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Connecting and Configuring the Pendulum Sensor
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In this example, you measure the angular motion of the revolute joint:
1. In the block library, open the Sensors and Actuators library. Drag and drop a Joint Sensor block into your model window.
2. Open the Revolute block. Change Number of sensor/actuator ports from 0 to 1 using the spinner menu. An open connector port 
appears on the side of Revolute. Close Revolute.
3. Connect this connector port to the connector port on the Joint Sensor block. The open connector port changes to solid 
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4. Open Joint Sensor. Select the Angle and the Angular velocity check boxes. Leave the other defaults. Close the Joint Sensor block.
5.
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Open the Simulink Library Browser. From the Sinks library, drag and drop a Scope block and an XY Graph block into your model window. From the Signal Routing library, drag and drop a Mux block as well. Connect the Simulink outports > on the Joint Sensor block to the Scope and XY Graph blocks as shown.
Fig.7. Simulink model of pendulum sensor
1. The lines from the outports > to the Scope and XY Graph blocks are normal Simulink signal lines and can be branched. You cannot branch the lines connecting SimMechanics blocks to each another at the round connector ports .
2. Save your model for future reference as spen.mdl.
You now need to configure the global parameters of your model before you can run it.