This task consists in checking joint limits during a
CHECKING_LIMITS.CATProduct document. Remember you set joint limits in
the previous task
Click Simulation with Commands
in the DMU Kinematics toolbar. The Kinematics Simulation
-Mechanism.1 dialog box is displayed:
If you work with V4 kinematics data, the Check Joint
Limits option is available through the Kinematics simulation
Select the Sensors
In the Sensors dialog box displayed set the check limits
mode (click the appropriate option button). For instance set the
Select the joints to be observed: Prismatic.2 and
Revolute.3 (use the Selection tab and select the joints in the
Remember, you set limits on Prismatic.2:
Lower limit -10mm
Upper limit 10mm
Note: because a command is assigned
to Revolute.3, the limits are necessarily set. The default values for
angle limits are:
Lower limit -360deg
Upper limit 360deg
The clash detection is available within the
Sensors dialog box.
Click the History tab
Manipulate the slider of the command or use the
manipulators in the geometry area.
Note: in direct manipulation
context (using the manipulators) the simulation is stopped each time
a limit is reached.
In both cases (slider manipulation or direct
manipulation), the comments column is updated each time a limit is
Select Clear if needed.
Click Close to exit the command.