Model {
  Name			  "Pleuel1_1"
  Version		  7.4
  MdlSubVersion		  0
  GraphicalInterface {
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    NumRootOutports	    0
    ParameterArgumentNames  ""
    ComputedModelVersion    "1.17"
    NumModelReferences	    0
    NumTestPointedSignals   0
  }
  SavedCharacterEncoding  "windows-1252"
  SaveDefaultBlockParams  on
  ScopeRefreshTime	  0.035000
  OverrideScopeRefreshTime on
  DisableAllScopes	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  MaxMDLFileLineLength	  120
  UserBdParams		  "PhysicalModelingChecksum;PhysicalModelingParameterChecksum;PhysicalModelingProducts"
  PhysicalModelingChecksum "2518406437"
  PhysicalModelingParameterChecksum "2580712629"
  PhysicalModelingProducts "SimMechanics"
  Created		  "Tue Apr 27 17:21:26 2010"
  Creator		  "Dom"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "Dom"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Tue Jun 07 19:22:09 2011"
  RTWModifiedTimeStamp	  229375278
  ModelVersionFormat	  "1.%<AutoIncrement:17>"
  ConfigurationManager	  "None"
  SampleTimeColors	  off
  SampleTimeAnnotations	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ShowTestPointIcons	  on
  ShowSignalResolutionIcons on
  ShowViewerIcons	  on
  SortedOrder		  off
  ExecutionContextIcon	  off
  ShowLinearizationAnnotations on
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  SimulationMode	  "normal"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  CovForceBlockReductionOff on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  CovReportOnPause	  on
  CovModelRefEnable	  "Off"
  CovExternalEMLEnable	  off
  ExtModeBatchMode	  off
  ExtModeEnableFloating	  on
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigDurationFloating "auto"
  ExtModeTrigHoldOff	  0
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  ExtModeTrigDirection	  "rising"
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  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
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  ShowModelReferenceBlockVersion off
  ShowModelReferenceBlockIO off
  Array {
    Type		    "Handle"
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    Simulink.ConfigSet {
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      Array {
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	  MaxDataPoints		  "1000"
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	  SaveCompleteFinalSimState off
	  SaveFormat		  "Array"
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	  SignalLogging		  on
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	    Cell		    "ZeroExternalMemoryAtStartup"
	    Cell		    "ZeroInternalMemoryAtStartup"
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	  NoFixptDivByZeroProtection off
	  EfficientFloat2IntCast  off
	  EfficientMapNaN2IntZero on
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	  LifeSpan		  "inf"
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	  SimCompilerOptimization "Off"
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	  WriteAfterReadMsg	  "UseLocalSettings"
	  AlgebraicLoopMsg	  "warning"
	  ArtificialAlgebraicLoopMsg "warning"
	  SaveWithDisabledLinksMsg "warning"
	  SaveWithParameterizedLinksMsg	"warning"
	  CheckSSInitialOutputMsg on
	  UnderspecifiedInitializationDetection	"Classic"
	  MergeDetectMultiDrivingBlocksExec "none"
	  CheckExecutionContextPreStartOutputMsg off
	  CheckExecutionContextRuntimeOutputMsg	off
	  SignalResolutionControl "UseLocalSettings"
	  BlockPriorityViolationMsg "warning"
	  MinStepSizeMsg	  "warning"
	  TimeAdjustmentMsg	  "none"
	  MaxConsecutiveZCsMsg	  "error"
	  SolverPrmCheckMsg	  "warning"
	  InheritedTsInSrcMsg	  "warning"
	  DiscreteInheritContinuousMsg "warning"
	  MultiTaskDSMMsg	  "error"
	  MultiTaskCondExecSysMsg "error"
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	  SingleTaskRateTransMsg  "none"
	  TasksWithSamePriorityMsg "warning"
	  SigSpecEnsureSampleTimeMsg "warning"
	  CheckMatrixSingularityMsg "none"
	  IntegerOverflowMsg	  "warning"
	  Int32ToFloatConvMsg	  "warning"
	  ParameterDowncastMsg	  "error"
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	  ParameterPrecisionLossMsg "warning"
	  ParameterTunabilityLossMsg "warning"
	  FixptConstUnderflowMsg  "none"
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	  FixptConstPrecisionLossMsg "none"
	  UnderSpecifiedDataTypeMsg "none"
	  UnnecessaryDatatypeConvMsg "none"
	  VectorMatrixConversionMsg "none"
	  InvalidFcnCallConnMsg	  "error"
	  FcnCallInpInsideContextMsg "Use local settings"
	  SignalLabelMismatchMsg  "none"
	  UnconnectedInputMsg	  "warning"
	  UnconnectedOutputMsg	  "warning"
	  UnconnectedLineMsg	  "warning"
	  SFcnCompatibilityMsg	  "none"
	  UniqueDataStoreMsg	  "none"
	  BusObjectLabelMismatch  "warning"
	  RootOutportRequireBusObject "warning"
	  AssertControl		  "UseLocalSettings"
	  EnableOverflowDetection off
	  ModelReferenceIOMsg	  "none"
	  ModelReferenceVersionMismatchMessage "none"
	  ModelReferenceIOMismatchMessage "none"
	  ModelReferenceCSMismatchMessage "none"
	  UnknownTsInhSupMsg	  "warning"
