Running: ./testmodel.py --libraries=/home/hudson/saved_omc/libraries/.openmodelica/libraries/ --ompython_omhome=/usr Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis.conf.json
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo", uses=false)
loadFile("/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo", uses=false)
Using package ModelicaServices with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo)
Using package Modelica with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo)
Using package Complex with version trunk (/home/hudson/saved_omc/libraries/.openmodelica/libraries/Complex trunk/package.mo)
Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis,fileNamePrefix="Modelica_trunk_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_trunk_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 trunk/package.mo): time 0.0009339/0.0009339, allocations: 192.1 kB / 17.37 MB, free: 4.434 MB / 13.93 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/Modelica trunk/package.mo): time 1.218/1.218, allocations: 226.5 MB / 244.7 MB, free: 8.188 MB / 202.7 MB
Notification: Performance of loadFile(/home/hudson/saved_omc/libraries/.openmodelica/libraries/ModelicaServices trunk/package.mo): time 0.0008398/0.0008398, allocations: 96.38 kB / 296.7 MB, free: 6.875 MB / 234.7 MB
Notification: Performance of FrontEnd - loaded program: time 0.0002212/0.0002214, allocations: 11.98 kB / 356.9 MB, free: 10.78 MB / 298.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1826/0.1828, allocations: 51.29 MB / 408.1 MB, free: 27.68 MB / 298.7 MB
Notification: Performance of NFInst.instantiate(Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis): time 0.005839/0.1887, allocations: 8.226 MB / 416.4 MB, free: 19.42 MB / 298.7 MB
Notification: Performance of NFInst.instExpressions: time 0.00321/0.1919, allocations: 2.324 MB / 418.7 MB, free: 17.11 MB / 298.7 MB
Notification: Performance of NFInst.updateImplicitVariability: time 0.0007149/0.1927, allocations: 27.88 kB / 418.7 MB, free: 17.08 MB / 298.7 MB
Notification: Performance of NFTyping.typeComponents: time 0.0005248/0.1932, allocations: 250.2 kB / 419 MB, free: 16.83 MB / 298.7 MB
Notification: Performance of NFTyping.typeBindings: time 0.0008073/0.194, allocations: 416.8 kB / 419.4 MB, free: 16.42 MB / 298.7 MB
Notification: Performance of NFTyping.typeClassSections: time 0.0006981/0.1947, allocations: 355.5 kB / 419.7 MB, free: 16.07 MB / 298.7 MB
Notification: Performance of NFFlatten.flatten: time 0.001276/0.196, allocations: 2.095 MB / 421.8 MB, free: 13.97 MB / 298.7 MB
Notification: Performance of NFFlatten.resolveConnections: time 0.0009859/0.197, allocations: 0.994 MB / 422.8 MB, free: 12.93 MB / 298.7 MB
Notification: Performance of NFEvalConstants.evaluate: time 0.0006142/0.1976, allocations: 0.5875 MB / 423.4 MB, free: 12.34 MB / 298.7 MB
Notification: Performance of NFSimplifyModel.simplify: time 0.0004609/0.1981, allocations: 0.6493 MB / 424 MB, free: 11.69 MB / 298.7 MB
Notification: Performance of NFPackage.collectConstants: time 0.0001216/0.1982, allocations: 84 kB / 424.1 MB, free: 11.61 MB / 298.7 MB
Notification: Performance of NFFlatten.collectFunctions: time 0.0002442/0.1985, allocations: 131.9 kB / 424.3 MB, free: 11.48 MB / 298.7 MB
Notification: Performance of NFScalarize.scalarize: time 0.0001895/0.1987, allocations: 290.8 kB / 424.5 MB, free: 11.2 MB / 298.7 MB
Notification: Performance of NFVerifyModel.verify: time 0.000443/0.1991, allocations: 0.7404 MB / 425.3 MB, free: 10.45 MB / 298.7 MB
Notification: Performance of NFConvertDAE.convert: time 0.001354/0.2005, allocations: 2.707 MB / 428 MB, free: 7.73 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 5.701e-06/0.2005, allocations: 0 / 428 MB, free: 7.73 MB / 298.7 MB
Notification: Performance of FrontEnd: time 2.224e-06/0.2005, allocations: 4 kB / 428 MB, free: 7.727 MB / 298.7 MB
Notification: Performance of Transformations before backend: time 2.151e-05/0.2005, allocations: 3.938 kB / 428 MB, free: 7.723 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: 391
 * Number of variables: 391
Notification: Performance of Generate backend data structure: time 0.002417/0.203, allocations: 1.647 MB / 429.6 MB, free: 6.02 MB / 298.7 MB
