Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo", uses=false)
Using package ModelicaServices with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo)
Using package Modelica with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo)
Using package Complex with version 3.2.3 (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo)
Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis,fileNamePrefix="Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Systems_RobotR3_oneAxis",fmuType="me",version="2.0",platforms={"static"})
"" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis,fileNamePrefix="Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Systems_RobotR3_oneAxis",fmuType="me",version="2.0",platforms={"static"})
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex 3.2.3+maint.om/package.mo): time 0.001074/0.001074, allocations: 175.4 kB / 16.72 MB, free: 5.078 MB / 13.93 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica 3.2.3+maint.om/package.mo): time 1.259/1.259, allocations: 205.4 MB / 222.9 MB, free: 8.941 MB / 186.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices 3.2.3+maint.om/package.mo): time 0.0007234/0.0007234, allocations: 97.47 kB / 271.2 MB, free: 8.234 MB / 218.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002759/0.000276, allocations: 15.98 kB / 327.6 MB, free: 15.77 MB / 282.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1935/0.1938, allocations: 47.56 MB / 375.2 MB, free: 45.4 MB / 298.7 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis): time 0.006451/0.2003, allocations: 8.055 MB / 383.2 MB, free: 39.07 MB / 298.7 MB
Notification: Performance of NFInst.instExpressions: time 0.003954/0.2043, allocations: 2.224 MB / 385.5 MB, free: 37.2 MB / 298.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.001001/0.2053, allocations: 27.62 kB / 385.5 MB, free: 37.19 MB / 298.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.0005326/0.2059, allocations: 231.3 kB / 385.7 MB, free: 37.01 MB / 298.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.0009137/0.2068, allocations: 406.2 kB / 386.1 MB, free: 36.66 MB / 298.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0007337/0.2075, allocations: 358.3 kB / 386.5 MB, free: 36.37 MB / 298.7 MB
Notification: Performance of NFFlatten.flatten: time 0.001776/0.2093, allocations: 2.097 MB / 388.6 MB, free: 35.08 MB / 298.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.001119/0.2105, allocations: 0.9959 MB / 389.6 MB, free: 34.23 MB / 298.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0007194/0.2112, allocations: 0.5797 MB / 390.1 MB, free: 33.65 MB / 298.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0004713/0.2117, allocations: 0.6493 MB / 390.8 MB, free: 33 MB / 298.7 MB
Notification: Performance of NFPackage.collectConstants: time 0.0001189/0.2118, allocations: 80 kB / 390.9 MB, free: 32.92 MB / 298.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0002356/0.212, allocations: 124 kB / 391 MB, free: 32.8 MB / 298.7 MB
Notification: Performance of NFScalarize.scalarize: time 0.0001727/0.2122, allocations: 278.9 kB / 391.3 MB, free: 32.53 MB / 298.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.0004653/0.2127, allocations: 0.7404 MB / 392 MB, free: 31.78 MB / 298.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.001366/0.2141, allocations: 2.668 MB / 394.7 MB, free: 29.1 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 4.859e-06/0.2141, allocations: 0 / 394.7 MB, free: 29.1 MB / 298.7 MB
Notification: Performance of FrontEnd: time 1.763e-06/0.2141, allocations: 0 / 394.7 MB, free: 29.1 MB / 298.7 MB
Notification: Performance of Transformations before backend: time 2.826e-05/0.2141, allocations: 0 / 394.7 MB, free: 29.1 MB / 298.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 389
 * Number of variables: 389
Notification: Performance of Generate backend data structure: time 0.002477/0.2166, allocations: 1.628 MB / 396.3 MB, free: 27.42 MB / 298.7 MB
Notification: Performance of prepare preOptimizeDAE: time 4.137e-05/0.2167, allocations: 16.03 kB / 396.3 MB, free: 27.4 MB / 298.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.0002094/0.2169, allocations: 228 kB / 396.5 MB, free: 27.17 MB / 298.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0002029/0.2171, allocations: 178.9 kB / 396.7 MB, free: 26.99 MB / 298.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0008412/0.2179, allocations: 0.8303 MB / 397.5 MB, free: 26.12 MB / 298.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.000209/0.2181, allocations: 240.5 kB / 397.8 MB, free: 25.87 MB / 298.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0001716/0.2183, allocations: 159.9 kB / 397.9 MB, free: 25.71 MB / 298.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.002526/0.2209, allocations: 1.686 MB / 399.6 MB, free: 24 MB / 298.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 4.241e-05/0.2209, allocations: 7.906 kB / 399.6 MB, free: 23.99 MB / 298.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0001327/0.2211, allocations: 64 kB / 399.7 MB, free: 23.93 MB / 298.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 1.978e-05/0.2211, allocations: 36 kB / 399.7 MB, free: 23.89 MB / 298.