	  ModelReferenceDataLoggingMessage "warning"
	  ModelReferenceSymbolNameMessage "warning"
	  ModelReferenceExtraNoncontSigs "error"
	  StateNameClashWarn	  "warning"
	  SimStateInterfaceChecksumMismatchMsg "warning"
	  StrictBusMsg		  "Warning"
	  LoggingUnavailableSignals "error"
	  BlockIODiagnostic	  "none"
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	Simulink.HardwareCC {
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	  TargetIntDivRoundTo	  "Undefined"
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	  TargetTypeEmulationWarnSuppressLevel 0
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	  TargetPreprocMaxBitsUint 32
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	  SimIntegrity		  on
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	  SimBuildMode		  "sf_incremental_build"
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	Simulink.RTWCC {
	  $BackupClass		  "Simulink.RTWCC"
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	  Version		  "1.6.0"
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	    Cell		    "IncludeHyperlinkInReport"
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	    Cell		    "GenerateTraceReportSl"
	    Cell		    "GenerateTraceReportSf"
	    Cell		    "GenerateTraceReportEml"
	    PropName		    "DisabledProps"
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	  RTWCompilerOptimization "Off"
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	    Simulink.CodeAppCC {
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	      Version		      "1.6.0"
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		Cell			"ERTCustomFileBanners"
		Cell			"GenerateSampleERTMain"
		Cell			"GenerateTestInterfaces"
		Cell			"ModelStepFunctionPrototypeControlCompliant"
		Cell			"CPPClassGenCompliant"
		Cell			"MultiInstanceERTCode"
		Cell			"PurelyIntegerCode"
		Cell			"SupportNonFinite"
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		Cell			"SupportContinuousTime"
		Cell			"SupportNonInlinedSFcns"
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	      TargetFcnLib	      "ansi_tfl_table_tmw.mat"
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	      ModelReferenceCompliant on
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	      GeneratePreprocessorConditionals "Disable all"
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	      IncludeFileDelimiter    "Auto"
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	      SupportAbsoluteTime     on
	      LogVarNameModifier      "rt_"
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	      EnableVisSimulationTime on
	      VisSampleTime	      "0"
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	  Name			  "Simscape"
	  EditingMode		  "Full"
	  ExplicitSolverDiagnosticOptions "warning"
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	PropName		"Components"
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      Name		      "Configuration"
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    PropName		    "ConfigurationSets"
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    Block {
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      BusObject		      "BusObject"
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    Block {
      BlockType		      Scope
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    Block {
      BlockType		      SignalViewerScope
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      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
      Disabled		      off
      ScrollMode	      on
    }
  }
  System {
    Name		    "Pleuel1_1"
    Location		    [0, 82, 1243, 771]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "A4"
    PaperUnits		    "centimeters"
    TiledPaperMargins	    [1.270000, 1.270000, 1.270000, 1.270000]
    TiledPageScale	    1
    ShowPageBoundaries	    off
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    SIDHighWatermark	    85
    Block {
      BlockType		      Reference
      Name		      "Body"
      SID		      26
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [600, 200, 660, 240]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Body"
      SourceType	      "Body"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "workingframe"
      RightPortType	      "workingframe"
      LConnTagsString	      "CS1"
      RConnTagsString	      "CS2"
      UpdateFromCAD	      "off"
      ClassName		      "Body"
      DialogClass	      "MechanicalBodyBlock"
      Mass		      "1"
      MassUnits		      "kg"
      InertiaUnits	      "kg*m^2"
      Inertia		      "eye(3)"
      Shape		      "Cylinder"
      ShapeDims		      "[1 1]"
      ShapeUnits	      "m"
      ShapeUse		      "false"
      Density		      "1"
      DensityUnits	      "kg/m^3"
      DensityUse	      "false"
      GraphicsMode	      "MACHINE_DEFAULT"
      BodyColorSelMode	      "MACHINE_DEFAULT"
      BodyColor		      "[1 0 0]"
      AttachedToCS	      "CG"
      CG		      "Left$CG$[-1.5 -sqrt(7)/2 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none"
      WorkingFrames	      "Left$CS4$[-1.5 -sqrt(7)/2 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Left$CS3$[-"
