</VodeUseNewton>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>BDFMethod</Name>
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     <RelativeTolerance>1.0e-5</RelativeTolerance>
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     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
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     <MaximumStepSize>1.0</MaximumStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>MeBDFiMethod</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
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     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
    </IntegrationMethod>
    <SelectedIntegrationMethod>8</SelectedIntegrationMethod>
   </IntegrationMethods>
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  <MultipleRun>
   <NrSteps>10</NrSteps>
   <CopyFromStates>false</CopyFromStates>
   <JoinParameterVariation>true</JoinParameterVariation>
   <ClearAfterRun>true</ClearAfterRun>
   <RedrawAfterRun>false</RedrawAfterRun>
   <DrawDuringSimulation>true</DrawDuringSimulation>
   <ActionBeforeOptimization>0</ActionBeforeOptimization>
   <CompareValue>0.0</CompareValue>
   <UseCompareValue>true</UseCompareValue>
   <MultipleRunType>MultipleRun</MultipleRunType>
   <Minimize>true</Minimize>
   <OptimizationVariable></OptimizationVariable>
   <ResulVarUsage>UseEndValue</ResulVarUsage>
   <Tolerance>0.001</Tolerance>
   <OptimizationMethod>BroydonFletcherGoldfarbShanno</OptimizationMethod>
   <MultipleRunVariables>
   </MultipleRunVariables>
  </MultipleRun>
  <ExportData>
   <WriteAsText>true</WriteAsText>
   <ReadAsText>true</ReadAsText>
   <WriteHeader>true</WriteHeader>
   <ReadHeader>true</ReadHeader>
   <ReadFilename></ReadFilename>
   <WriteFilename></WriteFilename>
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</ExpData>
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</Experiments>
</Document>