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.002651/0.2237, allocations: 1.581 MB / 401.3 MB, free: 22.3 MB / 298.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.00675/0.2305, allocations: 5.97 MB / 407.3 MB, free: 16.12 MB / 298.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.001595/0.2321, allocations: 0.9529 MB / 408.2 MB, free: 15.15 MB / 298.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.000811/0.2329, allocations: 0.5476 MB / 408.8 MB, free: 14.6 MB / 298.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 5.792e-05/0.233, allocations: 12.94 kB / 408.8 MB, free: 14.59 MB / 298.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.001005/0.234, allocations: 0.6646 MB / 409.5 MB, free: 13.88 MB / 298.7 MB
Notification: Performance of pre-optimization done (n=90): time 2.585e-06/0.234, allocations: 0 / 409.5 MB, free: 13.88 MB / 298.7 MB
Notification: Performance of matching and sorting (n=120): time 0.03012/0.2642, allocations: 9.847 MB / 419.3 MB, free: 3.906 MB / 298.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 5.861e-05/0.2643, allocations: 303.7 kB / 419.6 MB, free: 3.539 MB / 298.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.0008065/0.2651, allocations: 0.7856 MB / 420.4 MB, free: 2.746 MB / 298.7 MB
Notification: Performance of collectPreVariables (initialization): time 8.686e-05/0.2652, allocations: 53.7 kB / 420.4 MB, free: 2.688 MB / 298.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.0003051/0.2655, allocations: 0.6661 MB / 421.1 MB, free: 2.008 MB / 298.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0002102/0.2657, allocations: 398.2 kB / 421.5 MB, free: 1.613 MB / 298.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 8.498e-05/0.2658, allocations: 31.94 kB / 421.5 MB, free: 1.582 MB / 298.7 MB
Notification: Performance of setup shared object (initialization): time 9.63e-05/0.2659, allocations: 414.7 kB / 421.9 MB, free: 1.168 MB / 298.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.001608/0.2675, allocations: 0.8394 MB / 422.8 MB, free: 336 kB / 298.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.001973/0.2695, allocations: 1.169 MB / 423.9 MB, free: 15.04 MB / 314.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.003355/0.2729, allocations: 1.709 MB / 425.6 MB, free: 13.24 MB / 314.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 4.068e-06/0.2729, allocations: 0 / 425.6 MB, free: 13.24 MB / 314.7 MB
Notification: Performance of matching and sorting (n=175) (initialization): time 0.004345/0.2772, allocations: 2.135 MB / 427.8 MB, free: 11.09 MB / 314.7 MB
Notification: Performance of prepare postOptimizeDAE: time 2.329e-05/0.2773, allocations: 11.98 kB / 427.8 MB, free: 11.07 MB / 314.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.253e-05/0.2773, allocations: 8 kB / 427.8 MB, free: 11.07 MB / 314.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0003748/0.2777, allocations: 178.5 kB / 428 MB, free: 10.88 MB / 314.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.001563/0.2792, allocations: 371.5 kB / 428.3 MB, free: 10.52 MB / 314.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.003406/0.2826, allocations: 4.47 MB / 432.8 MB, free: 5.652 MB / 314.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.001406/0.2841, allocations: 199.8 kB / 433 MB, free: 5.457 MB / 314.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0001148/0.2842, allocations: 59.98 kB / 433.1 MB, free: 5.398 MB / 314.7 MB
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 30
 * Number of states: 0 ()
 * Number of discrete variables: 12 (axis.gear.bearingFriction.free,$whenCondition1,$PRE.axis.gear.bearingFriction.startForward,axis.gear.bearingFriction.startForward,$PRE.axis.gear.bearingFriction.startBackward,axis.gear.bearingFriction.startBackward,axis.gear.bearingFriction.locked,$PRE.axis.gear.bearingFriction.mode,axis.gear.bearingFriction.mode,pathPlanning.path.noWphase,pathPlanning.pathToAxis1.moving[1],pathPlanning.terminateSimulation.condition)
 * Number of discrete states: 0 ()
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (168):
 * Single equations (assignments): 165
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 2 {(1,100.0%) 2,(1,100.0%) 2}
 * Non-linear torn systems: 1 {1 3}
Notification: Performance of prepare postOptimizeDAE: time 0.0006544/0.2849, allocations: 387.1 kB / 433.4 MB, free: 5.008 MB / 314.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0001529/0.285, allocations: 98.78 kB / 433.5 MB, free: 4.91 MB / 314.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0002346/0.2853, allocations: 138 kB / 433.7 MB, free: 4.773 MB / 314.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 9.478e-06/0.2853, allocations: 16 kB / 433.7 MB, free: 4.758 MB / 314.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 7.314e-06/0.2853, allocations: 0 / 433.7 MB, free: 4.758 MB / 314.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 9.308e-06/0.2853, allocations: 3.984 kB / 433.7 MB, free: 4.754 MB / 314.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.007073/0.2924, allocations: 4.54 MB / 438.2 MB, free: 24 kB / 314.