Running command: "" <> buildModelFMU(Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.oneAxis,fileNamePrefix="Modelica_3_2_2_cs_Modelica_Mechanics_MultiBody_Examples_Systems_RobotR3_oneAxis",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(Modelica): time 2.613/2.613, allocations: 195 MB / 202.9 MB, free: 6.723 MB / 170.7 MB
Notification: Performance of FrontEnd - loaded program: time 2.692e-05/2.708e-05, allocations: 1.625 kB / 249.8 MB, free: 5.234 MB / 202.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1148/0.1149, allocations: 44.52 MB / 294.3 MB, free: 10.64 MB / 250.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.5453/0.6603, allocations: 88.24 MB / 382.5 MB, free: 5.531 MB / 298.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0003983/0.6607, allocations: 88.16 kB / 382.6 MB, free: 5.516 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.1947/0.8555, allocations: 37.83 MB / 420.4 MB, free: 1.57 MB / 314.7 MB
Notification: Performance of FrontEnd: time 3.186e-06/0.8556, allocations: 0 / 420.4 MB, free: 1.57 MB / 314.7 MB
Notification: Performance of Transformations before backend: time 0.0001898/0.8558, allocations: 36 kB / 420.5 MB, free: 1.535 MB / 314.7 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 0.007778/0.8636, allocations: 1.505 MB / 422 MB, free: 96 kB / 314.7 MB
Notification: Performance of prepare preOptimizeDAE: time 7.552e-05/0.8637, allocations: 12.02 kB / 422 MB, free: 84 kB / 314.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.001066/0.8647, allocations: 165 kB / 422.2 MB, free: 15.96 MB / 330.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.001085/0.8659, allocations: 181.9 kB / 422.3 MB, free: 15.78 MB / 330.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.002962/0.8689, allocations: 0.7861 MB / 423.1 MB, free: 15.2 MB / 330.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 0.0006084/0.8695, allocations: 184.1 kB / 423.3 MB, free: 15 MB / 330.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0007919/0.8704, allocations: 103.1 kB / 423.4 MB, free: 14.9 MB / 330.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.006153/0.8765, allocations: 1.294 MB / 424.7 MB, free: 14.13 MB / 330.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.006682/0.8833, allocations: 1.35 MB / 426 MB, free: 13.21 MB / 330.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 0.0001209/0.8834, allocations: 3.906 kB / 426 MB, free: 13.21 MB / 330.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0002891/0.8837, allocations: 0 / 426 MB, free: 13.21 MB / 330.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 6.577e-05/0.8838, allocations: 40 kB / 426.1 MB, free: 13.17 MB / 330.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.02284/0.9067, allocations: 5.795 MB / 431.9 MB, free: 7.484 MB / 330.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.003066/0.9098, allocations: 0.7967 MB / 432.7 MB, free: 6.668 MB / 330.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.001684/0.9116, allocations: 456.5 kB / 433.1 MB, free: 6.219 MB / 330.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.00017/0.9118, allocations: 8.781 kB / 433.1 MB, free: 6.211 MB / 330.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.001961/0.9138, allocations: 0.5697 MB / 433.7 MB, free: 5.598 MB / 330.7 MB
Notification: Performance of pre-optimization done (n=92): time 5.981e-06/0.9138, allocations: 0 / 433.7 MB, free: 5.598 MB / 330.7 MB
Notification: Performance of matching and sorting (n=123): time 0.02841/0.9423, allocations: 5.32 MB / 439 MB, free: 188 kB / 330.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 0.0002201/0.9425, allocations: 296 kB / 439.3 MB, free: 15.83 MB / 346.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.001783/0.9443, allocations: 0.6089 MB / 439.9 MB, free: 15.21 MB / 346.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.0004592/0.9448, allocations: 33.7 kB / 439.9 MB, free: 15.17 MB / 346.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.001006/0.9459, allocations: 0.6543 MB / 440.6 MB, free: 14.51 MB / 346.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0009237/0.9468, allocations: 402 kB / 441 MB, free: 14.11 MB / 346.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0002284/0.9471, allocations: 4 kB / 441 MB, free: 14.11 MB / 346.7 MB
Notification: Performance of setup shared object (initialization): time 0.0003622/0.9474, allocations: 406.8 kB / 441.4 MB, free: 13.7 MB / 346.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.002348/0.9498, allocations: 0.6133 MB / 442 MB, free: 13.09 MB / 346.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.002858/0.9527, allocations: 0.9273 MB / 442.9 MB, free: 12.04 MB / 346.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.002397/0.9552, allocations: 0.5997 MB / 443.5 MB, free: 11.45 MB / 346.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 1.558e-05/0.9552, allocations: 3.938 kB / 443.5 MB, free: 11.44 MB / 346.7 MB
Notification: Performance of matching and sorting (n=176) (initialization): time 0.006632/0.9619, allocations: 1.624 MB / 445.2 MB, free: 9.801 MB / 346.7 MB
Notification: Performance of prepare postOptimizeDAE: time 4.461e-05/0.962, allocations: 8 kB / 445.2 MB, free: 9.793 MB / 346.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 4.59e-05/0.962, allocations: 8 kB / 445.2 MB, free: 9.785 MB / 346.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.0007834/0.9628, allocations: 170.5 kB / 445.3 MB, free: 9.609 MB / 346.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.004455/0.9673, allocations: 375.4 kB / 445.7 MB, free: 9.242 MB / 346.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.007137/0.9745, allocations: 4.296 MB / 450 MB, free: 4.598 MB / 346.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.003765/0.9783, allocations: 179.6 kB / 450.2 MB, free: 4.426 MB / 346.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0005512/0.9789, allocations: 55.94 kB / 450.2 MB, free: 4.371 MB / 346.7 MB
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         axis.gear.bearingFriction.sa:VARIABLE(unit = "1" )  "Path parameter of friction characteristic tau = f(a_relfric)" type: Real
