Changeset 1050 for trunk

Timestamp:

02/24/08 19:43:25 (6 months ago)

Author:

otter

Message:

Unit errors in MultiBody corrected (unit="1" added for unit vectors, many missing units added, e.g. for RealInput)

Location:

trunk/Modelica/Mechanics/MultiBody

Files:

• Forces.mo (modified) (6 diffs)
• Frames.mo (modified) (16 diffs)
• Interfaces.mo (modified) (1 diff)
• Joints.mo (modified) (46 diffs)
• Sensors.mo (modified) (24 diffs)
• Types.mo (modified) (1 diff)
• Visualizers.mo (modified) (6 diffs)
• parts.mo (modified) (3 diffs)

trunk/Modelica/Mechanics/MultiBody/Forces.mo

@@ -1411 +1411 @@
     SI.Position r_rel_0[3]
       "Position vector from frame_a to frame_b resolved in world frame";
-    Real e_rel_0[3]
+    Real e_rel_0[3](each final unit="1")
       "Unit vector in direction from frame_a to frame_b, resolved in world frame";
     annotation (
@@ -1768 +1768 @@
     SI.Position r_rel_0[3]
       "Position vector from frame_a to frame_b resolved in world frame";
-    Real e_rel_0[3]
+    Real e_rel_0[3](each final unit="1")
       "Unit vector in direction from frame_a to frame_b, resolved in world frame";
     annotation (
@@ -2648 +2648 @@
             extent={{-16,-16},{16,16}},
             rotation=90)));
-      Modelica.Blocks.Interfaces.RealInput force[3]
+      Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each
+        final unit = "N")
         "x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame"
         annotation (Placement(transformation(
@@ -2783 +2784 @@
             rotation=90)));
 
-      Modelica.Blocks.Interfaces.RealInput torque[3]
+      Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each
+        final unit = "N.m")
         "x-, y-, z-coordiantes of torque resolved in frame defined by resolveInFrame"
         annotation (Placement(transformation(
@@ -2921 +2923 @@
             rotation=270)));
 
-      Modelica.Blocks.Interfaces.RealInput force[3]
+      Modelica.Blocks.Interfaces.RealInput force[3](each final quantity="Force", each
+        final unit = "N")
         "x-, y-, z-coordinates of force resolved in frame defined by resolveInFrame"
         annotation (Placement(transformation(extent={{-140,-20},{-100,20}},
@@ -3028 +3031 @@
             rotation=270)));
 
-      Modelica.Blocks.Interfaces.RealInput torque[3]
+      Modelica.Blocks.Interfaces.RealInput torque[3](each final quantity="Torque", each
+        final unit = "N.m")
         "x-, y-, z-coordinates of torque resolved in frame defined by resolveInFrame"
         annotation (Placement(transformation(extent={{-140,-20},{-100,20}},

trunk/Modelica/Mechanics/MultiBody/Frames.mo

@@ -404 +404 @@
     import Modelica.Math;
     extends Modelica.Icons.Function;
-    input Real e[3] "Normalized axis of rotation (must have length=1)";
+    input Real e[3](each final unit="1") "Normalized axis of rotation (must have length=1)";
     input Modelica.SIunits.Angle angle
       "Rotation angle to rotate frame 1 into frame 2 along axis e";
@@ -420 +420 @@
 