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.321e-05/0.2924, allocations: 8 kB / 438.2 MB, free: 16 kB / 314.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001102/0.2935, allocations: 288 kB / 438.5 MB, free: 15.73 MB / 330.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0005117/0.2941, allocations: 373.5 kB / 438.9 MB, free: 15.36 MB / 330.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 8.061e-05/0.2942, allocations: 39.92 kB / 438.9 MB, free: 15.32 MB / 330.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.001464/0.2956, allocations: 2.165 MB / 441.1 MB, free: 12.99 MB / 330.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 8.485e-06/0.2956, allocations: 15.94 kB / 441.1 MB, free: 12.98 MB / 330.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.004462/0.3001, allocations: 2.602 MB / 443.7 MB, free: 10.23 MB / 330.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0004394/0.3006, allocations: 323.7 kB / 444 MB, free: 9.895 MB / 330.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0001477/0.3007, allocations: 47.98 kB / 444.1 MB, free: 9.848 MB / 330.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.001014/0.3017, allocations: 179.9 kB / 444.2 MB, free: 9.672 MB / 330.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0003349/0.3021, allocations: 184.1 kB / 444.4 MB, free: 9.492 MB / 330.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 7.604e-05/0.3022, allocations: 43.98 kB / 444.5 MB, free: 9.449 MB / 330.7 MB
Notification: Performance of sorting global known variables: time 0.0006544/0.3028, allocations: 0.5225 MB / 445 MB, free: 8.93 MB / 330.7 MB
Notification: Performance of sort global known variables: time 1.81e-07/0.3028, allocations: 0 / 445 MB, free: 8.93 MB / 330.7 MB
Notification: Performance of remove unused functions: time 0.001032/0.3039, allocations: 340 kB / 445.3 MB, free: 8.598 MB / 330.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 42
 * Number of states: 7 (axis.gear.spring.phi_rel,axis.gear.spring.w_rel,axis.motor.La.i,axis.motor.C.v,axis.motor.Jmotor.w,axis.controller.PI.x,axis.initializeFlange.phi_flange)
 * Number of discrete variables: 8 (pathPlanning.terminateSimulation.condition,$whenCondition1,axis.gear.bearingFriction.startForward,axis.gear.bearingFriction.startBackward,axis.gear.bearingFriction.locked,axis.gear.bearingFriction.mode,pathPlanning.pathToAxis1.moving[1],pathPlanning.path.noWphase)
 * Number of discrete states: 3 (axis.gear.bearingFriction.mode,axis.gear.bearingFriction.startForward,axis.gear.bearingFriction.startBackward)
 * Number of clocked states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (112):
 * Single equations (assignments): 110
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 2
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 1 {(1,100.0%) 2}
 * Non-linear torn systems: 1 {1 6}
Notification: Performance of Backend phase and start with SimCode phase: time 0.004846/0.3087, allocations: 3.221 MB / 448.5 MB, free: 5.211 MB / 330.7 MB
Notification: Performance of simCode: created initialization part: time 0.003856/0.3126, allocations: 2.094 MB / 450.6 MB, free: 3.082 MB / 330.7 MB
Notification: Performance of simCode: created event and clocks part: time 9.648e-06/0.3126, allocations: 4 kB / 450.6 MB, free: 3.078 MB / 330.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.001907/0.3145, allocations: 1.056 MB / 451.7 MB, free: 2.016 MB / 330.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00186/0.3164, allocations: 188.6 kB / 451.9 MB, free: 1.836 MB / 330.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01626/0.3327, allocations: 9.121 MB / 461 MB, free: 8.266 MB / 346.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0008147/0.3335, allocations: 1.186 MB / 462.2 MB, free: 7.043 MB / 346.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0008571/0.3344, allocations: 0.5227 MB / 462.7 MB, free: 6.523 MB / 346.7 MB
Notification: Performance of SimCode: time 6.62e-07/0.3344, allocations: 0 / 462.7 MB, free: 6.523 MB / 346.7 MB
Notification: Performance of buildModelFMU: Generate C++ for platform static: time 4.96/5.294, allocations: 38.61 MB / 0.4896 GB, free: 108.3 MB / 378.7 MB
(rm -f Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis.pipe ; mkfifo Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis.pipe ; head -c 1048576 < Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis.pipe >> ../files/Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis_res.mat --tempDir=temp_Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Systems_RobotR3_oneAxis_fmu --startTime=0 --stopTime=1.6 --timeout=50 --tolerance=1e-06 Modelica_3_2_3_cpp_Modelica_Mechanics_MultiBody_Examples_Systems_RobotR3_oneAxis.fmu > Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis.pipe 2>&1)
diffSimulationResults("Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v3.2.3+build.4/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/oneAxis/oneAxis.csv","../files/Modelica_3.2.3_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis.diff",relTol=0.003,relTolDiffMinMax=0.003,rangeDelta=0.001)
"Warning: Resultfile and Reference have different end time points!
