plot_if
This block creates a figure for displaying a graphical animation of a robot based on the kinematic model. Initial and final velocities are assumed to be zero. Output joint angles as well as joint angle rates.
This block has one regular input, the joint configuration vector. This vector must have n elements, where n is the number of SerialLink's constituent links.
This block works properly using the block SampleCLK instead of CLOCK_c. Through the clock's block is possible to determine the refresh time of the figure.
SerialLink. It represents the robot model to be simulated. Note that this variable is a symbolic parameter which has to be defined in the context of the Xcos diagram in order to be used.
string (yes or no). It can be used for drawing another SerialLink object in a existing figure. Initial value: no.