     extends Modelica.Icons.Function;
-    input Real e[3]
+    input Real e[3](each final unit="1")
       "Normalized axis of rotation to rotate frame 1 around e into frame 2 (must have length=1)";
     input Real v1[3]
@@ -606 +606 @@
 </HTML>"));
   protected
-    Real e1_1[3] "First rotation axis, resolved in frame 1";
-    Real e2_1a[3] "Second rotation axis, resolved in frame 1a";
-    Real e3_1[3] "Third rotation axis, resolved in frame 1";
-    Real e3_2[3] "Third rotation axis, resolved in frame 2";
+    Real e1_1[3](each final unit="1") "First rotation axis, resolved in frame 1";
+    Real e2_1a[3](each final unit="1") "Second rotation axis, resolved in frame 1a";
+    Real e3_1[3](each final unit="1") "Third rotation axis, resolved in frame 1";
+    Real e3_2[3](each final unit="1") "Third rotation axis, resolved in frame 2";
     Real A
       "Coefficient A in the equation A*cos(angles[1])+B*sin(angles[1]) = 0";
@@ -718 +718 @@
   function from_nxy "Return fixed orientation object from n_x and n_y vectors"
     extends Modelica.Icons.Function;
-    input Real n_x[3]
+    input Real n_x[3](each final unit="1")
       "Vector in direction of x-axis of frame 2, resolved in frame 1";
-    input Real n_y[3]
+    input Real n_y[3](each final unit="1")
       "Vector in direction of y-axis of frame 2, resolved in frame 1";
     output Orientation R "Orientation object to rotate frame 1 into frame 2";
@@ -746 +746 @@
   protected
     Real abs_n_x=sqrt(n_x*n_x);
-    Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-    Real n_z_aux[3]=cross(e_x, n_y);
-    Real n_y_aux[3]=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
+    Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+    Real n_z_aux[3](each final unit="1")=cross(e_x, n_y);
+    Real n_y_aux[3](each final unit="1")=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
          > 1.0e-6 then {0,1,0} else {1,0,0});
-    Real e_z_aux[3]=cross(e_x, n_y_aux);
-    Real e_z[3]=e_z_aux/sqrt(e_z_aux*e_z_aux);
+    Real e_z_aux[3](each final unit="1")=cross(e_x, n_y_aux);
+    Real e_z[3](each final unit="1")=e_z_aux/sqrt(e_z_aux*e_z_aux);
   algorithm
     R := Orientation(T={e_x,cross(e_z, e_x),e_z},w= zeros(3));
@@ -758 +758 @@
   function from_nxz "Return fixed orientation object from n_x and n_z vectors"
     extends Modelica.Icons.Function;
-    input Real n_x[3]
+    input Real n_x[3](each final unit="1")
       "Vector in direction of x-axis of frame 2, resolved in frame 1";
-    input Real n_z[3]
+    input Real n_z[3](each final unit="1")
       "Vector in direction of z-axis of frame 2, resolved in frame 1";
     output Orientation R "Orientation object to rotate frame 1 into frame 2";
@@ -786 +786 @@
   protected
     Real abs_n_x=sqrt(n_x*n_x);
-    Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-    Real n_y_aux[3]=cross(n_z, e_x);
-    Real n_z_aux[3]=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
+    Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+    Real n_y_aux[3](each final unit="1")=cross(n_z, e_x);
+    Real n_z_aux[3](each final unit="1")=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
          > 1.0e-6 then {0,0,1} else {1,0,0});
-    Real e_y_aux[3]=cross(n_z_aux, e_x);
-    Real e_y[3]=e_y_aux/sqrt(e_y_aux*e_y_aux);
+    Real e_y_aux[3](each final unit="1")=cross(n_z_aux, e_x);
+    Real e_y[3](each final unit="1")=e_y_aux/sqrt(e_y_aux*e_y_aux);
   algorithm
     R := Orientation(T={e_x,e_y,cross(e_x, e_y)},w= zeros(3));
@@ -925 +925 @@
     extends Modelica.Icons.Function;
     input Integer axis(min=1, max=3) "Axis vector to be returned";
-    output Real e[3] "Unit axis vector";
+    output Real e[3](each final unit="1") "Unit axis vector";
     annotation(Inline=true);
   algorithm
@@ -1245 +1245 @@
       import Modelica.Math;
       extends Modelica.Icons.Function;
-      input Real e[3] "Normalized axis of rotation (must have length=1)";
+      input Real e[3](each final unit="1") "Normalized axis of rotation (must have length=1)";
       input Modelica.SIunits.Angle angle
         "Rotation angle to rotate frame 1 into frame 2 along axis e";
@@ -1660 +1660 @@
       import Modelica.Math;
       extends Modelica.Icons.Function;
-      input Real e[3] "Normalized axis of rotation (must have length=1)";
+      input Real e[3](each final unit="1") "Normalized axis of rotation (must have length=1)";
       input Modelica.SIunits.Angle angle
         "Rotation angle to rotate frame 1 into frame 2 along axis e";
@@ -1675 +1675 @@
 