Reffile[4704]=1.498132
File[1620]=1.600000
"

Variables in the reference:time,axis.controller.PI.x,axis.gear.spring.phi_rel,axis.gear.spring.w_rel,axis.initializeFlange.phi_flange,axis.initializeFlange.w_flange,axis.motor.C.v,axis.motor.La.i,axis.gear.bearingFriction.mode,axis.gear.bearingFriction.startBackward,axis.gear.bearingFriction.startForward

Variables in the result:Ts,axis.D,axis.J,axis.Rv0,axis.Rv1,axis.Ts,axis.accSensor.a,axis.accSensor.flange.phi,axis.accSensor.flange.tau,axis.accSensor.w,axis.angleSensor.flange.phi,axis.angleSensor.flange.tau,axis.angleSensor.phi,axis.axisControlBus.acceleration,axis.axisControlBus.acceleration_ref,axis.axisControlBus.angle,axis.axisControlBus.angle_ref,axis.axisControlBus.current,axis.axisControlBus.current_ref,axis.axisControlBus.motion_ref,axis.axisControlBus.motorAngle,axis.axisControlBus.motorSpeed,axis.axisControlBus.speed,axis.axisControlBus.speed_ref,axis.c,axis.cd,axis.const.k,axis.const.y,axis.controller.P.k,axis.controller.P.u,axis.controller.P.y,axis.controller.PI.T,axis.controller.PI.initType,axis.controller.PI.k,axis.controller.PI.u,axis.controller.PI.x,axis.controller.PI.x_start,axis.controller.PI.y,axis.controller.PI.y_start,axis.controller.Ts,axis.controller.add3.k1,axis.controller.add3.k2,axis.controller.add3.k3,axis.controller.add3.u1,axis.controller.add3.u2,axis.controller.add3.u3,axis.controller.add3.y,axis.controller.axisControlBus.acceleration,axis.controller.axisControlBus.acceleration_ref,axis.controller.axisControlBus.angle,axis.controller.axisControlBus.angle_ref,axis.controller.axisControlBus.current,axis.controller.axisControlBus.current_ref,axis.controller.axisControlBus.motion_ref,axis.controller.axisControlBus.motorAngle,axis.controller.axisControlBus.motorSpeed,axis.controller.axisControlBus.speed,axis.controller.axisControlBus.speed_ref,axis.controller.feedback1.u1,axis.controller.feedback1.u2,axis.controller.feedback1.y,axis.controller.gain1.k,axis.controller.gain1.u,axis.controller.gain1.y,axis.controller.gain2.k,axis.controller.gain2.u,axis.controller.gain2.y,axis.controller.kp,axis.controller.ks,axis.controller.ratio,axis.flange.phi,axis.flange.tau,axis.gear.Rv0,axis.gear.Rv1,axis.gear.a_rel,axis.gear.bearingFriction.a,axis.gear.bearingFriction.a_relfric,axis.gear.bearingFriction.flange_a.phi,axis.gear.bearingFriction.flange_a.tau,axis.gear.bearingFriction.flange_b.phi,axis.gear.bearingFriction.flange_b.tau,axis.gear.bearingFriction.free,axis.gear.bearingFriction.locked,axis.gear.bearingFriction.lossPower,axis.gear.bearingFriction.mode,axis.gear.bearingFriction.peak,axis.gear.bearingFriction.phi,axis.gear.bearingFriction.phi_support,axis.gear.bearingFriction.sa,axis.gear.bearingFriction.startBackward,axis.gear.bearingFriction.startForward,axis.gear.bearingFriction.tau,axis.gear.bearingFriction.tau0,axis.gear.bearingFriction.tau0_max,axis.gear.bearingFriction.tau_pos[1,1],axis.gear.bearingFriction.tau_pos[1,2],axis.gear.bearingFriction.tau_pos[2