V2020.1.56.3_ Continuous Servo Motor



Overview

The Continuous Servo Motor is a component to simulate an accelerated rotational motion on an axis. It consists of two components; Physical and Logic. Both are needed to control the motor through a logic adapter (connecting the Continuous Servo Motor to an external controller through a https://unit040.atlassian.net/wiki/pages/createpage.action?spaceKey=PUD&title=Logic%20Simulator&linkCreation=true&fromPageId=280855347 ). Adding a Control Panel gives you the option to control the motor.

A succesfully created ContinuousServoMotor shows up with this gizmo


Where to find

The Continuous Servo Motor can be found under

Standard Components > Motors > Continuous Servo Motor > Physical Component / Logic Component

 

It will automatically be attached to a selected GameObject or otherwise it will create a new GameObject to attach to.
A https://unit040.atlassian.net/wiki/spaces/PUD/pages/281673729 will be created automatically as part of the component.

Selecting the newly created GameObject gives you the following menu in the Inspector.

Please note: this is an example of a GameObject with the Physical Continuous Servo Motor component


Feature Layout - Physical Component

Live Data

 

Live Data

 

Target (deg)

A value to indicate the target speed for the Continuous Servo Motor

Positon (deg)

Displays the current rotation in degrees

Properties

 

Properties

 

Wheel Joint

Sets the Wheel Joint the Continuous Servo Motor will control

Rotation Range

Sets the angles between which the Continuous Servo Motor accepts input

Seconds per 60 degrees

Sets the speed at which the Continuous Servo Motor will try to rotate

Dead Angle (deg)

Sets the tolerance at which the Continuous Servo Motor detects input in degrees

0 deg Pulse Width (ms)

Sets what pulse width matches a 0-degree input

180 deg Pulse Width (ms)

Sets what pulse width matches a 180-degree input

Dead Band Width (ms)

Sets the tolerance at which the Continuous Servo Motor detects input in milliseconds

Control Panel

 

Control Panel

 

Generate Control Panel for ContinuousServoMotor

Create a Control Panel or this component


How to use - Physical Component

  1. Add a Continuous Servo Component to a GameObject, in this case a simple cube

     

  2. Add a Kinematics Controller, this can be found under Mechanics > Add Kinematics > Kinematics Controller. Make sure the Kinematic Controller is visible in the hierarchy and not connected to the Cube

     

  3. Make sure the Cube is parented under the Kinematic Controller in the Hierarchy

     

  4. Add a Control Panel

     

  5. Set the Target

     

  6. Press Play to see the rotation of the cube, controlled by the Continuous Servo Motor


Feature Layout - Logic Component

Properties

 

Properties

 

Continuous Servo Motor

Selects a Continuous Servo Motor component you wish to connect to the PLC

In the PLC I/O panel you can see the latest input and output values from the PLC.

 

PLC Settings and Debugging are general Logic Component settings. Look at the Logic Component Documentation for more details.


How to use - Logic Component

Look at the Logic Component Documentation for more details.