       extends Modelica.Icons.Function;
-      input Real e[3]
+      input Real e[3](each final unit="1")
         "Normalized axis of rotation to rotate frame 1 around e into frame 2 (must have length=1)";
       input Real v1[3]
@@ -1850 +1850 @@
 </HTML>"));
     protected
-      Real e1_1[3] "First rotation axis, resolved in frame 1";
-      Real e2_1a[3] "Second rotation axis, resolved in frame 1a";
-      Real e3_1[3] "Third rotation axis, resolved in frame 1";
-      Real e3_2[3] "Third rotation axis, resolved in frame 2";
+      Real e1_1[3](each final unit="1") "First rotation axis, resolved in frame 1";
+      Real e2_1a[3](each final unit="1") "Second rotation axis, resolved in frame 1a";
+      Real e3_1[3](each final unit="1") "Third rotation axis, resolved in frame 1";
+      Real e3_2[3](each final unit="1") "Third rotation axis, resolved in frame 2";
       Real A
         "Coefficient A in the equation A*cos(angles[1])+B*sin(angles[1]) = 0";
@@ -1963 +1963 @@
     function from_nxy "Return orientation object from n_x and n_y vectors"
       extends Modelica.Icons.Function;
-      input Real n_x[3]
+      input Real n_x[3](each final unit="1")
         "Vector in direction of x-axis of frame 2, resolved in frame 1";
-      input Real n_y[3]
+      input Real n_y[3](each final unit="1")
         "Vector in direction of y-axis of frame 2, resolved in frame 1";
       output TransformationMatrices.Orientation T
@@ -1992 +1992 @@
     protected
       Real abs_n_x=sqrt(n_x*n_x);
-      Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-      Real n_z_aux[3]=cross(e_x, n_y);
-      Real n_y_aux[3]=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
+      Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+      Real n_z_aux[3](each final unit="1")=cross(e_x, n_y);
+      Real n_y_aux[3](each final unit="1")=if n_z_aux*n_z_aux > 1.0e-6 then n_y else (if abs(e_x[1])
            > 1.0e-6 then {0,1,0} else {1,0,0});
-      Real e_z_aux[3]=cross(e_x, n_y_aux);
-      Real e_z[3]=e_z_aux/sqrt(e_z_aux*e_z_aux);
+      Real e_z_aux[3](each final unit="1")=cross(e_x, n_y_aux);
+      Real e_z[3](each final unit="1")=e_z_aux/sqrt(e_z_aux*e_z_aux);
     algorithm
       T := {e_x,cross(e_z, e_x),e_z};
@@ -2004 +2004 @@
     function from_nxz "Return orientation object from n_x and n_z vectors"
       extends Modelica.Icons.Function;
-      input Real n_x[3]
+      input Real n_x[3](each final unit="1")
         "Vector in direction of x-axis of frame 2, resolved in frame 1";
-      input Real n_z[3]
+      input Real n_z[3](each final unit="1")
         "Vector in direction of z-axis of frame 2, resolved in frame 1";
       output TransformationMatrices.Orientation T
@@ -2033 +2033 @@
     protected
       Real abs_n_x=sqrt(n_x*n_x);
-      Real e_x[3]=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
-      Real n_y_aux[3]=cross(n_z, e_x);
-      Real n_z_aux[3]=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
+      Real e_x[3](each final unit="1")=if abs_n_x < 1.e-10 then {1,0,0} else n_x/abs_n_x;
+      Real n_y_aux[3](each final unit="1")=cross(n_z, e_x);
+      Real n_z_aux[3](each final unit="1")=if n_y_aux*n_y_aux > 1.0e-6 then n_z else (if abs(e_x[1])
            > 1.0e-6 then {0,0,1} else {1,0,0});
-      Real e_y_aux[3]=cross(n_z_aux, e_x);
-      Real e_y[3]=e_y_aux/sqrt(e_y_aux*e_y_aux);
+      Real e_y_aux[3](each final unit="1")=cross(n_z_aux, e_x);
+      Real e_y[3](each final unit="1")=e_y_aux/sqrt(e_y_aux*e_y_aux);
     algorithm
       T := {e_x,e_y,cross(e_x, e_y)};