,1],axis.gear.bearingFriction.tau_pos[2,2],axis.gear.bearingFriction.useHeatPort,axis.gear.bearingFriction.useSupport,axis.gear.bearingFriction.w,axis.gear.bearingFriction.w_relfric,axis.gear.bearingFriction.w_small,axis.gear.c,axis.gear.d,axis.gear.flange_a.phi,axis.gear.flange_a.tau,axis.gear.flange_b.phi,axis.gear.flange_b.tau,axis.gear.gear.flange_a.phi,axis.gear.gear.flange_a.tau,axis.gear.gear.flange_b.phi,axis.gear.gear.flange_b.tau,axis.gear.gear.phi_a,axis.gear.gear.phi_b,axis.gear.gear.phi_support,axis.gear.gear.ratio,axis.gear.gear.useSupport,axis.gear.i,axis.gear.peak,axis.gear.spring.a_rel,axis.gear.spring.c,axis.gear.spring.d,axis.gear.spring.flange_a.phi,axis.gear.spring.flange_a.tau,axis.gear.spring.flange_b.phi,axis.gear.spring.flange_b.tau,axis.gear.spring.lossPower,axis.gear.spring.phi_nominal,axis.gear.spring.phi_rel,axis.gear.spring.phi_rel0,axis.gear.spring.stateSelect,axis.gear.spring.tau,axis.gear.spring.tau_c,axis.gear.spring.tau_d,axis.gear.spring.useHeatPort,axis.gear.spring.w_rel,axis.initializeFlange.a_start,axis.initializeFlange.flange.phi,axis.initializeFlange.flange.tau,axis.initializeFlange.phi_flange,axis.initializeFlange.phi_start,axis.initializeFlange.set_a_start.a_start,axis.initializeFlange.set_a_start.flange.phi,axis.initializeFlange.set_a_start.flange.tau,axis.initializeFlange.set_a_start.w,axis.initializeFlange.set_flange_tau.flange.phi,axis.initializeFlange.set_flange_tau.flange.tau,axis.initializeFlange.set_phi_start.flange.phi,axis.initializeFlange.set_phi_start.flange.tau,axis.initializeFlange.set_phi_start.phi_start,axis.initializeFlange.set_w_start.flange.phi,axis.initializeFlange.set_w_start.flange.tau,axis.initializeFlange.set_w_start.w_start,axis.initializeFlange.stateSelect,axis.initializeFlange.use_a_start,axis.initializeFlange.use_phi_start,axis.initializeFlange.use_w_start,axis.initializeFlange.w_flange,axis.initializeFlange.w_start,axis.k,axis.kp,axis.ks,axis.motor.C.C,axis.motor.C.i,axis.motor.C.n.i,axis.motor.C.n.v,axis.motor.C.p.i,axis.motor.C.p.v,axis.motor.C.v,axis.motor.D,axis.motor.J,axis.motor.Jmotor.J,axis.motor.Jmotor.a,axis.motor.Jmotor.flange_a.phi,axis.motor.Jmotor.flange_a.tau,axis.motor.Jmotor.flange_b.phi,axis.motor.Jmotor.flange_b.tau,axis.motor.Jmotor.phi,axis.motor.Jmotor.stateSelect,axis.motor.Jmotor.w,axis.motor.La.L,axis.motor.La.i,axis.motor.La.n.i,axis.motor.La.n.v,axis.motor.La.p.i,axis.motor.La.p.v,axis.motor.La.v,axis.motor.OpI.i1,axis.motor.OpI.i2,axis.motor.OpI.n1.i,axis.motor.OpI.n1.v,axis.motor.OpI.n2.i,axis.motor.OpI.n2.v,axis.motor.OpI.p1.i,axis.motor.OpI.p1.v,axis.motor.OpI.p2.i,axis.motor.OpI.p2.v,axis.motor.OpI.v1,axis.motor.OpI.v2,axis.motor.Ra.LossPower,axis.motor.Ra.R,axis.motor.Ra.R_actual,axis.motor.Ra.T,axis.motor.Ra.T_heatPort,axis.motor.Ra.T_ref,axis.motor.Ra.alpha,axis.motor.Ra.i,axis.motor.Ra.n.i,axis.motor.Ra.n.v,axis.motor.Ra.p.i,axis.motor.Ra.p.v,axis.motor.Ra.useHeatPort,axis.motor.Ra.v,axis.motor.Rd1.LossPower,axis.motor.Rd