Creating a Velocity Motor Excitation

Velocity Motor Excitation drives a command in your mechanism by associating the velocity of a motor to the command.

Before you begin: Open a dynamics simulation referencing a mechanism in the Mechanical Systems Experience app.
  1. In the tree, select the command under the mechanism representation to drive with the kinematics excitation.
  2. Define the speed motor excitation parameters.
  3. To modify the maximum force or torque the excitation can develop to reach its position or velocity:
    1. Click Edit Maximum Torque or Edit Maximum Force, depending on the command type.
    2. Click the arrows to increase or decrease the value.

      Tip: To modify the time step, right-click the value, and select Change Step.

    Note: During a dynamics simulation using the Symplectic Euler integrator, the maximum force or torque value is taken into account to prevent movement when joint limits are reached or when contacts occur.
    Important: The mechanism movement may be partial or may not reach the specified target when:
    • the internal torque or force required to move the mechanism exceeds the maximum value.
    • a joint limit is reached
    • a contact occurs.

  4. Click OK to save the kinematics excitation.
    The Velocity Motor Excitation appears under the Scenario node.

 

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