Simulating with Laws

1. Click Simulation with Laws in the DMU Kinematics toolbar

2. Change the range of the Kinematics time parameter directly in this dialog box using the Edit Time range button . The Simulation Duration dialog box is displayed:

   Enter a new value, 20 s for instance and click Ok
   	this value must be set in seconds and must be higher than 10-6 s
   The maximum time bound value is automatically updated in the dialog box:

3. Set the desired number of steps, then run the simulation using the Simulation buttons:

   Start Play Back Step Back Pause Step Forward Play Forward End.
   The kinematics mechanism moves according to the pre-defined laws.
   	You can switch between any of the simulation modes at any time. You can also enter a time value to visualize the position of the mechanism at that time.

4. Click Analysis if you need to detect interferences or distances while simulating (you need to create interference or distance objects first)
   The Edit Analysis dialog box is displayed.

5. Select the interference if you defined one and activate it (on).

   For more details, refer to Detecting Interferences and Detecting Distances.

6. Run the simulation.

7. If you select the Activate sensors option (using the check box), the Sensors dialog box is automatically displayed.
   This functionality lets you retrieve detailed information during simulation operations (with laws and with commands) about:

   joint values (with commands or not)  measure values (see Measure distances and angles between geometrical entities and points) joint limits if previously defined speed and accelerations

   V5 Mechanisms

   Note: the Check Limits option is available only in the Sensors dialog box accessed with the Activate sensors check box. Set the required mode (on, stop) using the option buttons.   For detailed information, read Using Sensors

   V4 Mechanisms

   Note: The Check Limits option is still available through the Kinematics simulation commands (with laws, with commands). Read Checking Joint Limits

8. Click Close to confirm your operation.

   By default the new position is kept when exiting the simulation commands. Before leaving the simulation command to go back to the initial position: you need to click: (Simulation With Commands)  (Simulation with Laws) For more detailed information, see Leaving Simulation in Modified Position and Simulating After Having Moved  Constrained Components

Related Topics:

• Sensors

• Plotting vectors

• Checking Joint Limits