      "1.5 -sqrt(7)/2 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Left$CS1$[0 0 0]$Adjoining$Adjoining$m$[0 0"
      " 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[-3 -sqrt(7) 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none"
      CGPos		      "[-1.5 -sqrt(7)/2 0]"
      CGRot		      "[0 0 0]"
      CS0Pos		      "[]"
      CS0Rot		      "[]"
      CS1Pos		      "[0 0 0]"
      CS1Rot		      "[0 0 0]"
      CS2Pos		      "[-3 -sqrt(7) 0]"
      CS2Rot		      "[0 0 0]"
      CS3Pos		      "[-1.5 -sqrt(7)/2 0]"
      CS3Rot		      "[0 0 0]"
      CS4Pos		      "[-1.5 -sqrt(7)/2 0]"
      CS4Rot		      "[0 0 0]"
      CS5Pos		      "[]"
      CS5Rot		      "[]"
      CS6Pos		      "[]"
      CS6Rot		      "[]"
      CS7Pos		      "[]"
      CS7Rot		      "[]"
      CS8Pos		      "[]"
      CS8Rot		      "[]"
      CS9Pos		      "[]"
      CS9Rot		      "[]"
      CS10Pos		      "[]"
      CS10Rot		      "[]"
      CS11Pos		      "[]"
      CS11Rot		      "[]"
      CS12Pos		      "[]"
      CS12Rot		      "[]"
      CS13Pos		      "[]"
      CS13Rot		      "[]"
      CS14Pos		      "[]"
      CS14Rot		      "[]"
      CS15Pos		      "[]"
      CS15Rot		      "[]"
      CS16Pos		      "[]"
      CS16Rot		      "[]"
      CS17Pos		      "[]"
      CS17Rot		      "[]"
      CS18Pos		      "[]"
      CS18Rot		      "[]"
      CS19Pos		      "[]"
      CS19Rot		      "[]"
      CS20Pos		      "[]"
      CS20Rot		      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "Body1"
      SID		      28
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [780, 200, 840, 240]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Body"
      SourceType	      "Body"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "workingframe"
      RightPortType	      "workingframe"
      LConnTagsString	      "CS1"
      RConnTagsString	      "CS2"
      UpdateFromCAD	      "off"
      ClassName		      "Body"
      DialogClass	      "MechanicalBodyBlock"
      Mass		      "1"
      MassUnits		      "kg"
      InertiaUnits	      "kg*m^2"
      Inertia		      "eye(3)"
      Shape		      "Cylinder"
      ShapeDims		      "[1 1]"
      ShapeUnits	      "m"
      ShapeUse		      "false"
      Density		      "1"
      DensityUnits	      "kg/m^3"
      DensityUse	      "false"
      GraphicsMode	      "MACHINE_DEFAULT"
      BodyColorSelMode	      "MACHINE_DEFAULT"
      BodyColor		      "[1 0 0]"
      AttachedToCS	      "CG"
      CG		      "Left$CG$[-3  -3 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none"
      WorkingFrames	      "Left$CS1$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[-"
      "6 -6 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none"
      CGPos		      "[-3  -3 0]"
      CGRot		      "[0 0 0]"
      CS0Pos		      "[]"
      CS0Rot		      "[]"
      CS1Pos		      "[0 0 0]"
      CS1Rot		      "[0 0 0]"
      CS2Pos		      "[-6 -6 0]"
      CS2Rot		      "[0 0 0]"
      CS3Pos		      "[]"
      CS3Rot		      "[]"
      CS4Pos		      "[]"
      CS4Rot		      "[]"
      CS5Pos		      "[]"
      CS5Rot		      "[]"
      CS6Pos		      "[]"
      CS6Rot		      "[]"
      CS7Pos		      "[]"
      CS7Rot		      "[]"
      CS8Pos		      "[]"
      CS8Rot		      "[]"
      CS9Pos		      "[]"
      CS9Rot		      "[]"
      CS10Pos		      "[]"
      CS10Rot		      "[]"
      CS11Pos		      "[]"
      CS11Rot		      "[]"
      CS12Pos		      "[]"
      CS12Rot		      "[]"
      CS13Pos		      "[]"
      CS13Rot		      "[]"
      CS14Pos		      "[]"
      CS14Rot		      "[]"
      CS15Pos		      "[]"
      CS15Rot		      "[]"
      CS16Pos		      "[]"
      CS16Rot		      "[]"
      CS17Pos		      "[]"
      CS17Rot		      "[]"
      CS18Pos		      "[]"
      CS18Rot		      "[]"
      CS19Pos		      "[]"
      CS19Rot		      "[]"
      CS20Pos		      "[]"
      CS20Rot		      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "Body2"
      SID		      30
      Ports		      [0, 0, 0, 0, 0, 1, 2]
      Position		      [950, 200, 1010, 240]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Body"
      SourceType	      "Body"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "workingframe"
      RightPortType	      "workingframe"
      LConnTagsString	      "CS1"
      RConnTagsString	      "CS2|CS3"
      UpdateFromCAD	      "off"
      ClassName		      "Body"
      DialogClass	      "MechanicalBodyBlock"
      Mass		      "0.1"
      MassUnits		      "kg"
      InertiaUnits	      "kg*m^2"
      Inertia		      "eye(3)"
      Shape		      "Cylinder"
      ShapeDims		      "[1 1]"
      ShapeUnits	      "m"
      ShapeUse		      "false"
      Density		      "1"
      DensityUnits	      "kg/m^3"
      DensityUse	      "false"
      GraphicsMode	      "MACHINE_DEFAULT"
      BodyColorSelMode	      "MACHINE_DEFAULT"
      BodyColor		      "[1 0 0]"
      AttachedToCS	      "CG"
      CG		      "Left$CG$[0 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none"
      WorkingFrames	      "Left$CS1$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[0"