1.R,axis.motor.Rd1.R_actual,axis.motor.Rd1.T,axis.motor.Rd1.T_heatPort,axis.motor.Rd1.T_ref,axis.motor.Rd1.alpha,axis.motor.Rd1.i,axis.motor.Rd1.n.i,axis.motor.Rd1.n.v,axis.motor.Rd1.p.i,axis.motor.Rd1.p.v,axis.motor.Rd1.useHeatPort,axis.motor.Rd1.v,axis.motor.Rd2.LossPower,axis.motor.Rd2.R,axis.motor.Rd2.R_actual,axis.motor.Rd2.T,axis.motor.Rd2.T_heatPort,axis.motor.Rd2.T_ref,axis.motor.Rd2.alpha,axis.motor.Rd2.i,axis.motor.Rd2.n.i,axis.motor.Rd2.n.v,axis.motor.Rd2.p.i,axis.motor.Rd2.p.v,axis.motor.Rd2.useHeatPort,axis.motor.Rd2.v,axis.motor.Rd3.LossPower,axis.motor.Rd3.R,axis.motor.Rd3.R_actual,axis.motor.Rd3.T,axis.motor.Rd3.T_heatPort,axis.motor.Rd3.T_ref,axis.motor.Rd3.alpha,axis.motor.Rd3.i,axis.motor.Rd3.n.i,axis.motor.Rd3.n.v,axis.motor.Rd3.p.i,axis.motor.Rd3.p.v,axis.motor.Rd3.useHeatPort,axis.motor.Rd3.v,axis.motor.Rd4.LossPower,axis.motor.Rd4.R,axis.motor.Rd4.R_actual,axis.motor.Rd4.T,axis.motor.Rd4.T_heatPort,axis.motor.Rd4.T_ref,axis.motor.Rd4.alpha,axis.motor.Rd4.i,axis.motor.Rd4.n.i,axis.motor.Rd4.n.v,axis.motor.Rd4.p.i,axis.motor.Rd4.p.v,axis.motor.Rd4.useHeatPort,axis.motor.Rd4.v,axis.motor.Ri.LossPower,axis.motor.Ri.R,axis.motor.Ri.R_actual,axis.motor.Ri.T,axis.motor.Ri.T_heatPort,axis.motor.Ri.T_ref,axis.motor.Ri.alpha,axis.motor.Ri.i,axis.motor.Ri.n.i,axis.motor.Ri.n.v,axis.motor.Ri.p.i,axis.motor.Ri.p.v,axis.motor.Ri.useHeatPort,axis.motor.Ri.v,axis.motor.Rp1.LossPower,axis.motor.Rp1.R,axis.motor.Rp1.R_actual,axis.motor.Rp1.T,axis.motor.Rp1.T_heatPort,axis.motor.Rp1.T_ref,axis.motor.Rp1.alpha,axis.motor.Rp1.i,axis.motor.Rp1.n.i,axis.motor.Rp1.n.v,axis.motor.Rp1.p.i,axis.motor.Rp1.p.v,axis.motor.Rp1.useHeatPort,axis.motor.Rp1.v,axis.motor.Rp2.LossPower,axis.motor.Rp2.R,axis.motor.Rp2.R_actual,axis.motor.Rp2.T,axis.motor.Rp2.T_heatPort,axis.motor.Rp2.T_ref,axis.motor.Rp2.alpha,axis.motor.Rp2.i,axis.motor.Rp2.n.i,axis.motor.Rp2.n.v,axis.motor.Rp2.p.i,axis.motor.Rp2.p.v,axis.motor.Rp2.useHeatPort,axis.motor.Rp2.v,axis.motor.Vs.i,axis.motor.Vs.n.i,axis.motor.Vs.n.v,axis.motor.Vs.p.i,axis.motor.Vs.p.v,axis.motor.Vs.v,axis.motor.axisControlBus.acceleration,axis.motor.axisControlBus.acceleration_ref,axis.motor.axisControlBus.angle,axis.motor.axisControlBus.angle_ref,axis.motor.axisControlBus.current,axis.motor.axisControlBus.current_ref,axis.motor.axisControlBus.motion_ref,axis.motor.axisControlBus.motorAngle,axis.motor.axisControlBus.motorSpeed,axis.motor.axisControlBus.speed,axis.motor.axisControlBus.speed_ref,axis.motor.convert1.k,axis.motor.convert1.u,axis.motor.convert1.y,axis.motor.convert2.k,axis.motor.convert2.u,axis.motor.convert2.y,axis.motor.diff.i1,axis.motor.diff.i2,axis.motor.diff.n1.i,axis.motor.diff.n1.v,axis.motor.diff.n2.i,axis.motor.diff.n2.v,axis.motor.diff.p1.i,axis.motor.diff.p1.v,axis.motor.diff.p2.i,axis.motor.diff.p2.v,axis.motor.diff.v1,axis.motor.diff.v2,axis.motor.emf.fixed.flange.phi,axis.motor.emf.fixed.flange.tau,axis.motor.emf.fixed.phi0,axis.motor.emf.flange.phi,axis.motor.emf.flange