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 30
 * Number of states: 0 ()
 * Number of discrete variables: 13 (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.motion_ref,pathPlanning.path.noWphase,pathPlanning.pathToAxis1.moving[1],pathPlanning.terminateSimulation.condition)
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (169):
 * Single equations (assignments): 165
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 1
 * 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 0.0007299/0.9797, allocations: 160.6 kB / 450.4 MB, free: 4.211 MB / 346.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.0004981/0.9802, allocations: 98.88 kB / 450.5 MB, free: 4.113 MB / 346.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.005569/0.9858, allocations: 1.389 MB / 451.9 MB, free: 2.703 MB / 346.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.99e-05/0.9859, allocations: 12 kB / 451.9 MB, free: 2.691 MB / 346.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 9.588e-06/0.9859, allocations: 0 / 451.9 MB, free: 2.691 MB / 346.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 4.27e-05/0.986, allocations: 19.92 kB / 451.9 MB, free: 2.672 MB / 346.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.01531/1.001, allocations: 3.908 MB / 455.8 MB, free: 14.62 MB / 362.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 2.396e-05/1.001, allocations: 8 kB / 455.8 MB, free: 14.61 MB / 362.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.00314/1.004, allocations: 284.4 kB / 456.1 MB, free: 14.33 MB / 362.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.001318/1.006, allocations: 333.1 kB / 456.4 MB, free: 14 MB / 362.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003296/1.006, allocations: 23.98 kB / 456.5 MB, free: 13.98 MB / 362.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.00316/1.009, allocations: 2.055 MB / 458.5 MB, free: 11.78 MB / 362.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 2.519e-05/1.01, allocations: 15.92 kB / 458.5 MB, free: 11.77 MB / 362.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.007073/1.017, allocations: 2.463 MB / 461 MB, free: 8.93 MB / 362.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.00128/1.018, allocations: 323.7 kB / 461.3 MB, free: 8.594 MB / 362.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0005309/1.018, allocations: 27.98 kB / 461.3 MB, free: 8.566 MB / 362.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.002828/1.021, allocations: 139.9 kB / 461.5 MB, free: 8.43 MB / 362.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.000941/1.022, allocations: 184.3 kB / 461.6 MB, free: 8.25 MB / 362.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0002546/1.023, allocations: 47.98 kB / 461.7 MB, free: 8.203 MB / 362.7 MB
Notification: Performance of sorting global known variables: time 0.001334/1.024, allocations: 459.2 kB / 462.1 MB, free: 7.758 MB / 362.7 MB
Notification: Performance of sort global known variables: time 1.112e-06/1.024, allocations: 0 / 462.1 MB, free: 7.758 MB / 362.7 MB
Notification: Performance of remove unused functions: time 0.002948/1.027, allocations: 304 kB / 462.4 MB, free: 7.461 MB / 362.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 40
 * Number of states: 7 (axis.gear.gear.phi_a,axis.gear.spring.phi_rel,axis.gear.spring.w_rel,axis.motor.La.i,axis.motor.C.v,axis.controller.PI.x,load.w)
 * Number of discrete variables: 9 (pathPlanning.terminateSimulation.condition,$whenCondition1,axis.gear.bearingFriction.startForward,axis.gear.bearingFriction.startBackward,axis.gear.bearingFriction.locked,axis.gear.bearingFriction.mode,pathPlanning.path.motion_ref,pathPlanning.pathToAxis1.moving[1],pathPlanning.path.noWphase)
 * Number of discrete states: 3 (axis.gear.bearingFriction.mode,axis.gear.bearingFriction.startForward,axis.gear.bearingFriction.startBackward)
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (114):
 * Single equations (assignments): 112
 * 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 0.009024/1.036, allocations: 5.756 MB / 468.2 MB, free: 1.406 MB / 362.7 MB
Notification: Performance of simCode: created initialization part: time 0.005868/1.042, allocations: 1.669 MB / 469.9 MB, free: 15.7 MB / 378.7 MB
Notification: Performance of simCode: created event and clocks part: time 1.67e-05/1.042, allocations: 0 / 469.9 MB, free: 15.7 MB / 378.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.003707/1.046, allocations: 0.8949 MB / 470.8 MB, free: 14.8 MB / 378.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.002188/1.048, allocations: 139.2 kB / 470.9 MB, free: 14.67 MB / 378.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01275/1.061, allocations: 2.58 MB / 473.5 MB, free: 11.93 MB / 378.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.00156/1.062, allocations: 1.206 MB / 474.7 MB, free: 10.69 MB / 378.7 MB
Notification: Performance of simCode: alias equations: time 0.002274/1.065, allocations: 156 kB / 474.8 MB, free: 10.53 MB / 378.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.002248/1.067, allocations: 0.5227 MB / 475.4 MB, free: 10.01 MB / 378.7 MB
Notification: Performance of SimCode: time 1.703e-06/1.067, allocations: 0 / 475.4 MB, free: 10.01 MB / 378.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.4618/1.529, allocations: 26.11 MB / 0.4897 GB, free: 109 MB / 394.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0003784/1.529, allocations: 156 kB / 0.4899 GB, free: 108.8 MB / 394.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 5.248/6.778, allocations: 1.25 kB / 0.4899 GB, free: 108.8 MB / 394.7 MB
"Warning: Resultfile and Reference have different end time points!
Reffile[4708]=1.498132
File[160]=1.276768
"

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,_D_whenCondition1,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.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(axis.initializeFlange.set_w_start.flange.phi)),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(load.w),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