About Motor

The motor represents the external source of power to animate a mechanism's command.

Three types of profiles are available to specify a motor:

This page discusses:

Constant Speed
Distance
Oscillating

See Also

Attaching a Motor to a Mechanism's Command

The motor is attached to a mechanism's command, which defines the motor type.

The motor can be either linear (for translation-based commands), or angular (for rotation-based commands).
The motor specifies either a relative displacement or a velocity.
The maximum force for linear-type motors, or the maximum torque for angular-type motors can be specified. This value is taken into account by the dynamic solver.
The motor respects the command's limits defined in the constraint in controlled mode.

You can attach a motor to each command of the mechanism.

Note: During a dynamic simulation using the DASSL integrator, if a motor drives the command of a mechanism along a given direction and if a contact opposing this direction is detected between this product and another, the contact is not taken into consideration.

In this case, the maximum force or torque values are ignored by the integrator.

Constant Speed

The constant speed profile establishes a constant speed motion (linear or angular) starting from a null speed.

The following parameters and formulas are used:


Symbol	Description
$t$	Time
$\dot{q}$	Velocity
$q = \dot{q} t$	Position

Distance

The distance profile establishes a relative displacement, linear or angular, following a cubic profile during a specified time.

The following parameters and formulas are used:


Symbol	Description
$t_{0}$	Starting time
$t_{1}$	Displacement time
$t$	Time
$q_{0}$	Amplitude
$\dot{q} = \frac{{- 6 q}_{0} {(t - t_{0})}^{2}}{{(t_{1} - t_{0})}^{3}} + \frac{{6 q}_{0} (t - t_{0})}{{(t_{1} - t_{0})}^{2}}$	Velocity
$q = \frac{{- 2 q}_{0} {(t - t_{0})}^{3}}{{(t_{1} - t_{0})}^{3}} + \frac{{3 q}_{0} {(t - t_{0})}^{2}}{{(t_{1} - t_{0})}^{2}}$	Position

Oscillating

The oscillating profile establishes a repetitive variation, linear or angular, according to an amplitude and a frequency.

The following parameters and formulas are used:


Symbol	Description
$t$	Time
$f$	Frequency
$φ$	Phase shift
$A$	Amplitude
$\dot{q} = A π \sin (2 π f t - φ)$	Velocity
$q = \frac{A}{2} (\sin (2 π f t - \frac{π}{2} - φ) + 1)$	Position