      " 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS3$[0 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORL"
      "D$true$none"
      CGPos		      "[0 0 0]"
      CGRot		      "[0 0 0]"
      CS0Pos		      "[]"
      CS0Rot		      "[]"
      CS1Pos		      "[0 0 0]"
      CS1Rot		      "[0 0 0]"
      CS2Pos		      "[0 0 0]"
      CS2Rot		      "[0 0 0]"
      CS3Pos		      "[0 0 0]"
      CS3Rot		      "[0 0 0]"
      CS4Pos		      "[]"
      CS4Rot		      "[]"
      CS5Pos		      "[]"
      CS5Rot		      "[]"
      CS6Pos		      "[]"
      CS6Rot		      "[]"
      CS7Pos		      "[]"
      CS7Rot		      "[]"
      CS8Pos		      "[]"
      CS8Rot		      "[]"
      CS9Pos		      "[]"
      CS9Rot		      "[]"
      CS10Pos		      "[]"
      CS10Rot		      "[]"
      CS11Pos		      "[]"
      CS11Rot		      "[]"
      CS12Pos		      "[]"
      CS12Rot		      "[]"
      CS13Pos		      "[]"
      CS13Rot		      "[]"
      CS14Pos		      "[]"
      CS14Rot		      "[]"
      CS15Pos		      "[]"
      CS15Rot		      "[]"
      CS16Pos		      "[]"
      CS16Rot		      "[]"
      CS17Pos		      "[]"
      CS17Rot		      "[]"
      CS18Pos		      "[]"
      CS18Rot		      "[]"
      CS19Pos		      "[]"
      CS19Rot		      "[]"
      CS20Pos		      "[]"
      CS20Rot		      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "Body3"
      SID		      33
      Ports		      [0, 0, 0, 0, 0, 2, 1]
      Position		      [870, 55, 930, 95]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Body"
      SourceType	      "Body"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "workingframe"
      RightPortType	      "workingframe"
      LConnTagsString	      "CS3|CS1"
      RConnTagsString	      "CS2"
      UpdateFromCAD	      "off"
      ClassName		      "Body"
      DialogClass	      "MechanicalBodyBlock"
      Mass		      "1"
      MassUnits		      "kg"
      InertiaUnits	      "kg*m^2"
      Inertia		      "eye(3)"
      Shape		      "Cylinder"
      ShapeDims		      "[1 1]"
      ShapeUnits	      "m"
      ShapeUse		      "false"
      Density		      "1"
      DensityUnits	      "kg/m^3"
      DensityUse	      "false"
      GraphicsMode	      "MACHINE_DEFAULT"
      BodyColorSelMode	      "MACHINE_DEFAULT"
      BodyColor		      "[1 0 0]"
      AttachedToCS	      "CG"
      CG		      "Left$CG$[0 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none"
      WorkingFrames	      "Left$CS3$[0 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Left$CS1$[0 0 0]$Adjoini"
      "ng$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y"
      "-Z$deg$WORLD$true$none"
      CGPos		      "[0 0 0]"
      CGRot		      "[0 0 0]"
      CS0Pos		      "[]"
      CS0Rot		      "[]"
      CS1Pos		      "[0 0 0]"
      CS1Rot		      "[0 0 0]"
      CS2Pos		      "[0 0 0]"
      CS2Rot		      "[0 0 0]"
      CS3Pos		      "[0 0 0]"
      CS3Rot		      "[0 0 0]"
      CS4Pos		      "[]"
      CS4Rot		      "[]"
      CS5Pos		      "[]"
      CS5Rot		      "[]"
      CS6Pos		      "[]"
      CS6Rot		      "[]"
      CS7Pos		      "[]"
      CS7Rot		      "[]"
      CS8Pos		      "[]"
      CS8Rot		      "[]"
      CS9Pos		      "[]"
      CS9Rot		      "[]"
      CS10Pos		      "[]"
      CS10Rot		      "[]"
      CS11Pos		      "[]"
      CS11Rot		      "[]"
      CS12Pos		      "[]"
      CS12Rot		      "[]"
      CS13Pos		      "[]"
      CS13Rot		      "[]"
      CS14Pos		      "[]"
      CS14Rot		      "[]"
      CS15Pos		      "[]"
      CS15Rot		      "[]"
      CS16Pos		      "[]"
      CS16Rot		      "[]"
      CS17Pos		      "[]"
      CS17Rot		      "[]"
      CS18Pos		      "[]"
      CS18Rot		      "[]"
      CS19Pos		      "[]"
      CS19Rot		      "[]"
      CS20Pos		      "[]"
      CS20Rot		      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "Body4"
      SID		      38
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [870, 330, 930, 370]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Body"
      SourceType	      "Body"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "workingframe"
      RightPortType	      "workingframe"
      LConnTagsString	      "CS1"
      RConnTagsString	      "CS2"
      UpdateFromCAD	      "off"
      ClassName		      "Body"
      DialogClass	      "MechanicalBodyBlock"
      Mass		      "1"
      MassUnits		      "kg"
      InertiaUnits	      "kg*m^2"
      Inertia		      "eye(3)"
      Shape		      "Cylinder"
      ShapeDims		      "[1 1]"
      ShapeUnits	      "m"
      ShapeUse		      "false"
      Density		      "1"
      DensityUnits	      "kg/m^3"
      DensityUse	      "false"
      GraphicsMode	      "MACHINE_DEFAULT"
      BodyColorSelMode	      "MACHINE_DEFAULT"
      BodyColor		      "[1 0 0]"
      AttachedToCS	      "CG"
      CG		      "Left$CG$[0 0 0]$WORLD$WORLD$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none"
      WorkingFrames	      "Left$CS3$[0 0 0]$CS1$CS1$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Left$CS1$[0 0 0]$World$"
      "World$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[0 0 0]$Adjoining$Adjoining$m$[0 0 0]$Euler X-Y-Z$deg$"
      "WORLD$true$none"
