To Create a Servo Motor
To make your model move during the animation, add a servo motor to a motion axis or to a geometric entity.
1. To create a Servo motor, in the Animation tab, click 
Servo Motor. The Motor tab opens.
Servo Motor. The Motor tab opens.2. Select references for the servo motor.
3. To set the physical quantity driven by the motor, choose an option from the Driven Quantity list or use the Profile Details tab Driven Quantity.
5. View the motor profile in a graph.
6. Click 
.
.Selecting References
1. Click References. The References tab opens.
2. Select references, the type of reference you choose in most instances will set the motion type. Choose one of the following reference types:
◦ Select a motion axis. Depending on the motion axis selected, you can create a 
translational, 
rotational, or 
slot motor.
translational, rotational, or slot motor.1. To edit motion axis settings, click 
.
.2. The Motion Type is determined by the Driven Entity reference selected.
3. To flip the direction of motion, click Flip.
◦ Select 2 references. Depending on the references selected, you can create a translational or rotational motor.
1. Select a geometry reference as the Driven Entity.
2. Select a second geometry reference as the Reference Entity.
3. The Motion Type is in most cases automatically determined by the Driven Entity reference selected. To change the Motion Type, select a different option. Only applicable options are available.
4. When applicable, select a reference that is either a straight line-based curve, an edge, or an axis for the Motion Direction. You can also select a plane as the motion direction, the normal of the plane is used to define the direction. An arrow appears to show the direction of motion.
5. To flip the direction of motion, click Flip.
Setting the Driven Quantity
1. Click Profile Details to open the tab.
2. Select a Driven Quantity from the list. The default is Position.
◦ Position—Defines the servo motor motion in terms of the position of the selected entity.
◦ Velocity—Defines the servo motor motion in terms of its velocity. By default, the current position of the servo motor is used when motion begins.
1. To set a different starting point, clear the Use Current Position as Initial check box.
2. Select a value from the Initial Position list, or type a value in the box.
3. To view the new initial position, click 
. The position updates in the graphics window.
. The position updates in the graphics window.4. To change the units, select an option from the list.
◦ Acceleration—Defines the servo motor motion in terms of its acceleration. By default, the current position of the servo motor is used when motion begins.
1. To set a different starting point, clear the Use Current Position as Initial check box.
2. Select a value from the Initial Position list, or type a value in the box.
3. To change the units, select an option from the list.
4. To view the new initial position, click . The position updates in the graphics window.
. The position updates in the graphics window.5. To set an Initial Velocity, select a value from the list, or type a value in the box.
6. To change the initial position or initial velocity units, select an option from the applicable list.
Setting the Motor Function
1. Click Profile Details to open the tab and select the driven quantity.
2. To define the motion of the motor, select a Function Type from the list.
Function Type | Description | Coefficients |
|---|---|---|
Constant | Creates a constant profile. | q= A where A = Constant |
Ramp | Creates a profile that changes linearly over time. | q= A + B*x where A = Constant B = Slope |
Cosine | Assigns a cosine wave value to the motor profile. | q= A*cos(360*x/T + B) + C where A = Amplitude B = Phase C = Offset T = Period |
Sine-Constant-Cosine-Acceleration (SCCA) | Simulates a cam profile output. This option is available for acceleration motors only. | For more information, see About SCCA Servo Motor Functions. |
Cycloidal | Simulates a cam profile output. | q = L*x /T - L*sin(360*x/T)/(2*pi) where L = Total rise T = Period |
Parabolic | Simulates a trajectory for a motor. | q = A*x + 1/2 B(x2) where A = Linear coefficient B = Quadratic coefficient |
Polynomial | Defines third degree polynomial motor profiles. | q = A + B*x + C*x2+ D*x3 where A = Constant term coefficient B = Linear term coefficient C = Quadratic term coefficient D = Cubic term coefficient |
Table | Generates the motor motion with values from a four-column table. You can use a table of output measure results. | For more information, see To Define a Table Motor Function. |
User defined | Specifies any kind of complex profile defined by multiple expression segments. | For more information, see To Create a User-Defined Motor Function. |
3. Set the coefficients for the selected type of motor function when applicable.
Setting the Graph Display
Use the Graph section to show a motor profile in the Chart-Tool window.
1. To display each graph in a separate window, click to select the In separate graphs check box.
2. Click or clear a check box to apply or remove the different graph display settings.
3. When you define a table profile, you can modify settings related to the display and number of interpolated points.
4. Click 
to open the Chart-Tool window.
to open the Chart-Tool window.5. To change the graph display, leave the Chart-Tool dialog box open and redefine motor functions. The graph automatically updates. When you see the profile you are interested in, close the Chart-Tool dialog box and accept the motor definition.
Changing Properties
To change motor feature properties, use the Properties tab.
1. To edit the motor feature name, type a new one in the Name box.
2. To display information on the motor feature in the browser, click 
.
.