trunk/Modelica/Mechanics/MultiBody/Interfaces.mo

@@ -606 +606 @@
     SI.Position s
       "(Guarded) distance between the origin of frame_a and the origin of frame_b (>= s_small))";
-    Real e_a[3]
+    Real e_a[3](each final unit="1")
       "Unit vector on the line connecting the origin of frame_a with the origin of frame_b resolved in frame_a (directed from frame_a to frame_b)";
-    Real r_rel_a[3]
+    Modelica.SIunits.Position r_rel_a[3]
       "Position vector from origin of frame_a to origin of frame_b, resolved in frame_a";
   protected

trunk/Modelica/Mechanics/MultiBody/Joints.mo

@@ -116 +116 @@
     parameter StateSelect stateSelect=StateSelect.prefer
       "Priority to use distance s and v=der(s) as states" annotation(Dialog(tab="Advanced"));
-    final parameter Real e[3]=Modelica.Math.Vectors.normalize(
+    final parameter Real e[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                                n)
       "Unit vector in direction of prismatic axis n";
@@ -133 +133 @@
 
     annotation (
-      
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -351 +350 @@
     SI.Angle angle "= phi_offset + phi";
     annotation (
-      
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -506 +504 @@
 </html>
 "));
+
   protected
     outer Modelica.Mechanics.MultiBody.World world;
-    parameter Real e[3]=Modelica.Math.Vectors.normalize(
+    parameter Real e[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                          n)
       "Unit vector in direction of rotation axis, resolved in frame_a (= same as in frame_b)";
@@ -614 +613 @@
       "Reflection of ambient light (= 0: light is completely absorbed)" 
       annotation (Dialog(group="if animation = true", enable=animation));
-    annotation (defaultComponentName="revolute"
-      ,
+    annotation (defaultComponentName="revolute",
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -706 +704 @@
   protected
     outer Modelica.Mechanics.MultiBody.World world;
-    parameter Real e[3]=Modelica.Math.Vectors.normalize(
+    parameter Real e[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                          n)
       "Unit vector in direction of rotation axis, resolved in frame_a (= same as in frame_b)";
-    parameter Real nnx_a[3]=if abs(e[1]) > 0.1 then {0,1,0} else (if abs(e[2])
+    parameter Real nnx_a[3](each final unit="1")=if abs(e[1]) > 0.1 then {0,1,0} else (if abs(e[2])
          > 0.1 then {0,0,1} else {1,0,0})
       "Arbitrary vector that is not aligned with rotation axis n" 
       annotation (Evaluate=true);
-    parameter Real ey_a[3]=Modelica.Math.Vectors.normalize(
+    parameter Real ey_a[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                             cross(e, nnx_a))
       "Unit vector orthogonal to axis n of revolute joint, resolved in frame_a"
       annotation (Evaluate=true);
-    parameter Real ex_a[3]=cross(ey_a, e)
+    parameter Real ex_a[3](each final unit="1")=cross(ey_a, e)
       "Unit vector orthogonal to axis n of revolute joint and to ey_a, resolved in frame_a"
       annotation (Evaluate=true);
-    Real ey_b[3] "ey_a, resolved in frame_b";
-    Real ex_b[3] "ex_a, resolved in frame_b";
+    Real ey_b[3](each final unit="1") "ey_a, resolved in frame_b";
+    Real ex_b[3](each final unit="1") "ex_a, resolved in frame_b";
     Frames.Orientation R_rel
       "Dummy or relative orientation object from frame_a to frame_b";
-    Real r_rel_a[3]
+    Modelica.SIunits.Position r_rel_a[3]
       "Position vector from origin of frame_a to origin of frame_b, resolved in frame_a";
     SI.Force f_c[2] "Dummy or constraint forces in direction of ex_a, ey_a";
@@ -823 +821 @@
 
     annotation (
-      
       Documentation(info="<HTML>
 <p>
@@ -979 +976 @@
 
     annotation (
-      
       Documentation(info="<HTML>
 <p>
@@ -1078 +1074 @@
           extent={{-100,-100},{100,100}},
           grid={1,1}), graphics));
+
   equation
     phi_a = revolute_a.phi;
@@ -1170 +1167 @@
 