.tau,axis.motor.emf.i,axis.motor.emf.internalSupport.flange.phi,axis.motor.emf.internalSupport.flange.tau,axis.motor.emf.internalSupport.phi,axis.motor.emf.internalSupport.tau,axis.motor.emf.k,axis.motor.emf.n.i,axis.motor.emf.n.v,axis.motor.emf.p.i,axis.motor.emf.p.v,axis.motor.emf.phi,axis.motor.emf.tau,axis.motor.emf.tauElectrical,axis.motor.emf.useSupport,axis.motor.emf.v,axis.motor.emf.w,axis.motor.flange_motor.phi,axis.motor.flange_motor.tau,axis.motor.g1.p.i,axis.motor.g1.p.v,axis.motor.g2.p.i,axis.motor.g2.p.v,axis.motor.g3.p.i,axis.motor.g3.p.v,axis.motor.g4.p.i,axis.motor.g4.p.v,axis.motor.g5.p.i,axis.motor.g5.p.v,axis.motor.hall1.i,axis.motor.hall1.n.i,axis.motor.hall1.n.v,axis.motor.hall1.p.i,axis.motor.hall1.p.v,axis.motor.hall2.i,axis.motor.hall2.n.i,axis.motor.hall2.n.v,axis.motor.hall2.p.i,axis.motor.hall2.p.v,axis.motor.hall2.v,axis.motor.i_max,axis.motor.k,axis.motor.phi.flange.phi,axis.motor.phi.flange.tau,axis.motor.phi.phi,axis.motor.power.i1,axis.motor.power.i2,axis.motor.power.n1.i,axis.motor.power.n1.v,axis.motor.power.n2.i,axis.motor.power.n2.v,axis.motor.power.p1.i,axis.motor.power.p1.v,axis.motor.power.p2.i,axis.motor.power.p2.v,axis.motor.power.v1,axis.motor.power.v2,axis.motor.speed.flange.phi,axis.motor.speed.flange.tau,axis.motor.speed.w,axis.motor.w,axis.motor.w_max,axis.peak,axis.ratio,axis.speedSensor.flange.phi,axis.speedSensor.flange.tau,axis.speedSensor.w,axis.w,controlBus.axisControlBus1.acceleration,controlBus.axisControlBus1.acceleration_ref,controlBus.axisControlBus1.angle,controlBus.axisControlBus1.angle_ref,controlBus.axisControlBus1.current,controlBus.axisControlBus1.current_ref,controlBus.axisControlBus1.motion_ref,controlBus.axisControlBus1.motorAngle,controlBus.axisControlBus1.motorSpeed,controlBus.axisControlBus1.speed,controlBus.axisControlBus1.speed_ref,der(axis.controller.PI.x),der(axis.gear.bearingFriction.phi),der(axis.gear.gear.phi_a),der(axis.gear.spring.phi_rel),der(axis.gear.spring.w_rel),der(axis.initializeFlange.phi_flange),der(axis.initializeFlange.set_a_start.w),der(axis.initializeFlange.set_w_start.flange.phi),der(axis.motor.C.v),der(axis.motor.Jmotor.w),der(axis.motor.La.i),der(axis.motor.emf.phi),der(der(axis.gear.gear.phi_a)),der(der(pathPlanning.path.Ta1)),der(der(pathPlanning.path.Ta1s)),der(der(pathPlanning.path.Ta2)),der(der(pathPlanning.path.Ta2s)),der(der(pathPlanning.path.Te)),der(der(pathPlanning.path.Tv)),der(der(pathPlanning.path.Tvs)),der(der(pathPlanning.path.s1)),der(der(pathPlanning.path.s2)),der(der(pathPlanning.path.s3)),der(der(pathPlanning.path.sd_max2)),der(pathPlanning.path.Ta1),der(pathPlanning.path.Ta1s),der(pathPlanning.path.Ta2),der(pathPlanning.path.Ta2s),der(pathPlanning.path.Te),der(pathPlanning.path.Tv),der(pathPlanning.path.Tvs),der(pathPlanning.path.s),der(pathPlanning.path.s1),der(pathPlanning.path.s2),der(pathPlanning.path.s3),der(pathPlanning.path.sd),der(pathPlanning.path.sd_max2),endAngle,kp,ks,load.J,load.a,load.flange_a.phi,load