      CGPos		      "[0 0 0]"
      CGRot		      "[0 0 0]"
      CS0Pos		      "[]"
      CS0Rot		      "[]"
      CS1Pos		      "[0 0 0]"
      CS1Rot		      "[0 0 0]"
      CS2Pos		      "[0 0 0]"
      CS2Rot		      "[0 0 0]"
      CS3Pos		      "[0 0 0]"
      CS3Rot		      "[0 0 0]"
      CS4Pos		      "[]"
      CS4Rot		      "[]"
      CS5Pos		      "[]"
      CS5Rot		      "[]"
      CS6Pos		      "[]"
      CS6Rot		      "[]"
      CS7Pos		      "[]"
      CS7Rot		      "[]"
      CS8Pos		      "[]"
      CS8Rot		      "[]"
      CS9Pos		      "[]"
      CS9Rot		      "[]"
      CS10Pos		      "[]"
      CS10Rot		      "[]"
      CS11Pos		      "[]"
      CS11Rot		      "[]"
      CS12Pos		      "[]"
      CS12Rot		      "[]"
      CS13Pos		      "[]"
      CS13Rot		      "[]"
      CS14Pos		      "[]"
      CS14Rot		      "[]"
      CS15Pos		      "[]"
      CS15Rot		      "[]"
      CS16Pos		      "[]"
      CS16Rot		      "[]"
      CS17Pos		      "[]"
      CS17Rot		      "[]"
      CS18Pos		      "[]"
      CS18Rot		      "[]"
      CS19Pos		      "[]"
      CS19Rot		      "[]"
      CS20Pos		      "[]"
      CS20Rot		      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "Body5"
      SID		      49
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [615, 330, 675, 370]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Body"
      SourceType	      "Body"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "workingframe"
      RightPortType	      "workingframe"
      LConnTagsString	      "CS1"
      RConnTagsString	      "CS2"
      UpdateFromCAD	      "off"
      ClassName		      "Body"
      DialogClass	      "MechanicalBodyBlock"
      Mass		      "0"
      MassUnits		      "kg"
      InertiaUnits	      "kg*m^2"
      Inertia		      "eye(3)"
      Shape		      "Cylinder"
      ShapeDims		      "[1 1]"
      ShapeUnits	      "m"
      ShapeUse		      "false"
      Density		      "1"
      DensityUnits	      "kg/m^3"
      DensityUse	      "false"
      GraphicsMode	      "MACHINE_DEFAULT"
      BodyColorSelMode	      "MACHINE_DEFAULT"
      BodyColor		      "[1 0 0]"
      AttachedToCS	      "CG"
      CG		      "Left$CG$[0 0 0]$WORLD$WORLD$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none"
      WorkingFrames	      "Left$CS3$[0 0 0]$WORLD$WORLD$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none#Left$CS1$[0 0 0]$CG"
      "$CG$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[0 0 0]$CG$CG$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none"
      CGPos		      "[0 0 0]"
      CGRot		      "[0 0 0]"
      CS0Pos		      "[]"
      CS0Rot		      "[]"
      CS1Pos		      "[0 0 0]"
      CS1Rot		      "[0 0 0]"
      CS2Pos		      "[0 0 0]"
      CS2Rot		      "[0 0 0]"
      CS3Pos		      "[0 0 0]"
      CS3Rot		      "[0 0 0]"
      CS4Pos		      "[]"
      CS4Rot		      "[]"
      CS5Pos		      "[]"
      CS5Rot		      "[]"
      CS6Pos		      "[]"
      CS6Rot		      "[]"
      CS7Pos		      "[]"
      CS7Rot		      "[]"
      CS8Pos		      "[]"
      CS8Rot		      "[]"
      CS9Pos		      "[]"
      CS9Rot		      "[]"
      CS10Pos		      "[]"
      CS10Rot		      "[]"
      CS11Pos		      "[]"
      CS11Rot		      "[]"
      CS12Pos		      "[]"
      CS12Rot		      "[]"
      CS13Pos		      "[]"
      CS13Rot		      "[]"
      CS14Pos		      "[]"
      CS14Rot		      "[]"
      CS15Pos		      "[]"
      CS15Rot		      "[]"
      CS16Pos		      "[]"
      CS16Rot		      "[]"
      CS17Pos		      "[]"
      CS17Rot		      "[]"
      CS18Pos		      "[]"
      CS18Rot		      "[]"
      CS19Pos		      "[]"
      CS19Rot		      "[]"
      CS20Pos		      "[]"
      CS20Rot		      "[]"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      SID		      64
      Position		      [270, 595, 300, 625]
      Value		      "-10"
      OutDataType	      "fixdt(1, 16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant2"
      SID		      85
      Position		      [285, 470, 315, 500]
      Value		      "-10"
      OutDataType	      "fixdt(1, 16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Derivative
      Name		      "Derivative2"
      SID		      57
      Position		      [400, 650, 430, 680]
    }
    Block {
      BlockType		      Reference
      Name		      "Ground"
      SID		      2
      Ports		      [0, 0, 0, 0, 0, 0, 1]
      Position		      [185, 185, 225, 225]
      LibraryVersion	      "1.1"
      UserDataPersistent      on
      UserData		      "DataTag0"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Ground"
      SourceType	      "Ground"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      UpdateFromCAD	      "off"
      LeftPortType	      "env"
      RightPortType	      "workingframe"
      PhysicalDomain	      "Mechanical"
      DialogClass	      "GroundBlock"
      ClassName		      "Ground"
      CoordPosition	      "[27 9 0]"
      CoordPositionUnits      "m"
      StateVectorMgrId	      "-1"
      MachineId		      "[0 0]"
      ShowEnvPort	      off
    }
    Block {
      BlockType		      Reference
      Name		      "Ground1"
      SID		      35
      Ports		      [0, 0, 0, 0, 0, 0, 1]