     annotation (
-      
       Documentation(info="<HTML>
 <p>
@@ -1247 +1243 @@
   protected
     parameter Integer ndim=if world.enableAnimation and animation then 1 else 0;
-    parameter Real e[3]=Modelica.Math.Vectors.normalize(
+    parameter Real e[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                          n);
   protected
@@ -1373 +1369 @@
       "Orientation object from frame_a to frame_b at initial time";
     annotation (
-      
       Documentation(info="<html>
 <p>
@@ -1697 +1692 @@
 
     annotation (
-      
       Documentation(info="<HTML>
 <p>
@@ -1828 +1822 @@
           grid={1,1}), graphics={
           Line(
-            points={{-86,31},{-74,61},{-49,83},{-17,92},{19,88},{40,69},{59,48}},
+            points={{-86,31},{-74,61},{-49,83},{-17,92},{19,88},{40,69},{59,48}}, 
+
             color={160,160,164},
             thickness=0.5),
@@ -2054 +2049 @@
     SI.Position rRod_a[3]
       "Position vector from frame_a to frame_b resolved in frame_a";
-    Real eRod_a[3]
+    Real eRod_a[3](each final unit="1")
       "Unit vector in direction from frame_a to frame_b, resolved in frame_a";
     SI.Position r_CM_0[3]
@@ -2069 +2064 @@
 