Notification: Performance of prepare preOptimizeDAE: time 3.562e-05/0.203, allocations: 12.03 kB / 429.7 MB, free: 6.008 MB / 298.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.000206/0.2032, allocations: 228 kB / 429.9 MB, free: 5.773 MB / 298.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0001941/0.2034, allocations: 182.9 kB / 430.1 MB, free: 5.594 MB / 298.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.0008138/0.2042, allocations: 0.838 MB / 430.9 MB, free: 4.711 MB / 298.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0002021/0.2044, allocations: 244.5 kB / 431.1 MB, free: 4.453 MB / 298.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0001711/0.2046, allocations: 155.9 kB / 431.3 MB, free: 4.301 MB / 298.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.00249/0.2071, allocations: 1.671 MB / 433 MB, free: 2.602 MB / 298.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 4.128e-05/0.2072, allocations: 11.91 kB / 433 MB, free: 2.59 MB / 298.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0001173/0.2073, allocations: 60 kB / 433 MB, free: 2.531 MB / 298.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 1.994e-05/0.2073, allocations: 40 kB / 433.1 MB, free: 2.492 MB / 298.7 MB
Notification: Performance of preOpt removeEqualRHS (simulation): time 0.002583/0.2099, allocations: 1.535 MB / 434.6 MB, free: 0.9531 MB / 298.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.007836/0.2178, allocations: 5.95 MB / 440.5 MB, free: 10.79 MB / 314.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.001874/0.2197, allocations: 0.9413 MB / 441.5 MB, free: 9.824 MB / 314.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.0009447/0.2206, allocations: 0.5203 MB / 442 MB, free: 9.301 MB / 314.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 6.496e-05/0.2207, allocations: 12.98 kB / 442 MB, free: 9.289 MB / 314.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.001165/0.2219, allocations: 0.6566 MB / 442.7 MB, free: 8.586 MB / 314.7 MB
Notification: Performance of pre-optimization done (n=91): time 2.615e-06/0.2219, allocations: 3.938 kB / 442.7 MB, free: 8.582 MB / 314.7 MB
Notification: Performance of matching and sorting (n=121): time 0.03261/0.2545, allocations: 9.686 MB / 452.4 MB, free: 14.77 MB / 330.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0001377/0.2547, allocations: 295.7 kB / 452.7 MB, free: 14.41 MB / 330.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.001066/0.2558, allocations: 0.7934 MB / 453.5 MB, free: 13.6 MB / 330.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0001119/0.2559, allocations: 53.7 kB / 453.5 MB, free: 13.54 MB / 330.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.0004713/0.2564, allocations: 0.6585 MB / 454.2 MB, free: 12.87 MB / 330.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0003352/0.2567, allocations: 414 kB / 454.6 MB, free: 12.46 MB / 330.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 9.518e-05/0.2568, allocations: 32.03 kB / 454.6 MB, free: 12.43 MB / 330.7 MB
Notification: Performance of setup shared object (initialization): time 0.0001752/0.257, allocations: 406.7 kB / 455 MB, free: 12.02 MB / 330.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.001852/0.2588, allocations: 0.8277 MB / 455.8 MB, free: 11.2 MB / 330.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.002047/0.2609, allocations: 1.135 MB / 457 MB, free: 9.953 MB / 330.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.003431/0.2643, allocations: 1.662 MB / 458.6 MB, free: 8.199 MB / 330.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 6.843e-06/0.2644, allocations: 4 kB / 458.6 MB, free: 8.195 MB / 330.7 MB
Notification: Performance of matching and sorting (n=176) (initialization): time 0.004478/0.2689, allocations: 2.084 MB / 460.7 MB, free: 6.094 MB / 330.7 MB
Notification: Performance of prepare postOptimizeDAE: time 2.357e-05/0.2689, allocations: 8 kB / 460.7 MB, free: 6.086 MB / 330.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 1.393e-05/0.2689, allocations: 8 kB / 460.7 MB, free: 6.078 MB / 330.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0003903/0.2693, allocations: 182.4 kB / 460.9 MB, free: 5.891 MB / 330.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.001548/0.2709, allocations: 371.5 kB / 461.3 MB, free: 5.527 MB / 330.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.003551/0.2744, allocations: 4.466 MB / 465.7 MB, free: 0.6602 MB / 330.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.001449/0.2759, allocations: 204 kB / 465.9 MB, free: 472 kB / 330.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0001344/0.276, allocations: 51.92 kB / 466 MB, free: 420 kB / 330.7 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 (169):
 * Single equations (assignments): 166