      Position		      [690, 50, 730, 90]
      LibraryVersion	      "1.1"
      UserDataPersistent      on
      UserData		      "DataTag1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Ground"
      SourceType	      "Ground"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      UpdateFromCAD	      "off"
      LeftPortType	      "env"
      RightPortType	      "workingframe"
      PhysicalDomain	      "Mechanical"
      DialogClass	      "GroundBlock"
      ClassName		      "Ground"
      CoordPosition	      "[24 -3 0]"
      CoordPositionUnits      "m"
      StateVectorMgrId	      "-1"
      MachineId		      "[0 0]"
      ShowEnvPort	      off
    }
    Block {
      BlockType		      Reference
      Name		      "Ground2"
      SID		      48
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [370, 325, 410, 365]
      LibraryVersion	      "1.1"
      UserDataPersistent      on
      UserData		      "DataTag2"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Bodies/Ground"
      SourceType	      "Ground"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      UpdateFromCAD	      "off"
      LeftPortType	      "env"
      RightPortType	      "workingframe"
      PhysicalDomain	      "Mechanical"
      DialogClass	      "GroundBlock"
      ClassName		      "Ground"
      CoordPosition	      "[0 0 0]"
      CoordPositionUnits      "m"
      StateVectorMgrId	      "1"
      MachineId		      "[1 0]"
      ShowEnvPort	      on
    }
    Block {
      BlockType		      Integrator
      Name		      "Integrator1"
      SID		      65
      Ports		      [1, 1]
      Position		      [385, 555, 415, 585]
    }
    Block {
      BlockType		      Reference
      Name		      "Joint Actuator"
      SID		      84
      Ports		      [1, 0, 0, 0, 0, 0, 1]
      Position		      [380, 465, 420, 505]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Actuator"
      SourceType	      "Joint Actuator"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      UpdateFromCAD	      "off"
      PhysicalDomain	      "Mechanical"
      PortType		      "blob"
      ActuationStyle	      "Force"
      AngleUnits	      "deg"
      ArcVelocityUnits	      "deg/s"
      ArcAccelerationUnits    "deg/s^2"
      CoordPositionUnits      "m"
      VelocityUnits	      "m/s"
      AccelerationUnits	      "m/s^2"
      ForceUnits	      "N"
      TorqueUnits	      "N*m"
      ActiveIO		      "on"
      Width		      "1"
      ClassName		      "JointActuator"
      DialogClass	      "MechanicalActuatorBlock"
      Primitive		      "P1"
      ReferenceFrame	      "Absolute (World)"
    }
    Block {
      BlockType		      Reference
      Name		      "Joint Sensor1"
      SID		      82
      Ports		      [0, 1, 0, 0, 0, 1]
      Position		      [350, 255, 390, 295]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sensor"
      SourceType	      "Joint Sensor"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      UpdateFromCAD	      "off"
      PhysicalDomain	      "Mechanical"
      PortType		      "blob"
      Muxed		      "on"
      Pose		      "off"
      Angle		      "on"
      AngleUnits	      "deg"
      ArcVelocity	      "off"
      ArcVelocityUnits	      "deg/s"
      ArcAcceleration	      "off"
      ArcAccelerationUnits    "deg/s^2"
      CoordPosition	      "on"
      CoordPositionUnits      "m"
      Velocity		      "off"
      VelocityUnits	      "m/s"
      Acceleration	      "off"
      AccelerationUnits	      "m/s^2"
      Quaternion	      "on"
      QuaternionDT	      "off"
      QuaternionDDT	      "off"
      QuaternionUnits	      "off"
      OutputVector	      "[1]"
      ActiveIO		      "on"
      Width		      "6"
      ClassName		      "JointSensor"
      DialogClass	      "MechanicalSensorBlock"
      Primitive		      "W"
      Force		      "off"
      ForceUnits	      "N"
      Torque		      "off"
      TorqueUnits	      "N*m"
      ReferenceFrame	      "Absolute (World)"
      ReactionSensedSide      "Base"
      ReactionReferenceFrame  "Absolute (World)"
      ReactionForce	      "on"
      ReactionForceUnits      "N"
      ReactionMoment	      "on"
      ReactionMomentUnits     "N*m"
    }
    Block {
      BlockType		      Reference
      Name		      "Machine\nEnvironment"
      SID		      1
      Ports		      [0, 0, 0, 0, 0, 0, 1]
      Position		      [280, 335, 320, 355]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DialogSource"
      SourceBlock	      "mblibv1/Bodies/Machine\nEnvironment"
      SourceType	      "Machine Environment"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      PortType		      "env"
      PhysicalDomain	      "Mechanical"
      ClassName		      "Environment"
      DialogTemplateClass     "MECH.MachineEnvironment"
      SyncWhenCopied	      "off"
      Gravity		      "[0 -9.81 0]"
      GravityUnits	      "m/s^2"
      GravityAsSignal	      off
      Dimensionality	      "Auto-detect"
      AnalysisType	      "Forward dynamics"
      LinearAssemblyTolerance "1e-3"
      LinearAssemblyToleranceUnits "m"
      AngularAssemblyTolerance "1e-3"
      AngularAssemblyToleranceUnits "rad"
