V2020.1.56.3_ Driven Servo Motor



Overview

The Driven 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 Limited Driven Motor to an external controller through a https://unit040.atlassian.net/wiki/spaces/PUD/pages/280987237 ). Adding a Control Panel gives you the option to control the motor.

 

A successfully created Driven Servo Motor shows up with this gizmo


Where to find

The Driven Servo Motor can be found under

Standard Components > Motors > Driven 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 Driven Servo Motor component


Feature Layout - Physical Component

Live Data

 

Live Data

 

Preferred Velocity (deg/s)

Displays the current preferred velocity in degrees per second

Target Angle (deg)

Displays the angle in degrees to which the Driven Servo Motor is rotating to

Continuous

Displays whether continuous rotation is enabled (True) or disable (False)

Continuous Direction

Displays the rotation direction in which the Driven Servo Motor will rotate when Continuous rotation is enabled. CW = Clockwise, CCW = Counter Clockwise

Velocity (deg/s)

Displays the current angular velocity in degrees per second

Position (deg)

Displays the current angle in degrees

State

Displays whether the Driven Servo Motor is Active, Inactive or in Error State

Properties

 

Properties

 

Wheel Joint

Sets the Wheel Joint the Driven Servo Motor will control

Max Velocity (deg/s)

Sets the maximum allowed velocity of the Driven Servo Motor in degrees per second

Acceleration (deg/s/s)

Sets the maximum allowed acceleration of the Driven Servo Motor in degrees per second per second

Zero Offset (deg)

Sets the zero position of the Driven Servo Motor relative to the zero position of its Wheel Joint

Set current position as zero offset

Sets the current position as the new zero position

Control Panel

 

Control Panel

 

Generate Control Panel for DrivenServoMotor

Create a Control Panel for this component


How to use - Physical Component

  1. Add a Driven 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. Use the control panel to change settings. Make sure to press play to start the movement

     

     


Feature Layout - Logic Component

Properties

 

Properties

 

Driven Servo Motor

Selects a Driven 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.