<refentry xmlns="http://docbook.org/ns/docbook" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:svg="http://www.w3.org/2000/svg" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:db="http://docbook.org/ns/docbook" xmlns:scilab="http://www.scilab.org" xml:id="CMR_BearingFriction">
    <refnamediv>
        <refname>CMR_BearingFriction</refname>
        <refpurpose>CMR_BearingFriction Coselica block</refpurpose>
    </refnamediv>
    <refsection>
        <title>Block Screenshot</title>
        <para>
            <inlinemediaobject>
                <imageobject>
                    <imagedata fileref="../../../../images/gif/CMR_BearingFriction.gif" align="center" valign="middle"/>
                </imageobject>
            </inlinemediaobject>
        </para>
    </refsection>
    <refsection id="Description_CMR_BearingFriction">
        <title>Description</title>
        <para>
            Coulomb friction with Stribeck effect in bearings
        </para>
    </refsection>
    <refsection id="Palette_CMR_BearingFriction">
        <title>Palette</title>
        <itemizedlist>
            <listitem>
                <para>
                    <link linkend="Mechanics_Rotational_pal">Mechanics_Rotational - Coselica toolbox</link>
                </para>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection>
        <title>Block Screenshot</title>
        <para>
            <inlinemediaobject>
                <imageobject>
                    <imagedata fileref="../../../../images/gui/CMR_BearingFriction_gui.gif" align="center" valign="middle"/>
                </imageobject>
            </inlinemediaobject>
        </para>
        <itemizedlist>
            <listitem>
                <para>
                    <emphasis role="bold">Tau_prop [N.m/(rad/s)] : Angular velocity dependent friction</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 1</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">Tau_Coulomb [N.m] : Constant fricton: Coulomb torque</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 5</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">Tau_Stribeck [N.m] : Stribeck effect</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 10</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">fexp [1/(rad/s)] : Exponential decay of Stribeck effect</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 2</para>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">mode_start [-] : Initial sliding mode (-1=Backward, 0=Sticking, 1=Forward, 2=Free)</emphasis>
                </para>
                <para> Properties : Type 'vec' of size 1. </para>
                <para> Default value : 0</para>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection id="Defaultproperties_CMR_BearingFriction">
        <title>Block Model / Default properties</title>
        <itemizedlist>
            <listitem>
                <para>
                    <emphasis role="bold">Inputs :</emphasis>
                </para>
                <itemizedlist>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica variable name :</emphasis> 'flange_a'
                        </para>
                        <para>
                            <emphasis role="bold">Implicit</emphasis> variable (Mechanics Rotational type).
                        </para>
                    </listitem>
                </itemizedlist>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">Outputs :</emphasis>
                </para>
                <itemizedlist>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica variable name :</emphasis> 'flange_b'
                        </para>
                        <para>
                            <emphasis role="bold">Implicit</emphasis> variable (Mechanics Rotational type).
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica variable name :</emphasis> 'bearing'
                        </para>
                        <para>
                            <emphasis role="bold">Implicit</emphasis> variable (Mechanics Rotational type).
                        </para>
                    </listitem>
                </itemizedlist>
            </listitem>
            <listitem>
                <para>
                    <emphasis role="bold">Parameters :</emphasis>
                </para>
                <itemizedlist>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'Tau_prop'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 1
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'Tau_Coulomb'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 5
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'Tau_Stribeck'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 10
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'fexp'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 2
                        </para>
                    </listitem>
                    <listitem>
                        <para>
                            <emphasis role="bold">Modelica parameter name :</emphasis> 'mode_start'
                        </para>
                        <para>
                            <emphasis role="bold">Default value :</emphasis> 0
                        </para>
                    </listitem>
                </itemizedlist>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection id="Interfacingfunction_CMR_BearingFriction">
        <title>Interfacing function</title>
        <itemizedlist>
            <listitem>
                <para>CMR_BearingFriction.sci</para>
            </listitem>
        </itemizedlist>
    </refsection>
    <refsection id="Modelicamodel_CMR_BearingFriction">
        <title>Modelica model</title>
        <itemizedlist>
            <listitem>
                <para>CMR_BearingFriction in COSELICA/macros/Coselica.mo file</para>
            </listitem>
        </itemizedlist>
    </refsection>
</refentry>