      ConstraintSolverType    "Stabilizing"
      ConstraintRelTolerance  "1e-4"
      ConstraintAbsTolerance  "1e-4"
      UseRobustSingularityHandling off
      RedundancyAnalysisToleranceType "Automatically select tolerance"
      RedundancyAnalysisTolerance "1e-3"
      StatePerturbationType   "Fixed"
      PerturbationSize	      "1e-5"
      VisualizeMachine	      on
      BodyVisualizationType   "Use model default body geometries"
      BodyColorSelMode	      "Use model default"
      DefaultBodyColor	      "[1 0 0]"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      SID		      58
      Ports		      [3, 1]
      Position		      [470, 581, 475, 619]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Reference
      Name		      "Prismatic"
      SID		      37
      Ports		      [0, 0, 0, 0, 0, 2, 1]
      Position		      [530, 321, 580, 374]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Prismatic"
      SourceType	      "Prismatic"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0|SA1"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "1"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "P1$World$[1 0 0]$prismatic"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      P1Axis		      "[1 0 0]"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute"
      SID		      27
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [690, 195, 740, 245]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "Revolute"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "0"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "R1$World$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      R1Axis		      "[0 0 1]"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute1"
      SID		      29
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [870, 195, 920, 245]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "Revolute"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "0"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "R1$WORLD$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      R1Axis		      "[0 0 1]"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute3"
      SID		      31
      Ports		      [0, 0, 0, 0, 0, 2, 1]
      Position		      [1025, 62, 1075, 113]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "Revolute"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0|SA1"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "1"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "R1$Follower$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      R1Axis		      "[0 0 1]"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute4"
      SID		      50
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [740, 325, 790, 375]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "Revolute"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "0"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "R1$WORLD$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      R1Axis		      "[0 0 1]"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute5"
      SID		      34
      Ports		      [0, 0, 0, 0, 0, 2, 1]
      Position		      [785, 56, 835, 109]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "Revolute"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0|SA1"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "1"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "R1$World$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      R1Axis		      "[0 0 1]"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute6"
      SID		      39
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [970, 325, 1020, 375]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "Revolute"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "0"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "R1$World$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      R1Axis		      "[0 0 1]"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope2"
      SID		      75
      Ports		      [1]
      Position		      [430, 259, 460, 291]
      Floating		      off
      Location		      [316, 172, 837, 665]
      Open		      off
      NumInputPorts	      "1"
      ZoomMode		      "yonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      SaveName		      "ScopeData2"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Reference
      Name		      "Weld"
      SID		      79
      Ports		      [0, 0, 0, 0, 0, 2, 1]
      Position		      [275, 192, 325, 243]
      LibraryVersion	      "1.1"
      DialogController	      "MECH.DynMechDlgSource"
      SourceBlock	      "mblibv1/Joints/Weld"
      SourceType	      "Weld"
      PhysicalDomain	      "mechanical"
      SubClassName	      "Unknown"
      LeftPortType	      "blob"
      RightPortType	      "blob"
      LConnTagsString	      "__newl0|SA1"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "1"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "weld"
      PrimitiveProps	      "W$World$[0 0 0]$weld"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      WAxis		      "[0 0 0]"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant1"
      SID		      70
      Position		      [40, 95, 70, 125]