.flange_a.tau,load.flange_b.phi,load.flange_b.tau,load.phi,load.stateSelect,load.w,mLoad,pathPlanning.accMax,pathPlanning.angleBeg,pathPlanning.angleBegDeg,pathPlanning.angleEnd,pathPlanning.angleEndDeg,pathPlanning.controlBus.axisControlBus1.acceleration,pathPlanning.controlBus.axisControlBus1.acceleration_ref,pathPlanning.controlBus.axisControlBus1.angle,pathPlanning.controlBus.axisControlBus1.angle_ref,pathPlanning.controlBus.axisControlBus1.current,pathPlanning.controlBus.axisControlBus1.current_ref,pathPlanning.controlBus.axisControlBus1.motion_ref,pathPlanning.controlBus.axisControlBus1.motorAngle,pathPlanning.controlBus.axisControlBus1.motorSpeed,pathPlanning.controlBus.axisControlBus1.speed,pathPlanning.controlBus.axisControlBus1.speed_ref,pathPlanning.path.Ta1,pathPlanning.path.Ta1s,pathPlanning.path.Ta2,pathPlanning.path.Ta2s,pathPlanning.path.Te,pathPlanning.path.Tes,pathPlanning.path.Tv,pathPlanning.path.Tvs,pathPlanning.path.aux1[1],pathPlanning.path.aux2[1],pathPlanning.path.endTime,pathPlanning.path.motion_ref,pathPlanning.path.moving[1],pathPlanning.path.noWphase,pathPlanning.path.nout,pathPlanning.path.p_deltaq[1],pathPlanning.path.p_q_begin[1],pathPlanning.path.p_q_end[1],pathPlanning.path.p_qd_max[1],pathPlanning.path.p_qdd_max[1],pathPlanning.path.q[1],pathPlanning.path.q_begin[1],pathPlanning.path.q_end[1],pathPlanning.path.qd[1],pathPlanning.path.qd_max[1],pathPlanning.path.qdd[1],pathPlanning.path.qdd_max[1],pathPlanning.path.s,pathPlanning.path.s1,pathPlanning.path.s2,pathPlanning.path.s3,pathPlanning.path.sd,pathPlanning.path.sd_max,pathPlanning.path.sd_max2,pathPlanning.path.sd_max_inv,pathPlanning.path.sdd,pathPlanning.path.sdd_max,pathPlanning.path.sdd_max_inv,pathPlanning.path.startTime,pathPlanning.pathToAxis1.axisControlBus.acceleration,pathPlanning.pathToAxis1.axisControlBus.acceleration_ref,pathPlanning.pathToAxis1.axisControlBus.angle,pathPlanning.pathToAxis1.axisControlBus.angle_ref,pathPlanning.pathToAxis1.axisControlBus.current,pathPlanning.pathToAxis1.axisControlBus.current_ref,pathPlanning.pathToAxis1.axisControlBus.motion_ref,pathPlanning.pathToAxis1.axisControlBus.motorAngle,pathPlanning.pathToAxis1.axisControlBus.motorSpeed,pathPlanning.pathToAxis1.axisControlBus.speed,pathPlanning.pathToAxis1.axisControlBus.speed_ref,pathPlanning.pathToAxis1.axisUsed,pathPlanning.pathToAxis1.motion_ref_axisUsed.u,pathPlanning.pathToAxis1.motion_ref_axisUsed.y,pathPlanning.pathToAxis1.moving[1],pathPlanning.pathToAxis1.nAxis,pathPlanning.pathToAxis1.q[1],pathPlanning.pathToAxis1.q_axisUsed.u,pathPlanning.pathToAxis1.q_axisUsed.y,pathPlanning.pathToAxis1.qd[1],pathPlanning.pathToAxis1.qd_axisUsed.u,pathPlanning.pathToAxis1.qd_axisUsed.y,pathPlanning.pathToAxis1.qdd[1],pathPlanning.pathToAxis1.qdd_axisUsed.u,pathPlanning.pathToAxis1.qdd_axisUsed.y,pathPlanning.speedMax,pathPlanning.startTime,pathPlanning.swingTime,pathPlanning.terminateSimulation.condition,refAccMax,refSpeedMax,startAngle,swingTime,time