id	summary	reporter	owner	description	type	status	priority	milestone	component	version	resolution	keywords	cc
1362	Erroneous equations in flat Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot	otto@…	otto@…	"The flat modelica code generated by omc for Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.fullRobot contains some erroneous equations for the accSensor in the Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Components.AxisType1 component. The flange on the accSensor is connected to gear.flang_b but equations are generated for the flange_a as well as we see in the following equations:
{{{
axis1.accSensor.flange.phi = axis1.gear.bearingFriction.flange_a.phi;
axis1.accSensor.flange.phi = axis1.gear.flange_a.phi;
axis1.accSensor.flange.phi = axis1.gear.flange_b.phi;
axis1.accSensor.flange.phi = axis1.gear.bearingFriction.flange_b.phi;
}}}




Combine this with the (correct) equation:


axis1.gear.bearingFriction.flange_b.phi = axis1.gear.bearingFriction.flange_a.phi;

And we get a structurally singular problem.

NOTE: This should be fixed on the OpenModelica-1.5.1-Maintenance branch."	defect	closed	blocker	Red October	Instantiation		fixed		otto@… Per Östlund