      IOType		      "siggen"
      Value		      "10"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
    }
    Block {
      BlockType		      Scope
      Name		      "Floating\nScope"
      SID		      73
      Ports		      []
      Position		      [185, 14, 215, 46]
      IOType		      "viewer"
      Floating		      on
      Location		      [376, 294, 700, 533]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Floating\nScope1"
      SID		      74
      Ports		      []
      Position		      [185, 14, 215, 46]
      IOType		      "viewer"
      Floating		      on
      Location		      [549, 307, 873, 546]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
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      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      SignalViewerScope
      Name		      "Scope"
      SID		      67
      Ports		      []
      Position		      [20, 15, 60, 55]
      IOType		      "viewer"
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      ShowDataMarkers	      off
      ShowLegends	      off
      DataFormat	      "Array"
      MaxDataPoints	      "7500"
      RefreshTime	      0.035000
    }
    Block {
      BlockType		      SignalViewerScope
      Name		      "Scope1"
      SID		      72
      Ports		      []
      Position		      [20, 15, 60, 55]
      IOType		      "viewer"
      Location		      [553, 490, 877, 729]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      ShowDataMarkers	      off
      ShowLegends	      off
      SaveName		      "ScopeData1"
      DataFormat	      "Array"
      MaxDataPoints	      "7500"
      RefreshTime	      0.035000
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Body"
      SrcPort		      RConn1
      DstBlock		      "Revolute"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute"
      SrcPort		      RConn1
      DstBlock		      "Body1"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Body1"
      SrcPort		      RConn1
      DstBlock		      "Revolute1"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Ground1"
      SrcPort		      RConn1
      DstBlock		      "Revolute5"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute5"
      SrcPort		      RConn1
      DstBlock		      "Body3"
      DstPort		      LConn2
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute3"
      SrcPort		      RConn1
      Points		      [40, 0; 0, 120]
      DstBlock		      "Body2"
      DstPort		      RConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Body3"
      SrcPort		      RConn1
      DstBlock		      "Revolute3"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Body4"
      SrcPort		      RConn1
      DstBlock		      "Revolute6"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute1"
      SrcPort		      RConn1
      DstBlock		      "Body2"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Prismatic"
      SrcPort		      LConn1
      Points		      [-90, 0]
      DstBlock		      "Ground2"
      DstPort		      RConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Prismatic"
      SrcPort		      RConn1
      DstBlock		      "Body5"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Body5"
      SrcPort		      RConn1
      DstBlock		      "Revolute4"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute4"
      SrcPort		      RConn1
      DstBlock		      "Body4"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute6"
      SrcPort		      RConn1
      Points		      [0, -120]
      DstBlock		      "Body2"
      DstPort		      RConn2
    }
    Line {
      SrcBlock		      "Derivative2"
      SrcPort		      1
      Points		      [10, 0; 0, -55]
      DstBlock		      "Mux1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [0, -10; 45, 0]
      Branch {
	Points			[0, 65]
	DstBlock		"Derivative2"
	DstPort			1
      }
      Branch {
	DstBlock		"Mux1"
	DstPort			2
      }
      Branch {
	Points			[0, -30]
	DstBlock		"Integrator1"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Integrator1"
      SrcPort		      1
      Points		      [15, 0; 0, 20]
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Machine\nEnvironment"
      SrcPort		      RConn1
      DstBlock		      "Ground2"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Ground"
      SrcPort		      RConn1
      DstBlock		      "Weld"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Weld"
      SrcPort		      RConn1
      DstBlock		      "Body"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Weld"
      SrcPort		      LConn2
      Points		      [-5, 0; 0, 45]
      DstBlock		      "Joint Sensor1"
      DstPort		      LConn1
    }
    Line {
      SrcBlock		      "Joint Sensor1"
      SrcPort		      1
      DstBlock		      "Scope2"
      DstPort		      1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Joint Actuator"
      SrcPort		      RConn1
      Points		      [40, 0; 0, -125]
      DstBlock		      "Prismatic"
      DstPort		      LConn2
    }
    Line {
      SrcBlock		      "Constant2"
      SrcPort		      1
      DstBlock		      "Joint Actuator"
      DstPort		      1
    }
  }
}
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