     annotation (
-      
       Icon(coordinateSystem(
           preserveAspectRatio=true,
@@ -2222 +2216 @@
 </p>
 </html>"));
+
   protected
     Visualizers.Advanced.Shape shape_rod(
@@ -2421 +2416 @@
                     rRod_ia)
       "Length of rod (distance between origin of frame_a and origin of frame_b)";
-    final parameter Real eRod_ia[3]=Modelica.Math.Vectors.normalize(
+    final parameter Real eRod_ia[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                                      rRod_ia)
       "Unit vector from origin of frame_a to origin of frame_b, resolved in frame_ia";
-    final parameter Real e2_ia[3]=Modelica.Math.Vectors.normalize(
+    final parameter Real e2_ia[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                                    cross(n1_a, eRod_ia))
       "Unit vector in direction of axis 2 of universal joint, resolved in frame_ia (orthogonal to n1_a and eRod_ia; note: frame_ia is parallel to frame_a when the universal joint angles are zero)";
-    final parameter Real e3_ia[3]=cross(eRod_ia, e2_ia)
+    final parameter Real e3_ia[3](each final unit="1")=cross(eRod_ia, e2_ia)
       "Unit vector perpendicular to eRod_ia and e2_ia, resolved in frame_ia";
     SI.Power totalPower
@@ -2433 +2428 @@
     SI.Force f_b_a1[3]
       "frame_b.f without f_rod part, resolved in frame_a (needed for analytic loop handling)";
-    Real eRod_a[3]
+    Real eRod_a[3](each final unit="1")
       "Unit vector in direction of rRod_a, resolved in frame_a (needed for analytic loop handling)";
     SI.Position rRod_0[3](start=rRod_ia)
@@ -2440 +2435 @@
       "Position vector from origin of frame_a to origin of frame_b resolved in frame_a";
     annotation (
-      
       Documentation(info="<html>
 <p>
@@ -2744 +2738 @@
     SI.Force f_ia_a[3] "frame_ia.f resolved in frame_a";
     SI.Torque t_ia_a[3] "frame_ia.t resolved in frame_a";
-    Real n2_a[3]
+    Real n2_a[3](each final unit="1")
       "Vector in direction of axis 2 of the universal joint (e2_ia), resolved in frame_a";
     Real length2_n2_a(start=1, unit="m2") "Square of length of vector n2_a";
     SI.Length length_n2_a "Length of vector n2_a";
-    Real e2_a[3]
+    Real e2_a[3](each final unit="1")
       "Unit vector in direction of axis 2 of the universal joint (e2_ia), resolved in frame_a";
-    Real e3_a[3]
+    Real e3_a[3](each final unit="1")
       "Unit vector perpendicular to eRod_ia and e2_a, resolved in frame_a";
-    Real der_rRod_a_L[3] "= der(rRod_a)/rodLength";
+    Real der_rRod_a_L[3](each unit="1/s") "= der(rRod_a)/rodLength";
     SI.AngularVelocity w_rel_ia1[3];
     Frames.Orientation R_rel_ia1;
@@ -3286 +3280 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real eAxis_ia[3]=Modelica.Math.Vectors.normalize(
+      final parameter Real eAxis_ia[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                                         nAxis_ia)
         "Unit vector from origin of frame_a to origin of frame_b, resolved in frame_ia";
-      final parameter Real e2_ia[3]=Modelica.Math.Vectors.normalize(
+      final parameter Real e2_ia[3](each final unit="1")=Modelica.Math.Vectors.normalize(
                                                      cross(n1_a, eAxis_ia))
         "Unit vector in direction of second rotation axis of universal joint, resolved in frame_ia";
-      final parameter Real e3_ia[3]=cross(eAxis_ia, e2_ia)
+      final parameter Real e3_ia[3](each final unit="1")=cross(eAxis_ia, e2_ia)
         "Unit vector perpendicular to eAxis_ia and e2_ia, resolved in frame_ia";
       SI.Position s
@@ -3301 +3295 @@
         "Total power flowing into this element, if checkTotalPower=true (otherwise dummy)";
       annotation (
-        
         Documentation(info="<html>
 <p>
@@ -3569 +3562 @@
               color={95,95,95},
               thickness=0.5),
-            Polygon(points={{7,-1},{-5,2},{-5,-4},{7,-1}}, lineColor={0,0,255}),
+            Polygon(points={{7,-1},{-5,2},{-5,-4},{7,-1}}, lineColor={0,0,255}), 
+
             Line(points={{-50,19},{-30,57}}, color={0,0,255}),
             Text(
@@ -3636 +3630 @@
               textString="nAxis"),
             Line(points={{-61,1},{-2,1}}, color={0,0,255}),
-            Polygon(points={{10,1},{-2,4},{-2,-2},{10,1}}, lineColor={0,0,255}),
+            Polygon(points={{10,1},{-2,4},{-2,-2},{10,1}}, lineColor={0,0,255}), 
+
             Line(
               points={{60,-1},{60,90},{80,90},{80,99}},
@@ -3688 +3683 @@
       SI.Position rAxis_a[3]
         "Position vector from origin of frame_a to origin of frame_b resolved in frame_a";
-      Real eAxis_a[3]
+      Real eAxis_a[3](each final unit="1")
         "Unit vector in direction of rAxis_a, resolved in frame_a";
-      Real e2_a[3]
+      Real e2_a[3](each final unit="1")
         "Unit vector in direction of second rotation axis of universal joint, resolved in frame_a";
-      Real e3_a[3]
+      Real e3_a[3](each final unit="1")
         "Unit vector perpendicular to eAxis_a and e2_a, resolved in frame_a";
-      Real n2_a[3]
+      Real n2_a[3](each final unit="1")
         "Vector in direction of second rotation axis of universal joint, resolved in frame_a";
       Real length2_n2_a(unit="m2") "Square of length of vector n2_a";
       SI.Length length_n2_a "Length of vector n2_a";
-      Real der_rAxis_a_L[3] "= der(rAxis_a)/axisLength";
+      Real der_rAxis_a_L[3](each unit="1/s") "= der(rAxis_a)/axisLength";
       SI.AngularVelocity w_rel_ia1[3];
       Frames.Orientation R_ia1_a;
@@ -4008 +4003 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real eRod1_ia[3]=rod1.eRod_ia
+      final parameter Real eRod1_ia[3](each final unit="1")=rod1.eRod_ia
         "Unit vector from origin of frame_a to origin of spherical joint, resolved in frame_ia";
-      final parameter Real e2_ia[3]=rod1.e2_ia
+      final parameter Real e2_ia[3](each final unit="1")=rod1.e2_ia
         "Unit vector in direction of axis 2 of universal joint, resolved in frame_ia";
       final parameter SI.Distance rod1Length=rod1.rodLength
@@ -4022 +4017 @@
 
       annotation (
-        
         Documentation(info="<html>
 <p>
@@ -4542 +4536 @@
         "= true, if total power flowing into this component shall be determined (must be zero)"
         annotation (Dialog(tab="Advanced"));
-      final parameter Real eRod1_ia[3]=rod1.eRod_ia
+      final parameter Real eRod1_ia[3](each final unit="1")=rod1.eRod_ia
         "Unit vector from origin of frame_a to origin of spherical joint, resolved in frame_ia";