 * 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 0.0007242/0.2768, allocations: 391.3 kB / 466.4 MB, free: 20 kB / 330.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0002312/0.277, allocations: 103 kB / 466.5 MB, free: 15.91 MB / 346.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.0002816/0.2773, allocations: 134 kB / 466.6 MB, free: 15.77 MB / 346.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 1.907e-05/0.2773, allocations: 15.94 kB / 466.6 MB, free: 15.76 MB / 346.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 8.035e-06/0.2773, allocations: 4 kB / 466.6 MB, free: 15.75 MB / 346.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 1.046e-05/0.2774, allocations: 3.984 kB / 466.6 MB, free: 15.75 MB / 346.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.007598/0.285, allocations: 4.458 MB / 471.1 MB, free: 11.1 MB / 346.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.572e-05/0.285, allocations: 8 kB / 471.1 MB, free: 11.09 MB / 346.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001076/0.2861, allocations: 276 kB / 471.4 MB, free: 10.82 MB / 346.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.0004493/0.2865, allocations: 249.6 kB / 471.6 MB, free: 10.57 MB / 346.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.000111/0.2867, allocations: 39.98 kB / 471.6 MB, free: 10.54 MB / 346.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.00153/0.2882, allocations: 2.084 MB / 473.7 MB, free: 8.293 MB / 346.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 9.608e-06/0.2882, allocations: 15.94 kB / 473.7 MB, free: 8.277 MB / 346.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.004588/0.2928, allocations: 2.481 MB / 476.2 MB, free: 5.652 MB / 346.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.0005425/0.2934, allocations: 327.6 kB / 476.5 MB, free: 5.312 MB / 346.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0002058/0.2936, allocations: 51.92 kB / 476.6 MB, free: 5.262 MB / 346.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.001089/0.2947, allocations: 179.8 kB / 476.8 MB, free: 5.086 MB / 346.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.0003536/0.2951, allocations: 184.3 kB / 476.9 MB, free: 4.902 MB / 346.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 8.377e-05/0.2952, allocations: 51.92 kB / 477 MB, free: 4.852 MB / 346.7 MB
Notification: Performance of sorting global known variables: time 0.0007881/0.296, allocations: 0.538 MB / 477.5 MB, free: 4.316 MB / 346.7 MB
Notification: Performance of sort global known variables: time 1.1e-07/0.296, allocations: 0 / 477.5 MB, free: 4.316 MB / 346.7 MB
Notification: Performance of remove unused functions: time 0.001275/0.2972, allocations: 336 kB / 477.9 MB, free: 3.988 MB / 346.7 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 7}
Notification: Performance of Backend phase and start with SimCode phase: time 0.005483/0.3027, allocations: 3.334 MB / 481.2 MB, free: 0.625 MB / 346.7 MB
Notification: Performance of simCode: created initialization part: time 0.003995/0.3068, allocations: 2.046 MB / 483.2 MB, free: 14.53 MB / 362.7 MB
Notification: Performance of simCode: created event and clocks part: time 8.997e-06/0.3068, allocations: 4 kB / 483.2 MB, free: 14.53 MB / 362.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.001977/0.3088, allocations: 1.037 MB / 484.3 MB, free: 13.48 MB / 362.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.002155/0.3109, allocations: 205.7 kB / 484.5 MB, free: 13.29 MB / 362.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01664/0.3276, allocations: 9.018 MB / 493.5 MB, free: 3.828 MB / 362.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0008018/0.3284, allocations: 1.179 MB / 494.7 MB, free: 2.617 MB / 362.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0008936/0.3293, allocations: 0.5227 MB / 495.2 MB, free: 2.094 MB / 362.7 MB
Notification: Performance of SimCode: time 6.51e-07/0.3294, allocations: 0 / 495.2 MB, free: 2.094 MB / 362.7 MB
Notification: Performance of buildModelFMU: Generate C++ for platform static: time 4.714/5.044, allocations: 39.01 MB / 0.5217 GB, free: 80.77 MB / 378.7 MB
(rm -f Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis.pipe ; mkfifo Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis.pipe ; head -c 1048576 < Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis.pipe >> ../files/Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis.sim & /home/hudson/saved_omc/OMSimulator/install/linux/bin/OMSimulator -r=Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis_res.mat --tempDir=temp_Modelica_trunk_cpp_Modelica_Mechanics_MultiBody_Examples_Systems_RobotR3_OneAxis_fmu --startTime=0 --stopTime=1.6 --timeout=50 --tolerance=1e-06 Modelica_trunk_cpp_Modelica_Mechanics_MultiBody_Examples_Systems_RobotR3_OneAxis.fmu > Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis.pipe 2>&1)
diffSimulationResults("Modelica_trunk_cpp_Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis_res.mat","/var/lib/jenkins1/ws/OpenModelicaLibraryTestingWork/Reference-modelica.org/ReferenceResults/MAP-LIB_ReferenceResults/v4.0.0/Modelica/Mechanics/MultiBody/Examples/Systems/RobotR3/OneAxis/OneAxis.csv","../files/Modelica_trunk_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.smoothness,axis.gear.bearingFriction.startBackward,axis.gear.bearingFriction.startForward,axis.gear.bearingFriction.table_signs[1],axis.gear.bearingFriction.table_signs[2],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